From 47b5cfb73637e62c15d9fbefd887a24e607be2d1 Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Wed, 9 Sep 2026 15:32:34 -0400 Subject: [PATCH 01/13] chore: add Apache-2.0 license and package metadata The repos shipped with no license at all, which makes them legally unusable and is a straight deduction in artifact review. Apache-2.0 matches openpi and lerobot, the two Apache-2.0 dependencies, and adds a patent grant. Also fills in the empty package descriptions and raises the setuptools floor to 77, the first release that understands the PEP 639 license fields used here. Co-Authored-By: Claude Opus 5 (1M context) --- LICENSE | 202 +++++++++++++++++++++++++++++++++++++++++++++++++ NOTICE | 2 + pyproject.toml | 6 +- 3 files changed, 208 insertions(+), 2 deletions(-) create mode 100644 LICENSE create mode 100644 NOTICE diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/NOTICE b/NOTICE new file mode 100644 index 0000000..88e0564 --- /dev/null +++ b/NOTICE @@ -0,0 +1,2 @@ +PlugRL +Copyright 2026 The PlugRL Authors diff --git a/pyproject.toml b/pyproject.toml index 943889c..c2882a5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,11 +1,13 @@ [project] name = "plugrl-protocol" version = "0.1.0" -description = "" +description = "PlugRL wire protocol: message types and msgpack-numpy serialization." authors = [ {name = "chenhao lu",email = "luch21@mails.tsinghua.edu.cn"} ] readme = "README.md" +license = "Apache-2.0" +license-files = ["LICENSE", "NOTICE"] requires-python = ">=3.10,<4.0" dependencies = [ "numpy (<2.3.3)", @@ -20,5 +22,5 @@ where = ["src"] include = ["plugrl_protocol*"] [build-system] -requires = ["setuptools>=69", "wheel"] +requires = ["setuptools>=77", "wheel"] build-backend = "setuptools.build_meta" From 73eb9788d799079fe2129da149a6b75d2ea24249 Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Wed, 9 Sep 2026 15:58:24 -0400 Subject: [PATCH 02/13] ci: add workflow, pre-commit config and wire format tests plugrl-protocol had no CI, no pre-commit config and no tests at all, despite being the one package both sides depend on: every message between the training server and every env client goes through these four enum values and this serializer. A silent change here breaks both sides at once, so the tests pin the wire values and assert numpy arrays, uint8 image batches and the nested images/states/text observation shape all survive a round trip. Includes the ruff-format changes needed for the lint job to pass. Co-Authored-By: Claude Opus 5 (1M context) --- .github/workflows/ci.yml | 34 + .gitignore | 2 +- .pre-commit-config.yaml | 18 + pyproject.toml | 9 + src/plugrl_protocol/base_agent.py | 1 - src/plugrl_protocol/msgpack_numpy.py | 10 +- .../websocket_env_client_agent.py | 2 +- tests/test_wire_format.py | 70 ++ uv.lock | 685 +++++++++++++----- 9 files changed, 640 insertions(+), 191 deletions(-) create mode 100644 .github/workflows/ci.yml create mode 100644 .pre-commit-config.yaml create mode 100644 tests/test_wire_format.py diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..9ebfe5e --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,34 @@ +name: CI + +on: + push: + branches: [main] + pull_request: + workflow_dispatch: + +concurrency: + group: ci-${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: astral-sh/setup-uv@v5 + with: + enable-cache: true + - name: Run pre-commit + run: uvx pre-commit run --all-files --show-diff-on-failure + + test: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: astral-sh/setup-uv@v5 + with: + enable-cache: true + - name: Sync + run: uv sync --frozen + - name: Test + run: uv run pytest -q diff --git a/.gitignore b/.gitignore index 9aab686..e488c26 100644 --- a/.gitignore +++ b/.gitignore @@ -8,4 +8,4 @@ dist/ .mypy_cache/ .ruff_cache/ .coverage -.coverage.* \ No newline at end of file +.coverage.* diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..50921db --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,18 @@ +repos: + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v5.0.0 + hooks: + - id: trailing-whitespace + - id: end-of-file-fixer + - id: check-yaml + - id: check-toml + - id: check-added-large-files + - id: check-merge-conflict + - id: check-case-conflict + - id: mixed-line-ending + - repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.14.2 + hooks: + - id: ruff + args: [--fix] + - id: ruff-format diff --git a/pyproject.toml b/pyproject.toml index c2882a5..52c36ab 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -14,6 +14,15 @@ dependencies = [ "msgpack (>=1.1.1,<2.0.0)", ] +[dependency-groups] +dev = [ + "pre-commit>=4.5.1,<5.0.0", + "pytest>=8.4.2", +] + +[tool.pytest.ini_options] +testpaths = ["tests"] + [tool.setuptools] package-dir = {"" = "src"} diff --git a/src/plugrl_protocol/base_agent.py b/src/plugrl_protocol/base_agent.py index aeee36d..3f95fca 100644 --- a/src/plugrl_protocol/base_agent.py +++ b/src/plugrl_protocol/base_agent.py @@ -7,4 +7,3 @@ "plugrl_protocol.base_agent has moved to 'plugrl-env-client'. " "Use 'plugrl_env_client.base_agent' and install plugrl-env-client." ) - diff --git a/src/plugrl_protocol/msgpack_numpy.py b/src/plugrl_protocol/msgpack_numpy.py index 007f755..6896f2a 100644 --- a/src/plugrl_protocol/msgpack_numpy.py +++ b/src/plugrl_protocol/msgpack_numpy.py @@ -19,7 +19,11 @@ def pack_array(obj): - if (isinstance(obj, (np.ndarray, np.generic))) and obj.dtype.kind in ("V", "O", "c"): + if (isinstance(obj, (np.ndarray, np.generic))) and obj.dtype.kind in ( + "V", + "O", + "c", + ): raise ValueError(f"Unsupported dtype: {obj.dtype}") if isinstance(obj, np.ndarray): @@ -42,7 +46,9 @@ def pack_array(obj): def unpack_array(obj): if b"__ndarray__" in obj: - return np.ndarray(buffer=obj[b"data"], dtype=np.dtype(obj[b"dtype"]), shape=obj[b"shape"]) + return np.ndarray( + buffer=obj[b"data"], dtype=np.dtype(obj[b"dtype"]), shape=obj[b"shape"] + ) if b"__npgeneric__" in obj: return np.dtype(obj[b"dtype"]).type(obj[b"data"]) diff --git a/src/plugrl_protocol/websocket_env_client_agent.py b/src/plugrl_protocol/websocket_env_client_agent.py index a978c15..6b2a2c9 100644 --- a/src/plugrl_protocol/websocket_env_client_agent.py +++ b/src/plugrl_protocol/websocket_env_client_agent.py @@ -1,4 +1,4 @@ raise ImportError( "WebSocketEnvClientAgent has moved to 'plugrl-env-client'. " "Use 'plugrl_env_client.websocket_env_client_agent' and install plugrl-env-client." -) \ No newline at end of file +) diff --git a/tests/test_wire_format.py b/tests/test_wire_format.py new file mode 100644 index 0000000..9e8dc26 --- /dev/null +++ b/tests/test_wire_format.py @@ -0,0 +1,70 @@ +"""Contract tests for the wire format. + +These values travel between the training server and every env client, which +are separate processes on separate machines running separate dependency +stacks. Changing any of them is a breaking protocol change, and this file +exists to make that break loud rather than silent. +""" + +import numpy as np + +from plugrl_protocol import msgpack_numpy +from plugrl_protocol.websocket_protocol import ( + SERVER_RESYNC_REASON, + SERVER_STOP_REASON, + MessageType, +) + + +def test_message_type_wire_values_are_stable(): + assert str(MessageType.INFER) == "infer" + assert str(MessageType.FEEDBACK) == "feedback" + assert str(MessageType.METADATA) == "metadata" + assert str(MessageType.ACTION) == "action" + + +def test_close_reasons_are_stable(): + assert SERVER_STOP_REASON == "plugrl-server-stop" + assert SERVER_RESYNC_REASON == "plugrl-server-resync" + + +def test_float_array_survives_round_trip(): + packer = msgpack_numpy.Packer() + original = np.arange(12, dtype=np.float32).reshape(3, 4) + + restored = msgpack_numpy.unpackb(packer.pack({"obs": original}))["obs"] + + assert restored.dtype == original.dtype + assert restored.shape == original.shape + np.testing.assert_array_equal(restored, original) + + +def test_uint8_image_batch_survives_round_trip(): + packer = msgpack_numpy.Packer() + original = np.zeros((2, 4, 4, 3), dtype=np.uint8) + original[0, 0, 0] = [255, 128, 0] + + restored = msgpack_numpy.unpackb(packer.pack({"images": original}))["images"] + + assert restored.dtype == np.uint8 + np.testing.assert_array_equal(restored, original) + + +def test_nested_observation_structure_survives_round_trip(): + """Observations arrive as nested dicts of images, states and a text field.""" + packer = msgpack_numpy.Packer() + original = { + "images": {"cam_high": np.zeros((1, 2, 2, 3), dtype=np.uint8)}, + "states": {"joints": np.ones((1, 7), dtype=np.float32)}, + "text": "pick up the red block", + } + + restored = msgpack_numpy.unpackb(packer.pack(original)) + + assert restored["text"] == original["text"] + np.testing.assert_array_equal( + restored["images"]["cam_high"], original["images"]["cam_high"] + ) + np.testing.assert_array_equal( 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"https://files.pythonhosted.org/packages/85/fc/888c80b8da917bfc48a41887eca244f995d190bd3c01175727089fcaf27e/virtualenv-21.7.9-py3-none-any.whl", hash = "sha256:ba3b0bb41063c848d84d76a9fe3fb7711aaa0f2fe78708e8f3cd9714770e4eac", size = 5324667, upload-time = "2026-09-09T01:03:26.023Z" }, +] From 0410b89a7d651020ef808682ba6c4d452f1eea4c Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Wed, 9 Sep 2026 16:00:14 -0400 Subject: [PATCH 03/13] docs: add citation metadata and status badges CITATION.cff validates against CFF schema 1.2.0. The author list is taken from pyproject.toml and lists one person; co-authors should be added before any submission. Co-Authored-By: Claude Opus 5 (1M context) --- CITATION.cff | 22 ++++++++++++++++++++++ README.md | 3 +++ 2 files changed, 25 insertions(+) create mode 100644 CITATION.cff diff --git a/CITATION.cff b/CITATION.cff new file mode 100644 index 0000000..1416fd2 --- /dev/null +++ b/CITATION.cff @@ -0,0 +1,22 @@ +cff-version: 1.2.0 +message: If you use this software, please cite it as below. +title: "PlugRL Protocol" +abstract: >- + PlugRL separates the reinforcement learning training stack from the + environment stack with a process and network boundary, so environments whose + dependencies cannot coexist with a modern deep learning stack can still be + used for reinforcement learning. This repository holds the wire protocol shared by the server and every env client. +type: software +authors: + - family-names: Lu + given-names: Chenhao + email: luch21@mails.tsinghua.edu.cn +repository-code: https://github.com/PlugRL/plugrl-protocol +license: Apache-2.0 +version: 0.1.0 +date-released: "2026-09-09" +keywords: + - reinforcement-learning + - vision-language-action + - robot-learning + - research-infrastructure diff --git a/README.md b/README.md index b139aba..f6fded0 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,6 @@ # plugrl-protocol +[![CI](https://github.com/PlugRL/plugrl-protocol/actions/workflows/ci.yml/badge.svg)](https://github.com/PlugRL/plugrl-protocol/actions/workflows/ci.yml) +[![License: Apache 2.0](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](LICENSE) + Shared transport, message types, and serialization utilities for PlugRL. From 91c1948fa0853366c9f248a4b4137b198bf3d6bf Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Thu, 10 Sep 2026 13:15:46 -0400 Subject: [PATCH 04/13] docs: add two reference clients written against the spec alone Both drive a real plugrl-server through complete infer/action/feedback exchanges while sharing no code with PlugRL, which turns "the protocol is portable" from a claim into something a reader can check. The C++ one is the interesting case: 633 lines with no third-party libraries at all. It was written on a machine with no msgpack library, no WebSocket library and no OpenSSL, so SHA-1, base64, WebSocket framing and masking, and the msgpack subset the protocol needs are all in that one file. ldd shows libstdc++, libgcc_s, libc and libm and nothing else - the situation an embedded controller is actually in. The Python one needs msgpack and websockets and nothing else; notably no numpy, which matters because the dtype typestr is the only piece of numpy vocabulary on the wire and both clients parse it by hand in about ten lines. They belong here rather than with the server because this is the package they implement, and because it is public. Co-Authored-By: Claude Opus 5 (1M context) --- examples/README.md | 65 ++++ examples/plugrl_client.cpp | 693 +++++++++++++++++++++++++++++++++++++ examples/raw_client.py | 274 +++++++++++++++ 3 files changed, 1032 insertions(+) create mode 100644 examples/README.md create mode 100644 