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Mujoco_WASM/training_server/tuning/storage.py
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chenlin deead17a9a
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feat(training): release V0.8 自调参 Agent
2026-09-02 13:49:34 +08:00

522 lines
20 KiB
Python

"""SQLite persistence for tuning sessions, trials, proposals and scalar data."""
from __future__ import annotations
import json
import sqlite3
import threading
import uuid
from collections.abc import Iterator
from contextlib import contextmanager
from datetime import UTC, datetime
from pathlib import Path
from typing import Any
SCHEMA_VERSION = 1
def now_iso() -> str:
return datetime.now(UTC).isoformat()
def _json(value: Any) -> str:
return json.dumps(value, ensure_ascii=False, separators=(",", ":"), allow_nan=False)
def _decode(value: str | None) -> Any:
return json.loads(value) if value else None
def _lttb(points: list[dict], threshold: int) -> list[dict]:
"""Largest-Triangle-Three-Buckets downsampling preserving peaks and endpoints."""
if threshold >= len(points) or threshold < 3:
return points[:threshold]
sampled = [points[0]]
bucket_width = (len(points) - 2) / (threshold - 2)
anchor_index = 0
for bucket in range(threshold - 2):
average_start = int((bucket + 1) * bucket_width) + 1
average_end = min(int((bucket + 2) * bucket_width) + 1, len(points))
average_bucket = points[average_start:average_end] or [points[-1]]
average_x = sum(point["step"] for point in average_bucket) / len(average_bucket)
average_y = sum(point["value"] for point in average_bucket) / len(average_bucket)
range_start = int(bucket * bucket_width) + 1
range_end = min(int((bucket + 1) * bucket_width) + 1, len(points) - 1)
anchor = points[anchor_index]
selected_index = range_start
maximum_area = -1.0
for index in range(range_start, max(range_start + 1, range_end)):
point = points[index]
area = abs(
(anchor["step"] - average_x) * (point["value"] - anchor["value"])
- (anchor["step"] - point["step"]) * (average_y - anchor["value"])
)
if area > maximum_area:
maximum_area = area
selected_index = index
sampled.append(points[selected_index])
anchor_index = selected_index
sampled.append(points[-1])
return sampled
class TuningStorage:
def __init__(self, path: Path):
self.path = path.expanduser().resolve()
self.path.parent.mkdir(parents=True, exist_ok=True)
self.local = threading.local()
self._migrate()
def connection(self) -> sqlite3.Connection:
connection = getattr(self.local, "connection", None)
if connection is None:
connection = sqlite3.connect(self.path, timeout=10, isolation_level=None)
connection.row_factory = sqlite3.Row
connection.execute("PRAGMA foreign_keys=ON")
connection.execute("PRAGMA journal_mode=WAL")
connection.execute("PRAGMA busy_timeout=10000")
self.local.connection = connection
return connection
@contextmanager
def transaction(self) -> Iterator[sqlite3.Connection]:
connection = self.connection()
connection.execute("BEGIN IMMEDIATE")
try:
yield connection
connection.execute("COMMIT")
except Exception:
connection.execute("ROLLBACK")
raise
def _migrate(self) -> None:
connection = self.connection()
connection.executescript(
"""
CREATE TABLE IF NOT EXISTS schema_migrations(version INTEGER PRIMARY KEY);
CREATE TABLE IF NOT EXISTS sessions(
id TEXT PRIMARY KEY, state TEXT NOT NULL, mode TEXT NOT NULL,
created_at TEXT NOT NULL, updated_at TEXT NOT NULL,
config_json TEXT NOT NULL, objective_json TEXT NOT NULL,
message TEXT NOT NULL, current_trial_id TEXT, best_trial_id TEXT,
consecutive_no_improve INTEGER NOT NULL DEFAULT 0,
fallback_enabled INTEGER NOT NULL DEFAULT 0
);
CREATE TABLE IF NOT EXISTS trials(
id TEXT PRIMARY KEY,
session_id TEXT NOT NULL REFERENCES sessions(id) ON DELETE CASCADE,
number INTEGER NOT NULL, state TEXT NOT NULL, rung INTEGER NOT NULL,
target_iterations INTEGER NOT NULL, reward_config_json TEXT NOT NULL,
proposal_id TEXT, run_dir TEXT NOT NULL, checkpoint_path TEXT,
