Publish audited ActionCodec2 release files

README.md

@@ -15,6 +15,10 @@ tags:
 
 All 34 variants use one shared runtime. Precision labels describe translation quantization; rotation and joint limits are in each profile's configuration.
 
+Names encode edition, order (`o1`/`o2`), translation precision, vocabulary budget,
+gripper levels, and EEF speed per translation axis: `1p2ms` = 1.2 m/s, `2ms` = 2 m/s.
+Previous names remain compatibility aliases in `variants.json`; token IDs are unchanged.
+
 ## Tokenizer usage
 
 ```bash
@@ -26,7 +30,7 @@ import numpy as np
 from transformers import AutoProcessor
 
 codec = AutoProcessor.from_pretrained(
-    "ZibinDong/ActionCodec2", variant="paper-1st",
+    "ZibinDong/ActionCodec2", variant="paper-o1-5mm-4k-2bin-1p2ms",
     action_space="single_eef_delta", trust_remote_code=True,
 )
 actions = np.zeros((1, 16, 7), dtype=np.float32)
@@ -34,7 +38,7 @@ tokens = codec.encode(actions, fps=15)
 restored = codec.decode(tokens, fps=15)
 ```
 
-Use `variant="sparse-standard-2bin"` or `"sparse-high-dynamic-21bin"` for Sparse;
+Use `variant="sparse-o1-5mm-4k-2bin-1p2ms"` or `"sparse-o1-5mm-4k-21bin-2ms"` for Sparse;
 Sparse decoding requires `horizon=actions.shape[-2]` in source frames.
 Each profile has its own token namespace; the budget is per profile, not the total routed vocabulary.
 
@@ -67,40 +71,40 @@ Saved cleaning settings do not enable filtering during encode or decode.
 