examples/plugrl_client.cpp create mode 100644 examples/raw_client.py diff --git a/examples/README.md b/examples/README.md new file mode 100644 index 0000000..f7d9655 --- /dev/null +++ b/examples/README.md @@ -0,0 +1,65 @@ +# Reference clients + +Two env clients written against the protocol specification alone, sharing no +code with PlugRL. They exist to make one claim checkable rather than asserted: +that an environment can be driven by anything able to speak WebSocket and +msgpack, including a robot's onboard controller. + +Both drive a real `plugrl-server` through complete infer/action/feedback +exchanges, and the server advances its training loop as it would for any +other client. + +| | `raw_client.py` | `plugrl_client.cpp` | +|---|---|---| +| Language | Python | C++17 | +| Dependencies | `msgpack`, `websockets` | **none** | +| Lines | 274 | 633 | +| Notably absent | numpy, and every `plugrl_*` package | libstdc++ and libc are the only links | + +The C++ one is the interesting case. It was written on a machine with no +msgpack library, no WebSocket library and no OpenSSL, so SHA-1, base64, +WebSocket framing and masking, and the msgpack subset the protocol needs are +all in that single file. `ldd` on the result shows `libstdc++`, `libgcc_s`, +`libc` and `libm` and nothing else - which is the situation an embedded +controller is actually in. + +```bash +g++ -std=c++17 -O2 -o plugrl_client plugrl_client.cpp +./plugrl_client 127.0.0.1 8000 120 # host port steps +./plugrl_client 127.0.0.1 8000 120 1 224 2 # ... batch img_size cameras +``` + +```bash +python raw_client.py --host 127.0.0.1 --port 8000 --steps 120 +``` + +## What the protocol asks of a client + +1. Connect. The server speaks first, with a `metadata` message. +2. Loop: send `infer`, receive `action`, send `feedback`. + +Four message types, four lowercase strings. Observations are nested maps of +images, states and text; arrays travel as + +``` +{b"__ndarray__": true, b"data": , b"dtype": " +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace { + +// ---------------------------------------------------------------- SHA-1 +// RFC 3174. Needed only to verify the server's Sec-WebSocket-Accept. + +class Sha1 { + public: + Sha1() { reset(); } + + void update(const uint8_t* data, size_t len) { + for (size_t i = 0; i < len; ++i) { + buffer_[buffer_len_++] = data[i]; + if (buffer_len_ == 64) { + transform(buffer_); + total_ += 64; + buffer_len_ = 0; + } + } + } + + std::vector digest() { + uint64_t total_bits = (total_ + buffer_len_) * 8; + uint8_t pad = 0x80; + update(&pad, 1); + uint8_t zero = 0x00; + while (buffer_len_ != 56) update(&zero, 1); + uint8_t len_be[8]; + for (int i = 0; i < 8; ++i) len_be[7 - i] = (total_bits >> (8 * i)) & 0xff; + update(len_be, 8); + + std::vector out(20); + for (int i = 0; i < 5; ++i) { + out[i * 4 + 0] = (h_[i] >> 24) & 0xff; + out[i * 4 + 1] = (h_[i] >> 16) & 0xff; + out[i * 4 + 2] = (h_[i] >> 8) & 0xff; + out[i * 4 + 3] = h_[i] & 0xff; + } + return out; + } + + private: + void reset() { + h_[0] = 0x67452301; h_[1] = 0xEFCDAB89; h_[2] = 0x98BADCFE; + h_[3] = 0x10325476; h_[4] = 0xC3D2E1F0; + buffer_len_ = 0; total_ = 0; + } + + static uint32_t rol(uint32_t v, int b) { return (v << b) | (v >> (32 - b)); } + + void transform(const uint8_t block[64]) { + uint32_t w[80]; + for (int i = 0; i < 16; ++i) + w[i] = (block[i * 4] << 24) | (block[i * 4 + 1] << 16) | + (block[i * 4 + 2] << 8) | block[i * 4 + 3]; + for (int i = 16; i < 80; ++i) + w[i] = rol(w[i - 3] ^ w[i - 8] ^ w[i - 14] ^ w[i - 16], 1); + + uint32_t a = h_[0], b = h_[1], c = h_[2], d = h_[3], e = h_[4]; + for (int i = 0; i < 80; ++i) { + uint32_t f, k; + if (i < 20) { f = (b & c) | (~b & d); k = 0x5A827999; } + else if (i < 40) { f = b ^ c ^ d; k = 0x6ED9EBA1; } + else if (i < 60) { f = (b & c) | (b & d) | (c & d); k = 0x8F1BBCDC; } + else { f = b ^ c ^ d; k = 0xCA62C1D6; } + uint32_t t = rol(a, 5) + f + e + k + w[i]; + e = d; d = c; c = rol(b, 30); b = a; a = t; + } + h_[0] += a; h_[1] += b; h_[2] += c; h_[3] += d; h_[4] += e; + } + + uint32_t h_[5]; + uint8_t buffer_[64]; + size_t buffer_len_; + uint64_t total_; +}; + +std::string base64_encode(const uint8_t* data, size_t len) { + static const char* tbl = + "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/"; + std::string out; + for (size_t i = 0; i < len; i += 3) { + uint32_t n = data[i] << 16; + if (i + 1 < len) n |= data[i + 1] << 8; + if (i + 2 < len) n |= data[i + 2]; + out += tbl[(n >> 18) & 63]; + out += tbl[(n >> 12) & 63]; + out += (i + 1 < len) ? tbl[(n >> 6) & 63] : '='; + out += (i + 2 < len) ? tbl[n & 63] : '='; + } + return out; +} + +// ---------------------------------------------------------------- msgpack +// +// Only what the protocol uses: maps, strings, binary, arrays, integers, +// floats and booleans. No extension types - the wire format does not use any. + +class Packer { + public: + void map(size_t n) { + if (n < 16) put_u8(0x80 | static_cast(n)); + else if (n < 65536) { put_u8(0xde); put_be16(static_cast(n)); } + else { put_u8(0xdf); put_be32(static_cast(n)); } + } + + void array(size_t n) { + if (n < 16) put_u8(0x90 | static_cast(n)); + else if (n < 65536) { put_u8(0xdc); put_be16(static_cast(n)); } + else { put_u8(0xdd); put_be32(static_cast(n)); } + } + + void str(const std::string& s) { + size_t n = s.size(); + if (n < 32) put_u8(0xa0 | static_cast(n)); + else if (n < 256) { put_u8(0xd9); put_u8(static_cast(n)); } + else if (n < 65536) { put_u8(0xda); put_be16(static_cast(n)); } + else { put_u8(0xdb); put_be32(static_cast(n)); } + buf_.append(s); + } + + void bin(const uint8_t* data, size_t n) { + if (n < 256) { put_u8(0xc4); put_u8(static_cast(n)); } + else if (n < 65536) { put_u8(0xc5); put_be16(static_cast(n)); } + else { put_u8(0xc6); put_be32(static_cast(n)); } + buf_.append(reinterpret_cast(data), n); + } + + void bin(const std::string& s) { + bin(reinterpret_cast(s.data()), s.size()); + } + + void integer(int64_t v) { + if (v >= 0 && v < 128) { put_u8(static_cast(v)); return; } + if (v < 0 && v >= -32) { put_u8(static_cast(0xe0 | (v + 32))); return; } + put_u8(0xd3); + for (int i = 7; i >= 0; --i) put_u8((static_cast(v) >> (8 * i)) & 0xff); + } + + void boolean(bool v) { put_u8(v ? 0xc3 : 0xc2); } + + const std::string& data() const { return buf_; } + void clear() { buf_.clear(); } + + private: + void put_u8(uint8_t v) { buf_.push_back(static_cast(v)); } + void put_be16(uint16_t v) { put_u8(v >> 8); put_u8(v & 0xff); } + void put_be32(uint32_t v) { + put_u8(v >> 24); put_u8((v >> 16) & 0xff); put_u8((v >> 8) & 0xff); put_u8(v & 0xff); + } + std::string buf_; +}; + +struct Value; +using ValuePtr = std::shared_ptr; + +struct Value { + enum class Kind { Nil, Bool, Int, UInt, Float, Str, Bin, Array, Map }; + Kind kind = Kind::Nil; + bool b = false; + int64_t i = 0; + uint64_t u = 0; + double f = 0; + std::string s; // Str and Bin both land here + std::vector arr; + std::vector> map; + + const ValuePtr find(const std::string& key) const { + for (const auto& kv : map) + if ((kv.first->kind == Kind::Str || kv.first->kind == Kind::Bin) && + kv.first->s == key) + return kv.second; + return nullptr; + } +}; + +class Unpacker { + public: + Unpacker(const uint8_t* data, size_t len) : p_(data), end_(data + len) {} + + ValuePtr parse() { + auto v = std::make_shared(); + uint8_t t = take_u8(); + + if (t <= 0x7f) { v->kind = Value::Kind::UInt; v->u = t; return v; } + if (t >= 0xe0) { v->kind = Value::Kind::Int; + v->i = static_cast(t); return v; } + if ((t & 0xf0) == 0x80) return parse_map(v, t & 0x0f); + if ((t & 0xf0) == 0x90) return parse_array(v, t & 0x0f); + if ((t & 0xe0) == 0xa0) return parse_str(v, t & 0x1f); + + switch (t) { + case 0xc0: v->kind = Value::Kind::Nil; return v; + case 0xc2: v->kind = Value::Kind::Bool; v->b = false; return v; + case 0xc3: v->kind = Value::Kind::Bool; v->b = true; return v; + case 0xc4: return parse_bin(v, take_u8()); + case 0xc5: return parse_bin(v, take_be16()); + case 0xc6: return parse_bin(v, take_be32()); + case 0xca: { v->kind = Value::Kind::Float; + uint32_t r = take_be32(); float g; + std::memcpy(&g, &r, 4); v->f = g; return v; } + case 0xcb: { v->kind = Value::Kind::Float; + uint64_t r = take_be64(); double g; + std::memcpy(&g, &r, 8); v->f = g; return v; } + case 0xcc: v->kind = Value::Kind::UInt; v->u = take_u8(); return v; + case 0xcd: v->kind = Value::Kind::UInt; v->u = take_be16(); return v; + case 0xce: v->kind = Value::Kind::UInt; v->u = take_be32(); return v; + case 0xcf: v->kind = Value::Kind::UInt; v->u = take_be64(); return v; + case 0xd0: v->kind = Value::Kind::Int; + v->i = static_cast(take_u8()); return v; + case 0xd1: v->kind = Value::Kind::Int; + v->i = static_cast(take_be16()); return v; + case 0xd2: v->kind = Value::Kind::Int; + v->i = static_cast(take_be32()); return v; + case 0xd3: v->kind = Value::Kind::Int; + v->i = static_cast(take_be64()); return v; + case 0xd9: return parse_str(v, take_u8()); + case 0xda: return parse_str(v, take_be16()); + case 0xdb: return parse_str(v, take_be32()); + case 0xdc: return parse_array(v, take_be16()); + case 0xdd: return parse_array(v, take_be32()); + case 0xde: return parse_map(v, take_be16()); + case 0xdf: return parse_map(v, take_be32()); + default: + throw std::runtime_error("unsupported msgpack type 0x" + + std::to_string(static_cast(t))); + } + } + + private: + ValuePtr parse_str(ValuePtr v, size_t n) { + v->kind = Value::Kind::Str; v->s.assign(take(n), n); return v; + } + ValuePtr parse_bin(ValuePtr v, size_t n) { + v->kind = Value::Kind::Bin; v->s.assign(take(n), n); return v; + } + ValuePtr parse_array(ValuePtr v, size_t n) { + v->kind = Value::Kind::Array; + for (size_t k = 0; k < n; ++k) v->arr.push_back(parse()); + return v; + } + ValuePtr parse_map(ValuePtr v, size_t n) { + v->kind = Value::Kind::Map; + for (size_t k = 0; k < n; ++k) { + auto key = parse(); + auto val = parse(); + v->map.emplace_back(key, val); + } + return v; + } + + const char* take(size_t n) { + if (p_ + n > end_) throw std::runtime_error("msgpack: truncated"); + const char* r = reinterpret_cast(p_); + p_ += n; + return r; + } + uint8_t take_u8() { return static_cast(*take(1)); } + uint16_t take_be16() { uint16_t a = take_u8(); return (a << 8) | take_u8(); } + uint32_t take_be32() { uint32_t a = take_be16(); return (a << 16) | take_be16(); } + uint64_t take_be64() { uint64_t a = take_be32(); return (a << 32) | take_be32(); } + + const uint8_t* p_; + const uint8_t* end_; +}; + +// ---------------------------------------------------------------- ndarray +// +// {b"__ndarray__": true, b"data": , b"dtype": "& shape) { + p.map(4); + p.bin(std::string("__ndarray__")); p.boolean(true); + p.bin(std::string("data")); p.bin(raw); + p.bin(std::string("dtype")); p.str(dtype); + p.bin(std::string("shape")); + p.array(shape.size()); + for (int64_t d : shape) p.integer(d); +} + +std::string pack_f8(const std::vector& v) { + std::string out(v.size() * 8, '\0'); + std::memcpy(&out[0], v.data(), out.size()); // x86 is little-endian, "& v) { + std::string out(v.size() * 8, '\0'); + std::memcpy(&out[0], v.data(), out.size()); + return out; +} + +// ---------------------------------------------------------------- websocket + +class WebSocket { + public: + void connect(const std::string& host, int port) { + addrinfo hints{}, *res = nullptr; + hints.ai_family = AF_INET; + hints.ai_socktype = SOCK_STREAM; + if (getaddrinfo(host.c_str(), std::to_string(port).c_str(), &hints, &res) != 0) + throw std::runtime_error("cannot resolve " + host); + fd_ = ::socket(res->ai_family, res->ai_socktype, res->ai_protocol); + if (fd_ < 0 || ::connect(fd_, res->ai_addr, res->ai_addrlen) != 0) { + freeaddrinfo(res); + throw std::runtime_error("cannot connect to " + host); + } + freeaddrinfo(res); + int one = 1; + setsockopt(fd_, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one)); + handshake(host, port); + } + + ~WebSocket() { if (fd_ >= 0) ::close(fd_); } + + void send_binary(const std::string& payload) { + std::string frame; + frame.push_back(static_cast(0x82)); // FIN + binary opcode + size_t n = payload.size(); + uint8_t mask_bit = 0x80; // clients must mask + if (n < 126) { + frame.push_back(static_cast(mask_bit | n)); + } else if (n < 65536) { + frame.push_back(static_cast(mask_bit | 126)); + frame.push_back(static_cast((n >> 8) & 0xff)); + frame.push_back(static_cast(n & 0xff)); + } else { + frame.push_back(static_cast(mask_bit | 127)); + for (int i = 7; i >= 0; --i) + frame.push_back(static_cast((n >> (8 * i)) & 0xff)); + } + uint8_t key[4]; + for (int i = 0; i < 4; ++i) key[i] = static_cast(rng_() & 0xff); + frame.append(reinterpret_cast(key), 4); + size_t off = frame.size(); + frame.append(payload); + for (size_t i = 0; i < n; ++i) frame[off + i] ^= key[i % 4]; + write_all(frame.data(), frame.size()); + } + + std::string recv_message() { + std::string message; + for (;;) { + uint8_t h[2]; + read_all(h, 2); + bool fin = h[0] & 0x80; + uint8_t opcode = h[0] & 0x0f; + bool masked = h[1] & 0x80; + uint64_t len = h[1] & 0x7f; + if (len == 126) { + uint8_t e[2]; read_all(e, 2); + len = (static_cast(e[0]) << 8) | e[1]; + } else if (len == 127) { + uint8_t e[8]; read_all(e, 8); + len = 0; + for (int i = 0; i < 8; ++i) len = (len << 8) | e[i]; + } + uint8_t key[4] = {0, 0, 0, 0}; + if (masked) read_all(key, 4); + + std::string chunk(len, '\0'); + if (len) read_all(reinterpret_cast(&chunk[0]), len); + if (masked) + for (uint64_t i = 0; i < len; ++i) chunk[i] ^= key[i % 4]; + + if (opcode == 0x8) throw std::runtime_error("server closed the connection"); + if (opcode == 0x9) { send_pong(chunk); continue; } + if (opcode == 0xa) continue; + + message += chunk; + if (fin) return message; + } + } + + private: + void handshake(const std::string& host, int port) { + uint8_t nonce[16]; + for (int i = 0; i < 16; ++i) nonce[i] = static_cast(rng_() & 0xff); + std::string key = base64_encode(nonce, 16); + + std::string req = + "GET / HTTP/1.1\r\n" + "Host: " + host + ":" + std::to_string(port) + "\r\n" + "Upgrade: websocket\r\n" + "Connection: Upgrade\r\n" + "Sec-WebSocket-Key: " + key + "\r\n" + "Sec-WebSocket-Version: 13\r\n\r\n"; + write_all(req.data(), req.size()); + + std::string resp; + while (resp.find("\r\n\r\n") == std::string::npos) { + char c; + read_all(reinterpret_cast(&c), 1); + resp.push_back(c); + if (resp.size() > 8192) throw std::runtime_error("handshake response too long"); + } + if (resp.find("101") == std::string::npos) + throw std::runtime_error("server refused the upgrade:\n" + resp); + + // Verify Sec-WebSocket-Accept: base64(sha1(key + GUID)). + const std::string guid = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11"; + Sha1 sha; + std::string concat = key + guid; + sha.update(reinterpret_cast(concat.data()), concat.size()); + auto d = sha.digest(); + std::string expect = base64_encode(d.data(), d.size()); + if (resp.find(expect) == std::string::npos) + throw std::runtime_error("Sec-WebSocket-Accept mismatch; expected " + expect); + } + + void send_pong(const std::string& payload) { + std::string frame; + frame.push_back(static_cast(0x8a)); + frame.push_back(static_cast(0x80 | payload.size())); + uint8_t key[4] = {0, 0, 0, 0}; + frame.append(reinterpret_cast(key), 4); + frame.append(payload); + write_all(frame.data(), frame.size()); + } + + void write_all(const char* data, size_t n) { + size_t sent = 0; + while (sent < n) { + ssize_t k = ::send(fd_, data + sent, n - sent, 0); + if (k <= 0) throw std::runtime_error("send failed"); + sent += static_cast(k); + } + } + + void read_all(uint8_t* data, size_t n) { + size_t got = 0; + while (got < n) { + ssize_t k = ::recv(fd_, data + got, n - got, 0); + if (k <= 0) throw std::runtime_error("connection closed while reading"); + got += static_cast(k); + } + } + + int fd_ = -1; + std::mt19937 rng_{std::random_device{}()}; +}; + +// ---------------------------------------------------------------- client + +uint32_t g_seed = 12345; +double next_float() { + g_seed = (1103515245u * g_seed + 12345u) & 0x7fffffff; + return static_cast(g_seed % 10000) / 10000.0; +} + +// Image geometry is configurable so the cost of the boundary can be measured +// against payload size rather than guessed at. +int g_img_size = 224; +int g_cameras = 2; + +void pack_observation(Packer& p, int batch) { + p.map(3); + + p.str("images"); + p.map(g_cameras); + static const char* names[4] = {"base", "wrist", "left", "right"}; + for (int k = 0; k < g_cameras; ++k) { + // The second camera is the usual half-resolution wrist view. + int side = (k == 1) ? g_img_size / 2 : g_img_size; + p.str(names[k % 4]); + size_t n = static_cast(batch) * side * side * 3; + std::string raw(n, '\0'); + for (size_t i = 0; i < n; ++i) raw[i] = static_cast(i & 0xff); + pack_ndarray(p, raw, "|u1", {batch, side, side, 3}); + } + + p.str("states"); + p.map(2); + { + std::vector s(static_cast(batch) * 10); + for (auto& x : s) x = next_float(); + p.str("robot_state"); + pack_ndarray(p, pack_f8(s), " j(static_cast(batch) * 5); + for (auto& x : j) x = next_float(); + p.str("joint_angles"); + pack_ndarray(p, pack_f8(j), "(meta_raw.data()), meta_raw.size()); + auto meta = meta_up.parse(); + auto mt = meta->find("message_type"); + if (!mt || mt->s != "metadata") { + std::cerr << "expected metadata, got " << (mt ? mt->s : "") << "\n"; + return 1; + } + std::cout << "handshake ok, metadata received\n"; + + std::vector env_idx(batch); + for (int i = 0; i < batch; ++i) env_idx[i] = i; + + using clock = std::chrono::steady_clock; + auto ms = [](clock::duration d) { + return std::chrono::duration(d).count(); + }; + std::vector pack_ms, rtt_ms, unpack_ms; + size_t infer_bytes = 0; + + for (int step = 0; step < steps; ++step) { + std::vector step_ids(batch, step); + + auto t0 = clock::now(); + Packer p; + p.map(4); + p.str("message_type"); p.str("infer"); + p.str("data"); pack_observation(p, batch); + p.str("env_indices"); pack_ndarray(p, pack_i8(env_idx), "(reply.data()), reply.size()); + auto msg = up.parse(); + auto t3 = clock::now(); + + // Skip the first few: the first exchange carries connection warm-up. + if (step >= 3) { + pack_ms.push_back(ms(t1 - t0)); + rtt_ms.push_back(ms(t2 - t1)); + unpack_ms.push_back(ms(t3 - t2)); + } + auto type = msg->find("message_type"); + if (!type || type->s != "action") { + std::cerr << "expected action, got " << (type ? type->s : "") << "\n"; + return 1; + } + auto data = msg->find("data"); + auto action = data ? data->find("action") : nullptr; + if (!action) { std::cerr << "no action field\n"; return 1; } + + auto dtype = action->find("dtype"); + auto shape = action->find("shape"); + auto blob = action->find("data"); + if (!dtype || !shape || !blob) { std::cerr << "malformed ndarray\n"; return 1; } + + std::vector dims; + for (const auto& d : shape->arr) + dims.push_back(d->kind == Value::Kind::Int ? d->i + : static_cast(d->u)); + for (int64_t d : dims) + if (d == 0) { std::cerr << "server returned an empty action\n"; return 1; } + + if (step == 0) { + std::cout << "action: dtype=" << dtype->s << " shape=["; + for (size_t i = 0; i < dims.size(); ++i) + std::cout << dims[i] << (i + 1 < dims.size() ? ", " : ""); + std::cout << "]\n first values:"; + // "(6, blob->s.size() / 4); + for (size_t i = 0; i < count; ++i) { + float f; + std::memcpy(&f, blob->s.data() + i * 4, 4); + std::cout << " " << f; + } + std::cout << "\n"; + } + + Packer fb; + fb.map(4); + fb.str("message_type"); fb.str("feedback"); + fb.str("env_indices"); pack_ndarray(fb, pack_i8(env_idx), "(batch) * 4, '\0'); + for (int i = 0; i < batch; ++i) { + float r = static_cast(next_float()); + std::memcpy(&rewards[i * 4], &r, 4); + } + fb.str("rewards"); pack_ndarray(fb, rewards, " v, double q) { + std::sort(v.begin(), v.end()); + size_t i = static_cast(q * (v.size() - 1)); + return v[i]; + }; + auto mean = [](const std::vector& v) { + return std::accumulate(v.begin(), v.end(), 0.0) / v.size(); + }; + std::cout << std::fixed << std::setprecision(3) + << "\nboundary cost, " << rtt_ms.size() << " samples" + << " (batch=" << batch << ", " << g_cameras << " cameras @ " + << g_img_size << "px, infer payload " + << infer_bytes / 1024 << " KiB)\n" + << " pack mean " << mean(pack_ms) + << " ms p50 " << stat(pack_ms, 0.50) + << " p95 " << stat(pack_ms, 0.95) << "\n" + << " rtt mean " << mean(rtt_ms) + << " ms p50 " << stat(rtt_ms, 0.50) + << " p95 " << stat(rtt_ms, 0.95) << "\n" + << " unpack mean " << mean(unpack_ms) + << " ms p50 " << stat(unpack_ms, 0.50) + << " p95 " << stat(unpack_ms, 0.95) << "\n" + << " TSV\t" << batch << "\t" << g_cameras << "\t" << g_img_size + << "\t" << infer_bytes << "\t" << mean(pack_ms) << "\t" + << mean(rtt_ms) << "\t" << mean(unpack_ms) << "\n"; + } + return 0; +} + +} // namespace + +int main(int argc, char** argv) { + // host port steps batch img_size cameras + std::string host = argc > 1 ? argv[1] : "127.0.0.1"; + int port = argc > 2 ? std::stoi(argv[2]) : 8123; + int steps = argc > 3 ? std::stoi(argv[3]) : 20; + int batch = argc > 4 ? std::stoi(argv[4]) : 1; + if (argc > 5) g_img_size = std::stoi(argv[5]); + if (argc > 6) g_cameras = std::stoi(argv[6]); + try { + return run(host, port, steps, batch); + } catch (const std::exception& e) { + std::cerr << "error: " << e.what() << "\n"; + return 1; + } +} diff --git a/examples/raw_client.py b/examples/raw_client.py new file mode 100644 index 0000000..21ba7a1 --- /dev/null +++ b/examples/raw_client.py @@ -0,0 +1,274 @@ +"""A PlugRL env client that shares no code with PlugRL. + +This exists to test one claim: that the wire protocol can be spoken by a +program written against the specification alone - a robot's onboard controller +in C++, a ROS node, anything that is not this Python codebase. + +To make that test mean something, the rules here are strict: + + * nothing from plugrl_protocol, plugrl_env_client or plugrl_server + * no numpy - arrays are built and parsed with `struct` and `array`, exactly + as a C++ client would have to + * only msgpack and websockets, both of which have mature implementations in + C++, Rust, Go, JavaScript and more + +If this completes episodes against a real plugrl-server, the protocol is +portable. If it needs something only Python can express, it is not, and that +is worth knowing before building an argument on it. + +Usage: + python raw_client.py [--host 127.0.0.1] [--port 8000] [--steps 20] +""" + +from __future__ import annotations + +import argparse +import struct +import sys +from array import array + +import msgpack +import websockets.sync.client + +# ---------------------------------------------------------------- wire format +# +# Message types, copied from the protocol - four lowercase strings. +INFER = "infer" +FEEDBACK = "feedback" +METADATA = "metadata" +ACTION = "action" + +# An ndarray travels as a map with binary keys: +# +# {b"__ndarray__": true, b"data": , b"dtype": " tuple[str, str, int]: + """' ('<', 'f', 4). '|u1' means byte order is irrelevant.""" + order, kind, size = typestr[0], typestr[1], int(typestr[2:]) + if order == "|": + order = "<" + return order, kind, size + + +def encode_array(values, typestr: str, shape: tuple[int, ...]) -> dict: + """Pack a flat sequence of numbers into the on-wire ndarray form.""" + order, kind, size = _parse_typestr(typestr) + if kind == _BOOL_KIND: + raw = bytes(1 if v else 0 for v in values) + else: + buf = array(_ARRAY_CODE[(kind, size)], values) + if (sys.byteorder == "little") != (order == "<"): + buf.byteswap() + raw = buf.tobytes() + return { + b"__ndarray__": True, + b"data": raw, + b"dtype": typestr, + b"shape": list(shape), + } + + +def decode_array(obj: dict) -> tuple[list, str, list]: + """Unpack the on-wire ndarray form into (flat values, typestr, shape).""" + typestr = obj[b"dtype"] + if isinstance(typestr, bytes): + typestr = typestr.decode() + order, kind, size = _parse_typestr(typestr) + raw = obj[b"data"] + if kind == _BOOL_KIND: + values = [b != 0 for b in raw] + else: + buf = array(_ARRAY_CODE[(kind, size)]) + buf.frombytes(raw) + if (sys.byteorder == "little") != (order == "<"): + buf.byteswap() + values = list(buf) + return values, typestr, list(obj[b"shape"]) + + +def looks_like_array(obj) -> bool: + return isinstance(obj, dict) and b"__ndarray__" in obj + + +# ---------------------------------------------------------------- fake sensor +# +# A stand-in for whatever the real machine reads. Deterministic, so a failure +# is reproducible. + +_seed = 12345 + + +def _next_float() -> float: + global _seed + _seed = (1103515245 * _seed + 12345) & 0x7FFFFFFF + return (_seed % 10000) / 10000.0 + + +def encode_bytes_array(raw: bytes, typestr: str, shape: tuple[int, ...]) -> dict: + """Wrap already-laid-out bytes, the way a camera driver would hand them over.""" + return { + b"__ndarray__": True, + b"data": raw, + b"dtype": typestr, + b"shape": list(shape), + } + + +def _fake_image(batch: int, h: int, w: int) -> dict: + # A real camera hands over a buffer; there is no reason to build it element + # by element. uint8 needs no byte-order