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feat: add useful experiment logs

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ref: N25B-401
This commit is contained in:
Twirre Meulenbelt
2026-01-27 16:52:18 +01:00
parent 7c8a56dfcc
commit 43d81002ec
7 changed files with 87 additions and 17 deletions
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4
src/control_backend/agents/actuation/robot_gesture_agent.py
View File

@@ -1,4 +1,5 @@
import json
import logging
import zmq
import zmq.asyncio as azmq
@@ -8,6 +9,8 @@ from control_backend.core.agent_system import InternalMessage
from control_backend.core.config import settings
from control_backend.schemas.ri_message import GestureCommand, RIEndpoint
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class RobotGestureAgent(BaseAgent):
"""
@@ -111,6 +114,7 @@ class RobotGestureAgent(BaseAgent):
gesture_command.data,
)
return
experiment_logger.action("Gesture: %s", gesture_command.data)
await self.pubsocket.send_json(gesture_command.model_dump())
except Exception:
self.logger.exception("Error processing internal message.")

12
src/control_backend/agents/bdi/bdi_core_agent.py
View File

@@ -1,6 +1,7 @@
import asyncio
import copy
import json
import logging
import time
from collections.abc import Iterable
@@ -19,6 +20,9 @@ from control_backend.schemas.ri_message import GestureCommand, RIEndpoint, Speec
DELIMITER = ";\n" # TODO: temporary until we support lists in AgentSpeak
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class BDICoreAgent(BaseAgent):
"""
BDI Core Agent.
@@ -207,6 +211,9 @@ class BDICoreAgent(BaseAgent):
else:
term = agentspeak.Literal(name)
if name != "user_said":
experiment_logger.observation(f"Formed new belief: {name}{f'={args}' if args else ''}")
self.bdi_agent.call(
agentspeak.Trigger.addition,
agentspeak.GoalType.belief,
@@ -244,6 +251,9 @@ class BDICoreAgent(BaseAgent):
new_args = (agentspeak.Literal(arg) for arg in args)
term = agentspeak.Literal(name, new_args)
if name != "user_said":
experiment_logger.observation(f"Removed belief: {name}{f'={args}' if args else ''}")
result = self.bdi_agent.call(
agentspeak.Trigger.removal,
agentspeak.GoalType.belief,
@@ -386,6 +396,8 @@ class BDICoreAgent(BaseAgent):
body=str(message_text),
)
experiment_logger.chat(str(message_text), extra={"role": "assistant"})
self.add_behavior(self.send(chat_history_message))
yield

17
src/control_backend/agents/bdi/bdi_program_manager.py
View File

@@ -1,10 +1,12 @@
import asyncio
import json
import logging
import zmq
from pydantic import ValidationError
from zmq.asyncio import Context
import control_backend
from control_backend.agents import BaseAgent
from control_backend.agents.bdi.agentspeak_generator import AgentSpeakGenerator
from control_backend.core.config import settings
@@ -19,6 +21,8 @@ from control_backend.schemas.program import (
Program,
)
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class BDIProgramManager(BaseAgent):
"""
@@ -277,6 +281,18 @@ class BDIProgramManager(BaseAgent):
await self.send(extractor_msg)
self.logger.debug("Sent message to extractor agent to clear history.")
@staticmethod
def _rollover_experiment_logs():
"""
A new experiment program started; make a new experiment log file.
"""
handlers = logging.getLogger(settings.logging_settings.experiment_logger_name).handlers
for handler in handlers:
if isinstance(handler, control_backend.logging.DatedFileHandler):
experiment_logger.action("Doing rollover...")
handler.do_rollover()
experiment_logger.debug("Finished rollover.")
async def _receive_programs(self):
"""
Continuous loop that receives program updates from the HTTP endpoint.
@@ -297,6 +313,7 @@ class BDIProgramManager(BaseAgent):
self._initialize_internal_state(program)
await self._send_program_to_user_interrupt(program)
await self._send_clear_llm_history()
self._rollover_experiment_logs()
await asyncio.gather(
self._create_agentspeak_and_send_to_bdi(program),

15
src/control_backend/agents/llm/llm_agent.py
View File

@@ -1,4 +1,5 @@
import json
import logging
import re
import uuid
from collections.abc import AsyncGenerator
@@ -13,6 +14,8 @@ from control_backend.core.config import settings
from ...schemas.llm_prompt_message import LLMPromptMessage
from .llm_instructions import LLMInstructions
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class LLMAgent(BaseAgent):
"""
@@ -132,7 +135,7 @@ class LLMAgent(BaseAgent):
*self.history,
]
message_id = str(uuid.uuid4()) # noqa
message_id = str(uuid.uuid4())
try:
full_message = ""
@@ -141,10 +144,9 @@ class LLMAgent(BaseAgent):
full_message += token
current_chunk += token
self.logger.llm(
"Received token: %s",
experiment_logger.chat(
full_message,
extra={"reference": message_id}, # Used in the UI to update old logs
extra={"role": "assistant", "reference": message_id, "partial": True},
)
# Stream the message in chunks separated by punctuation.
@@ -160,6 +162,11 @@ class LLMAgent(BaseAgent):
if current_chunk:
yield current_chunk
experiment_logger.chat(
full_message,
extra={"role": "assistant", "reference": message_id, "partial": False},
)
self.history.append(
{
"role": "assistant",