 | Variant | Edition | Order | Translation precision | Budget / profile | Profiles |
 | --- | --- | --- | --- | --- | --- |
-| `paper-1st` | Paper | 1 | 5mm | 4096 | joint, eef |
-| `paper-2nd` | Paper | 2 | 5mm | 4096 | joint, eef |
-| `extended-1st-1mm-2k` | Extended | 1 | 1mm | 2048 | eef |
-| `extended-1st-1mm-4k` | Extended | 1 | 1mm | 4096 | joint, eef |
-| `extended-1st-1mm-8k` | Extended | 1 | 1mm | 8192 | joint, eef |
-| `extended-1st-1mm-16k` | Extended | 1 | 1mm | 16384 | joint, eef |
-| `extended-1st-5mm-1k` | Extended | 1 | 5mm | 1024 | joint, eef |
-| `extended-1st-5mm-2k` | Extended | 1 | 5mm | 2048 | joint, eef |
-| `extended-1st-5mm-4k` | Extended | 1 | 5mm | 4096 | joint, eef |
-| `extended-1st-5mm-8k` | Extended | 1 | 5mm | 8192 | joint, eef |
-| `extended-1st-5mm-16k` | Extended | 1 | 5mm | 16384 | joint, eef |
-| `extended-1st-10mm-1k` | Extended | 1 | 10mm | 1024 | joint, eef |
-| `extended-1st-10mm-2k` | Extended | 1 | 10mm | 2048 | joint, eef |
-| `extended-1st-10mm-4k` | Extended | 1 | 10mm | 4096 | joint, eef |
-| `extended-1st-10mm-8k` | Extended | 1 | 10mm | 8192 | joint, eef |
-| `extended-1st-10mm-16k` | Extended | 1 | 10mm | 16384 | joint, eef |
-| `extended-2nd-1mm-2k` | Extended | 2 | 1mm | 2048 | eef |
-| `extended-2nd-1mm-4k` | Extended | 2 | 1mm | 4096 | joint, eef |
-| `extended-2nd-1mm-8k` | Extended | 2 | 1mm | 8192 | joint, eef |
-| `extended-2nd-1mm-16k` | Extended | 2 | 1mm | 16384 | joint, eef |
-| `extended-2nd-5mm-1k` | Extended | 2 | 5mm | 1024 | joint, eef |
-| `extended-2nd-5mm-2k` | Extended | 2 | 5mm | 2048 | joint, eef |
-| `extended-2nd-5mm-4k` | Extended | 2 | 5mm | 4096 | joint, eef |
-| `extended-2nd-5mm-8k` | Extended | 2 | 5mm | 8192 | joint, eef |
-| `extended-2nd-5mm-16k` | Extended | 2 | 5mm | 16384 | joint, eef |
-| `extended-2nd-10mm-1k` | Extended | 2 | 10mm | 1024 | joint, eef |
-| `extended-2nd-10mm-2k` | Extended | 2 | 10mm | 2048 | joint, eef |
-| `extended-2nd-10mm-4k` | Extended | 2 | 10mm | 4096 | joint, eef |
-| `extended-2nd-10mm-8k` | Extended | 2 | 10mm | 8192 | joint, eef |
-| `extended-2nd-10mm-16k` | Extended | 2 | 10mm | 16384 | joint, eef |
-| `sparse-standard-2bin` | Sparse | 1 | 5mm | 4096 | eef, joint |
-| `sparse-standard-21bin` | Sparse | 1 | 5mm | 4096 | eef, joint |
-| `sparse-high-dynamic-2bin` | Sparse | 1 | 5mm | 4096 | eef, joint |
-| `sparse-high-dynamic-21bin` | Sparse | 1 | 5mm | 4096 | eef, joint |
+| `paper-o1-5mm-4k-2bin-1p2ms` | Paper | 1 | 5mm | 4096 | joint, eef |
+| `paper-o2-5mm-4k-2bin-1p2ms` | Paper | 2 | 5mm | 4096 | joint, eef |
+| `extended-o1-1mm-2k-2bin-1p2ms` | Extended | 1 | 1mm | 2048 | eef |
+| `extended-o1-1mm-4k-2bin-1p2ms` | Extended | 1 | 1mm | 4096 | joint, eef |
+| `extended-o1-1mm-8k-2bin-1p2ms` | Extended | 1 | 1mm | 8192 | joint, eef |
+| `extended-o1-1mm-16k-2bin-1p2ms` | Extended | 1 | 1mm | 16384 | joint, eef |
+| `extended-o1-5mm-1k-2bin-1p2ms` | Extended | 1 | 5mm | 1024 | joint, eef |
+| `extended-o1-5mm-2k-2bin-1p2ms` | Extended | 1 | 5mm | 2048 | joint, eef |
+| `extended-o1-5mm-4k-2bin-1p2ms` | Extended | 1 | 5mm | 4096 | joint, eef |
+| `extended-o1-5mm-8k-2bin-1p2ms` | Extended | 1 | 5mm | 8192 | joint, eef |
+| `extended-o1-5mm-16k-2bin-1p2ms` | Extended | 1 | 5mm | 16384 | joint, eef |
+| `extended-o1-10mm-1k-2bin-1p2ms` | Extended | 1 | 10mm | 1024 | joint, eef |
+| `extended-o1-10mm-2k-2bin-1p2ms` | Extended | 1 | 10mm | 2048 | joint, eef |
+| `extended-o1-10mm-4k-2bin-1p2ms` | Extended | 1 | 10mm | 4096 | joint, eef |
+| `extended-o1-10mm-8k-2bin-1p2ms` | Extended | 1 | 10mm | 8192 | joint, eef |
+| `extended-o1-10mm-16k-2bin-1p2ms` | Extended | 1 | 10mm | 16384 | joint, eef |
+| `extended-o2-1mm-2k-2bin-1p2ms` | Extended | 2 | 1mm | 2048 | eef |
+| `extended-o2-1mm-4k-2bin-1p2ms` | Extended | 2 | 1mm | 4096 | joint, eef |
+| `extended-o2-1mm-8k-2bin-1p2ms` | Extended | 2 | 1mm | 8192 | joint, eef |
+| `extended-o2-1mm-16k-2bin-1p2ms` | Extended | 2 | 1mm | 16384 | joint, eef |
+| `extended-o2-5mm-1k-2bin-1p2ms` | Extended | 2 | 5mm | 1024 | joint, eef |
+| `extended-o2-5mm-2k-2bin-1p2ms` | Extended | 2 | 5mm | 2048 | joint, eef |
+| `extended-o2-5mm-4k-2bin-1p2ms` | Extended | 2 | 5mm | 4096 | joint, eef |
+| `extended-o2-5mm-8k-2bin-1p2ms` | Extended | 2 | 5mm | 8192 | joint, eef |
+| `extended-o2-5mm-16k-2bin-1p2ms` | Extended | 2 | 5mm | 16384 | joint, eef |
+| `extended-o2-10mm-1k-2bin-1p2ms` | Extended | 2 | 10mm | 1024 | joint, eef |
+| `extended-o2-10mm-2k-2bin-1p2ms` | Extended | 2 | 10mm | 2048 | joint, eef |
+| `extended-o2-10mm-4k-2bin-1p2ms` | Extended | 2 | 10mm | 4096 | joint, eef |
+| `extended-o2-10mm-8k-2bin-1p2ms` | Extended | 2 | 10mm | 8192 | joint, eef |
+| `extended-o2-10mm-16k-2bin-1p2ms` | Extended | 2 | 10mm | 16384 | joint, eef |
+| `sparse-o1-5mm-4k-2bin-1p2ms` | Sparse | 1 | 5mm | 4096 | eef, joint |
+| `sparse-o1-5mm-4k-21bin-1p2ms` | Sparse | 1 | 5mm | 4096 | eef, joint |
+| `sparse-o1-5mm-4k-2bin-2ms` | Sparse | 1 | 5mm | 4096 | eef, joint |
+| `sparse-o1-5mm-4k-21bin-2ms` | Sparse | 1 | 5mm | 4096 | eef, joint |
 