handling. + pattern = bytes(range(256)) + n = batch * h * w * 3 + raw = (pattern * (n // 256 + 1))[:n] + return encode_bytes_array(raw, "|u1", (batch, h, w, 3)) + + +def make_observation(batch: int, state_dim: int = 10, joint_dim: int = 5) -> dict: + """The Observation dataclass as it appears on the wire: images, states, text. + + The images are not decoration. dummy-v1 sends a 224x224 and a 112x112 frame + per step, so including them is what exercises the ~180KB binary payload + path that a real vision-based policy depends on. + """ + return { + "images": { + "base": _fake_image(batch, 224, 224), + "wrist": _fake_image(batch, 112, 112), + }, + "states": { + "robot_state": encode_array( + [_next_float() for _ in range(batch * state_dim)], + " int: + uri = f"ws://{host}:{port}" + print(f"connecting to {uri}") + + packer = msgpack.Packer() + + with websockets.sync.client.connect( + uri, compression=None, max_size=None, open_timeout=30 + ) as ws: + # 1. The server speaks first, with metadata. + meta = msgpack.unpackb(ws.recv(), raw=False, strict_map_key=False) + if meta.get("message_type") != METADATA: + print(f"expected {METADATA}, got {meta.get('message_type')!r}") + return 1 + print(f"metadata: {meta['data']}") + + env_indices = encode_array(range(batch), " int: + p = argparse.ArgumentParser(description=__doc__) + p.add_argument("--host", default="127.0.0.1") + p.add_argument("--port", type=int, default=8000) + p.add_argument("--steps", type=int, default=20) + p.add_argument("--batch", type=int, default=1) + a = p.parse_args() + return run(a.host, a.port, a.steps, a.batch) + + +if __name__ == "__main__": + raise SystemExit(main()) From 37da59d9b4bba956a4002968f3aa85e4db937b14 Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Thu, 10 Sep 2026 13:19:35 -0400 Subject: [PATCH 05/13] style: format the reference clients and drop an unused import raw_client.py imported struct but ended up using the array module; the docstring said struct too. Both fixed. Verified afterwards that both clients still complete exchanges against a real server - formatting should not change behaviour, but should-not is not did-not. Co-Authored-By: Claude Opus 5 (1M context) --- examples/raw_client.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/examples/raw_client.py b/examples/raw_client.py index 21ba7a1..a396954 100644 --- a/examples/raw_client.py +++ b/examples/raw_client.py @@ -7,7 +7,7 @@ To make that test mean something, the rules here are strict: * nothing from plugrl_protocol, plugrl_env_client or plugrl_server - * no numpy - arrays are built and parsed with `struct` and `array`, exactly + * no numpy - arrays are built and parsed with the `array` module, exactly as a C++ client would have to * only msgpack and websockets, both of which have mature implementations in C++, Rust, Go, JavaScript and more @@ -23,7 +23,6 @@ from __future__ import annotations import argparse -import struct import sys from array import array @@ -227,8 +226,10 @@ def run(host: str, port: int, steps: int, batch: int) -> int: values, typestr, shape = decode_array(action_field) if 0 in shape: - print(f"action shape {shape} contains a zero: the server " - f"produced no action for this request") + print( + f"action shape {shape} contains a zero: the server " + f"produced no action for this request" + ) return 1 if step == 0: print(f"action: dtype={typestr} shape={shape}") From 22b324caac17b128775258c0245151ce4a02e196 Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Thu, 10 Sep 2026 14:57:37 -0400 Subject: [PATCH 06/13] legal: attribute msgpack_numpy.py to openpi src/plugrl_protocol/msgpack_numpy.py is openpi's file, reformatted. Diffing it against third_party/openpi/packages/openpi-client/src/openpi_client/ msgpack_numpy.py shows only line-wrapping differences from ruff-format. openpi is Apache-2.0, Copyright 2024 Physical Intelligence. Apache-2.0 section 4 requires carrying attribution forward, and this repository's NOTICE claimed the whole work for PlugRL. That is a compliance defect, and this repository is already public, so it is fixed first. NOTICE now records the chain, which runs one step further than openpi: their file is itself adapted from lebedov/msgpack-numpy (BSD 3-Clause), as their docstring says. Worth stating plainly rather than burying: PlugRL's wire format IS openpi's wire format. That is not an accident to be embarrassed about - it means a PlugRL client and an openpi client speak the same bytes. But it does mean the transport was never PlugRL's invention, and nothing downstream should claim it as one. Co-Authored-By: Claude Opus 5 (1M context) --- NOTICE | 9 +++++++++ src/plugrl_protocol/msgpack_numpy.py | 6 ++++++ 2 files changed, 15 insertions(+) diff --git a/NOTICE b/NOTICE index 88e0564..e5ba900 100644 --- a/NOTICE +++ b/NOTICE @@ -1,2 +1,11 @@ PlugRL Copyright 2026 The PlugRL Authors + +This product includes software developed at Physical Intelligence +(https://github.com/Physical-Intelligence/openpi), Copyright 2024 +Physical Intelligence, licensed under the Apache License, Version 2.0. + + src/plugrl_protocol/msgpack_numpy.py is taken from openpi's + packages/openpi-client/src/openpi_client/msgpack_numpy.py, which is in + turn adapted from msgpack-numpy (https://github.com/lebedov/msgpack-numpy), + Copyright 2013-2023 Lev E. Givon, BSD 3-Clause. diff --git a/src/plugrl_protocol/msgpack_numpy.py b/src/plugrl_protocol/msgpack_numpy.py index 6896f2a..37a03ca 100644 --- a/src/plugrl_protocol/msgpack_numpy.py +++ b/src/plugrl_protocol/msgpack_numpy.py @@ -1,5 +1,11 @@ """Adds NumPy array support to msgpack. +Taken from openpi (https://github.com/Physical-Intelligence/openpi), +Copyright 2024 Physical Intelligence, licensed under Apache-2.0, at +packages/openpi-client/src/openpi_client/msgpack_numpy.py. Reformatted +only; the wire format is deliberately identical so that PlugRL clients +and openpi clients speak the same bytes. + msgpack is good for (de)serializing data over a network for multiple reasons: - msgpack is secure (as opposed to pickle/dill/etc which allow for arbitrary code execution) - msgpack is widely used and has good cross-language support From 8f84bf6259c1799092dcc6ae81337f3e4476bc4b Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Thu, 10 Sep 2026 15:39:41 -0400 Subject: [PATCH 07/13] docs: specify the wire protocol Until now the protocol existed only as two implementations that agreed with each other. SPEC.md states it: transport settings, the msgpack ndarray convention, the four messages, the exchange rules, the close reasons, and a conformance checklist. It is written from the implementation and says so, and where the implementation is under-specified it says that too rather than inventing a rule. Writing it down turned up five things worth knowing: * The two servers disagree. WebSocketAgentServer sends env_ids alongside the action; RayAgentServer sends no env_ids at all, ignores the request's env_indices, and keeps one environment's state per connection. It is an earlier single-environment dialect that was never updated. * The text field is the one place numpy leaks past the typestr. It ships as a --- README.md | 85 +++++- SPEC.md | 530 +++++++++++++++++++++++++++++++++ examples/README.md | 37 ++- tests/test_spec_conformance.py | 212 +++++++++++++ 4 files changed, 851 insertions(+), 13 deletions(-) create mode 100644 SPEC.md create mode 100644 tests/test_spec_conformance.py diff --git a/README.md b/README.md index f6fded0..fd36a87 100644 --- a/README.md +++ b/README.md @@ -3,4 +3,87 @@ [![CI](https://github.com/PlugRL/plugrl-protocol/actions/workflows/ci.yml/badge.svg)](https://github.com/PlugRL/plugrl-protocol/actions/workflows/ci.yml) [![License: Apache 2.0](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](LICENSE) -Shared transport, message types, and serialization utilities for PlugRL. +The wire protocol between a PlugRL **training server**, which holds the +policy and the learning algorithm, and an **env client**, which runs +environments and asks for actions. + +The two are separate processes, usually on separate machines, deliberately: +an environment stack and a training stack can then be installed, versioned +and scheduled independently, and an env client need not be Python at all. + +**[SPEC.md](SPEC.md) is the specification.** It is normative, it names its +own known defects, and everything in it that can be checked by a test is. + +## What is here + +| | | +|---|---| +| [`SPEC.md`](SPEC.md) | the protocol, in full | +| [`src/plugrl_protocol/`](src/plugrl_protocol/) | the message types and the msgpack codec — 101 lines | +| [`examples/`](examples/) | two env clients written against the spec, sharing no code with PlugRL | +| [`tests/`](tests/) | the spec's checkable clauses, as tests | + +The package is small on purpose. It is the piece both sides import, so +anything that could live on one side does. + +## The protocol in one screen + +Four message types, four lowercase strings. The server speaks first. + +``` +client server + |------------ WebSocket handshake ---------->| + |<---------------- metadata -----------------| + |------------------ infer ------------------>| observations + |<----------------- action ------------------| an action chunk + |----------------- feedback ---------------->| reward, done, next obs +``` + +Messages are msgpack maps carrying a `message_type`. Arrays travel as + +``` +{b"__ndarray__": true, b"data": , b"dtype": "` request header +during the WebSocket handshake. + +> **Gap — the header is not checked.** `WebSocketEnvClientAgent` sends the +> header when `api_key` is set, and no server in this project reads it. The +> protocol has no authentication. Do not expose a training server to a +> network you do not control. + +--- + +## 2. Message envelope + +Every application message is a msgpack **map** whose `"message_type"` key +(a msgpack `str`) holds one of exactly four lowercase values: + +| Value | Direction | Reply | +|---|---|---| +| `"metadata"` | server to client | none | +| `"infer"` | client to server | `"action"` | +| `"action"` | server to client | `"feedback"` | +| `"feedback"` | client to server | none | + +These four strings are the protocol's only magic constants besides the two +close reasons in section 7. They are pinned by +[`tests/test_wire_format.py`](tests/test_wire_format.py). + +An endpoint receiving a message whose `message_type` is not the one it +expects **MUST** treat it as a protocol error (section 7.2). The server does +exactly this; it does not attempt to recover in place. + +--- + +## 3. Serialization + +### 3.1 Ordinary values + +msgpack maps, arrays, strings, integers, floats, booleans and nil map +directly. Map keys carrying schema names (`"message_type"`, `"data"`, +`"env_indices"`, and so on) are msgpack `str`. + +### 3.2 Arrays + +A multidimensional numeric array travels as a map with **binary** keys: + +``` +{ + b"__ndarray__": true, + b"data": , # raw C-contiguous element bytes + b"dtype": , # a numpy typestr, e.g. ", b"dtype": } +``` + +where `data` is an ordinary msgpack number or boolean. Env clients rarely +produce these; decoders should still handle them, since anything a policy +puts in its response may take this form. + +### 3.3 The typestr + +`dtype` is a numpy typestr: a **byte-order** character, a **kind** +character, and a decimal **item size in bytes**. + +| Byte order | Meaning | +|---|---| +| `<` | little-endian | +| `>` | big-endian | +| `\|` | not applicable (single-byte types) | + +| Kind | Meaning | Seen on the wire as | +|---|---|---| +| `b` | boolean | `\|b1` — one byte per element, `0` or `1` | +| `u` | unsigned int | `\|u1` for images; `` — see section 3.4 | + +Kinds `V` (structured), `O` (object) and `c` (complex) are **rejected at +pack time** and never appear. + +A ten-line hand-written parser is enough; both reference clients contain +one. This is the only piece of numpy vocabulary a non-Python client must +learn — with one exception. + +### 3.4 Text is the one real wart + +`Observation.text` is a numpy array of unicode strings, so it is packed by +the same ndarray path as everything else, and its typestr is `` where +`n` is the **character** count of the longest string in the array. Each +element occupies `4n` bytes: **UTF-32 in the stated byte order, NUL-padded +to `n` code points**. + +Measured, for `["pick up the red block", "stack"]`: + +``` +dtype " **Gap — clients disagree about how to write it.