Implement consensus and memory management for workspace events

- Add ConsensusSnapshot and ConsensusSlot classes for structured consensus state representation.
- Introduce OnlineLanguageLearner for stateful online learning with experience replay and EWC regularization.
- Create WorkspaceEvent and ActionEvent classes for serializable event types.
- Develop InMemoryVectorMemoryStore for storing and querying workspace events.
- Implement ActionPolicy to manage action selection and motor parameterization.
- Establish a unified WorkspaceRuntime for managing the agent's lifecycle and interactions.
- Enhance tests in test_smoke.py to cover new functionalities and ensure correctness.

jspaceai/__init__.py

@@ -35,6 +35,20 @@ from .jlens import (
     DirectedModulation,
     CounterfactualReflection,
 )
+from .consensus import (
+    ConsensusSlot,
+    ConsensusSnapshot,
+)
+from .events import (
+    WorkspaceEvent,
+    ActionEvent,
+)
+from .memory import (
+    MemoryRecord,
+    MemoryStore,
+    InMemoryVectorMemoryStore,
+    Hippocampus,
+)
 from .multimodal import (
     MultimodalConfig,
     MultimodalJSpaceModel,
@@ -42,6 +56,19 @@ from .multimodal import (
     AudioEncoder, AudioDecoder,
     TextEncoder, TextDecoder,
 )
+from .continual import (
+    OnlineLanguageLearner,
+)
+from .policy import (
+    ACTION_LABELS,
+    compose_action_params,
+    ReflexRule,
+    ActionGate,
+    ActionValueModel,
+    MotorController,
+    ActionDecision,
+    ActionPolicy,
+)
 from .realtime import (
     Frame,
     CameraStream,
@@ -66,12 +93,12 @@ from .platform import (
 )
 from .embodied import (
     MouseActuator, KeyboardActuator, AudioActuator, ScreenActuator,
-    Cerebellum, CentralNervousSystem, Hippocampus, BasalGanglia,
+    Cerebellum, CentralNervousSystem, BasalGanglia,
     EmbodiedAgent,
 )
-from .autonomous import (
-    CuriosityDrive, PersistentState, SelfModel, MetaLearner,
-    AutonomousMind,
+from .runtime import (
+    CuriosityDrive, RuntimeStateStore, PersistentState, SelfModel, MetaLearner,
+    WorkspaceRuntime, AutonomousMind,
 )
 from .modules import (
     ExternalModule, SmallModelModule, KnowledgeBaseModule,
@@ -94,11 +121,18 @@ __all__ = [
     # J-lens 可解释性
     "JLensConfig", "JLensProbe", "JLensSuite",
     "WorkspaceAblator", "DirectedModulation", "CounterfactualReflection",
+    "ConsensusSlot", "ConsensusSnapshot",
+    "WorkspaceEvent", "ActionEvent",
+    "MemoryRecord", "MemoryStore", "InMemoryVectorMemoryStore",
     # 多模态
     "MultimodalConfig", "MultimodalJSpaceModel",
     "VisualEncoder", "VisualDecoder",
     "AudioEncoder", "AudioDecoder",
     "TextEncoder", "TextDecoder",
+    # 动作策略
+    "ACTION_LABELS", "compose_action_params", "ReflexRule",
+    "ActionGate", "ActionValueModel", "MotorController",
+    "ActionDecision", "ActionPolicy",
     # 实时 I/O
     "Frame", "CameraStream", "MicrophoneStream", "AudioPlayer",
     "MultimodalStream", "SensoryMotorLoop",
@@ -114,11 +148,12 @@ __all__ = [
     "Cerebellum", "CentralNervousSystem", "Hippocampus", "BasalGanglia",
     "EmbodiedAgent",
     # 自主心智（最重要的能力）
-    "CuriosityDrive", "PersistentState", "SelfModel", "MetaLearner",
-    "AutonomousMind",
+    "CuriosityDrive", "RuntimeStateStore", "PersistentState",
+    "SelfModel", "MetaLearner", "WorkspaceRuntime", "AutonomousMind",
     # 外挂模块系统（可热插拔）
     "ExternalModule", "SmallModelModule", "KnowledgeBaseModule",
     "ToolModule", "ModuleDock",
     # 自主进化
     "EvolutionTrainer",
+    "OnlineLanguageLearner",
 ]

jspaceai/autonomous.py

@@ -1,389 +1,25 @@
 """
-自主心智（AutonomousMind）—— 智慧最重要的能力
+Backward-compatible autonomous runtime exports.
 
-四个核心能力：
-    1. CuriosityDrive: 好奇心驱动的主动探索（内在奖励）
-    2. PersistentState: 跨会话状态持久化（海洋不蒸发）
-    3. SelfModel: 自我模型（知道自己会什么不会什么）
-    4. MetaLearner: 元学习（学会如何学习）
-
-合起来 = AutonomousMind，永不停止的自主进化。
+The primary implementation now lives in runtime.py so the workspace loop has a
+single home. This module keeps the older import path stable.
 """
-from __future__ import annotations
+from .runtime import (
+    CuriosityDrive,
+    RuntimeStateStore,
+    PersistentState,
+    SelfModel,
+    MetaLearner,
+    WorkspaceRuntime,
+    AutonomousMind,
+)
 