policy_path TEXT, evaluation_json TEXT, score REAL, eligible INTEGER,
created_at TEXT NOT NULL, started_at TEXT, ended_at TEXT, message TEXT NOT NULL,
UNIQUE(session_id, number, rung)
);
CREATE TABLE IF NOT EXISTS proposals(
id TEXT PRIMARY KEY,
session_id TEXT NOT NULL REFERENCES sessions(id) ON DELETE CASCADE,
base_trial_id TEXT, state TEXT NOT NULL, source TEXT NOT NULL,
patch_json TEXT NOT NULL, rationale TEXT NOT NULL,
expected_json TEXT, confidence REAL NOT NULL,
created_at TEXT NOT NULL, decided_at TEXT, feedback TEXT
);
CREATE TABLE IF NOT EXISTS metric_points(
trial_id TEXT NOT NULL REFERENCES trials(id) ON DELETE CASCADE,
tag TEXT NOT NULL, step INTEGER NOT NULL,
wall_time REAL NOT NULL, value REAL NOT NULL,
PRIMARY KEY(trial_id, tag, step)
);
CREATE TABLE IF NOT EXISTS audit_events(
id INTEGER PRIMARY KEY AUTOINCREMENT,
session_id TEXT NOT NULL REFERENCES sessions(id) ON DELETE CASCADE,
event_type TEXT NOT NULL, payload_json TEXT NOT NULL, created_at TEXT NOT NULL
);
CREATE TABLE IF NOT EXISTS presets(
id TEXT PRIMARY KEY, name TEXT NOT NULL UNIQUE, session_id TEXT NOT NULL,
trial_id TEXT NOT NULL, reward_config_json TEXT NOT NULL, created_at TEXT NOT NULL
);
CREATE INDEX IF NOT EXISTS idx_trials_session ON trials(session_id, number, rung);
CREATE INDEX IF NOT EXISTS idx_proposals_session ON proposals(session_id, created_at);
CREATE INDEX IF NOT EXISTS idx_metrics_trial_tag ON metric_points(trial_id, tag, step);
"""
)
connection.execute(
"INSERT OR IGNORE INTO schema_migrations(version) VALUES (?)", (SCHEMA_VERSION,)
)
def recover_interrupted(self) -> None:
at = now_iso()
with self.transaction() as connection:
connection.execute(
"UPDATE trials SET state='interrupted', ended_at=?, "
"message='服务重启中断,等待显式恢复' "
"WHERE state IN ('training','evaluating')",
(at,),
)
connection.execute(
"UPDATE sessions SET state='interrupted', updated_at=?, "
"message='服务重启中断,可从完整 checkpoint 恢复' "
"WHERE state IN ('running','evaluating')",
(at,),
)
def create_session(self, mode: str, config: dict, objective: dict, fallback: bool) -> dict:
session_id, at = uuid.uuid4().hex, now_iso()
with self.transaction() as connection:
connection.execute(
"INSERT INTO sessions("
"id,state,mode,created_at,updated_at,config_json,objective_json,"
"message,fallback_enabled) "
"VALUES (?, 'queued', ?, ?, ?, ?, ?, '等待基线训练', ?)",
(session_id, mode, at, at, _json(config), _json(objective), int(fallback)),
)
connection.execute(
"INSERT INTO audit_events(session_id,event_type,payload_json,created_at) "
"VALUES (?,?,?,?)",
(session_id, "session_created", _json({"mode": mode}), at),
)
return self.get_session(session_id)
def _session(self, row: sqlite3.Row) -> dict:
return {
"id": row["id"],
"state": row["state"],
"mode": row["mode"],
"createdAt": row["created_at"],
"updatedAt": row["updated_at"],
"config": _decode(row["config_json"]),
"objectiveWeights": _decode(row["objective_json"]),
"message": row["message"],
"currentTrialId": row["current_trial_id"],
"bestTrialId": row["best_trial_id"],
"consecutiveNoImprove": row["consecutive_no_improve"],
"fallbackEnabled": bool(row["fallback_enabled"]),
}
def get_session(self, session_id: str) -> dict:
row = (
self.connection().execute("SELECT * FROM sessions WHERE id=?", (session_id,)).fetchone()
)
if row is None:
raise KeyError(session_id)
return self._session(row)
def list_sessions(self, limit: int = 50) -> list[dict]:
rows = (
self.connection()
.execute("SELECT * FROM sessions ORDER BY created_at DESC LIMIT ?", (limit,))
.fetchall()
)
return [self._session(row) for row in rows]
def update_session(self, session_id: str, **changes: Any) -> bool:
columns = {
"state": "state",
"message": "message",
"current_trial_id": "current_trial_id",
"best_trial_id": "best_trial_id",
"consecutive_no_improve": "consecutive_no_improve",
}
values, assignments = [], []
for key, value in changes.items():
if key not in columns:
raise ValueError(key)
assignments.append(f"{columns[key]}=?")