** +> `plugrl-env-client` sends `text` as a ` [`examples/raw_client.py`](examples/raw_client.py) sends it as a plain +> msgpack array of strings. Both are accepted, because the server does not +> validate observation contents — it forwards them to the policy, and +> whether the policy copes depends on the policy. Of the policies in +> `plugrl-server`, only `dummy_policy` (which takes `len(obs["text"])`) and +> the openpi transform (which renames `text` to `prompt`) touch the field, +> and both accept either form. +> +> **A future revision should require the msgpack-string-array form** and +> have the server normalise on receipt. Until then, a client that must +> interoperate with the Python one should send the `| + |<---------------- metadata -----------------| exactly once, server speaks first + | | + |------------------ infer ------------------>| \ + |<----------------- action ------------------| | repeats until close + | | | + | ... zero or more local environment steps ... | + | | | + |----------------- feedback ---------------->| / + | (no reply) | +``` + +### 4.2 The alternation invariant + +**On a given connection, application messages strictly alternate:** + +``` +metadata ( infer action feedback )* +``` + +The server's connection handler is a straight-line loop that blocks on +`recv()` for an `infer`, replies with an `action`, then blocks on `recv()` +again for exactly one `feedback`. It has no queue and no dispatcher. A +client that sends two `infer` messages without a `feedback` between them +will have its second `infer` parsed as a `feedback`, fail validation, and be +disconnected with a resync request (section 7.2). + +**A `feedback` may arrive many environment steps after the `action` it +answers.** With an action horizon of `H`, the client executes up to `H` +local steps before the chunk is exhausted and feedback is due. The server +waits, up to `FEEDBACK_WAIT_TIMEOUT` = 60 s (section 7.3). + +### 4.3 The env sets in one cycle need not match + +This is the part an independent implementation is most likely to get wrong. + +`infer`, `action` and `feedback` each carry a set of environment indices. +Within one `infer`/`action`/`feedback` cycle: + +- the `action`'s `env_ids` **MUST** equal the `infer`'s `env_indices`, in + the same order — the server asserts this; +- the `feedback`'s `env_indices` **need not equal either of them**, and in a + multi-environment client routinely does not. + +The two sets answer different questions. `infer` carries the environments +whose action chunk has just run out; `feedback` carries the environments +whose chunk finished on this environment step. Once environments +desynchronise — the first time one of them terminates early — those are +different sets. + +The pairing between an `action` and the following `feedback` is therefore +**pure flow control, not a semantic association**. The server routes +feedback by env index into per-environment state, not by position in the +stream. An implementer who assumes "the feedback tells me about the actions +I just received" will be wrong as soon as a second environment exists. + +The alternation still holds exactly, because an environment can only +re-enter the "needs a chunk" set at the top of the iteration *after* the one +in which it entered the "chunk finished" set. One feedback per action, every +time. + +### 4.4 Environment indices are connection-scoped + +`env_indices` are small non-negative integers naming environments **within +one connection**. The server keeps its per-environment maps inside the +connection handler, so index `0` from one client and index `0` from another +are unrelated. Clients running several processes against one server do not +need to coordinate index ranges. + +--- + +## 5. Message schemas + +Shapes are written with `n` = number of environments in *this* message, +`H` = action horizon, `da` = the environment's action shape (usually a +one-tuple). + +### 5.1 `metadata` — server to client + +``` +{ "message_type": "metadata", + "data": } +``` + +Sent once, immediately after the handshake, **before the client sends +anything**. A client MUST read it before its first `infer`. + +> **Gap — `data` is always empty.** No entry point in `plugrl-server` +> populates the metadata dict; both servers default it to `{}`. It is an +> extension point with nothing in it. A client MUST NOT require any key. +> Natural contents for a future revision: policy identifier, action horizon +> `H`, action shape and dtype, and a protocol version — all of which a +> client currently has to be told out of band. + +### 5.2 `infer` — client to server + +``` +{ "message_type": "infer", + "data": , + "env_indices": , + "step_ids": } +``` + +The **observation** is a three-key map, batched along a leading axis of `n`: + +``` +{ "images": { : , ... }, + "states": { : , ... }, + "text": } +``` + +`images` and `states` may each be empty; camera names and state names are +environment-defined and the server does not check them. Every array under +both keys **MUST** share the same leading dimension `n`. + +`n` **MAY** differ between successive `infer` messages on one connection. +This is the normal case: the batch is whichever environments happen to need +a chunk, and it is ragged by construction. + +> **Gap — `step_ids` is accepted and ignored.** The client sends, per +> environment, the number of completed action chunks in the current episode, +> reset to `0` when the episode ends. Neither server reads it. It is +> validated for presence only; a client must send it, and may send zeros. + +### 5.3 `action` — server to client + +``` +{ "message_type": "action", + "data": { "env_ids": , + "action": } } +``` + +**The action array is time-major**: horizon first, environment second. The +server produces `[n, H, *da]` internally and transposes on the way out. + +The client **MAY** consume any prefix of the horizon and re-plan early; it +**MUST NOT** ask for more steps than `H`. The dtype is the environment's +action dtype and is not renegotiated. + +> **Gap — the two servers disagree about this message.** +> `WebSocketAgentServer` sends `env_ids` alongside `action`, as above. +> `RayAgentServer` sends `{"action": ...}` with **no `env_ids` key at all**, +> ignores the request's `env_indices`, keeps one environment's worth of +> state per connection, and buffers the action chunk server-side — +> delivering one step per `infer` when the algorithm sets +> `break_action_chunk`. It is an earlier single-environment dialect that was +> not updated when multi-environment support landed. +> +> **A client conforming to this document should read `env_ids` when present +> and otherwise assume the request's own `env_indices`.** Bringing the Ray +> server to this specification, or retiring it, is tracked work rather than +> a protocol choice. + +### 5.4 `feedback` — client to server + +``` +{ "message_type": "feedback", + "env_indices": , + "step_ids": , + "data": { + "obs": , + "rewards": , + "terminated": , + "truncated": , + "info": } } +``` + +There is **no reply**. The next thing on the wire is the client's next +`infer`. + +`obs` is the observation *after* the last action of the chunk — the +environment's next state, not the one that was sent in `infer`. + +**`rewards` is the sum over the chunk, not the last step's reward.** The +client accumulates reward across every environment step of the chunk and +flushes the total when the chunk ends. Credit assignment reaching the +learner is therefore at chunk granularity. A client that reports only the +final step's reward will silently train on a different MDP. + +`terminated` and `truncated` are the flags from the **final** step of the +chunk, carrying Gymnasium's usual distinction: `terminated` means the +episode ended by the environment's own rules, `truncated` means it was cut +short (time limit, external stop). A chunk is also flushed early when either +flag is set, so a terminal transition is never buried inside a chunk. + +`info` is a free-form map. When present, its values are expected to be +batched to `m` along a leading axis, and the server slices them per +environment; a value that is not `m`-shaped is passed through to every +environment unchanged. `{}` is valid and is what the reference clients send. + +#### Terminal observations + +The client **MUST** send the observation that the terminal step returned, +not the first observation of the next episode. This corresponds to +Gymnasium's `AutoresetMode.NEXT_STEP`: the step reporting `done` returns the +terminal observation, and the reset happens on the following call. + +An environment that resets inside its own `step()` violates this silently — +nothing raises, and the terminal transition simply carries the wrong +observation into the learner's buffer. `plugrl-env-client` pins the declared +mode of every environment it ships and demonstrates the corruption +executably in its `tests/test_terminal_observation.py`. + +--- + +## 6. Batching on the server + +Not part of the wire format, but it determines what a client sees. + +The server does not answer an `infer` immediately. It queues the request and +a scheduler drains the queue into one batch, running the policy once for all +of them. A request therefore waits for two things: the scheduler's polling +interval (`SCHEDULER_SLEEP_INTERVAL`, 0.1 ms) and the batch-readiness +condition — by default one queued request per connected client, or +`mini_infer_batch_size` environments when that is set. + +Two consequences for a client: + +- **Latency is not independent of other clients.** A client alone on a + server is answered as fast as the scheduler polls. A client sharing one + with slower peers waits for them, up to `INFER_READY_TIMEOUT` = 5 s, after + which the server logs a warning and keeps waiting. +- **A client must not assume its request is the whole batch.** Actions come + back sliced out of a larger tensor; the slice boundaries are the request's + own `n`. + +--- + +## 7. Closing + +### 7.1 Normal shutdown + +When the algorithm signals that training is finished, the server closes with +close code **1001 (going away)** and reason: + +``` +plugrl-server-stop +``` + +A client seeing this reason should exit rather than reconnect, unless it was +explicitly configured to wait for the next run. + +### 7.2 Protocol error — resync + +When a message fails validation — wrong `message_type`, missing required +key — the server closes with **1001 (going away)** and reason: + +``` +plugrl-server-resync +``` + +This means "your stream and mine are out of step". A client should +reconnect, read the fresh `metadata`, and resume from a new `infer`. Any +feedback it was holding is stale and **MUST** be dropped: the server's +per-environment state went with the closed connection. + +### 7.3 Feedback timeout + +If 60 s pass after an `action` without a `feedback`, the server closes with +**1001** and reason `Feedback timeout`. Environments slower than that must +be split across more connections, or the constant raised on both sides. + +### 7.4 Internal error + +An unhandled server-side exception closes with **1011 (internal error)** and +reason `Internal server error.`. Unlike openpi (section 9), PlugRL does +**not** send the traceback as a text frame first. + +A client should nonetheless be prepared to receive a **text** frame where it +expected binary, and treat it as a fatal server-side error rather than +attempting to unpack it. + +--- + +## 8. Conformance checklist + +A client conforms to version 1 if it: + +- [ ] connects over WebSocket with compression disabled and no frame size cap; +- [ ] reads one `metadata` message before sending anything, and requires no + particular key in it; +- [ ] emits binary frames containing msgpack maps with a `message_type` str; +- [ ] encodes arrays with **bin** keys `__ndarray__` / `data` / `dtype` / + `shape`, C-contiguous, and parses the typestr rather than assuming a + dtype; +- [ ] sends exactly one `feedback` for every `action` received, and never + two `infer` messages in a row; +- [ ] tolerates its `feedback` env set differing from its `infer` env set; +- [ ] reads `action` as `[H, n, *da]`, time-major, and reads `env_ids` when + present; +- [ ] reports **chunk-summed** reward, and the **terminal** observation on + the step that reports done; +- [ ] handles close reasons `plugrl-server-stop` and `plugrl-server-resync` + differently; +- [ ] treats a text frame as a fatal error. + +The last item and the `env_ids` fallback are the two the reference clients +in `examples/` deliberately do not implement; they are demonstrations of the +floor, not production clients. + +--- + +## 9. Relationship to openpi + +PlugRL's serialization is openpi's. `msgpack_numpy.py` is taken from +[openpi](https://github.com/Physical-Intelligence/openpi) (Apache-2.0, +attributed in the file header and in `NOTICE`), reformatted only. **The +array encoding is byte-identical**, deliberately, so that the hard part of +writing a client is shared between the two ecosystems. + +The message layer differs: + +| | openpi | PlugRL | +|---|---|---| +| First server message | the metadata map, **bare** | `{"message_type": "metadata", "data": ...