-import torch
-import torch.nn as nn
-import torch.nn.functional as F
-import numpy as np
-import json
-import time
-from pathlib import Path
-from typing import Optional
-from dataclasses import dataclass
-from collections import deque
-
-
-class CuriosityDrive(nn.Module):
-    """好奇心驱动——基于预测误差的内在奖励
-
-    模型有世界模型预测下一状态，预测误差=好奇心=内在奖励。
-    模型被驱动去探索"预测不准"的区域。学会后好奇心降低，转向新区域。
-    """
-
-    def __init__(self, workspace_dim: int, action_dim: int = 5, hidden_dim: int = 64):
-        super().__init__()
-        self.workspace_dim = workspace_dim
-        self.world_model = nn.Sequential(
-            nn.Linear(workspace_dim + action_dim, hidden_dim),
-            nn.ReLU(),
-            nn.Linear(hidden_dim, hidden_dim),
-            nn.ReLU(),
-            nn.Linear(hidden_dim, workspace_dim),
-        )
-        self.state_history: deque = deque(maxlen=500)
-        self.prediction_error_ema = 0.1
-
-    def predict_next(self, w, action):
-        return self.world_model(torch.cat([w, action], dim=-1))
-
-    def compute_curiosity(self, w_current, action, w_next):
-        with torch.no_grad():
-            w_pred = self.predict_next(w_current, action)
-            pred_error = F.mse_loss(w_pred, w_next).item()
-            w_np = w_current[0].cpu().numpy()
-            novelty = self._compute_novelty(w_np)
-            progress = max(0, pred_error - self.prediction_error_ema * 0.9)
-            self.prediction_error_ema = 0.95 * self.prediction_error_ema + 0.05 * pred_error
-            curiosity = progress + 0.3 * novelty
-            self.state_history.append(w_np.copy())
-            return curiosity
-
-    def _compute_novelty(self, w):
-        if len(self.state_history) < 5:
-            return 1.0
-        history = list(self.state_history)[-100:]
-        distances = [np.linalg.norm(w - h) for h in history]
-        return float(min(1.0, min(distances) / 2.0))
-
-    def train_world_model(self, w_current, action, w_next):
-        w_pred = self.predict_next(w_current, action.detach())
-        return F.mse_loss(w_pred, w_next.detach())
-
-
-class PersistentState:
-    """跨会话状态持久化——让海洋不蒸发
-
-    保存 workspace + 专家状态 + 海马体 + 基底神经节 + 好奇心历史 + 自我模型。
-    """
-
-    def __init__(self, save_dir: Path):
-        self.save_dir = Path(save_dir)
-        self.save_dir.mkdir(parents=True, exist_ok=True)
-        self.state_file = self.save_dir / 'mind_state.json'
-        self.tensors_file = self.save_dir / 'mind_tensors.npz'
-
-    def save(self, state: dict):
-        tensors = {}
-        if 'w' in state:
-            tensors['w'] = state['w'].cpu().numpy()
-        if 'm' in state:
-            for i, m in enumerate(state['m']):
-                if m is not None:
-                    tensors[f'm_{i}'] = m.cpu().numpy()
-        if 'basal_ganglia' in state and state['basal_ganglia'] is not None:
-            tensors['bg_weights'] = state['basal_ganglia']
-        if 'curiosity_history' in state:
-            tensors['curiosity_history'] = np.array(state['curiosity_history'])
-        if tensors:
-            np.savez(self.tensors_file, **tensors)
-
-        json_state = {
-            'step_count': state.get('step_count', 0),
-            'total_runtime': state.get('total_runtime', 0.0),
-            'self_model': state.get('self_model', {}),
-            'saved_at': time.time(),
-        }
-        self.state_file.write_text(json.dumps(json_state, indent=2, default=str))
-
-    def load(self) -> Optional[dict]:
-        if not self.state_file.exists():
-            return None
-        result = {}
-        if self.tensors_file.exists():
-            data = np.load(self.tensors_file, allow_pickle=True)
-            if 'w' in data:
-                result['w'] = torch.tensor(data['w'])
-            ms = {}
-            for key in data.files:
-                if key.startswith('m_'):
-                    idx = int(key.split('_')[1])
-                    ms[idx] = torch.tensor(data[key])
-            if ms:
-                result['m'] = [ms[i] for i in sorted(ms.keys())]
-            if 'bg_weights' in data:
-                result['basal_ganglia'] = data['bg_weights']
-            if 'curiosity_history' in data:
-                result['curiosity_history'] = data['curiosity_history'].tolist()
-        json_state = json.loads(self.state_file.read_text())
-        result.update(json_state)
-        return result
-
-
-class SelfModel:
-    """自我模型——知道自己会什么、不会什么
-
-    对每个能力域维护置信度（0-1），通过历史成功率更新。
-    不知道时主动学习（好奇心驱动）。
-    """
-
-    def __init__(self, capabilities=None):
-        if capabilities is None:
-            capabilities = ['visual', 'audio', 'text', 'motor_mouse',
-                           'motor_keyboard', 'memory', 'prediction']
-        self.capabilities = capabilities
-        self.confidence = {c: 0.0 for c in capabilities}
-        self.attempts = {c: 0 for c in capabilities}
-        self.recent_results = {c: deque(maxlen=20) for c in capabilities}
-
-    def record_attempt(self, capability, success):
-        if capability not in self.confidence:
-            return
-        self.attempts[capability] += 1
-        self.recent_results[capability].append(success)
-        recent = list(self.recent_results[capability])
-        if recent:
-            weights = np.linspace(0.5, 1.0, len(recent))
-            self.confidence[capability] = float(np.average(recent, weights=weights))
-
-    def get_weakness(self):
-        return min(self.confidence, key=self.confidence.get)
-
-    def get_strength(self):
-        return max(self.confidence, key=self.confidence.get)
-
-    def knows(self, capability, threshold=0.5):
-        return self.confidence.get(capability, 0.0) > threshold
-
-    def summary(self):
-        return {
-            'capabilities': dict(self.confidence),
-            'attempts': dict(self.attempts),
-            'strength': self.get_strength(),
-            'weakness': self.get_weakness(),
-        }
-
-
-class MetaLearner:
-    """元学习——学会如何学习
-
-    每个能力域有自适应学习率：进步快→加快，停滞→减慢。
-    记录什么学习策略有效。
-    """
-
-    def __init__(self, capabilities=None):
-        if capabilities is None:
-            capabilities = ['visual', 'audio', 'text', 'motor_mouse',
-                           'motor_keyboard', 'memory', 'prediction']
-        self.learning_rates = {c: 1e-3 for c in capabilities}
-        self.loss_history = {c: deque(maxlen=20) for c in capabilities}
-        self.strategy_scores = {
-            'predict_next': 0.5, 'replay': 0.5,
-            'explore': 0.5, 'imitate': 0.5,
-        }
-
-    def get_lr(self, capability):
-        return self.learning_rates.get(capability, 1e-3)
-
-    def record_loss(self, capability, loss):
-        if capability not in self.loss_history:
-            return
-        self.loss_history[capability].append(loss)
-        history = list(self.loss_history[capability])
-        if len(history) < 5:
-            return
-        recent_avg = np.mean(history[-5:])
-        old_avg = np.mean(history[-10:-5]) if len(history) >= 10 else recent_avg
-        improvement = (old_avg - recent_avg) / max(old_avg, 1e-8)
-        lr = self.learning_rates[capability]
-        if improvement > 0.05:
-            lr *= 1.1
-        elif improvement < 0.01:
-            lr *= 0.9
-        self.learning_rates[capability] = max(1e-5, min(1e-2, lr))
-
-    def best_strategy(self):
-        return max(self.strategy_scores, key=self.strategy_scores.get)
-
-    def reward_strategy(self, strategy, reward):
-        if strategy in self.strategy_scores:
-            self.strategy_scores[strategy] = (
-                0.9 * self.strategy_scores[strategy] + 0.1 * reward
-            )
-
-
-class AutonomousMind:
-    """自主心智——永不停止的自主进化
-
-    整合好奇心 + 持久化 + 自我模型 + 元学习。
-    核心循环：感知→自我评估→好奇探索→行动→观察→学习→存盘
-    """
-
-    def __init__(self, agent, save_dir='outputs/mind', device='cpu'):
-        self.agent = agent
-        self.device = device
-        self.config = agent.config
-
-        self.curiosity = CuriosityDrive(
-            workspace_dim=self.config.workspace_dim, action_dim=5,
-        ).to(device)
-        self.persistence = PersistentState(Path(save_dir))
-        self.self_model = SelfModel()
-        self.meta_learner = MetaLearner()
-
-        self.step_count = 0
-        self.total_runtime = 0.0
-        self.start_time = time.time()
-        self.running = False
-        self.curiosity_history = deque(maxlen=1000)
-        self.curiosity_optimizer = torch.optim.Adam(
-            self.curiosity.parameters(), lr=1e-3
-        )
-
-        self._load_state()
-
-    def _load_state(self):
-        state = self.persistence.load()
-        if state is None:
-            print("  [心智] 全新启动")
-            return
-        print(f"  [心智] 恢复状态: step={state.get('step_count', 0)}")
-        if 'w' in state:
-            self.agent.state['w'] = state['w'].to(self.device)
-        if 'm' in state:
-            for i, m in enumerate(state['m']):
-                if m is not None and i < len(self.agent.state['m']):
-                    self.agent.state['m'][i] = m.to(self.device)
-        if 'basal_ganglia' in state and hasattr(self.agent, 'basal_ganglia'):
-            self.agent.basal_ganglia.action_weights = state['basal_ganglia']
-        self.step_count = state.get('step_count', 0)
-        self.total_runtime = state.get('total_runtime', 0.0)
-
-    def save_state(self):
-        state = {
-            'w': self.agent.state['w'],
-            'm': self.agent.state['m'],
-            'basal_ganglia': getattr(self.agent.basal_ganglia, 'action_weights', None)
-                             if hasattr(self.agent, 'basal_ganglia') else None,
-            'curiosity_history': list(self.curiosity.state_history),
-            'step_count': self.step_count,
-            'total_runtime': self.total_runtime + (time.time() - self.start_time),
-            'self_model': {'confidence': self.self_model.confidence},
-        }
-        self.persistence.save(state)
-
-    def step(self) -> dict:
-        # 1. 感知 + 思考
-        sensory_data = self.agent.perceive()
-        w_before = self.agent.state['w'].clone()
-        weakness = self.self_model.get_weakness()
-        strength = self.self_model.get_strength()
-
-        # 2. 行动
-        action_info = self.agent.decide_and_act(w_before, sensory_data.get('modality', 'idle'))
-        w_after, modality = self.agent.think(sensory_data)
-
-        # 3. 好奇心
-        action_tensor = torch.tensor(action_info['action_params'],
-                                    dtype=torch.float32).unsqueeze(0).to(self.device)
-        curiosity_reward = self.curiosity.compute_curiosity(w_before, action_tensor, w_after)
-        self.curiosity_history.append(curiosity_reward)
-
-        # 4. 训练世界模型
-        world_loss = self.curiosity.train_world_model(w_before, action_tensor, w_after)
-        self.curiosity_optimizer.zero_grad()
-        world_loss.backward()
-        self.curiosity_optimizer.step()
-
-        # 5. 评估成功度
-        w_stability = 1.0 - min(1.0, abs(w_after.norm().item() - w_before.norm().item()))
-        success = (0.3 * float(action_info['executed']) +
-                   0.4 * min(1.0, curiosity_reward) + 0.3 * w_stability)
-
-        # 6. 更新自我模型
-        cap_map = {'image': 'visual', 'screen': 'visual', 'audio': 'audio',
-                   'text': 'text', 'keyboard': 'text', 'mouse': 'motor_mouse', 'idle': 'prediction'}
-        cap = cap_map.get(modality, 'prediction')
-        self.self_model.record_attempt(cap, success)
-        self.self_model.record_attempt('prediction', 1.0 - min(1.0, world_loss.item()))
-
-        # 7. 元学习
-        self.meta_learner.record_loss(cap, world_loss.item())
-        if curiosity_reward > 0.3:
-            self.meta_learner.reward_strategy('explore', curiosity_reward)
-
-        # 8. 记忆 + 基底神经节
-        self.agent.remember(w_after, {
-            'modality': modality, 'curiosity': curiosity_reward,
-            'success': success, 'step': self.step_count,
-        })
-        self.agent.learn(w_after, np.array(action_info['action_params']), reward=curiosity_reward)
-
-        self.step_count += 1
-        return {
-            'step': self.step_count, 'modality': modality,
-            'w_norm': w_after.norm().item(), 'curiosity': curiosity_reward,
-            'world_loss': world_loss.item(), 'success': success,
-            'weakness': weakness, 'strength': strength,
-            'self_confidence': dict(self.self_model.confidence),
-            'best_strategy': self.meta_learner.best_strategy(),
-            'memory_count': self.agent.hippocampus.size() if self.agent.hippocampus else 0,
-        }
-
-    def run(self, n_steps=100, interval=0.2, save_every=50, on_step=None):
-        self.running = True
-        self.start_time = time.time()
-        self.agent.senses.start()
-        print(f"\n自主心智启动 | 总步数: {self.step_count} | 保存间隔: {save_every}")
-        print("=" * 60)
-
-        log = []
-        try:
-            for _ in range(n_steps):
-                if not self.running:
-                    break
-                info = self.step()
-                log.append(info)
-                if on_step:
-                    on_step(info)
-                elif info['step'] % 10 == 0:
-                    print(f"  step {info['step']:4d} | mod {info['modality']:8s} | "
-                          f"||w|| {info['w_norm']:.3f} | curio {info['curiosity']:.3f} | "
-                          f"success {info['success']:.2f} | weak={info['weakness']} | "
-                          f"mem {info['memory_count']}")
-                if info['step'] % save_every == 0:
-                    self.save_state()
-                time.sleep(interval)
-        except KeyboardInterrupt:
-            print("\n用户中断")
-        finally:
-            self.running = False
-            self.agent.senses.stop()
-            if hasattr(self.agent, 'audio_actuator'):
-                self.agent.audio_actuator.stop()
-            self.save_state()
-        self.total_runtime += time.time() - self.start_time
-        return log
-
-    def introspect(self) -> str:
-        """内省——自我报告"""
-        sm = self.self_model.summary()
-        avg_curio = np.mean(list(self.curiosity_history)) if self.curiosity_history else 0
-        report = f"=== 自主心智内省 ===\n步数: {self.step_count}\n运行: {self.total_runtime:.0f}s\n"
-        report += f"记忆: {self.agent.hippocampus.size() if self.agent.hippocampus else 0}\n"
-        report += f"平均好奇心: {avg_curio:.3f}\n\n自我认知:\n"
-        for cap, conf in sm['capabilities'].items():
-            bar = '█' * int(conf * 20)
-            report += f"  {cap:15s}: {conf:.2f} {bar}\n"
-        report += f"\n最强: {sm['strength']}\n最弱: {sm['weakness']}\n"
-        report += f"最佳策略: {self.meta_learner.best_strategy()}\n"
-        return report
+__all__ = [
+    "CuriosityDrive",
+    "RuntimeStateStore",
+    "PersistentState",
+    "SelfModel",
+    "MetaLearner",
+    "WorkspaceRuntime",
+    "AutonomousMind",
+]

jspaceai/consensus.py

@@ -0,0 +1,83 @@
+"""
+Consensus state utilities.
+
+The workspace vector is still the primary state, but these helpers expose a
+small structured summary that other subsystems can share without needing to
+decode the full latent every time.
+"""
+from __future__ import annotations
+
+from dataclasses import dataclass
+import math
+import torch
+
+
+@dataclass
+class ConsensusSlot:
+    index: int
+    label: str
+    weight: float
+
+
+@dataclass
+class ConsensusSnapshot:
+    modality: str
+    workspace_norm: float
+    confidence: float
+    attention_entropy: float
+    slots: list[ConsensusSlot]
+
+    @classmethod
+    def from_workspace(
+        cls,
+        w: torch.Tensor,
+        alpha: torch.Tensor | None,
+        modality: str,
+        labels: list[str] | None = None,
+        top_k: int = 3,
+    ) -> "ConsensusSnapshot":
+        workspace_norm = float(w.norm(dim=-1).mean().item())
+        slots: list[ConsensusSlot] = []
+        attention_entropy = 0.0
+        confidence = 0.0
+
+        if alpha is not None and alpha.numel() > 0:
+            probs = alpha[0].detach().cpu()
+            top_vals, top_idx = probs.topk(min(top_k, probs.numel()))
+            slots = [
+                ConsensusSlot(
+                    index=int(idx.item()),
+                    label=labels[int(idx.item())] if labels and int(idx.item()) < len(labels)
+                    else f"expert_{idx.item()}",
+                    weight=float(val.item()),
+                )
+                for val, idx in zip(top_vals, top_idx)
+            ]
+
+            probs_clamped = probs.clamp_min(1e-8)
+            attention_entropy = float((-(probs_clamped * probs_clamped.log()).sum()).item())
+            max_entropy = math.log(max(2, probs.numel()))
+            confidence = float(max(0.0, 1.0 - attention_entropy / max_entropy))
+
+        return cls(
+            modality=modality,
+            workspace_norm=workspace_norm,
+            confidence=confidence,
+            attention_entropy=attention_entropy,
+            slots=slots,
+        )
+
+    def primary_slot(self) -> ConsensusSlot | None:
+        return self.slots[0] if self.slots else None
+
+    def to_dict(self) -> dict:
+        return {
+            "modality": self.modality,
+            "workspace_norm": self.workspace_norm,
+            "confidence": self.confidence,
+            "attention_entropy": self.attention_entropy,
+            "slots": [
+                {"index": slot.index, "label": slot.label, "weight": slot.weight}
+                for slot in self.slots
+            ],
+        }

