244 lines
8.9 KiB
Python
244 lines
8.9 KiB
Python
#!/usr/bin/env python3
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"""
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JspaceAI —— 全部接入版（具身 Agent + 完整神经系统 + 自主心智）
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接入全部 5 个感官输入 + 4 个输出执行器 + 神经系统（小脑/海马体/基底神经节/中枢神经）
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+ 自主心智（好奇心驱动 + 状态持久化 + 自我模型 + 元学习）。
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模式：
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--mode test: 子系统自检（权限 + I/O + 模型 + 海马体回忆）
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--mode live: 实时具身循环 + 自主心智（默认安全：不控制鼠标键盘）
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--mode safe: 同 live 但更保守（更高动作门控阈值）
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运行：
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python main.py --mode test
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python main.py --mode live --steps 100
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python main.py --mode safe --steps 50
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python main.py --mode live --steps 200 --unsafe # 允许鼠标键盘输出
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再次运行会从上次状态继续（海洋不蒸发）。
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"""
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from __future__ import annotations
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import argparse
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import torch
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import numpy as np
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import matplotlib.pyplot as plt
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from pathlib import Path
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import time
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from jspaceai import (
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MultimodalConfig, MultimodalJSpaceModel, EmbodiedAgent,
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AutonomousMind, PLATFORM,
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get_screen_size, print_permission_guide,
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check_camera_permission, check_microphone_permission,
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check_input_monitoring_permission,
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)
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def get_config() -> MultimodalConfig:
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return MultimodalConfig(
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vocab_size=50, embed_dim=16, input_dim=8, workspace_dim=64,
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expert_dim=24, num_experts=12, num_wells=4, ode_steps=3,
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dt=0.1, tau_w=0.3, jacobian_sparsity=16, noise_std=0.01,
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img_size=32, audio_frame_size=1024, keyboard_vocab=128,
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)
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def test_subsystems():
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"""子系统自检"""
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print("=" * 60)
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print(f"具身 Agent 子系统测试 | 平台: {PLATFORM}")
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print("=" * 60)
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print("\n1. 权限检查:")
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checks = {
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'摄像头': check_camera_permission(),
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'麦克风': check_microphone_permission(),
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'键盘/鼠标监听': check_input_monitoring_permission(),
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}
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for name, ok in checks.items():
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print(f" {name}: {'OK' if ok else '需要权限'}")
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if not all(checks.values()):
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print_permission_guide()
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sw, sh = get_screen_size()
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print(f" 屏幕尺寸: {sw}x{sh}")
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print("\n2. 模型 + Agent 初始化:")
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config = get_config()
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model = MultimodalJSpaceModel(config)
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print(f" 模型参数: {sum(p.numel() for p in model.parameters()):,}")
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print(f" 专家分工: {model.expert_modality}")
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agent = EmbodiedAgent(
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model, device='cpu',
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enable_mouse_output=False, enable_keyboard_output=False,
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enable_audio_output=True, enable_screen_output=False,
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)
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print(f" 小脑参数: {sum(p.numel() for p in agent.cerebellum.parameters()):,}")
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print(f" 海马体容量: {agent.hippocampus.capacity}")
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print(f" 反射弧数: {len(agent.cns.reflexes)}")
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print("\n3. 单步循环测试（2秒采集）:")
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agent.senses.start()
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time.sleep(2)
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for _ in range(5):
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info = agent.step_once()
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print(f" step {info['step']:2d} | mod {info['modality']:8s} | "
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f"||w|| {info['w_norm']:.3f} | action {info['action']['action_idx']} | "
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f"executed {info['action']['executed']} | mem {info['memories_count']}")
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time.sleep(0.5)
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agent.senses.stop()
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agent.audio_actuator.stop()
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print("\n4. 海马体回忆测试:")
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if agent.hippocampus and agent.hippocampus.size() > 0:
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w = agent.state['w'][0].cpu().numpy()
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for i, m in enumerate(agent.hippocampus.recall(w, top_k=3)):
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print(f" 记忆 {i}: sim={m['similarity']:.3f} ctx={m['context']}")
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print("\n所有子系统测试完成")
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def live(n_steps: int, device: str, safe_mode: bool = False, unsafe: bool = False):
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"""实时具身循环 + 自主心智"""
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print(f"平台: {PLATFORM}")
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sw, sh = get_screen_size()
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print(f"屏幕: {sw}x{sh}")
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allow_output = unsafe and not safe_mode
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if safe_mode:
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print("\n安全模式：不执行鼠标/键盘动作")
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print_permission_guide()
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elif not allow_output:
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print("\n默认模式：仅感知 + 音频/屏幕输出（不控制鼠标键盘）")
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print(" 如需鼠标键盘输出，加 --unsafe")
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config = get_config()
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model = MultimodalJSpaceModel(config).to(device)
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mp = Path('outputs/multimodal_model.pt')
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if mp.exists():
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try:
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ckpt = torch.load(mp, map_location=device, weights_only=False)
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model.load_state_dict(ckpt['model'], strict=False)