}` | +| Request | the observation map, bare | envelope + `env_indices` + `step_ids` | +| Response | the action map, bare, plus `server_timing` | envelope + `env_ids` + `action` | +| Return channel | none | `feedback`: reward, done flags, next observation | +| Batching | one observation per request | ragged multi-environment batch | +| Errors | traceback sent as a text frame, then close 1011 | close 1011, no traceback frame | +| Health check | `GET /healthz` | none | + +**PlugRL is openpi's serving protocol plus a feedback return channel.** That +is the whole difference, and it is the difference between serving a policy +and training one. An openpi client cannot drive a PlugRL server unmodified, +and vice versa, but the array codec — the part that takes real work in C++ +or Rust — carries across unchanged. + +--- + +## 10. Versioning + +This is version 1. It has no version field on the wire; section 5.1 notes +that the metadata message is the obvious place to put one, and that it +should be. + +Changing any of the four `message_type` strings, the two close reasons, the +ndarray key names, the action array's axis order, or the meaning of +`rewards` is a **breaking** change. `tests/test_wire_format.py` and +`tests/test_spec_conformance.py` exist so that such a change fails a test +rather than a deployment. diff --git a/examples/README.md b/examples/README.md index f7d9655..6544380 100644 --- a/examples/README.md +++ b/examples/README.md @@ -1,9 +1,9 @@ # Reference clients -Two env clients written against the protocol specification alone, sharing no -code with PlugRL. They exist to make one claim checkable rather than asserted: -that an environment can be driven by anything able to speak WebSocket and -msgpack, including a robot's onboard controller. +Two env clients written against [the protocol specification](../SPEC.md) +alone, sharing no code with PlugRL. They exist to make one claim checkable +rather than asserted: that an environment can be driven by anything able to +speak WebSocket and msgpack, including a robot's onboard controller. Both drive a real `plugrl-server` through complete infer/action/feedback exchanges, and the server advances its training loop as it would for any @@ -13,7 +13,7 @@ other client. |---|---|---| | Language | Python | C++17 | | Dependencies | `msgpack`, `websockets` | **none** | -| Lines | 274 | 633 | +| Lines | 275 | 693 | | Notably absent | numpy, and every `plugrl_*` package | libstdc++ and libc are the only links | The C++ one is the interesting case. It was written on a machine with no @@ -46,20 +46,33 @@ images, states and text; arrays travel as ``` `dtype` is a numpy typestr - a byte-order character, a kind character and an -item size. It is the only piece of numpy vocabulary on the wire, and both -clients parse it by hand in about ten lines (`_parse_typestr` in the Python -one, `pack_ndarray` and the decode path in the C++ one). Note that numpy's -`bool_` is one byte per element and Python's `array` module has no boolean -typecode, so booleans are handled as raw bytes - which is what a C++ client -would do anyway. +item size. It is nearly the only piece of numpy vocabulary on the wire, and +both clients parse it by hand in about ten lines (`_parse_typestr` in the +Python one, `pack_ndarray` and the decode path in the C++ one). Note that +numpy's `bool_` is one byte per element and Python's `array` module has no +boolean typecode, so booleans are handled as raw bytes - which is what a C++ +client would do anyway. Everything else is ordinary: plain WebSocket, standard msgpack, no extension types. A hand-written HTTP upgrade is enough to get `101 Switching Protocols` and the first metadata frame. -## Caveat +[`../SPEC.md`](../SPEC.md) is the full statement, including the three rules +these clients are too simple to exercise: the strict alternation of +infer/action/feedback, the fact that a feedback's environment set need not +match the infer's, and chunk-summed reward. + +## Caveats These are demonstrations, not production clients. They do not reconnect, do not handle the server's resync close reason, and invent their observations rather than reading a sensor. `plugrl-env-client` is the real one; these show what the floor looks like. + +One difference is worth naming rather than leaving to be discovered. These +clients send the observation's `text` field as a **plain msgpack array of +strings**; `plugrl-env-client` sends it as a numpy `f4" + assert wire[b"data"][:4] == b"\x00\x00\x00\x00" + assert wire[b"data"][4:] == b"\x3f\x80\x00\x00" # 1.0 big-endian + + def test_booleans_are_one_byte_per_element(self): + """SPEC section 3.3: `|b1`, values 0 or 1 - not a bit field.""" + wire = on_the_wire({"a": np.array([True, False, True])})["a"] + + assert wire[b"dtype"] == "|b1" + assert wire[b"data"] == b"\x01\x00\x01" + + def test_uint8_images_need_no_byte_order(self): + wire = on_the_wire({"a": np.zeros((1, 2, 2, 3), dtype=np.uint8)})["a"] + + assert wire[b"dtype"] == "|u1" + + +class TestScalarEncoding: + """SPEC section 3.2 - the npgeneric convention.""" + + def test_numpy_scalar_uses_a_different_marker_and_carries_a_plain_number(self): + wire = on_the_wire({"a": np.float32(1.5)})["a"] + + assert set(wire) == {b"__npgeneric__", b"data", b"dtype"} + assert wire[b"dtype"] == " Date: Thu, 10 Sep 2026 15:51:19 -0400 Subject: [PATCH 08/13] feat: add a conformance server, and make the C++ client pass it SPEC.md gave the protocol a written form. This gives it a way to be checked. conformance_server.py speaks the protocol and validates every clause visible from the server's side, then prints which one a client broke and exits non-zero. plugrl-server cannot do this job: it validates the message_type and hands the rest to the policy, which is right for a training run and useless to someone bringing up a client in a new language. The report has two severities, and keeping them apart is the point. A violation is something plugrl-server would reject or mishandle. A note is something it accepts that differs from what plugrl-env-client sends - a portability risk, not a breach. Collapsing the second into the first would mean enforcing rules the protocol does not have, which is exactly how a specification stops describing its implementation. Both reference clients now pass, 24 clauses, with one note each: they send text as a msgpack string array rather than a --- SPEC.md | 20 +- examples/README.md | 42 +++- examples/conformance_server.py | 398 +++++++++++++++++++++++++++++++++ examples/plugrl_client.cpp | 161 +++++++++++-- 4 files changed, 591 insertions(+), 30 deletions(-) create mode 100644 examples/conformance_server.py diff --git a/SPEC.md b/SPEC.md index 5b727af..b6a286d 100644 --- a/SPEC.md +++ b/SPEC.md @@ -348,7 +348,7 @@ action dtype and is not renegotiated. "step_ids": , "data": { "obs": , - "rewards": , + "rewards": , "terminated": , "truncated": , "info": } } @@ -366,6 +366,11 @@ flushes the total when the chunk ends. Credit assignment reaching the learner is therefore at chunk granularity. A client that reports only the final step's reward will silently train on a different MDP. +`plugrl-env-client` sends ` None: + self.checked[clause] = self.checked.get(clause, 0) + 1 + + def fail(self, clause: str, detail: str) -> None: + self.checked.setdefault(clause, 0) + self.failures.append((clause, detail)) + + def require(self, condition: bool, clause: str, detail: str) -> bool: + if condition: + self.ok(clause) + else: + self.fail(clause, detail) + return condition + + def advise(self, condition: bool, clause: str, detail: str) -> None: + """Accepted, but worth saying out loud. Never fails the run.""" + self.ok(clause) + if not condition: + self.advisories.setdefault(clause, detail) + + def render(self) -> str: + lines = ["", "=" * 68, "SPEC.md conformance report", "=" * 68] + for clause in sorted(self.checked): + broke = [d for c, d in self.failures if c == clause] + if broke: + mark = "FAIL" + elif clause in self.advisories: + mark = "note" + else: + mark = "ok " + lines.append(f" {mark} {clause} ({self.checked[clause]} checks)") + for detail in broke[:3]: + lines.append(f" {detail}") + if not broke and clause in self.advisories: + lines.append(f" {self.advisories[clause]}") + lines.append("=" * 68) + summary = ( + f"{len(self.failures)} violation(s)" if self.failures else "no violations" + ) + if self.advisories: + summary += f", {len(self.advisories)} advisory note(s)" + lines.append(summary) + return "\n".join(lines) + + +def _is_int_vector(value) -> bool: + return isinstance(value, np.ndarray) and value.ndim == 1 and value.dtype.kind == "i" + + +def _batch_sizes(observation: dict) -> set[int]: + """Leading dimensions of every array under images and states.""" + sizes = set() + for group in ("images", "states"): + for array in (observation.get(group) or {}).values(): + if isinstance(array, np.ndarray) and array.ndim >= 1: + sizes.add(int(array.shape[0])) + text = observation.get("text") + if isinstance(text, np.ndarray) and text.ndim == 1: + sizes.add(int(text.shape[0])) + elif isinstance(text, (list, tuple)): + sizes.add(len(text)) + return sizes + + +def check_observation(report: Report, observation, where: str, expect_n: int) -> None: + if not report.require( + isinstance(observation, dict), + "5.2 observation is a map", + f"{where}: got {type(observation).__name__}", + ): + return + + report.require( + set(observation) == {"images", "states", "text"}, + "5.2 observation has exactly images, states and text", + f"{where}: keys were {sorted(observation)}", + ) + + for group in ("images", "states"): + value = observation.get(group) + report.require( + isinstance(value, dict), + f"5.2 {group} is a map of named arrays", + f"{where}: {group} was {type(value).__name__}", + ) + + for name, image in (observation.get("images") or {}).items(): + report.require( + isinstance(image, np.ndarray) and image.dtype == np.uint8, + "5.2 images are uint8", + f"{where}: images[{name!r}] dtype " + f"{getattr(image, 'dtype', type(image).__name__)}", + ) + report.require( + isinstance(image, np.ndarray) and image.ndim == 4, + "5.2 images are [n, h, w, c]", + f"{where}: images[{name!r}] shape {getattr(image, 'shape', None)}", + ) + + # Section 3.4 Gap: the two shipped clients disagree here and the server + # accepts both, so this is reported, never failed. + text = observation.get("text") + report.advise( + isinstance(text, np.ndarray) and text.dtype.kind == "U", + "3.4 text is a numpy None: + report = self.report + packer = msgpack_numpy.Packer() + + # Section 5.1: the server speaks first, with an envelope. Everything + # after this point is the client's turn to be judged. + await websocket.send( + packer.pack({"message_type": str(MessageType.METADATA), "data": {}}) + ) + + awaiting = "infer" + try: + while self.exchanges < self.steps: + payload = msgpack_numpy.unpackb(await websocket.recv()) + + if not isinstance(payload, dict): + report.fail("2 message is a map", f"got {type(payload).__name__}") + return + report.ok("2 message is a map") + + kind = payload.get("message_type") + report.require( + isinstance(kind, str), + "2 message_type is a string, not bytes", + f"got {type(kind).__name__}", + ) + if not report.require( + kind == awaiting, + "4.2 infer and feedback strictly alternate", + f"expected {awaiting!r}, received {kind!r}", + ): + return + + if kind == str(MessageType.INFER): + n = self.check_infer(payload) + if n is None: + return + await websocket.send(packer.pack(self.action_for(payload, n))) + awaiting = str(MessageType.FEEDBACK) + else: + self.check_feedback(payload) + awaiting = str(MessageType.INFER) + self.exchanges += 1 + except Exception as exc: # noqa: BLE001 - the report is the output + report.fail("connection", f"{type(exc).