jspaceai/continual.py

@@ -0,0 +1,104 @@
+"""
+Continual learning utilities shared by interactive runtimes.
+"""
+from __future__ import annotations
+
+import torch
+import torch.nn.functional as F
+
+from .language_model import (
+    EWCOptimizer,
+    ExperienceReplay,
+    ExpertPlasticity,
+)
+
+
+class OnlineLanguageLearner:
+    """
+    Stateful online learner for chat/runtime usage.
+
+    Unlike the old ad hoc SGD update, this keeps replay, EWC regularization,
+    and periodic consolidation alive across the whole session.
+    """
+
+    def __init__(
+        self,
+        model,
+        config,
+        tokenizer,
+        device: str = "cpu",
+        lr: float = 5e-3,
+        ewc_lambda: float = 0.05,
+        seq_len: int = 48,
+        replay_batch_size: int = 4,
+        replay_weight: float = 0.5,
+        consolidate_every: int = 20,
+    ):
+        self.model = model
+        self.config = config
+        self.tokenizer = tokenizer
+        self.device = device
+        self.seq_len = seq_len
+        self.replay_batch_size = replay_batch_size
+        self.replay_weight = replay_weight
+        self.consolidate_every = consolidate_every
+
+        self.optimizer = EWCOptimizer(model, lr=lr, ewc_lambda=ewc_lambda)
+        self.replay_buffer = ExperienceReplay(capacity=500, seq_len=seq_len)
+        self.plasticity = ExpertPlasticity(num_experts=config.num_experts)
+        self.step_count = 0
+
+    def _prepare_sequence(self, text: str) -> torch.Tensor | None:
+        token_ids = self.tokenizer.encode(text)
+        if len(token_ids) < 4:
+            return None
+        if len(token_ids) < self.seq_len:
+            token_ids = token_ids * (self.seq_len // len(token_ids) + 1)
+        token_ids = token_ids[:self.seq_len]
+        return torch.tensor([token_ids], dtype=torch.long, device=self.device)
+
+    def learn_text(self, text: str) -> dict | None:
+        token_seq = self._prepare_sequence(text)
+        if token_seq is None:
+            return None
+
+        self.model.train()
+        logits, info = self.model(token_seq)
+        pred = logits[:, :-1]
+        target = token_seq[:, 1:]
+        loss = F.cross_entropy(
+            pred.reshape(-1, self.config.vocab_size),
+            target.reshape(-1),
+        )
+
+        replay_loss = torch.tensor(0.0, device=self.device)
+        replay_seq = self.replay_buffer.sample(self.replay_batch_size)
+        if replay_seq is not None:
+            replay_seq = replay_seq.to(self.device)
+            replay_logits, _ = self.model(replay_seq)
+            replay_pred = replay_logits[:, :-1]
+            replay_target = replay_seq[:, 1:]
+            replay_loss = F.cross_entropy(
+                replay_pred.reshape(-1, self.config.vocab_size),
+                replay_target.reshape(-1),
+            )
+
+        total_task_loss = loss + self.replay_weight * replay_loss
+        total_loss = self.optimizer.step(total_task_loss)
+
+        self.plasticity.update(info["alpha"].detach(), token_seq.detach())
+        self.replay_buffer.push(token_seq.detach().cpu())
+        self.step_count += 1
+
+        if self.step_count % self.consolidate_every == 0:
+            self.optimizer.consolidate(token_seq.detach(), n_samples=10)
+
+        self.model.eval()
+        return {
+            "loss": float(loss.item()),
+            "replay_loss": float(replay_loss.item()),
+            "total_loss": float(total_loss),
+            "w_norm_mean": float(info["w_norm"].mean().item()),
+            "usage": self.plasticity.usage.tolist(),
+            "step": self.step_count,
+        }

jspaceai/embodied.py

@@ -20,22 +20,22 @@ workspace 是模态无关的"意图空间"。
 from __future__ import annotations
 
 import torch
-import torch.nn as nn
-import torch.nn.functional as F
 import numpy as np
 import time
-import json
-from pathlib import Path
-from typing import Optional
-from dataclasses import dataclass, field
-from collections import deque
 from pynput import mouse as pynput_mouse
 from pynput import keyboard as pynput_keyboard
 
-
-# ============================================================
-# 执行器层（对应手脚口）
-# ============================================================
+from .consensus import ConsensusSnapshot
+from .events import WorkspaceEvent
+from .memory import Hippocampus, InMemoryVectorMemoryStore
+from .policy import (
+    ActionPolicy,
+    BasalGanglia,
+    Cerebellum,
+    CentralNervousSystem,
+    ReflexArc,
+    compose_action_params,
+)
 
 class MouseActuator:
     """
@@ -172,248 +172,6 @@ class ScreenActuator:
         if self.enabled:
             self._cv2.destroyWindow(self.window_name)
 
-
-# ============================================================
-# 小脑：运动控制器（前向模型 + 逆模型）
-# ============================================================
-
-class Cerebellum(nn.Module):
-    """
-    小脑——运动协调与精细控制。
-
-    前向模型：预测"如果执行动作 A，鼠标会到哪里"
-    逆模型：给定"目标位置"，计算"需要什么动作"
-
-    人类小脑学习动作的精细映射，让动作平滑准确。
-    我们这里学习 workspace 意图 → 精确动作参数的映射。
-
-    逆模型：workspace → 动作参数
-    前向模型：动作参数 → 预测结果（用于误差反馈学习）
-    """
-
-    def __init__(self, workspace_dim: int, action_dim: int = 5):
-        super().__init__()
-        # 逆模型：workspace → action
-        self.inverse_model = nn.Sequential(
-            nn.Linear(workspace_dim, 64),
-            nn.ReLU(),
-            nn.Linear(64, 32),
-            nn.ReLU(),
-            nn.Linear(32, action_dim),
-            nn.Tanh(),  # 动作在 [-1, 1]
-        )
-        # 前向模型：action + 当前状态 → 预测下一状态
-        self.forward_model = nn.Sequential(
-            nn.Linear(action_dim + workspace_dim, 64),
-            nn.ReLU(),
-            nn.Linear(64, workspace_dim),
-        )
-        self.action_dim = action_dim
-
-    def compute_action(self, w: torch.Tensor) -> torch.Tensor:
-        """逆模型：从 workspace 意图计算动作"""
-        return self.inverse_model(w)
-
-    def predict_next(self, w: torch.Tensor, action: torch.Tensor) -> torch.Tensor:
-        """前向模型：预测执行动作后的 workspace 状态"""
-        return self.forward_model(torch.cat([action, w], dim=-1))
-
-    def compute_motor_error(self, w: torch.Tensor, action: torch.Tensor,
-                            w_actual_next: torch.Tensor) -> torch.Tensor:
-        """计算运动误差——用于小脑学习"""
-        w_pred = self.predict_next(w, action)
-        return F.mse_loss(w_pred, w_actual_next)
-
-
-# ============================================================
-# 中枢神经：动作调度器
-# ============================================================
-
-@dataclass
-class ReflexArc:
-    """反射弧——不经过大脑的快速反应"""
-    trigger: str          # 触发条件描述
-    condition: callable   # 检查函数
-    action: callable      # 执行函数
-    priority: int = 0     # 优先级
-
-
-class CentralNervousSystem:
-    """
-    中枢神经系统——动作调度。
-
-    功能：
-        1. 反射弧：快速反应，不经过 workspace
-           - 如：突然大声音 → 退缩
-           - 如：屏幕突然变暗 → 警觉
-        2. 决策门控：决定是否让 workspace 的意图执行
-           - 高风险动作需要"确认"
-           - 习惯化动作直接执行
-        3. 动作序列：把复杂意图拆成动作序列
-           - 如"点击按钮"→ 移动到位置 + 点击
-
-    这是"自由意志"的工程对应——不是所有意图都执行，
-    系统有一个门控机制决定哪些意图变成行动。
-    """
-
-    def __init__(self):
-        self.reflexes: list[ReflexArc] = []
-        self.action_history: deque = deque(maxlen=100)
-        self.inhibit_score: float = 0.0  # 抑制分数，高时阻止动作
-
-    def add_reflex(self, reflex: ReflexArc):
-        self.reflexes.append(reflex)
-        self.reflexes.sort(key=lambda r: -r.priority)
-
-    def check_reflexes(self, sensory_state: dict) -> Optional[callable]:
-        """检查是否有反射触发"""
-        for reflex in self.reflexes:
-            try:
-                if reflex.condition(sensory_state):
-                    return reflex.action
-            except Exception:
-                continue
-        return None
-
-    def should_execute(self, action_strength: float, risk: float = 0.0) -> bool:
-        """决策门控：是否执行动作
-
-        Args:
-            action_strength: 动作强度（workspace 驱动）
-            risk: 风险评估（0-1）
-
-        Returns:
-            是否执行
-        """
-        # 抑制分数高时不执行
-        threshold = 0.3 + risk * 0.5 + self.inhibit_score
-        return action_strength > threshold
-
-    def record_action(self, action: np.ndarray, modality: str):
-        """记录执行的动作"""
-        self.action_history.append({
-            'time': time.time(),
-            'action': action.tolist() if hasattr(action, 'tolist') else action,
-            'modality': modality,
-        })
-
-
-# ============================================================
-# 海马体：外部情景记忆库
-# ============================================================
-
-class Hippocampus:
-    """
-    海马体——情景记忆。
-
-    存储历史 workspace 快照 + 时间戳 + 上下文。
-    当前 workspace 可以"回忆"相似的历史状态。
-
-    人类的情景记忆："我记得昨天在那个房间里说了什么"
-    对应：检索与当前 workspace 相似的历史 workspace。
-
-    实现用简单的向量数据库（numpy + cosine similarity）。
-    """
-
-    def __init__(self, capacity: int = 1000, workspace_dim: int = 64):
-        self.capacity = capacity
-        self.workspace_dim = workspace_dim
-        self.memories: deque = deque(maxlen=capacity)
-
-    def store(self, w: np.ndarray, context: dict = None):
-        """存储一个 workspace 快照"""
-        self.memories.append({
-            'w': w.copy(),
-            'context': context or {},
-            'timestamp': time.time(),
-        })
-
-    def recall(self, w_query: np.ndarray, top_k: int = 3) -> list[dict]:
-        """检索相似的历史记忆
-
-        Args:
-            w_query: 当前 workspace
-            top_k: 返回最相似的 k 个
-
-        Returns:
-            list of {w, context, timestamp, similarity}
-        """
-        if not self.memories:
-            return []
-
-        # 计算相似度
-        similarities = []
-        for mem in self.memories:
-            sim = np.dot(w_query, mem['w']) / (
-                np.linalg.norm(w_query) * np.linalg.norm(mem['w']) + 1e-8
-            )
-            similarities.append(sim)
-
-        # 取 top-k
-        top_idx = np.argsort(similarities)[-top_k:][::-1]
-        results = []
-        for idx in top_idx:
-            mem = self.memories[idx]
-            results.append({
-                'w': mem['w'],
-                'context': mem['context'],
-                'timestamp': mem['timestamp'],
-                'similarity': similarities[idx],
-            })
-        return results
-
-    def size(self) -> int:
-        return len(self.memories)
-
-
-# ============================================================
-# 基底神经节：动作价值学习
-# ============================================================
-
-class BasalGanglia:
-    """
-    基底神经节——习惯学习与动作选择。
-
-    学习"在什么状态下执行什么动作价值多少"。
-    高频执行的（workspace, action）对会"习惯化"——直接执行不经过思考。
-
-    对应人类的习惯：开车的动作熟练后不需要思考，
-    就是基底神经节接管了动作选择。
-    """
-
-    def __init__(self, workspace_dim: int = 64, n_actions: int = 5,
-                 learning_rate: float = 0.01):
-        self.workspace_dim = workspace_dim
-        self.n_actions = n_actions
-        self.lr = learning_rate
-        # Q-table 的近似：用线性函数 Q(s, a) = w_a · s
-        self.action_weights = np.zeros((n_actions, workspace_dim))
-        # 习惯化计数
-        self.habit_counts = np.zeros(n_actions)
-
-    def compute_values(self, w: np.ndarray) -> np.ndarray:
-        """计算各动作的价值 Q(s, a)"""
-        return self.action_weights @ w  # (n_actions,)
-
-    def select_action(self, w: np.ndarray, exploration: float = 0.1) -> int:
-        """选择动作（ε-greedy）"""
-        values = self.compute_values(w)
-        if np.random.random() < exploration:
-            return np.random.randint(self.n_actions)
-        return np.argmax(values)
-
-    def update(self, w: np.ndarray, action: int, reward: float):
-        """更新动作价值（TD learning 简化版）"""
-        values = self.compute_values(w)
-        td_error = reward - values[action]
-        self.action_weights[action] += self.lr * td_error * w
-        self.habit_counts[action] += 1
-
-    def is_habitual(self, action: int, threshold: int = 10) -> bool:
-        """判断动作是否已习惯化"""
-        return self.habit_counts[action] >= threshold
-
-
 # ============================================================
 # 完整的具身 Agent
 # ============================================================
@@ -422,18 +180,14 @@ class EmbodiedAgent:
     """
     完整的具身 Agent——感知-思考-行动闭环。
 