26
src/control_backend/agents/perception/transcription_agent/transcription_agent.py
View File

@@ -1,4 +1,5 @@
import asyncio
import logging
import numpy as np
import zmq
@@ -10,6 +11,8 @@ from control_backend.core.config import settings
from .speech_recognizer import SpeechRecognizer
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class TranscriptionAgent(BaseAgent):
"""
@@ -25,6 +28,8 @@ class TranscriptionAgent(BaseAgent):
:ivar audio_in_socket: The ZMQ SUB socket instance.
:ivar speech_recognizer: The speech recognition engine instance.
:ivar _concurrency: Semaphore to limit concurrent transcriptions.
:ivar _current_speech_reference: The reference of the current user utterance, for synchronising
experiment logs.
"""
def __init__(self, audio_in_address: str):
@@ -39,6 +44,7 @@ class TranscriptionAgent(BaseAgent):
self.audio_in_socket: azmq.Socket | None = None
self.speech_recognizer = None
self._concurrency = None
self._current_speech_reference: str | None = None
async def setup(self):
"""
@@ -63,6 +69,10 @@ class TranscriptionAgent(BaseAgent):
self.logger.info("Finished setting up %s", self.name)
async def handle_message(self, msg: InternalMessage):
if msg.thread == "voice_activity":
self._current_speech_reference = msg.body
async def stop(self):
"""
Stop the agent and close sockets.
@@ -96,20 +106,21 @@ class TranscriptionAgent(BaseAgent):
async def _share_transcription(self, transcription: str):
"""
Share a transcription to the other agents that depend on it.
Share a transcription to the other agents that depend on it, and to experiment logs.
Currently sends to:
- :attr:`settings.agent_settings.text_belief_extractor_name`
- The UI via the experiment logger
:param transcription: The transcribed text.
"""
receiver_names = [
settings.agent_settings.text_belief_extractor_name,
]
experiment_logger.chat(
transcription,
extra={"role": "user", "reference": self._current_speech_reference, "partial": False},
)
for receiver_name in receiver_names:
message = InternalMessage(
to=receiver_name,
to=settings.agent_settings.text_belief_extractor_name,
sender=self.name,
body=transcription,
)
@@ -129,10 +140,9 @@ class TranscriptionAgent(BaseAgent):
audio = np.frombuffer(audio_data, dtype=np.float32)
speech = await self._transcribe(audio)
if not speech:
self.logger.info("Nothing transcribed.")
self.logger.debug("Nothing transcribed.")
continue
self.logger.info("Transcribed speech: %s", speech)
await self._share_transcription(speech)
except Exception as e:
self.logger.error(f"Error in transcription loop: {e}")

16
src/control_backend/agents/perception/vad_agent.py
View File

@@ -1,4 +1,6 @@
import asyncio
import logging
import uuid
import numpy as np
import torch
@@ -12,6 +14,8 @@ from control_backend.schemas.internal_message import InternalMessage
from ...schemas.program_status import PROGRAM_STATUS, ProgramStatus
from .transcription_agent.transcription_agent import TranscriptionAgent
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class SocketPoller[T]:
"""
@@ -252,6 +256,18 @@ class VADAgent(BaseAgent):
if prob > prob_threshold:
if self.i_since_speech > non_speech_patience + begin_silence_length:
self.logger.debug("Speech started.")
reference = str(uuid.uuid4())
experiment_logger.chat(
"...",
extra={"role": "user", "reference": reference, "partial": True},
)
await self.send(
InternalMessage(
to=settings.agent_settings.transcription_name,
body=reference,
thread="voice_activity",
)
)
self.audio_buffer = np.append(self.audio_buffer, chunk)
self.i_since_speech = 0
continue

4
src/control_backend/agents/user_interrupt/user_interrupt_agent.py
View File

@@ -1,4 +1,5 @@
import json
import logging
import zmq
from zmq.asyncio import Context
@@ -16,6 +17,8 @@ from control_backend.schemas.ri_message import (
SpeechCommand,
)
experiment_logger = logging.getLogger(settings.logging_settings.experiment_logger_name)
class UserInterruptAgent(BaseAgent):
"""
@@ -296,6 +299,7 @@ class UserInterruptAgent(BaseAgent):
:param text_to_say: The string that the robot has to say.
"""
experiment_logger.chat(text_to_say, extra={"role": "assistant"})
cmd = SpeechCommand(data=text_to_say, is_priority=True)
out_msg = InternalMessage(
to=settings.agent_settings.robot_speech_name,