 Pin `revision` for reproducibility. `variants.json` records asset hashes; a selected
 `save_pretrained()` directory contains its assets and the shared portable runtime.

actioncodec2-0.1.0.tar.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e3dc31a8a8af57e780870af4f83b84116fec02316265101808a549d9339e613
+size 510658

processing_actioncodec2.py

@@ -19,6 +19,33 @@ SHARED_PATTERNS = (
 )
 
 
+VARIANT_ALIASES = {
+    **{f"paper-{order}": f"paper-o{index}-5mm-4k-2bin-1p2ms"
+       for index, order in enumerate(("1st", "2nd"), 1)},
+    **{f"extended-{order}-{precision}-{size}k":
+       f"extended-o{index}-{precision}-{size}k-2bin-1p2ms"
+       for index, order in enumerate(("1st", "2nd"), 1)
+       for precision in ("1mm", "5mm", "10mm") for size in (1, 2, 4, 8, 16)
+       if precision != "1mm" or size != 1},
+    **{f"sparse-{dynamics}-{mode}": f"sparse-o1-5mm-4k-{mode}-{speed}"
+       for dynamics, speed in (("standard", "1p2ms"), ("high-dynamic", "2ms"))
+       for mode in ("2bin", "21bin")},
+}
+
+
+def resolve_variant_name(variant, variants):
+    """Resolve either published spelling against an old or new catalog."""
+    if variant in variants:
+        return variant
+    canonical = VARIANT_ALIASES.get(variant, variant)
+    if canonical in variants:
+        return canonical
+    for legacy, name in VARIANT_ALIASES.items():
+        if name == canonical and legacy in variants:
+            return legacy
+    raise ValueError(f"select variant= from: {', '.join(sorted(variants))}")
+
+
 def asset_inventory(directory: Path) -> dict[str, str]:
     """Hash the complete configuration and fitted assets for one variant."""
     sparse = (directory / "sparse_router_config.yaml").is_file()
@@ -151,8 +178,7 @@ class ActionCodec2:
                     not isinstance(catalog.get("variants"), dict)):
                 raise ValueError("unsupported ActionCodec2 variant catalog")
             variants = catalog["variants"]
-            if variant not in variants:
-                raise ValueError(f"select variant= from: {', '.join(sorted(variants))}")
+            variant = resolve_variant_name(variant, variants)
             record = variants[variant]
             if not isinstance(record, dict):
                 raise ValueError("invalid ActionCodec2 variant record")
@@ -183,7 +209,7 @@ class ActionCodec2:
                     raise ValueError("unsupported ActionCodec2 saved artifact manifest")
                 _check_inventory(directory, record)
                 origin = record["origin"]
-            if variant is not None and variant != origin.get("name"):
+            if variant is not None and VARIANT_ALIASES.get(variant, variant) != VARIANT_ALIASES.get(origin.get("name"), origin.get("name")):
                 raise ValueError("saved processor contains a different variant; load the catalog to switch")
         if variant_fingerprint is not None and variant_fingerprint != origin.get("fingerprint"):
             raise ValueError("variant fingerprint differs from the tokenizer bound to this policy")

runtime/catalog.py

@@ -19,6 +19,33 @@ SHARED_PATTERNS = (
 )
 