-    结构（对应人类神经系统）：
+    结构：
         感知层（眼耳皮肤）→ FullSensoryStream
             ↓ 编码
         大脑皮层（思考）→ MultimodalJSpaceModel
             ↓ workspace w
         海马体（记忆）→ Hippocampus 存储和检索
             ↓
-        基底神经节（动作选择）→ BasalGanglia 选动作
-            ↓
-        小脑（运动控制）→ Cerebellum 精细化动作
-            ↓
-        中枢神经（门控）→ CentralNervousSystem 决定是否执行
+        ActionPolicy（价值 + 电机参数 + 门控）
             ↓
         执行器（手足口）→ MouseActuator + KeyboardActuator + AudioActuator
 
@@ -441,11 +195,9 @@ class EmbodiedAgent:
         1. 感知：从五感获取输入
         2. 思考：workspace 更新
         3. 回忆：海马体检索相关记忆
-        4. 决策：基底神经节选动作
-        5. 精化：小脑计算动作参数
-        6. 门控：中枢神经决定执行
+        4. 决策：ActionPolicy 选动作并门控
         7. 行动：执行器执行
-        8. 学习：更新基底神经节、小脑、海马体
+        8. 学习：更新策略与海马体
     """
 
     def __init__(self, model, device: str = 'cpu',
@@ -474,25 +226,27 @@ class EmbodiedAgent:
         self.audio_actuator = AudioActuator(enabled=enable_audio_output)
         self.screen_actuator = ScreenActuator(enabled=enable_screen_output)
 
-        # 神经系统
-        self.cerebellum = Cerebellum(
+        # 策略层
+        self.policy = ActionPolicy(
             workspace_dim=self.config.workspace_dim,
-            action_dim=5,  # (dx, dy, click_l, click_r, scroll)
-        ).to(device)
-        self.cns = CentralNervousSystem()
-        self.hippocampus = Hippocampus(
+            action_dim=5,
+            n_actions=5,
+            base_threshold=risk_threshold,
+            device=device,
+        )
+        self.cerebellum = self.policy.motor_controller
+        self.cns = self.policy.gate
+        self.hippocampus = InMemoryVectorMemoryStore(
             workspace_dim=self.config.workspace_dim,
         ) if enable_memory else None
-        self.basal_ganglia = BasalGanglia(
-            workspace_dim=self.config.workspace_dim,
-            n_actions=5,
-        )
+        self.basal_ganglia = self.policy.value_model
 
         # 内部状态
         self.state = model.init_state(1, torch.device(device))
         self.step_count = 0
         self.running = False
         self.risk_threshold = risk_threshold
+        self.last_consensus: ConsensusSnapshot | None = None
 
         # 设置反射弧
         self._setup_reflexes()
@@ -509,7 +263,7 @@ class EmbodiedAgent:
         def loud_noise_response():
             self.cns.inhibit_score = 0.5
 
-        self.cns.add_reflex(ReflexArc(
+        self.policy.add_reflex(ReflexArc(
             trigger='loud_noise',
             condition=loud_noise_condition,
             action=loud_noise_response,
@@ -572,14 +326,24 @@ class EmbodiedAgent:
             if x.dim() == 1: x = x.unsqueeze(0)
             if x.dim() == 3: x = x[:, -1, :]
             if x.shape[0] != 1: x = x[-1:]
-            self.state, _ = self.model.step(self.state, x)
+            self.state, alpha, _ = self.model.step(self.state, x)
+            self.last_consensus = ConsensusSnapshot.from_workspace(
+                self.state['w'], alpha, modality, self.model.expert_modality
+            )
 
         return self.state['w'], modality
 
     def remember(self, w: torch.Tensor, context: dict):
-        """存储到海马体"""
+        """存储 workspace event 到记忆层"""
         if self.hippocampus:
-            self.hippocampus.store(w[0].cpu().numpy(), context)
+            event = WorkspaceEvent.from_tensor(
+                w,
+                modality=str(context.get('modality', 'unknown')),
+                step=int(context.get('step', self.step_count)),
+                consensus=context.get('consensus', self.last_consensus),
+                context=context,
+            )
+            self.hippocampus.put(event)
 
     def recall_memories(self, w: torch.Tensor, top_k: int = 3) -> list:
         """从海马体回忆"""
@@ -595,26 +359,11 @@ class EmbodiedAgent:
         3. 中枢神经门控
         4. 执行器执行
         """
-        w_np = w[0].cpu().numpy()
-
-        # 1. 基底神经节：选动作类别
-        action_idx = self.basal_ganglia.select_action(w_np, exploration=0.2)
-
-        # 2. 小脑：计算精确动作参数
-        with torch.no_grad():
-            action_params = self.cerebellum.compute_action(w)[0].cpu().numpy()
-
-        # 3. 中枢神经：门控
-        action_strength = np.abs(action_params).max()
-        risk = 0.0
-        # 鼠标点击风险较高
-        if action_params[2] > 0.5 or action_params[3] > 0.5:
-            risk = 0.5
-
-        execute = self.cns.should_execute(action_strength, risk)
+        decision = self.policy.decide(w)
+        action_params = decision.action_params
+        execute = decision.should_execute
 
         # 4. 执行
-        action_taken = None
         if execute:
             # 鼠标动作
             self.mouse_actuator.execute(action_params)
@@ -630,24 +379,13 @@ class EmbodiedAgent:
                     img_out = ((img_out + 1) / 2 * 255).clip(0, 255).astype(np.uint8)
                     self.screen_actuator.show_image(img_out)
 
-            action_taken = action_params.tolist()
-            self.cns.record_action(action_params, modality)
+            self.policy.record_action(action_params, modality)
 
-        return {
-            'action_idx': action_idx,
-            'action_params': action_params.tolist(),
-            'executed': execute,
-            'action_strength': float(action_strength),
-            'risk': float(risk),
-        }
+        return decision.to_dict(executed=execute)
 
-    def learn(self, w: torch.Tensor, action_params: np.ndarray, reward: float = 0.0):
+    def learn(self, w: torch.Tensor, action_idx: int, reward: float = 0.0):
         """学习——更新基底神经节和小脑"""
-        w_np = w[0].cpu().numpy()
-
-        # 基底神经节：更新动作价值
-        action_idx = self.basal_ganglia.select_action(w_np, exploration=0.0)
-        self.basal_ganglia.update(w_np, action_idx, reward)
+        self.policy.learn(w, action_idx, reward)
 
     def step_once(self) -> dict:
         """执行一步完整的感知-思考-行动循环"""
@@ -663,14 +401,14 @@ class EmbodiedAgent:
         w, modality = self.think(sensory_data)
 
         # 4. 回忆
-        memories = self.recall_memories(w)
+        self.recall_memories(w)
 
         # 5. 决策和行动
         action_info = self.decide_and_act(w, modality)
 
         # 6. 学习（自监督：预测误差作为 reward）
         reward = -action_info['risk']  # 简化：风险越低 reward 越高
-        self.learn(w, np.array(action_info['action_params']), reward)
+        self.learn(w, action_info['action_idx'], reward)
 
         # 7. 记忆存储
         self.remember(w, {
@@ -686,6 +424,7 @@ class EmbodiedAgent:
             'modality': modality,
             'w_norm': w.norm().item(),
             'action': action_info,
+            'consensus': self.last_consensus.to_dict() if self.last_consensus else None,
             'memories_count': self.hippocampus.size() if self.hippocampus else 0,
         }
 
@@ -714,7 +453,7 @@ class EmbodiedAgent:
                 elif info['step'] % 5 == 0:
                     print(f"  step {info['step']:3d} | mod {info['modality']:8s} | "
                           f"||w|| {info['w_norm']:.3f} | "
-                          f"action {info['action']['action_idx']} | "
+                          f"action {info['action']['action_name']} | "
                           f"executed {info['action']['executed']}")
 
                 time.sleep(interval)