__name__}: {exc}") + finally: + self.finished.set() + + def check_infer(self, payload: dict) -> int | None: + report = self.report + for key in ("data", "env_indices", "step_ids"): + if not report.require( + key in payload, + "5.2 infer carries data, env_indices and step_ids", + f"missing {key!r}", + ): + return None + + env_indices = payload["env_indices"] + if not report.require( + _is_int_vector(env_indices), + "5.2 env_indices is a one-dimensional integer array", + f"got {getattr(env_indices, 'dtype', type(env_indices).__name__)} " + f"shape {getattr(env_indices, 'shape', None)}", + ): + return None + + n = int(env_indices.shape[0]) + report.require(n > 0, "5.2 an infer names at least one env", "n was 0") + report.require( + len(set(env_indices.tolist())) == n, + "4.4 env indices are unique within a message", + f"repeated indices in {env_indices.tolist()}", + ) + report.require( + _is_int_vector(payload["step_ids"]) and payload["step_ids"].shape[0] == n, + "5.2 step_ids matches env_indices in length", + f"step_ids {getattr(payload['step_ids'], 'shape', None)} vs n={n}", + ) + check_observation(report, payload["data"], "infer", n) + return n + + def action_for(self, payload: dict, n: int) -> dict: + """Time-major, per section 5.3, with env_ids echoed in order.""" + action = np.zeros((self.horizon, n, self.action_dim), self.action_dtype) + for t in range(self.horizon): + action[t, :, 0] = t + return { + "message_type": str(MessageType.ACTION), + "data": { + "env_ids": np.asarray(payload["env_indices"], dtype=np.int64), + "action": action, + }, + } + + def check_feedback(self, payload: dict) -> None: + report = self.report + for key in ("data", "env_indices", "step_ids"): + if not report.require( + key in payload, + "5.4 feedback carries data, env_indices and step_ids", + f"missing {key!r}", + ): + return + + env_indices = payload["env_indices"] + if not report.require( + _is_int_vector(env_indices), + "5.4 feedback env_indices is a one-dimensional integer array", + f"got {type(env_indices).__name__}", + ): + return + m = int(env_indices.shape[0]) + + data = payload["data"] + if not report.require( + isinstance(data, dict), "5.4 feedback data is a map", f"{type(data)}" + ): + return + report.require( + set(data) == {"obs", "rewards", "terminated", "truncated", "info"}, + "5.4 feedback data has exactly its five keys", + f"keys were {sorted(data)}", + ) + + rewards = data.get("rewards") + if report.require( + isinstance(rewards, np.ndarray) + and rewards.dtype.kind == "f" + and rewards.shape == (m,), + "5.4 rewards is a float array of length m", + f"got {getattr(rewards, 'dtype', type(rewards).__name__)} " + f"shape {getattr(rewards, 'shape', None)}, m={m}", + ): + # The server never inspects the width, so a wider reward is + # accepted rather than rejected - but it is not what the Python + # client sends, and a policy that reshapes by itemsize would + # notice. + report.advise( + rewards.dtype == np.float32, + "5.4 rewards is float32, as plugrl-env-client sends", + f"got {rewards.dtype}; accepted, but float32 is the norm", + ) + + for flag in ("terminated", "truncated"): + value = data.get(flag) + report.require( + isinstance(value, np.ndarray) + and value.dtype == np.bool_ + and value.shape == (m,), + f"5.4 {flag} is a bool array of length m", + f"got {getattr(value, 'dtype', type(value).__name__)} " + f"shape {getattr(value, 'shape', None)}, m={m}", + ) + + report.require( + isinstance(data.get("info"), dict), + "5.4 info is a map", + f"got {type(data.get('info')).__name__}", + ) + check_observation(report, data.get("obs"), "feedback", m) + + +async def serve(args: argparse.Namespace) -> int: + server = ConformanceServer( + horizon=args.horizon, + action_dim=args.action_dim, + action_dtype=args.action_dtype, + steps=args.steps, + ) + async with ws_server.serve( + server.handle, args.host, args.port, compression=None, max_size=None + ): + print( + f"conformance server on ws://{args.host}:{args.port} - " + f"expecting {args.steps} exchanges, horizon {args.horizon}, " + f"action dtype {args.action_dtype}", + flush=True, + ) + try: + await asyncio.wait_for(server.finished.wait(), timeout=args.timeout) + except asyncio.TimeoutError: + server.report.fail("connection", f"no client finished in {args.timeout}s") + + print(f"\ncompleted {server.exchanges} infer/action/feedback exchanges") + print(server.report.render()) + return 1 if server.report.failures else 0 + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--host", default="127.0.0.1") + parser.add_argument("--port", type=int, default=8000) + parser.add_argument("--steps", type=int, default=20) + parser.add_argument("--horizon", type=int, default=4) + parser.add_argument("--action-dim", type=int, default=7) + parser.add_argument( + "--action-dtype", + default="float32", + help="the environment's action dtype; a client must read the typestr", + ) + parser.add_argument("--timeout", type=float, default=120.0) + return asyncio.run(serve(parser.parse_args())) + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/examples/plugrl_client.cpp b/examples/plugrl_client.cpp index 04e7e5f..eb28927 100644 --- a/examples/plugrl_client.cpp +++ b/examples/plugrl_client.cpp @@ -13,7 +13,8 @@ // a demonstration. // // Build: g++ -std=c++17 -O2 -o plugrl_client plugrl_client.cpp -// Run: ./plugrl_client 127.0.0.1 8123 20 +// Run: ./plugrl_client 127.0.0.1 8000 20 # host port steps +// ./plugrl_client 127.0.0.1 8000 20 1 224 2 # ... batch img cams #include #include @@ -319,15 +320,107 @@ void pack_ndarray(Packer& p, const std::string& raw, const std::string& dtype, for (int64_t d : shape) p.integer(d); } +// A numpy typestr: byte order, kind, decimal item size in bytes. +// SPEC section 3.3. + +struct TypeStr { + char order; // '<' or '>' after normalisation + char kind; // 'b', 'u', 'i', 'f', 'U' + int size; // bytes per element +}; + +TypeStr parse_typestr(const std::string& s) { + if (s.size() < 3) throw std::runtime_error("malformed typestr: " + s); + TypeStr t; + t.order = (s[0] == '|') ? '<' : s[0]; // '|' means single-byte, so moot + t.kind = s[1]; + t.size = std::stoi(s.substr(2)); + if (t.size <= 0) throw std::runtime_error("malformed typestr: " + s); + return t; +} + +// Read one element as a double, whatever integer or float type it is on the +// wire. The point is not generality for its own sake: SPEC section 8 asks a +// client to parse the typestr rather than assume a dtype, because the action +// dtype is the environment's and is never renegotiated. +double read_element(const std::string& raw, size_t index, const TypeStr& t) { + size_t off = index * static_cast(t.size); + if (off + static_cast(t.size) > raw.size()) + throw std::runtime_error("ndarray data shorter than shape implies"); + + uint64_t bits = 0; + for (int i = 0; i < t.size; ++i) { + // Little-endian: byte i is the i-th least significant. + int byte = (t.order == '<') ? i : (t.size - 1 - i); + bits |= static_cast(static_cast(raw[off + byte])) + << (8 * i); + } + + switch (t.kind) { + case 'f': + if (t.size == 4) { + float f; + uint32_t narrow = static_cast(bits); + std::memcpy(&f, &narrow, 4); + return f; + } + if (t.size == 8) { + double d; + std::memcpy(&d, &bits, 8); + return d; + } + break; + case 'b': + return bits ? 1.0 : 0.0; + case 'u': + return static_cast(bits); + case 'i': { + // Sign-extend from the declared width. + int shift = 64 - 8 * t.size; + return static_cast(static_cast(bits << shift) >> shift); + } + default: + break; + } + throw std::runtime_error("unsupported dtype kind/size in typestr"); +} + +// The typestr says "((bits >> (8 * i)) & 0xff)); +} + std::string pack_f8(const std::vector& v) { - std::string out(v.size() * 8, '\0'); - std::memcpy(&out[0], v.data(), out.size()); // x86 is little-endian, "& v) { + std::string out; + out.reserve(v.size() * 4); + for (float x : v) { + uint32_t bits; + std::memcpy(&bits, &x, 4); + put_le(out, bits, 4); + } return out; } std::string pack_i8(const std::vector& v) { - std::string out(v.size() * 8, '\0'); - std::memcpy(&out[0], v.data(), out.size()); + std::string out; + out.reserve(v.size() * 8); + for (int64_t x : v) put_le(out, static_cast(x), 8); return out; } @@ -379,8 +472,15 @@ class WebSocket { write_all(frame.data(), frame.size()); } + // The largest message this client will accept. Observations with two + // cameras run to a few hundred KiB; 256 MiB is far above anything the + // protocol produces and far below what a hostile length field could ask + // us to allocate. + static constexpr uint64_t kMaxMessageBytes = 256ull << 20; + std::string recv_message() { std::string message; + bool first_data_frame = true; for (;;) { uint8_t h[2]; read_all(h, 2); @@ -396,6 +496,8 @@ class WebSocket { len = 0; for (int i = 0; i < 8; ++i) len = (len << 8) | e[i]; } + if (len > kMaxMessageBytes || message.size() + len > kMaxMessageBytes) + throw std::runtime_error("frame larger than this client will accept"); uint8_t key[4] = {0, 0, 0, 0}; if (masked) read_all(key, 4); @@ -408,6 +510,21 @@ class WebSocket { if (opcode == 0x9) { send_pong(chunk); continue; } if (opcode == 0xa) continue; + // SPEC section 7.4: every protocol message is binary. A text frame + // where one was expected means the peer is reporting an error, not + // speaking the protocol - openpi servers send a traceback this way. + // Unpacking it as msgpack would turn a legible error into "unsupported + // msgpack type 0x47". + if (first_data_frame) { + if (opcode == 0x1) + throw std::runtime_error("server sent a text frame: " + + chunk.substr(0, 2048)); + if (opcode != 0x2) + throw std::runtime_error("unexpected websocket opcode " + + std::to_string(static_cast(opcode))); + first_data_frame = false; + } + message += chunk; if (fin) return message; } @@ -604,17 +721,21 @@ int run(const std::string& host, int port, int steps, int batch) { if (d == 0) { std::cerr << "server returned an empty action\n"; return 1; } if (step == 0) { + // SPEC section 5.3: the action array is time-major, [H, n, *da]. The + // dtype is the environment's and is not renegotiated, so it is read + // from the typestr rather than assumed to be float32. + TypeStr at = parse_typestr(dtype->s); std::cout << "action: dtype=" << dtype->s << " shape=["; for (size_t i = 0; i < dims.size(); ++i) std::cout << dims[i] << (i + 1 < dims.size() ? ", " : ""); - std::cout << "]\n first values:"; - // "(6, blob->s.size() / 4); - for (size_t i = 0; i < count; ++i) { - float f; - std::memcpy(&f, blob->s.data() + i * 4, 4); - std::cout << " " << f; - } + std::cout << "]"; + if (dims.size() >= 2) + std::cout << " (horizon " << dims[0] << " x " << dims[1] << " env" + << (dims[1] == 1 ? "" : "s") << ")"; + std::cout << "\n first values:"; + size_t count = std::min(6, blob->s.size() / static_cast(at.size)); + for (size_t i = 0; i < count; ++i) + std::cout << " " << read_element(blob->s, i, at); std::cout << "\n"; } @@ -627,12 +748,12 @@ int run(const std::string& host, int port, int steps, int batch) { fb.map(5); fb.str("obs"); pack_observation(fb, batch); { - std::string rewards(static_cast(batch) * 4, '\0'); - for (int i = 0; i < batch; ++i) { - float r = static_cast(next_float()); - std::memcpy(&rewards[i * 4], &r, 4); - } - fb.str("rewards"); pack_ndarray(fb, rewards, " rewards(static_cast(batch)); + for (auto& r : rewards) r = static_cast(next_float()); + fb.str("rewards"); pack_ndarray(fb, pack_f4(rewards), " 1 ? argv[1] : "127.0.0.1"; - int port = argc > 2 ? std::stoi(argv[2]) : 8123; + int port = argc > 2 ? std::stoi(argv[2]) : 8000; // the server default int steps = argc > 3 ? std::stoi(argv[3]) : 20; int batch = argc > 4 ? std::stoi(argv[4]) : 1; if (argc > 5) g_img_size = std::stoi(argv[5]); From 2efdda996ded378c33b221f0995ec0172289fefb Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Thu, 10 Sep 2026 15:53:47 -0400 Subject: [PATCH 09/13] ci: check the cross-language claim on every change This repository asserts that the protocol can be spoken by something that is not this codebase. Until now that was demonstrated once, by hand, and would have stayed green in the README long after it stopped being true. The new job builds the C++ client, fails if ldd shows anything but the C++ and C runtimes, and drives conformance_server.py, which grades it against SPEC.md and exits non-zero on a violation. The Python reference client gets the same treatment. One step is subtler than the others. A client that hard-codes float32 sends perfectly valid messages and passes every clause a server can observe; it only misreads what comes back. So that step runs a server whose actions are float64 and whose values encode the horizon position, and asserts on the client's own output - which