 
+VARIANT_ALIASES = {
+    **{f"paper-{order}": f"paper-o{index}-5mm-4k-2bin-1p2ms"
+       for index, order in enumerate(("1st", "2nd"), 1)},
+    **{f"extended-{order}-{precision}-{size}k":
+       f"extended-o{index}-{precision}-{size}k-2bin-1p2ms"
+       for index, order in enumerate(("1st", "2nd"), 1)
+       for precision in ("1mm", "5mm", "10mm") for size in (1, 2, 4, 8, 16)
+       if precision != "1mm" or size != 1},
+    **{f"sparse-{dynamics}-{mode}": f"sparse-o1-5mm-4k-{mode}-{speed}"
+       for dynamics, speed in (("standard", "1p2ms"), ("high-dynamic", "2ms"))
+       for mode in ("2bin", "21bin")},
+}
+
+
+def resolve_variant_name(variant, variants):
+    """Resolve either published spelling against an old or new catalog."""
+    if variant in variants:
+        return variant
+    canonical = VARIANT_ALIASES.get(variant, variant)
+    if canonical in variants:
+        return canonical
+    for legacy, name in VARIANT_ALIASES.items():
+        if name == canonical and legacy in variants:
+            return legacy
+    raise ValueError(f"select variant= from: {', '.join(sorted(variants))}")
+
+
 def asset_inventory(directory: Path) -> dict[str, str]:
     """Hash the complete configuration and fitted assets for one variant."""
     sparse = (directory / "sparse_router_config.yaml").is_file()
@@ -151,8 +178,7 @@ class ActionCodec2:
                     not isinstance(catalog.get("variants"), dict)):
                 raise ValueError("unsupported ActionCodec2 variant catalog")
             variants = catalog["variants"]
-            if variant not in variants:
-                raise ValueError(f"select variant= from: {', '.join(sorted(variants))}")
+            variant = resolve_variant_name(variant, variants)
             record = variants[variant]
             if not isinstance(record, dict):
                 raise ValueError("invalid ActionCodec2 variant record")
@@ -183,7 +209,7 @@ class ActionCodec2:
                     raise ValueError("unsupported ActionCodec2 saved artifact manifest")
                 _check_inventory(directory, record)
                 origin = record["origin"]
-            if variant is not None and variant != origin.get("name"):
+            if variant is not None and VARIANT_ALIASES.get(variant, variant) != VARIANT_ALIASES.get(origin.get("name"), origin.get("name")):
                 raise ValueError("saved processor contains a different variant; load the catalog to switch")
         if variant_fingerprint is not None and variant_fingerprint != origin.get("fingerprint"):
             raise ValueError("variant fingerprint differs from the tokenizer bound to this policy")

runtime/exporting.py

@@ -38,7 +38,7 @@ from pybind11.setup_helpers import Pybind11Extension, build_ext
 from pathlib import Path
 native = 'actioncodec2_kernels'
 openmp = ['-fopenmp'] if sys.platform.startswith('linux') else []
-setup(name='actioncodec2-kernels', version='0.3.0', packages=['actioncodec2_kernels'],
+setup(name='actioncodec2-kernels', version='0.1.0', packages=['actioncodec2_kernels'],
       ext_modules=[Pybind11Extension('actioncodec2_kernels._native',
           sources=sorted(str(p) for p in Path(native).glob('*.cpp')),
           include_dirs=[native], cxx_std=17,

runtime/frontend/actioncodec2_sparse/processor.py

@@ -600,7 +600,7 @@ def _save_model_card(directory: Path, codec: ActionCodec2Sparse) -> Path:
     path.write_text(
         "---\nlibrary_name: actioncodec2\nlicense: apache-2.0\ntags:\n- robotics\n- action-tokenizer\n---\n\n"
         f"{GENERATED_CARD_MARKER}\n\n# ActionCodec2Sparse\n\n"
-        "Install actioncodec2 >= 0.3.0 before loading this artifact.\n\n"
+        "Install actioncodec2 >= 0.1.0 before loading this artifact.\n\n"
         "```python\nfrom actioncodec2 import ActionCodec2Sparse\n\n"
         "codec = ActionCodec2Sparse.from_pretrained('./my_codec')\n"
         + context

setup.py

@@ -4,7 +4,7 @@ from pybind11.setup_helpers import Pybind11Extension, build_ext
 from pathlib import Path
 native = 'actioncodec2_kernels'
 openmp = ['-fopenmp'] if sys.platform.startswith('linux') else []
-setup(name='actioncodec2-kernels', version='0.3.0', packages=['actioncodec2_kernels'],
+setup(name='actioncodec2-kernels', version='0.1.0', packages=['actioncodec2_kernels'],
       ext_modules=[Pybind11Extension('actioncodec2_kernels._native',
           sources=sorted(str(p) for p in Path(native).glob('*.cpp')),
           include_dirs=[native], cxx_std=17,