jspaceai/events.py

@@ -0,0 +1,128 @@
+"""
+Serializable event types for the workspace-centered runtime.
+
+These data packets are intentionally small and plain. They give local modules,
+future worker processes, and external transports the same language for passing
+workspace state around without sharing live Python objects.
+"""
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+import time
+from typing import Any
+
+import numpy as np
+import torch
+
+from .consensus import ConsensusSnapshot
+
+
+def _workspace_vector(w: torch.Tensor | np.ndarray | list[float]) -> list[float]:
+    if isinstance(w, torch.Tensor):
+        data = w.detach().cpu()
+        if data.dim() > 1:
+            data = data[0]
+        return data.reshape(-1).tolist()
+    if isinstance(w, np.ndarray):
+        data = w
+        if data.ndim > 1:
+            data = data[0]
+        return data.reshape(-1).astype(float).tolist()
+    return [float(v) for v in w]
+
+
+def _consensus_dict(consensus: ConsensusSnapshot | dict | None) -> dict | None:
+    if consensus is None:
+        return None
+    if isinstance(consensus, ConsensusSnapshot):
+        return consensus.to_dict()
+    return consensus
+
+
+@dataclass
+class WorkspaceEvent:
+    """A transport-friendly snapshot of workspace state."""
+
+    step: int
+    modality: str
+    workspace: list[float]
+    consensus: dict | None = None
+    context: dict[str, Any] = field(default_factory=dict)
+    timestamp: float = field(default_factory=time.time)
+    kind: str = "workspace"
+
+    @classmethod
+    def from_tensor(
+        cls,
+        w: torch.Tensor | np.ndarray | list[float],
+        modality: str,
+        step: int = 0,
+        consensus: ConsensusSnapshot | dict | None = None,
+        context: dict | None = None,
+    ) -> "WorkspaceEvent":
+        return cls(
+            step=step,
+            modality=modality,
+            workspace=_workspace_vector(w),
+            consensus=_consensus_dict(consensus),
+            context=context or {},
+        )
+
+    def workspace_array(self) -> np.ndarray:
+        return np.asarray(self.workspace, dtype=np.float32)
+
+    def to_dict(self) -> dict:
+        return {
+            "kind": self.kind,
+            "step": self.step,
+            "modality": self.modality,
+            "workspace": list(self.workspace),
+            "consensus": self.consensus,
+            "context": self.context,
+            "timestamp": self.timestamp,
+        }
+
+
+@dataclass
+class ActionEvent:
+    """A transport-friendly action decision/result."""
+
+    step: int
+    action_idx: int
+    action_name: str
+    action_params: list[float]
+    executed: bool
+    risk: float = 0.0
+    context: dict[str, Any] = field(default_factory=dict)
+    timestamp: float = field(default_factory=time.time)
+    kind: str = "action"
+
+    @classmethod
+    def from_action_info(
+        cls,
+        action_info: dict,
+        step: int = 0,
+        context: dict | None = None,
+    ) -> "ActionEvent":
+        return cls(
+            step=step,
+            action_idx=int(action_info.get("action_idx", 0)),
+            action_name=str(action_info.get("action_name", "observe")),
+            action_params=[float(v) for v in action_info.get("action_params", [])],
+            executed=bool(action_info.get("executed", False)),
+            risk=float(action_info.get("risk", 0.0)),
+            context=context or {},
+        )
+
+    def to_dict(self) -> dict:
+        return {
+            "kind": self.kind,
+            "step": self.step,
+            "action_idx": self.action_idx,
+            "action_name": self.action_name,
+            "action_params": list(self.action_params),
+            "executed": self.executed,
+            "risk": self.risk,
+            "context": self.context,
+            "timestamp": self.timestamp,
+        }

jspaceai/memory.py

@@ -0,0 +1,115 @@
+"""
+Memory stores for workspace events.
+
+The default store is local and in-memory, but it exposes a small backend
+interface that can later be replaced by a vector database or remote service.
+"""
+from __future__ import annotations
+
+from collections import deque
+from dataclasses import dataclass
+import time
+from typing import Protocol
+
+import numpy as np
+
+from .events import WorkspaceEvent
+
+
+@dataclass
+class MemoryRecord:
+    event: WorkspaceEvent
+    similarity: float | None = None
+
+    @property
+    def w(self) -> np.ndarray:
+        return self.event.workspace_array()
+
+    @property
+    def context(self) -> dict:
+        return self.event.context
+
+    @property
+    def timestamp(self) -> float:
+        return self.event.timestamp
+
+    def to_dict(self) -> dict:
+        return {
+            "w": self.w,
+            "context": self.context,
+            "timestamp": self.timestamp,
+            "similarity": self.similarity,
+            "event": self.event.to_dict(),
+        }
+
+
+class MemoryStore(Protocol):
+    def put(self, event: WorkspaceEvent) -> None:
+        ...
+
+    def query(self, event_or_workspace, top_k: int = 3) -> list[MemoryRecord]:
+        ...
+
+    def size(self) -> int:
+        ...
+
+
+class InMemoryVectorMemoryStore:
+    """Small cosine-similarity memory store for workspace events."""
+
+    def __init__(self, capacity: int = 1000, workspace_dim: int = 64):
+        self.capacity = capacity
+        self.workspace_dim = workspace_dim
+        self.records: deque[MemoryRecord] = deque(maxlen=capacity)
+
+    @property
+    def memories(self):
+        return self.records
+
+    def put(self, event: WorkspaceEvent) -> None:
+        self.records.append(MemoryRecord(event=event))
+
+    def query(self, event_or_workspace, top_k: int = 3) -> list[MemoryRecord]:
+        if not self.records:
+            return []
+        query = self._as_workspace(event_or_workspace)
+        similarities = [
+            float(np.dot(query, record.w) / (np.linalg.norm(query) * np.linalg.norm(record.w) + 1e-8))
+            for record in self.records
+        ]
+        top_idx = np.argsort(similarities)[-top_k:][::-1]
+        return [
+            MemoryRecord(event=self.records[int(idx)].event, similarity=similarities[int(idx)])
+            for idx in top_idx
+        ]
+
+    def size(self) -> int:
+        return len(self.records)
+
+    def store(self, w: np.ndarray, context: dict | None = None):
+        """Backward-compatible write API."""
+        event = WorkspaceEvent(
+            step=int((context or {}).get("step", 0)),
+            modality=str((context or {}).get("modality", "unknown")),
+            workspace=self._as_workspace(w).astype(float).tolist(),
+            consensus=(context or {}).get("consensus"),
+            context=context or {},
+            timestamp=time.time(),
+        )
+        self.put(event)
+
+    def recall(self, w_query: np.ndarray, top_k: int = 3) -> list[dict]:
+        """Backward-compatible query API."""
+        return [record.to_dict() for record in self.query(w_query, top_k)]
+
+    def _as_workspace(self, event_or_workspace) -> np.ndarray:
+        if isinstance(event_or_workspace, WorkspaceEvent):
+            return event_or_workspace.workspace_array()
+        data = np.asarray(event_or_workspace, dtype=np.float32)
+        if data.ndim > 1:
+            data = data[0]
+        return data.reshape(-1)
+
+
+# Backward-compatible brain-region name.
+Hippocampus = InMemoryVectorMemoryStore

jspaceai/multimodal.py

@@ -333,7 +333,7 @@ class MultimodalJSpaceModel(nn.Module):
         }
 
     def step(self, state: dict, x: torch.Tensor,
-             record_trajectory: bool = False) -> tuple[dict, list]:
+             record_trajectory: bool = False) -> tuple[dict, torch.Tensor, list]:
         """
         单步前向
 
@@ -343,7 +343,7 @@ class MultimodalJSpaceModel(nn.Module):
             record_trajectory: 是否记录 w 轨迹
 
         Returns:
-            new_state, w_trajectory (list)
+            new_state, alpha, w_trajectory (list)
         """
         w = state['w']
         ms = state['m']
@@ -372,7 +372,7 @@ class MultimodalJSpaceModel(nn.Module):
                 w_trajectory.append(w.detach())
 
         new_state = {'w': w, 'm': ms}
-        return new_state, w_trajectory
+        return new_state, alpha, w_trajectory
 
     def encode_modality(self, modality: str, data: torch.Tensor) -> torch.Tensor:
         """编码任意模态到 input_dim
@@ -437,14 +437,15 @@ class MultimodalJSpaceModel(nn.Module):
 
         # 处理序列或单步
         w_traj_all = []
+        alpha_last = None
         if x.dim() == 2:  # 单步 (batch, input_dim)
-            state, w_traj = self.step(state, x, record_trajectory)
+            state, alpha_last, w_traj = self.step(state, x, record_trajectory)
             if record_trajectory:
                 w_traj_all = w_traj
             w = state['w']
         else:  # 序列 (batch, T, input_dim)
             for t in range(x.shape[1]):
-                state, w_traj = self.step(state, x[:, t], record_trajectory)
+                state, alpha_last, w_traj = self.step(state, x[:, t], record_trajectory)
                 if record_trajectory:
                     w_traj_all.append(w_traj)
             w = state['w']
@@ -460,6 +461,8 @@ class MultimodalJSpaceModel(nn.Module):
         info = {
             'w_norm': w.norm(dim=-1),
         }
+        if alpha_last is not None:
+            info['alpha'] = alpha_last
         if record_trajectory and w_traj_all:
             info['w_trajectory'] = w_traj_all
 

