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LeapRobot & Embodied Intelligence - #52
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Phase 0: HCP bridge + BatchTransport + high-speed sampling Phase 1: VLA inference + PhysicalSkillPlugin + operation verification Phase 1.5: Runtime safety/trust/degradation enforcement + interface fixes Phase 2: HighFrequencyControlBus + RT control loop (PID/Impedance/PolicyChain) Phase 3: System-1/1.5/2 control hierarchy + TaskDecomposer Phase 4: Fleet deployment management (FleetManager + MCP bridge) Phase 5: LHP IR Gateway (LLM-Hardware intermediate representation) LeapRobot core: absorbed inference-side source (zero lerobot dependency) Brand: unified LeapRobot naming, leapflow[robot] extras hc.v1: declarative hardware descriptors with kinematics/capability/safety/trust/degradation Includes: - 12 HCP hardware tools (hw_read/write/actuate/batch_actuate/halt/control_start/stop/status/orchestrate/fleet) - 3 inference strategies (VLA local/remote, position control) - Physical teach/learn extension (/teach --mode=teleop/kinesthetic) - Episode recording + Parquet/MP4 export - Physical capability resolver (four-value adjudication) - 3 PCD levels for hardware context (minimal/task_relevant/rich_context) Tests: 5000+ passed, 0 regressions
…itor - ControlHierarchy: PhysicalSkillPlugin creates per-device hierarchy on demand - LHPGateway: exposed as hw_context_snapshot tool for LLM context queries - FleetManager: instantiated in daemon when fleet_nodes configured, hw_fleet_* tools registered - HardwareHealthMonitor: centralized health supervision + full DegradationPolicy execution (halt/hold_position/safe_return/switch_sensor/continue_blind)
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LeapFlow — LeapRobot & Embodied Intelligence
Feature
Enhance
leapflow[robot]/leapflow[robot-ros2]dependencies.Refactor