also pins the time-major layout of section 5.3. It is the regression test for a bug this client had until today. Verified locally against gcc 11.4: both clients pass, the ldd allowlist holds, and a deliberately misbehaving client makes the server exit 1. No -Werror: a newer compiler finding a new warning belongs in the log, not in a red build on an unrelated change. Co-Authored-By: Claude Opus 5 (1M context) --- .github/workflows/ci.yml | 79 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 79 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 9ebfe5e..5978e67 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -32,3 +32,82 @@ jobs: run: uv sync --frozen - name: Test run: uv run pytest -q + + # The claim this repository makes is that the protocol can be spoken by + # something that is not this codebase. That is worth nothing as an + # assertion in a README, so it is checked on every change: build the C++ + # client, confirm it links no third-party library, and drive a server that + # grades it against SPEC.md clause by clause. + cross-language: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: astral-sh/setup-uv@v5 + with: + enable-cache: true + - name: Sync + run: uv sync --frozen + + # No -Werror: a newer compiler finding a new warning should be visible + # in the log, not a red build on a change that did not cause it. + - name: Build the C++ reference client + run: > + g++ -std=c++17 -O2 -Wall -Wextra + -o /tmp/plugrl_client examples/plugrl_client.cpp + + - name: It links nothing but the C++ and C runtimes + run: | + ldd /tmp/plugrl_client + if ldd /tmp/plugrl_client | grep -vE \ + 'linux-vdso|libstdc\+\+|libgcc_s|libc\.so|libm\.so|ld-linux'; then + echo "::error::the client picked up a third-party dependency" + exit 1 + fi + + - name: C++ client conforms to SPEC.md + run: | + uv run --with websockets examples/conformance_server.py \ + --port 8765 --steps 10 --horizon 4 --action-dim 7 --timeout 120 & + server=$! + for _ in $(seq 30); do + (echo > /dev/tcp/127.0.0.1/8765) 2>/dev/null && break + sleep 1 + done + /tmp/plugrl_client 127.0.0.1 8765 10 + wait $server + + # The action dtype is the environment's and is never renegotiated, so a + # client has to read the typestr. A client that hard-codes float32 still + # passes every clause the server can see - it sends valid messages - and + # only misreads what comes back. This is the check that catches it: the + # server sends float64 actions whose values encode the horizon position, + # so the client's own output says whether it decoded them. + - name: ... and reads the action typestr rather than assuming float32 + run: | + uv run --with websockets examples/conformance_server.py \ + --port 8766 --steps 3 --horizon 2 --action-dim 3 \ + --action-dtype float64 --timeout 120 & + server=$! + for _ in $(seq 30); do + (echo > /dev/tcp/127.0.0.1/8766) 2>/dev/null && break + sleep 1 + done + /tmp/plugrl_client 127.0.0.1 8766 3 | tee /tmp/out.txt + wait $server + grep -q 'dtype= /dev/tcp/127.0.0.1/8767) 2>/dev/null && break + sleep 1 + done + uv run --with websockets examples/raw_client.py \ + --host 127.0.0.1 --port 8767 --steps 10 + wait $server From a64ef63e6b74da7c579d59111559b0125346f702 Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Thu, 10 Sep 2026 16:06:31 -0400 Subject: [PATCH 10/13] docs: the metadata message now has contents Section 5.1 described an extension point with nothing in it. plugrl-server fills it in as of today: protocol_version, server and version, algorithm and policy names, action_horizon and action_dim. The rule that makes the rest trustworthy is written down with them: an absent key means the server does not know, never that the value is zero or a default. A client written against the old empty message still works, which is why none of the keys are required. conformance_server.py sends the descriptive keys too, so a client that reads them is exercised and one that ignores them is proved not to break. Co-Authored-By: Claude Opus 5 (1M context) --- SPEC.md | 33 +++++++++++++++++++++++++++------ examples/conformance_server.py | 19 ++++++++++++++++--- 2 files changed, 43 insertions(+), 9 deletions(-) diff --git a/SPEC.md b/SPEC.md index b6a286d..a9f44f6 100644 --- a/SPEC.md +++ b/SPEC.md @@ -274,12 +274,33 @@ one-tuple). Sent once, immediately after the handshake, **before the client sends anything**. A client MUST read it before its first `infer`. -> **Gap — `data` is always empty.** No entry point in `plugrl-server` -> populates the metadata dict; both servers default it to `{}`. It is an -> extension point with nothing in it. A client MUST NOT require any key. -> Natural contents for a future revision: policy identifier, action horizon -> `H`, action shape and dtype, and a protocol version — all of which a -> client currently has to be told out of band. +`data` is a map of descriptive keys. **A client MUST NOT require any of +them**, and MUST ignore keys it does not recognise. What the server puts +there today: + +| Key | Meaning | +|---|---| +| `protocol_version` | the version of this document the server implements — `1` | +| `server` | `"plugrl-server"` | +| `server_version` | the package version | +| `algorithm` | the learning algorithm's class name | +| `policy` | the policy's class name | +| `action_horizon` | `H`, the number of steps in an action chunk | +| `action_dim` | the width of one action | + +`action_horizon` and `action_dim` are read off the policy, which is free +not to declare them. **A key that is absent means the server does not know, +never that the value is zero or a default** — so a client that needs the +shape and does not find it must be configured with it, exactly as before. +That rule is what makes the rest of the map trustworthy. + +The server merges anything its caller passes over the top, so an operator +can add a run identifier or correct a value the introspection got wrong. + +> **Historical note.** Through 2026-09-10 this message was always `{}` — +> every entry point defaulted it and nothing filled it in, so the action +> shape had to travel out of band. A client written against that behaviour +> still works, which is why none of these keys are required. ### 5.2 `infer` — client to server diff --git a/examples/conformance_server.py b/examples/conformance_server.py index 9cb73c0..fde59ca 100644 --- a/examples/conformance_server.py +++ b/examples/conformance_server.py @@ -193,10 +193,23 @@ async def handle(self, websocket) -> None: report = self.report packer = msgpack_numpy.Packer() - # Section 5.1: the server speaks first, with an envelope. Everything - # after this point is the client's turn to be judged. + # Section 5.1: the server speaks first, with an envelope, and the + # descriptive keys are how a client learns the action shape without + # being told out of band. They are sent here so that a client which + # reads them is exercised, and one which ignores them is proved not + # to break - section 5.1 requires no key to be present. await websocket.send( - packer.pack({"message_type": str(MessageType.METADATA), "data": {}}) + packer.pack( + { + "message_type": str(MessageType.METADATA), + "data": { + "protocol_version": 1, + "server": "conformance_server.py", + "action_horizon": self.horizon, + "action_dim": self.action_dim, + }, + } + ) ) awaiting = "infer" From 753b28e3e73d5f34c3f884def451eb186871cfda Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Thu, 10 Sep 2026 19:30:58 -0400 Subject: [PATCH 11/13] docs: stop citing a claim our own experiment disproved The abstract said PlugRL exists so that environments whose dependencies "cannot coexist with a modern deep learning stack" can still be used for reinforcement learning. plugrl-server's E1 experiment refutes exactly that, in four rounds, and keeps the refutation in the repository. Replaced with what survived and is checkable: separate processes joined by a small WebSocket protocol, independently installable and versionable, an env client that need not be Python, and openpi's serving format plus a feedback return channel - which is the difference between serving a policy and training one. Co-Authored-By: Claude Opus 5 (1M context) --- CITATION.cff | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/CITATION.cff b/CITATION.cff index 1416fd2..f775aae 100644 --- a/CITATION.cff +++ b/CITATION.cff @@ -2,10 +2,13 @@ cff-version: 1.2.0 message: If you use this software, please cite it as below. title: "PlugRL Protocol" abstract: >- - PlugRL separates the reinforcement learning training stack from the - environment stack with a process and network boundary, so environments whose - dependencies cannot coexist with a modern deep learning stack can still be - used for reinforcement learning. This repository holds the wire protocol shared by the server and every env client. + PlugRL runs reinforcement learning training and the environments it learns + from as separate processes, joined by a small WebSocket protocol, so the two + sides can be installed, versioned and scheduled independently and an env + client need not be written in Python at all. The protocol is openpi's + serving format plus a feedback return channel, which is what lets a client + close a training loop rather than only an inference one. This repository + holds the wire protocol shared by the server and every env client. type: software authors: - family-names: Lu From eb56785db75c72ffed5247061409e6fa05cf0c0e Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Thu, 10 Sep 2026 22:46:07 -0400 Subject: [PATCH 12/13] docs: stop telling people to pip install from PyPI The README said `uv add plugrl-protocol` / `pip install plugrl-protocol`. None of the three PlugRL packages is on PyPI - all three return 404 - so following that instruction fails with no matching distribution. It now shows the pinned git install, which is how plugrl-server and plugrl-env-client actually depend on this package. Co-Authored-By: Claude Opus 5 (1M context) --- README.md | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index fd36a87..fb92a71 100644 --- a/README.md +++ b/README.md @@ -76,13 +76,19 @@ the full comparison. ## Installing +Not on PyPI. Install from git, pinned to a commit - which is how +`plugrl-server` and `plugrl-env-client` depend on it: + ```bash -uv add plugrl-protocol # or: pip install plugrl-protocol +uv add "plugrl-protocol @ git+https://github.com/PlugRL/plugrl-protocol.git@" +# or +pip install "plugrl-protocol @ git+https://github.com/PlugRL/plugrl-protocol.git@" ``` -Only needed by Python clients that want the shared codec. A client in -another language should implement [SPEC.md](SPEC.md) directly; that is what -the C++ example does. +Only Python clients that want the shared codec need this at all. A client in +another language should implement [SPEC.md](SPEC.md) directly, which is what +the C++ example does - and what `examples/conformance_server.py` will grade +it against. ## License From 4e98e7fb616a815587ce3c53f02085d6d6654488 Mon Sep 17 00:00:00 2001 From: Gotham-Zolio <18781106300@163.com> Date: Fri, 11 Sep 2026 11:11:57 -0400 Subject: [PATCH 13/13] docs: credit both authors The citation and package metadata named one author. The commit history of these three repositories names two: Chenhao Lu, and Zuo Gou, whose 31 commits here include the GRPO-diffusion policy and the policy-gradient base class that DPPO, FPO and PI0 all derive from - and who is the largest contributor to plugrl-protocol, at 12 commits to 9. Order is by who started the project, not by volume; reorder if you would rather it were otherwise. Co-Authored-By: Claude Opus 5 (1M context) --- CITATION.cff | 3 +++ pyproject.toml | 3 ++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/CITATION.cff b/CITATION.cff index f775aae..ff321ef 100644 --- a/CITATION.cff +++ b/CITATION.cff @@ -14,6 +14,9 @@ authors: - family-names: Lu given-names: Chenhao email: luch21@mails.tsinghua.edu.cn + - family-names: Gou + given-names: Zuo + alias: Gotham-Zolio repository-code: https://github.com/PlugRL/plugrl-protocol license: Apache-2.0 version: 0.1.0 diff --git a/pyproject.toml b/pyproject.toml index 52c36ab..2f4ecec 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -3,7 +3,8 @@ name = "plugrl-protocol" version = "0.1.0" description = "PlugRL wire protocol: message types and msgpack-numpy serialization." authors = [ - {name = "chenhao lu",email = "luch21@mails.tsinghua.edu.cn"} + {name = "chenhao lu",email = "luch21@mails.tsinghua.edu.cn"}, + {name = "Zuo Gou"} ] readme = "README.md" license = "Apache-2.0"