jspaceai/policy.py

@@ -0,0 +1,254 @@
+"""
+Action policy utilities centered on the workspace state.
+
+This module keeps action selection, motor parameterization, and gating together
+so the embodied runtime can stay focused on sensing and effectors.
+"""
+from __future__ import annotations
+
+from collections import deque
+from dataclasses import dataclass
+import time
+from typing import Callable, Optional
+
+import numpy as np
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+
+ACTION_LABELS = {
+    0: "observe",
+    1: "mouse_move",
+    2: "left_click",
+    3: "right_click",
+    4: "scroll",
+}
+
+
+def compose_action_params(action_idx: int, raw_params: np.ndarray) -> np.ndarray:
+    """Map a discrete action choice onto concrete actuator parameters."""
+    action = np.zeros(5, dtype=np.float32)
+    if action_idx == 1:
+        action[0] = float(raw_params[0])
+        action[1] = float(raw_params[1])
+    elif action_idx == 2:
+        action[2] = 1.0 if raw_params[2] >= 0 else 0.0
+    elif action_idx == 3:
+        action[3] = 1.0 if raw_params[3] >= 0 else 0.0
+    elif action_idx == 4:
+        action[4] = float(raw_params[4])
+    return action
+
+
+@dataclass
+class ReflexRule:
+    """Fast path rule that can inhibit or redirect behavior before planning."""
+
+    trigger: str
+    condition: Callable
+    action: Callable
+    priority: int = 0
+
+
+class MotorController(nn.Module):
+    """
+    Refines workspace intent into continuous motor parameters.
+    """
+
+    def __init__(self, workspace_dim: int, action_dim: int = 5):
+        super().__init__()
+        self.inverse_model = nn.Sequential(
+            nn.Linear(workspace_dim, 64),
+            nn.ReLU(),
+            nn.Linear(64, 32),
+            nn.ReLU(),
+            nn.Linear(32, action_dim),
+            nn.Tanh(),
+        )
+        self.forward_model = nn.Sequential(
+            nn.Linear(action_dim + workspace_dim, 64),
+            nn.ReLU(),
+            nn.Linear(64, workspace_dim),
+        )
+        self.action_dim = action_dim
+
+    def compute_action(self, w: torch.Tensor) -> torch.Tensor:
+        return self.inverse_model(w)
+
+    def predict_next(self, w: torch.Tensor, action: torch.Tensor) -> torch.Tensor:
+        return self.forward_model(torch.cat([action, w], dim=-1))
+
+    def compute_motor_error(
+        self,
+        w: torch.Tensor,
+        action: torch.Tensor,
+        w_actual_next: torch.Tensor,
+    ) -> torch.Tensor:
+        w_pred = self.predict_next(w, action)
+        return F.mse_loss(w_pred, w_actual_next)
+
+
+class ActionGate:
+    """
+    Lightweight action gate with reflex handling and execution thresholds.
+    """
+
+    def __init__(self, base_threshold: float = 0.3):
+        self.base_threshold = base_threshold
+        self.reflexes: list[ReflexRule] = []
+        self.action_history: deque = deque(maxlen=100)
+        self.inhibit_score: float = 0.0
+
+    def add_reflex(self, reflex: ReflexRule):
+        self.reflexes.append(reflex)
+        self.reflexes.sort(key=lambda r: -r.priority)
+
+    def check_reflexes(self, sensory_state: dict) -> Optional[Callable]:
+        for reflex in self.reflexes:
+            try:
+                if reflex.condition(sensory_state):
+                    return reflex.action
+            except Exception:
+                continue
+        return None
+
+    def should_execute(self, action_strength: float, risk: float = 0.0) -> bool:
+        threshold = self.base_threshold + risk * 0.5 + self.inhibit_score
+        return action_strength > threshold
+
+    def record_action(self, action: np.ndarray, modality: str):
+        self.action_history.append({
+            "time": time.time(),
+            "action": action.tolist() if hasattr(action, "tolist") else action,
+            "modality": modality,
+        })
+
+
+class ActionValueModel:
+    """
+    Linear value function over workspace state for discrete action choice.
+    """
+
+    def __init__(self, workspace_dim: int = 64, n_actions: int = 5, learning_rate: float = 0.01):
+        self.workspace_dim = workspace_dim
+        self.n_actions = n_actions
+        self.lr = learning_rate
+        self.action_weights = np.zeros((n_actions, workspace_dim))
+        self.habit_counts = np.zeros(n_actions)
+        self.action_labels = [ACTION_LABELS.get(i, f"action_{i}") for i in range(n_actions)]
+
+    def compute_values(self, w: np.ndarray) -> np.ndarray:
+        return self.action_weights @ w
+
+    def select_action(self, w: np.ndarray, exploration: float = 0.1) -> int:
+        values = self.compute_values(w)
+        if np.random.random() < exploration:
+            return np.random.randint(self.n_actions)
+        return int(np.argmax(values))
+
+    def update(self, w: np.ndarray, action: int, reward: float):
+        values = self.compute_values(w)
+        td_error = reward - values[action]
+        self.action_weights[action] += self.lr * td_error * w
+        self.habit_counts[action] += 1
+
+    def is_habitual(self, action: int, threshold: int = 10) -> bool:
+        return self.habit_counts[action] >= threshold
+
+
+@dataclass
+class ActionDecision:
+    action_idx: int
+    action_name: str
+    action_params: np.ndarray
+    raw_action_params: np.ndarray
+    action_strength: float
+    risk: float
+    should_execute: bool
+
+    def to_dict(self, executed: bool) -> dict:
+        return {
+            "action_idx": self.action_idx,
+            "action_name": self.action_name,
+            "action_params": self.action_params.tolist(),
+            "raw_action_params": self.raw_action_params.tolist(),
+            "executed": executed,
+            "action_strength": self.action_strength,
+            "risk": self.risk,
+        }
+
+
+class ActionPolicy:
+    """
+    Unified policy around discrete action choice, motor refinement, and gating.
+    """
+
+    def __init__(
+        self,
+        workspace_dim: int,
+        action_dim: int = 5,
+        n_actions: int = 5,
+        learning_rate: float = 0.01,
+        exploration: float = 0.2,
+        base_threshold: float = 0.3,
+        device: str = "cpu",
+    ):
+        self.exploration = exploration
+        self.value_model = ActionValueModel(
+            workspace_dim=workspace_dim,
+            n_actions=n_actions,
+            learning_rate=learning_rate,
+        )
+        self.motor_controller = MotorController(
+            workspace_dim=workspace_dim,
+            action_dim=action_dim,
+        ).to(device)
+        self.gate = ActionGate(base_threshold=base_threshold)
+
+    @property
+    def action_labels(self) -> list[str]:
+        return self.value_model.action_labels
+
+    def add_reflex(self, reflex: ReflexRule):
+        self.gate.add_reflex(reflex)
+
+    def check_reflexes(self, sensory_state: dict) -> Optional[Callable]:
+        return self.gate.check_reflexes(sensory_state)
+
+    def record_action(self, action: np.ndarray, modality: str):
+        self.gate.record_action(action, modality)
+
+    def decide(self, w: torch.Tensor) -> ActionDecision:
+        w_np = w[0].detach().cpu().numpy()
+        action_idx = self.value_model.select_action(w_np, exploration=self.exploration)
+        action_name = self.value_model.action_labels[action_idx]
+
+        with torch.no_grad():
+            raw_action = self.motor_controller.compute_action(w)[0].detach().cpu().numpy()
+        action_params = compose_action_params(action_idx, raw_action)
+
+        action_strength = float(np.abs(action_params).max())
+        risk = 0.5 if action_params[2] > 0.5 or action_params[3] > 0.5 else 0.0
+        should_execute = action_idx != 0 and self.gate.should_execute(action_strength, risk)
+
+        return ActionDecision(
+            action_idx=action_idx,
+            action_name=action_name,
+            action_params=action_params,
+            raw_action_params=raw_action,
+            action_strength=action_strength,
+            risk=float(risk),
+            should_execute=should_execute,
+        )
+
+    def learn(self, w: torch.Tensor, action_idx: int, reward: float = 0.0):
+        w_np = w[0].detach().cpu().numpy()
+        self.value_model.update(w_np, action_idx, reward)
+
+
+# Backward-compatible aliases for the old brain-region names.
+ReflexArc = ReflexRule
+CentralNervousSystem = ActionGate
+BasalGanglia = ActionValueModel
+Cerebellum = MotorController