values.append(value)
assignments.append("updated_at=?")
values.extend((now_iso(), session_id))
cursor = self.connection().execute(
f"UPDATE sessions SET {', '.join(assignments)} WHERE id=?", values
)
return cursor.rowcount == 1
def create_trial(
self,
session_id: str,
number: int,
rung: int,
target: int,
reward_config: dict,
proposal_id: str | None,
run_dir: str,
) -> dict:
trial_id, at = uuid.uuid4().hex, now_iso()
with self.transaction() as connection:
connection.execute(
"INSERT INTO trials("
"id,session_id,number,state,rung,target_iterations,reward_config_json,"
"proposal_id,run_dir,created_at,message) "
"VALUES (?,?,?,'queued',?,?,?,?,?,?,'等待训练')",
(
trial_id,
session_id,
number,
rung,
target,
_json(reward_config),
proposal_id,
run_dir,
at,
),
)
connection.execute(
"UPDATE sessions SET current_trial_id=?,updated_at=? WHERE id=?",
(trial_id, at, session_id),
)
return self.get_trial(trial_id)
def _trial(self, row: sqlite3.Row) -> dict:
return {
"id": row["id"],
"sessionId": row["session_id"],
"number": row["number"],
"state": row["state"],
"rung": row["rung"],
"targetIterations": row["target_iterations"],
"rewardConfig": _decode(row["reward_config_json"]),
"proposalId": row["proposal_id"],
"runDir": row["run_dir"],
"checkpointPath": row["checkpoint_path"],
"policyPath": row["policy_path"],
"evaluation": _decode(row["evaluation_json"]),
"score": row["score"],
"eligible": None if row["eligible"] is None else bool(row["eligible"]),
"createdAt": row["created_at"],
"startedAt": row["started_at"],
"endedAt": row["ended_at"],
"message": row["message"],
}
def get_trial(self, trial_id: str) -> dict:
row = self.connection().execute("SELECT * FROM trials WHERE id=?", (trial_id,)).fetchone()
if row is None:
raise KeyError(trial_id)
return self._trial(row)
def list_trials(self, session_id: str) -> list[dict]:
rows = (
self.connection()
.execute("SELECT * FROM trials WHERE session_id=? ORDER BY number,rung", (session_id,))
.fetchall()
)
return [self._trial(row) for row in rows]
def delete_trial(self, trial_id: str) -> bool:
cursor = self.connection().execute(
"DELETE FROM trials WHERE id=? AND state='interrupted'", (trial_id,)
)
return cursor.rowcount == 1
def update_trial(self, trial_id: str, **changes: Any) -> bool:
columns = {
"state": "state",
"message": "message",
"checkpoint_path": "checkpoint_path",
"policy_path": "policy_path",
"score": "score",
"eligible": "eligible",
"started_at": "started_at",
"ended_at": "ended_at",
"evaluation": "evaluation_json",
}
values, assignments = [], []
for key, value in changes.items():
if key not in columns:
raise ValueError(key)
if key == "evaluation":
value = _json(value)
if key == "eligible":
value = int(value)
assignments.append(f"{columns[key]}=?")
values.append(value)
values.append(trial_id)
cursor = self.connection().execute(
f"UPDATE trials SET {', '.join(assignments)} WHERE id=?", values
)
return cursor.rowcount == 1
def create_proposal(
self,
session_id: str,
base_trial_id: str | None,
patch: dict,
rationale: str,
expected: Any,
confidence: float,
source: str = "agent",
) -> dict:
proposal_id, at = uuid.uuid4().hex, now_iso()
self.connection().execute(
"INSERT INTO proposals("
"id,session_id,base_trial_id,state,source,patch_json,rationale,"
"expected_json,confidence,created_at) "
"VALUES (?,?,?,'pending',?,?,?,?,?,?)",
(
proposal_id,
session_id,
base_trial_id,
source,
_json(patch),
rationale,
_json(expected),
confidence,
at,
),
)
return self.get_proposal(proposal_id)
def _proposal(self, row: sqlite3.Row) -> dict:
return {
"id": row["id"],
"sessionId": row["session_id"],
"baseTrialId": row["base_trial_id"],
"state": row["state"],
"source": row["source"],
"patch": _decode(row["patch_json"]),
"rationale": row["rationale"],
"expectedImpact": _decode(row["expected_json"]),
"confidence": row["confidence"],
"createdAt": row["created_at"],
"decidedAt": row["decided_at"],
"feedback": row["feedback"],
}
def get_proposal(self, proposal_id: str) -> dict:
row = (
self.connection()
.execute("SELECT * FROM proposals WHERE id=?", (proposal_id,))
.fetchone()
)
if row is None:
raise KeyError(proposal_id)
return self._proposal(row)
def list_proposals(self, session_id: str) -> list[dict]:
rows = (
self.connection()
.execute(
"SELECT * FROM proposals WHERE session_id=? ORDER BY created_at", (session_id,)
)
.fetchall()
)
return [self._proposal(row) for row in rows]
def decide_proposal(
self, proposal_id: str, state: str, feedback: str | None, patch: dict | None = None
) -> bool:
at = now_iso()
assignments, values = ["state=?", "feedback=?", "decided_at=?"], [state, feedback, at]
if patch is not None:
assignments.append("patch_json=?")