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print(f"已加载模型: {mp}")
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except Exception:
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print("模型加载失败，随机初始化")
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else:
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print("未找到训练模型，随机初始化")
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model.eval()
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agent = EmbodiedAgent(
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model, device=device,
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enable_mouse_output=allow_output,
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enable_keyboard_output=allow_output,
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enable_audio_output=True,
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enable_screen_output=not safe_mode,
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risk_threshold=0.5 if safe_mode else 0.3,
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)
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mind = AutonomousMind(agent, save_dir='outputs/mind', device=device)
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print("\n" + "=" * 60)
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print("自主心智 - 全感官具身循环")
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print("=" * 60)
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print("好奇心驱动 + 状态持久化 + 自我模型 + 元学习")
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print(f"运行 {n_steps} 步（Ctrl+C 中断，状态自动保存）\n")
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log = []
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def on_step(info):
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log.append(info)
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if info['step'] % 10 == 0:
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print(f" step {info['step']:4d} | mod {info['modality']:8s} | "
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f"||w|| {info['w_norm']:.3f} | curio {info['curiosity']:.3f} | "
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f"success {info['success']:.2f} | weak={info['weakness']} | "
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f"mem {info['memory_count']}")
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mind.run(n_steps=n_steps, interval=0.2, save_every=30, on_step=on_step)
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print("\n" + mind.introspect())
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# 可视化
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if log:
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fig, axes = plt.subplots(2, 3, figsize=(18, 10))
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steps = [s['step'] for s in log]
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# ||w|| 按模态着色
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ax = axes[0, 0]
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wn = [s['w_norm'] for s in log]
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mods = [s['modality'] for s in log]
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cm = {'image': 'green', 'screen': 'purple', 'audio': 'blue',
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'keyboard': 'orange', 'mouse': 'red', 'idle': 'gray'}
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colors = [cm.get(m, 'gray') for m in mods]
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ax.scatter(steps, wn, c=colors, alpha=0.7, s=30)
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ax.set_xlabel('Step'); ax.set_ylabel('||w||')
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ax.set_title('Workspace Norm (by modality)'); ax.grid(True, alpha=0.3)
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from matplotlib.patches import Patch
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ax.legend(handles=[Patch(facecolor=c, label=m) for m, c in cm.items()],
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fontsize=7)
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# 好奇心 + 成功度
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ax = axes[0, 1]
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ax.plot(steps, [s['curiosity'] for s in log], 'r-', label='curiosity')
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ax.plot(steps, [s['success'] for s in log], 'g-', label='success')
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ax.legend(); ax.set_title('Curiosity & Success')
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ax.grid(True, alpha=0.3)
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# 模态分布
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ax = axes[0, 2]
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mc = {}
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for m in mods:
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mc[m] = mc.get(m, 0) + 1
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ax.bar(mc.keys(), mc.values(),
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color=[cm.get(m, 'gray') for m in mc.keys()])
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ax.set_title('Modality Distribution')
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# 自我模型
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ax = axes[1, 0]
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fc = log[-1]['self_confidence']
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ax.barh(list(fc.keys()), list(fc.values()),
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color=plt.cm.RdYlGn(list(fc.values())))
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ax.set_xlim(0, 1); ax.set_title('Self Model (confidence)')
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# 世界模型 loss
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ax = axes[1, 1]
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ax.plot(steps, [s['world_loss'] for s in log], 'orange')
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ax.set_title('World Model Loss'); ax.grid(True, alpha=0.3)
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# 记忆数
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ax = axes[1, 2]
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ax.plot(steps, [s['memory_count'] for s in log], 'teal')
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ax.set_title('Hippocampus Memory Count'); ax.grid(True, alpha=0.3)
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plt.tight_layout()
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Path('outputs').mkdir(exist_ok=True)
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plt.savefig('outputs/embodied_live.png', dpi=150, bbox_inches='tight')
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print(f"\n可视化: outputs/embodied_live.png")
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def main():
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p = argparse.ArgumentParser(description='JspaceAI 全部接入版（具身 + 自主心智）')
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p.add_argument('--mode', default='test', choices=['test', 'live', 'safe'],
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help='运行模式: test=自检, live=实时循环, safe=安全模式')
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p.add_argument('--steps', type=int, default=100, help='live/safe 模式步数')
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p.add_argument('--device', default='cpu', help='设备 (cpu/cuda/mps/auto)')
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p.add_argument('--unsafe', action='store_true',
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help='允许鼠标键盘输出（默认禁用）')
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args = p.parse_args()
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dev = args.device
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if dev == 'auto':
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dev = 'cuda' if torch.cuda.is_available() else (
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'mps' if torch.backends.mps.is_available() else 'cpu')
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if args.mode == 'test':
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test_subsystems()
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elif args.mode == 'live':
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live(args.steps, dev, safe_mode=False, unsafe=args.unsafe)
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elif args.mode == 'safe':
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live(args.steps, dev, safe_mode=True, unsafe=False)
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if __name__ == '__main__':
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main()
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