jspaceai/runtime.py

@@ -0,0 +1,454 @@
+"""
+Unified runtime loop around a workspace-centered agent.
+
+This keeps the persistent/autonomous scaffolding separate from embodiment so we
+can reuse one loop for live sensing, future task runners, and evaluation.
+"""
+from __future__ import annotations
+
+from collections import deque
+import json
+from pathlib import Path
+import time
+from typing import Optional
+
+import numpy as np
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+from .events import ActionEvent, WorkspaceEvent
+
+
+class CuriosityDrive(nn.Module):
+    """Predictive world model that turns surprise into intrinsic reward."""
+
+    def __init__(self, workspace_dim: int, action_dim: int = 5, hidden_dim: int = 64):
+        super().__init__()
+        self.workspace_dim = workspace_dim
+        self.world_model = nn.Sequential(
+            nn.Linear(workspace_dim + action_dim, hidden_dim),
+            nn.ReLU(),
+            nn.Linear(hidden_dim, hidden_dim),
+            nn.ReLU(),
+            nn.Linear(hidden_dim, workspace_dim),
+        )
+        self.state_history: deque = deque(maxlen=500)
+        self.prediction_error_ema = 0.1
+
+    def predict_next(self, w, action):
+        return self.world_model(torch.cat([w, action], dim=-1))
+
+    def compute_curiosity(self, w_current, action, w_next):
+        with torch.no_grad():
+            w_pred = self.predict_next(w_current, action)
+            pred_error = F.mse_loss(w_pred, w_next).item()
+            w_np = w_current[0].cpu().numpy()
+            novelty = self._compute_novelty(w_np)
+            progress = max(0, pred_error - self.prediction_error_ema * 0.9)
+            self.prediction_error_ema = 0.95 * self.prediction_error_ema + 0.05 * pred_error
+            curiosity = progress + 0.3 * novelty
+            self.state_history.append(w_np.copy())
+            return curiosity
+
+    def _compute_novelty(self, w):
+        if len(self.state_history) < 5:
+            return 1.0
+        history = list(self.state_history)[-100:]
+        distances = [np.linalg.norm(w - h) for h in history]
+        return float(min(1.0, min(distances) / 2.0))
+
+    def train_world_model(self, w_current, action, w_next):
+        w_pred = self.predict_next(w_current, action.detach())
+        return F.mse_loss(w_pred, w_next.detach())
+
+
+class RuntimeStateStore:
+    """Minimal persistence for workspace state and runtime-side learning state."""
+
+    def __init__(self, save_dir: Path):
+        self.save_dir = Path(save_dir)
+        self.save_dir.mkdir(parents=True, exist_ok=True)
+        self.state_file = self.save_dir / "mind_state.json"
+        self.tensors_file = self.save_dir / "mind_tensors.npz"
+
+    def save(self, state: dict):
+        tensors = {}
+        if "w" in state:
+            tensors["w"] = state["w"].cpu().numpy()
+        if "m" in state:
+            for i, m in enumerate(state["m"]):
+                if m is not None:
+                    tensors[f"m_{i}"] = m.cpu().numpy()
+        if "action_value_weights" in state and state["action_value_weights"] is not None:
+            tensors["action_value_weights"] = state["action_value_weights"]
+        if "curiosity_history" in state:
+            tensors["curiosity_history"] = np.array(state["curiosity_history"])
+        if tensors:
+            np.savez(self.tensors_file, **tensors)
+
+        json_state = {
+            "step_count": state.get("step_count", 0),
+            "total_runtime": state.get("total_runtime", 0.0),
+            "self_model": state.get("self_model", {}),
+            "saved_at": time.time(),
+        }
+        self.state_file.write_text(json.dumps(json_state, indent=2, default=str))
+
+    def load(self) -> Optional[dict]:
+        if not self.state_file.exists():
+            return None
+        result = {}
+        if self.tensors_file.exists():
+            data = np.load(self.tensors_file, allow_pickle=True)
+            if "w" in data:
+                result["w"] = torch.tensor(data["w"])
+            ms = {}
+            for key in data.files:
+                if key.startswith("m_"):
+                    idx = int(key.split("_")[1])
+                    ms[idx] = torch.tensor(data[key])
+            if ms:
+                result["m"] = [ms[i] for i in sorted(ms.keys())]
+            if "action_value_weights" in data:
+                result["action_value_weights"] = data["action_value_weights"]
+            elif "bg_weights" in data:
+                result["action_value_weights"] = data["bg_weights"]
+            if "curiosity_history" in data:
+                result["curiosity_history"] = data["curiosity_history"].tolist()
+        json_state = json.loads(self.state_file.read_text())
+        result.update(json_state)
+        return result
+
+
+class SelfModel:
+    """Tracks which capability domains are currently working well."""
+
+    def __init__(self, capabilities=None):
+        if capabilities is None:
+            capabilities = [
+                "visual",
+                "audio",
+                "text",
+                "motor_mouse",
+                "motor_keyboard",
+                "memory",
+                "prediction",
+            ]
+        self.capabilities = capabilities
+        self.confidence = {c: 0.0 for c in capabilities}
+        self.attempts = {c: 0 for c in capabilities}
+        self.recent_results = {c: deque(maxlen=20) for c in capabilities}
+
+    def record_attempt(self, capability, success):
+        if capability not in self.confidence:
+            return
+        self.attempts[capability] += 1
+        self.recent_results[capability].append(success)
+        recent = list(self.recent_results[capability])
+        if recent:
+            weights = np.linspace(0.5, 1.0, len(recent))
+            self.confidence[capability] = float(np.average(recent, weights=weights))
+
+    def get_weakness(self):
+        return min(self.confidence, key=self.confidence.get)
+
+    def get_strength(self):
+        return max(self.confidence, key=self.confidence.get)
+
+    def knows(self, capability, threshold=0.5):
+        return self.confidence.get(capability, 0.0) > threshold
+
+    def summary(self):
+        return {
+            "capabilities": dict(self.confidence),
+            "attempts": dict(self.attempts),
+            "strength": self.get_strength(),
+            "weakness": self.get_weakness(),
+        }
+
+
+class MetaLearner:
+    """Tiny adaptive layer for choosing how aggressively each domain learns."""
+
+    def __init__(self, capabilities=None):
+        if capabilities is None:
+            capabilities = [
+                "visual",
+                "audio",
+                "text",
+                "motor_mouse",
+                "motor_keyboard",
+                "memory",
+                "prediction",
+            ]
+        self.learning_rates = {c: 1e-3 for c in capabilities}
+        self.loss_history = {c: deque(maxlen=20) for c in capabilities}
+        self.strategy_scores = {
+            "predict_next": 0.5,
+            "replay": 0.5,
+            "explore": 0.5,
+            "imitate": 0.5,
+        }
+
+    def get_lr(self, capability):
+        return self.learning_rates.get(capability, 1e-3)
+
+    def record_loss(self, capability, loss):
+        if capability not in self.loss_history:
+            return
+        self.loss_history[capability].append(loss)
+        history = list(self.loss_history[capability])
+        if len(history) < 5:
+            return
+        recent_avg = np.mean(history[-5:])
+        old_avg = np.mean(history[-10:-5]) if len(history) >= 10 else recent_avg
+        improvement = (old_avg - recent_avg) / max(old_avg, 1e-8)
+        lr = self.learning_rates[capability]
+        if improvement > 0.05:
+            lr *= 1.1
+        elif improvement < 0.01:
+            lr *= 0.9
+        self.learning_rates[capability] = max(1e-5, min(1e-2, lr))
+
+    def best_strategy(self):
+        return max(self.strategy_scores, key=self.strategy_scores.get)
+
+    def reward_strategy(self, strategy, reward):
+        if strategy in self.strategy_scores:
+            self.strategy_scores[strategy] = 0.9 * self.strategy_scores[strategy] + 0.1 * reward
+
+
+class WorkspaceRuntime:
+    """
+    Canonical workspace loop:
+    observe -> think -> act -> predict -> learn -> persist
+    """
+
+    def __init__(self, agent, save_dir="outputs/mind", device="cpu"):
+        self.agent = agent
+        self.device = device
+        self.config = agent.config
+
+        self.curiosity = CuriosityDrive(
+            workspace_dim=self.config.workspace_dim,
+            action_dim=5,
+        ).to(device)
+        self.persistence = RuntimeStateStore(Path(save_dir))
+        self.self_model = SelfModel()
+        self.meta_learner = MetaLearner()
+
+        self.step_count = 0
+        self.total_runtime = 0.0
+        self.start_time = time.time()
+        self.running = False
+        self.curiosity_history = deque(maxlen=1000)
+        self.event_log = deque(maxlen=1000)
+        self.last_workspace_event: WorkspaceEvent | None = None
+        self.last_action_event: ActionEvent | None = None
+        self.curiosity_optimizer = torch.optim.Adam(
+            self.curiosity.parameters(),
+            lr=1e-3,
+        )
+
+        self._load_state()
+
+    def _load_state(self):
+        state = self.persistence.load()
+        if state is None:
+            print("  [runtime] 全新启动")
+            return
+        print(f"  [runtime] 恢复状态: step={state.get('step_count', 0)}")
+        if "w" in state:
+            self.agent.state["w"] = state["w"].to(self.device)
+        if "m" in state:
+            for i, m in enumerate(state["m"]):
+                if m is not None and i < len(self.agent.state["m"]):
+                    self.agent.state["m"][i] = m.to(self.device)
+        weights = state.get("action_value_weights")
+        if weights is not None:
+            if hasattr(self.agent, "policy"):
+                self.agent.policy.value_model.action_weights = weights
+            elif hasattr(self.agent, "basal_ganglia"):
+                self.agent.basal_ganglia.action_weights = weights
+        self.step_count = state.get("step_count", 0)
+        self.total_runtime = state.get("total_runtime", 0.0)
+
+    def save_state(self):
+        action_value_weights = None
+        if hasattr(self.agent, "policy"):
+            action_value_weights = self.agent.policy.value_model.action_weights
+        elif hasattr(self.agent, "basal_ganglia"):
+            action_value_weights = self.agent.basal_ganglia.action_weights
+
+        state = {
+            "w": self.agent.state["w"],
+            "m": self.agent.state["m"],
+            "action_value_weights": action_value_weights,
+            "curiosity_history": list(self.curiosity.state_history),
+            "step_count": self.step_count,
+            "total_runtime": self.total_runtime + (time.time() - self.start_time),
+            "self_model": {"confidence": self.self_model.confidence},
+        }
+        self.persistence.save(state)
+
+    def step(self) -> dict:
+        sensory_data = self.agent.perceive()
+        w_before = self.agent.state["w"].clone()
+        weakness = self.self_model.get_weakness()
+        strength = self.self_model.get_strength()
+
+        w_after, modality = self.agent.think(sensory_data)
+        action_info = self.agent.decide_and_act(w_after, modality)
+        consensus = getattr(self.agent, "last_consensus", None)
+        event_step = self.step_count + 1
+        workspace_event = WorkspaceEvent.from_tensor(
+            w_after,
+            modality=modality,
+            step=event_step,
+            consensus=consensus,
+        )
+        action_event = ActionEvent.from_action_info(
+            action_info,
+            step=event_step,
+            context={"modality": modality},
+        )
+        self.last_workspace_event = workspace_event
+        self.last_action_event = action_event
+        self.event_log.extend([workspace_event, action_event])
+
+        action_tensor = torch.tensor(
+            action_info["action_params"],
+            dtype=torch.float32,
+        ).unsqueeze(0).to(self.device)
+        curiosity_reward = self.curiosity.compute_curiosity(w_before, action_tensor, w_after)
+        self.curiosity_history.append(curiosity_reward)
+
+        world_loss = self.curiosity.train_world_model(w_before, action_tensor, w_after)
+        self.curiosity_optimizer.zero_grad()
+        world_loss.backward()
+        self.curiosity_optimizer.step()
+
+        w_stability = 1.0 - min(1.0, abs(w_after.norm().item() - w_before.norm().item()))
+        success = (
+            0.3 * float(action_info["executed"]) +
+            0.4 * min(1.0, curiosity_reward) +
+            0.3 * w_stability
+        )
+
+        cap_map = {
+            "image": "visual",
+            "screen": "visual",
+            "audio": "audio",
+            "text": "text",
+            "keyboard": "text",
+            "mouse": "motor_mouse",
+            "idle": "prediction",
+        }
+        cap = cap_map.get(modality, "prediction")
+        self.self_model.record_attempt(cap, success)
+        self.self_model.record_attempt("prediction", 1.0 - min(1.0, world_loss.item()))
+
+        self.meta_learner.record_loss(cap, world_loss.item())
+        if curiosity_reward > 0.3:
+            self.meta_learner.reward_strategy("explore", curiosity_reward)
+
+        workspace_event.context.update({
+            "curiosity": curiosity_reward,
+            "success": success,
+            "action": action_event.to_dict(),
+        })
+        self.agent.remember(w_after, {
+            "modality": modality,
+            "curiosity": curiosity_reward,
+            "success": success,
+            "step": event_step,
+            "consensus": workspace_event.consensus,
+            "action_event": action_event.to_dict(),
+        })
+        self.agent.learn(w_after, action_info["action_idx"], reward=curiosity_reward)
+
+        self.step_count += 1
+        focus = consensus.primary_slot().label if consensus and consensus.primary_slot() else "none"
+        confidence = consensus.confidence if consensus else 0.0
+        memory = getattr(self.agent, "hippocampus", None)
+        memory_count = memory.size() if memory else 0
+
+        return {
+            "step": self.step_count,
+            "modality": modality,
+            "w_norm": w_after.norm().item(),
+            "curiosity": curiosity_reward,
+            "world_loss": world_loss.item(),
+            "success": success,
+            "weakness": weakness,
+            "strength": strength,
+            "self_confidence": dict(self.self_model.confidence),
+            "best_strategy": self.meta_learner.best_strategy(),
+            "consensus_confidence": confidence,
+            "consensus_focus": focus,
+            "memory_count": memory_count,
+            "workspace_event": workspace_event.to_dict(),
+            "action_event": action_event.to_dict(),
+        }
+
+    def step_once(self) -> dict:
+        return self.step()
+
+    def run(self, n_steps=100, interval=0.2, save_every=50, on_step=None):
+        self.running = True
+        self.start_time = time.time()
+        self.agent.senses.start()
+        print(f"\nworkspace runtime 启动 | 总步数: {self.step_count} | 保存间隔: {save_every}")
+        print("=" * 60)
+
+        log = []
+        try:
+            for _ in range(n_steps):
+                if not self.running:
+                    break
+                info = self.step()
+                log.append(info)
+                if on_step:
+                    on_step(info)
+                elif info["step"] % 10 == 0:
+                    print(
+                        f"  step {info['step']:4d} | mod {info['modality']:8s} | "
+                        f"||w|| {info['w_norm']:.3f} | curio {info['curiosity']:.3f} | "
+                        f"success {info['success']:.2f} | weak={info['weakness']} | "
+                        f"mem {info['memory_count']}"
+                    )
+                if info["step"] % save_every == 0:
+                    self.save_state()
+                time.sleep(interval)
+        except KeyboardInterrupt:
+            print("\n用户中断")
+        finally:
+            self.running = False
+            self.agent.senses.stop()
+            if hasattr(self.agent, "audio_actuator"):
+                self.agent.audio_actuator.stop()
+            self.save_state()
+        self.total_runtime += time.time() - self.start_time
+        return log
+
+    def introspect(self) -> str:
+        sm = self.self_model.summary()
+        avg_curio = np.mean(list(self.curiosity_history)) if self.curiosity_history else 0
+        report = f"=== Workspace Runtime ===\n步数: {self.step_count}\n运行: {self.total_runtime:.0f}s\n"
+        report += f"记忆: {self.agent.hippocampus.size() if self.agent.hippocampus else 0}\n"
+        report += f"平均好奇心: {avg_curio:.3f}\n\n自我认知:\n"
+        for cap, conf in sm["capabilities"].items():
+            bar = "█" * int(conf * 20)
+            report += f"  {cap:15s}: {conf:.2f} {bar}\n"
+        report += f"\n最强: {sm['strength']}\n最弱: {sm['weakness']}\n"
+        report += f"最佳策略: {self.meta_learner.best_strategy()}\n"
+        return report
+
+
+# Backward-compatible aliases.
+PersistentState = RuntimeStateStore
+
+
+class AutonomousMind(WorkspaceRuntime):
+    """Backward-compatible name for the unified runtime."""

main.py

@@ -28,7 +28,7 @@ import time
 
 from jspaceai import (
     MultimodalConfig, MultimodalJSpaceModel, EmbodiedAgent,
-    AutonomousMind, PLATFORM,
+    WorkspaceRuntime, PLATFORM,
     get_screen_size, print_permission_guide,
     check_camera_permission, check_microphone_permission,
     check_input_monitoring_permission,
@@ -85,7 +85,7 @@ def test_subsystems():
     for _ in range(5):
         info = agent.step_once()
         print(f"   step {info['step']:2d} | mod {info['modality']:8s} | "
-              f"||w|| {info['w_norm']:.3f} | action {info['action']['action_idx']} | "
+              f"||w|| {info['w_norm']:.3f} | action {info['action']['action_name']} | "
               f"executed {info['action']['executed']} | mem {info['memories_count']}")
         time.sleep(0.5)
     agent.senses.stop()
@@ -136,10 +136,10 @@ def live(n_steps: int, device: str, safe_mode: bool = False, unsafe: bool = Fals
         enable_screen_output=not safe_mode,
         risk_threshold=0.5 if safe_mode else 0.3,
     )
-    mind = AutonomousMind(agent, save_dir='outputs/mind', device=device)
+    runtime = WorkspaceRuntime(agent, save_dir='outputs/mind', device=device)
 
     print("\n" + "=" * 60)
-    print("自主心智 - 全感官具身循环")
+    print("Workspace Runtime - 全感官具身循环")
     print("=" * 60)
     print("好奇心驱动 + 状态持久化 + 自我模型 + 元学习")
     print(f"运行 {n_steps} 步（Ctrl+C 中断，状态自动保存）\n")
@@ -151,12 +151,13 @@ def live(n_steps: int, device: str, safe_mode: bool = False, unsafe: bool = Fals
         if info['step'] % 10 == 0:
             print(f"  step {info['step']:4d} | mod {info['modality']:8s} | "
                   f"||w|| {info['w_norm']:.3f} | curio {info['curiosity']:.3f} | "
-                  f"success {info['success']:.2f} | weak={info['weakness']} | "
+                  f"success {info['success']:.2f} | focus={info['consensus_focus']} | "
+                  f"weak={info['weakness']} | "
                   f"mem {info['memory_count']}")
 