values.append(_json(patch))
values.extend((proposal_id,))
cursor = self.connection().execute(
f"UPDATE proposals SET {', '.join(assignments)} WHERE id=? AND state='pending'", values
)
return cursor.rowcount == 1
def insert_metrics(self, trial_id: str, points: list[tuple[str, int, float, float]]) -> None:
self.connection().executemany(
"INSERT INTO metric_points(trial_id,tag,step,wall_time,value) "
"VALUES (?,?,?,?,?) ON CONFLICT(trial_id,tag,step) DO UPDATE SET "
"wall_time=excluded.wall_time,value=excluded.value",
[(trial_id, *point) for point in points],
)
def metrics(
self, trial_id: str, tags: list[str] | None = None, max_points: int = 1000
) -> list[dict]:
parameters: list[Any] = [trial_id]
clause = "trial_id=?"
if tags:
clause += f" AND tag IN ({','.join('?' for _ in tags)})"
parameters.extend(tags)
rows = (
self.connection()
.execute(
f"SELECT tag,step,wall_time,value FROM metric_points "
f"WHERE {clause} ORDER BY tag,step",
parameters,
)
.fetchall()
)
grouped: dict[str, list[dict]] = {}
for row in rows:
grouped.setdefault(row["tag"], []).append(
{"step": row["step"], "wallTime": row["wall_time"], "value": row["value"]}
)
series = []
for tag, values in grouped.items():
if len(values) > max_points:
values = _lttb(values, max_points)
series.append({"tag": tag, "points": values})
return series
def audit(self, session_id: str, event_type: str, payload: Any) -> None:
self.connection().execute(
"INSERT INTO audit_events(session_id,event_type,payload_json,created_at) "
"VALUES (?,?,?,?)",
(session_id, event_type, _json(payload), now_iso()),
)
def audit_events(self, session_id: str) -> list[dict]:
rows = (
self.connection()
.execute("SELECT * FROM audit_events WHERE session_id=? ORDER BY id", (session_id,))
.fetchall()
)
return [
{
"id": row["id"],
"type": row["event_type"],
"payload": _decode(row["payload_json"]),
"createdAt": row["created_at"],
}
for row in rows
]
def save_preset(self, name: str, session_id: str, trial_id: str, reward_config: dict) -> dict:
preset_id, at = uuid.uuid4().hex, now_iso()
self.connection().execute(
"INSERT INTO presets(id,name,session_id,trial_id,reward_config_json,created_at) "
"VALUES (?,?,?,?,?,?)",
(preset_id, name, session_id, trial_id, _json(reward_config), at),
)
return {
"id": preset_id,
"name": name,
"sessionId": session_id,
"trialId": trial_id,
"rewardConfig": reward_config,
"createdAt": at,
}
def get_preset(self, preset_id: str) -> dict:
row = self.connection().execute("SELECT * FROM presets WHERE id=?", (preset_id,)).fetchone()
if row is None:
raise KeyError(preset_id)
return {
"id": row["id"],
"name": row["name"],
"sessionId": row["session_id"],
"trialId": row["trial_id"],
"rewardConfig": _decode(row["reward_config_json"]),
"createdAt": row["created_at"],
}
def list_presets(self) -> list[dict]:
rows = (
self.connection().execute("SELECT * FROM presets ORDER BY created_at DESC").fetchall()
)
return [
{
"id": row["id"],
"name": row["name"],
"sessionId": row["session_id"],
"trialId": row["trial_id"],
"rewardConfig": _decode(row["reward_config_json"]),
"createdAt": row["created_at"],
}
for row in rows
]