-    mind.run(n_steps=n_steps, interval=0.2, save_every=30, on_step=on_step)
+    runtime.run(n_steps=n_steps, interval=0.2, save_every=30, on_step=on_step)
 
-    print("\n" + mind.introspect())
+    print("\n" + runtime.introspect())
 
     # 可视化
     if log:

main_chat.py

@@ -22,6 +22,7 @@ from pathlib import Path
 
 from jspaceai import (
     LanguageConfig, JSpaceLanguageModel, EvolutionTrainer,
+    OnlineLanguageLearner,
     CharTokenizer, load_chinese_corpus,
 )
 from train_chat import clean_corpus
@@ -168,43 +169,6 @@ def generate_response(model, tokenizer, prompt: str, n_new: int = 60,
     return tokenizer.decode(generated)
 
 
-def online_learn(model, config, tokenizer, text: str | None, user_input: str, device: str):
-    """在线学习用户输入 + 回放一段 Shakespeare 防遗忘"""
-    import torch.nn.functional as F
-    # 把用户输入作为新语料学习
-    user_tokens = tokenizer.encode(user_input)
-    if len(user_tokens) < 4:
-        return  # 太短不学
-
-    # 重复用户输入凑够 seq_len
-    seq_len = 48
-    if len(user_tokens) < seq_len:
-        user_tokens = user_tokens * (seq_len // len(user_tokens) + 1)
-    user_seq = user_tokens[:seq_len]
-    token_tensor = torch.tensor([user_seq], dtype=torch.long).to(device)
-
-    # forward + next-token loss
-    model.train()
-    model.zero_grad()
-    logits, _ = model(token_tensor)
-    pred = logits[:, :-1]
-    target = token_tensor[:, 1:]
-    loss = F.cross_entropy(
-        pred.reshape(-1, config.vocab_size),
-        target.reshape(-1),
-    )
-    loss.backward()
-    torch.nn.utils.clip_grad_norm_(model.parameters(), 1.0)
-
-    # 手动 SGD step（EvolutionTrainer 内部有 EWC，这里简化用直接 step）
-    with torch.no_grad():
-        for p in model.parameters():
-            if p.grad is not None:
-                p -= 5e-3 * p.grad
-    model.eval()
-    return loss.item()
-
-
 def chat(model, config, tokenizer, text, device: str):
     """交互对话循环"""
     print("\n" + "=" * 60)
@@ -215,6 +179,7 @@ def chat(model, config, tokenizer, text, device: str):
     print("=" * 60 + "\n")
 
     model.eval()
+    learner = OnlineLanguageLearner(model, config, tokenizer, device=device)
     while True:
         try:
             user_input = input("你: ").strip()
@@ -238,6 +203,7 @@ def chat(model, config, tokenizer, text, device: str):
                 continue
             elif cmd == '/reset':
                 model = JSpaceLanguageModel(config).to(device)
+                learner = OnlineLanguageLearner(model, config, tokenizer, device=device)
                 print("(模型已重置为随机初始化)")
                 continue
             elif cmd.startswith('/train'):
@@ -245,6 +211,7 @@ def chat(model, config, tokenizer, text, device: str):
                 n = int(parts[1]) if len(parts) > 1 else 50
                 text = ensure_corpus(text)
                 train(model, tokenizer, text, n, device)
+                learner = OnlineLanguageLearner(model, config, tokenizer, device=device)
                 model.eval()
                 continue
             else:
@@ -252,7 +219,7 @@ def chat(model, config, tokenizer, text, device: str):
                 continue
 
         # 在线学习用户输入
-        loss = online_learn(model, config, tokenizer, text, user_input, device)
+        learn_stats = learner.learn_text(user_input)
 
         # 生成回复
         response = generate_response(
@@ -260,8 +227,8 @@ def chat(model, config, tokenizer, text, device: str):
             n_new=40, temperature=0.8, top_k=5,
         )
         print(f"AI: {response}")
-        if loss is not None:
-            print(f"   (学习 loss={loss:.3f})")
+        if learn_stats is not None:
+            print(f"   (学习 loss={learn_stats['loss']:.3f} replay={learn_stats['replay_loss']:.3f} step={learn_stats['step']})")
 
 
 def generate_once(model, tokenizer, prompt: str, n_new: int = 80,

tests/test_smoke.py

@@ -1,17 +1,27 @@
 import unittest
+from pathlib import Path
+import tempfile
 
 import torch
 
 from jspaceai import (
+    ActionEvent,
+    ActionPolicy,
     CharTokenizer,
+    ConsensusSnapshot,
+    InMemoryVectorMemoryStore,
     JSpaceConfig,
     JSpaceLanguageModel,
     JSpaceModel,
     LanguageConfig,
     MultimodalConfig,
     MultimodalJSpaceModel,
+    OnlineLanguageLearner,
+    WorkspaceEvent,
+    WorkspaceRuntime,
 )
 from main_chat import generate_response
+from jspaceai import compose_action_params
 
 
 class SmokeTests(unittest.TestCase):
@@ -87,6 +97,7 @@ class SmokeTests(unittest.TestCase):
         )
 
         self.assertEqual(tuple(outputs["w"].shape), (1, 16))
+        self.assertIn("alpha", info)
         self.assertEqual(len(info["w_trajectory"]), 2)
 
     def test_tokenizer_unknown_maps_to_zero(self):
@@ -95,6 +106,169 @@ class SmokeTests(unittest.TestCase):
         self.assertEqual(tokenizer.encode("?"), [0])
         self.assertEqual(tokenizer.decode([0]), "<unk>")
 
+    def test_consensus_snapshot_extracts_primary_slot(self):
+        w = torch.ones(1, 4)
+        alpha = torch.tensor([[0.1, 0.7, 0.2]])
+
+        snapshot = ConsensusSnapshot.from_workspace(
+            w,
+            alpha,
+            modality="text",
+            labels=["vision", "language", "memory"],
+        )
+
+        self.assertEqual(snapshot.primary_slot().label, "language")
+        self.assertGreater(snapshot.confidence, 0.0)
+
+    def test_online_language_learner_tracks_session_state(self):
+        tokenizer = CharTokenizer.from_text("学而时习之学而时习之")
+        config = LanguageConfig(
+            vocab_size=tokenizer.vocab_size,
+            embed_dim=8,
+            input_dim=8,
+            workspace_dim=16,
+            expert_dim=8,
+            num_experts=3,
+            ode_steps=1,
+            noise_std=0.0,
+        )
+        model = JSpaceLanguageModel(config)
+        learner = OnlineLanguageLearner(
+            model,
+            config,
+            tokenizer,
+            seq_len=8,
+            replay_batch_size=1,
+            consolidate_every=2,
+        )
+
+        first = learner.learn_text("学而时习之")
+        second = learner.learn_text("学而时习之")
+
+        self.assertEqual(first["step"], 1)
+        self.assertEqual(second["step"], 2)
+        self.assertGreaterEqual(second["replay_loss"], 0.0)
+
+    def test_compose_action_params_respects_discrete_mode(self):
+        raw = torch.tensor([0.5, -0.25, 0.3, -0.4, 0.8]).numpy()
+
+        move = compose_action_params(1, raw)
+        left_click = compose_action_params(2, raw)
+
+        self.assertEqual(move.tolist(), [0.5, -0.25, 0.0, 0.0, 0.0])
+        self.assertEqual(left_click.tolist(), [0.0, 0.0, 1.0, 0.0, 0.0])
+
+    def test_action_policy_decides_from_workspace(self):
+        policy = ActionPolicy(workspace_dim=4, exploration=0.0)
+        policy.value_model.action_weights[4, 0] = 2.0
+        w = torch.tensor([[1.0, 0.0, 0.0, 0.0]])
+
+        decision = policy.decide(w)
+
+        self.assertEqual(decision.action_idx, 4)
+        self.assertEqual(decision.action_name, "scroll")
+
+    def test_workspace_event_and_memory_store_round_trip(self):
+        event = WorkspaceEvent.from_tensor(
+            torch.tensor([[1.0, 0.0, 0.0, 0.0]]),
+            modality="text",
+            step=7,
+            context={"source": "test"},
+        )
+        action = ActionEvent.from_action_info({
+            "action_idx": 1,
+            "action_name": "mouse_move",
+            "action_params": [0.1, 0.0, 0.0, 0.0, 0.0],
+            "executed": True,
+            "risk": 0.0,
+        }, step=7)
+        memory = InMemoryVectorMemoryStore(capacity=4, workspace_dim=4)
+
+        memory.put(event)
+        results = memory.query(torch.tensor([[0.9, 0.0, 0.0, 0.0]]), top_k=1)
+
+        self.assertEqual(event.to_dict()["step"], 7)
+        self.assertEqual(action.to_dict()["action_name"], "mouse_move")
+        self.assertEqual(results[0].event.modality, "text")
+        self.assertGreater(results[0].similarity, 0.9)
+
+    def test_workspace_runtime_runs_minimal_loop(self):
+        class DummySenses:
+            def start(self):
+                return None
+
+            def stop(self):
+                return None
+
+        class DummyAudio:
+            def stop(self):
+                return None
+
+        class DummyMemory:
+            def __init__(self):
+                self.items = []
+
+            def store(self, w, context=None):
+                self.items.append((w, context or {}))
+
+            def size(self):
+                return len(self.items)
+
+        class DummyConfig:
+            workspace_dim = 4
+
+        class DummyAgent:
+            def __init__(self):
+                self.config = DummyConfig()
+                self.state = {
+                    "w": torch.zeros(1, 4),
+                    "m": [torch.zeros(1, 2)],
+                }
+                self.senses = DummySenses()
+                self.audio_actuator = DummyAudio()
+                self.hippocampus = DummyMemory()
+                self.last_consensus = None
+                self.learned = []
+
+            def perceive(self):
+                return {}
+
+            def think(self, sensory_data):
+                del sensory_data
+                self.state["w"] = self.state["w"] + 0.25
+                return self.state["w"], "idle"
+
+            def decide_and_act(self, w, modality):
+                del w, modality
+                return {
+                    "action_idx": 1,
+                    "action_name": "mouse_move",
+                    "action_params": [0.0, 0.0, 0.0, 0.0, 0.0],
+                    "raw_action_params": [0.0, 0.0, 0.0, 0.0, 0.0],
+                    "executed": False,
+                    "action_strength": 0.0,
+                    "risk": 0.0,
+                }
+
+            def remember(self, w, context):
+                self.hippocampus.store(w[0].numpy(), context)
+
+            def learn(self, w, action_idx, reward=0.0):
+                del w
+                self.learned.append((action_idx, reward))
+
+        agent = DummyAgent()
+        with tempfile.TemporaryDirectory() as tmpdir:
+            runtime = WorkspaceRuntime(agent, save_dir=Path(tmpdir), device="cpu")
+            info = runtime.step()
+
+        self.assertEqual(info["step"], 1)
+        self.assertEqual(info["modality"], "idle")
+        self.assertEqual(info["memory_count"], 1)
+        self.assertEqual(agent.learned[0][0], 1)
+        self.assertEqual(info["workspace_event"]["step"], 1)
+        self.assertEqual(info["action_event"]["action_name"], "mouse_move")
+
 
 if __name__ == "__main__":
     unittest.main()