feat: upgrade memory system with unified management and config integr…

requirements.txt

@@ -92,3 +92,6 @@ websockets==15.0.1
 Werkzeug==3.1.3
 wsproto==1.2.0
 zipp==3.23.0
+# Memory module dependencies
+mem0ai>=0.1.115
+qdrant-client>=1.7.0

slaver/agents/slaver_agent.py

@@ -11,6 +11,7 @@
 from rich.panel import Panel
 from rich.text import Text
 from tools.memory import ActionStep, AgentMemory, SceneMemory
+from tools.memory import MemoryManager
 from tools.monitoring import AgentLogger, LogLevel, Monitor
 
 logger = getLogger(__name__)
@@ -40,6 +41,7 @@ def __init__(
         verbosity_level: LogLevel = LogLevel.INFO,
         step_callbacks: Optional[List[Callable]] = None,
         log_file: Optional[str] = None,
+        config: Optional[Dict[str, Any]] = None,
     ):
         self.tools = tools
         self.model = model
@@ -50,8 +52,9 @@ def __init__(
         self.max_steps = max_steps
         self.step_number = 0
         self.state = {}
-        self.memory = AgentMemory()
-        self.scene = SceneMemory(collaborator)
+        self.memory = AgentMemory()  # Maintain backward compatibility
+        self.memory_manager = MemoryManager(config=config)  # New memory manager with config
+        self.scene = SceneMemory(collaborator)  # Scene memory for environment tracking
         self.logger = AgentLogger(level=verbosity_level, log_file=log_file)
         self.monitor = Monitor(self.model, self.logger)
         self.step_callbacks = step_callbacks if step_callbacks is not None else []
@@ -85,6 +88,16 @@ async def run(
 
         if reset:
             self.memory.reset()
+            # Record task start to new memory system
+            await self.memory_manager.add_message(
+                role="system",
+                content=f"Starting task: {task}",
+                metadata={
+                    "task_type": "task_start",
+                    "robot_name": self.robot_name,
+                    "step_number": self.step_number
+                }
+            )
             self.step_number = 1
 
         self.logger.log_task(
@@ -103,12 +116,34 @@ async def run(
             )
             answer = await self.step(step)
             if answer == "final_answer":
+                # Record task completion to new memory system
+                await self.memory_manager.add_message(
+                    role="system",
+                    content=f"Task completed: {self.task}",
+                    metadata={
+                        "task_type": "task_complete",
+                        "robot_name": self.robot_name,
+                        "steps_taken": self.step_number,
+                        "message_type": "task_completion"
+                    }
+                )
                 return "Mission accomplished"
 
             self.collaborator.record_agent_status(self.robot_name, answer)
             step.end_time = time.time()
             self.step_number += 1
 
+        # Record task failure to new memory system
+        await self.memory_manager.add_message(
+            role="system",
+            content=f"Task failed: {self.task} - Maximum steps reached",
+            metadata={
+                "task_type": "task_failed",
+                "robot_name": self.robot_name,
+                "steps_taken": self.step_number,
+                "message_type": "task_failure"
+            }
+        )
         return "Maximum number of attempts reached, Mission not completed"
 
     def step(self) -> Optional[Any]:
@@ -208,6 +243,19 @@ async def step(self, memory_step: ActionStep) -> Union[None, Any]:
             stop_sequences=["Observation:"],
         )
         memory_step.model_output_message = model_message
+
+        # Record model output to new memory system
+        await self.memory_manager.add_message(
+            role="assistant",
+            content=model_message.content or str(model_message.raw),
+            metadata={
+                "step_number": self.step_number,
+                "robot_name": self.robot_name,
+                "model_path": self.model_path,
+                "message_type": "model_output"
+            }
+        )
+
         self.logger.log_markdown(
             content=(
                 model_message.content
@@ -230,5 +278,58 @@ async def step(self, memory_step: ActionStep) -> Union[None, Any]:
             return "final_answer"
         else:
             self.tool_call.append(current_call)
+
+            # Record tool call to new memory system
+            await self.memory_manager.add_message(
+                role="assistant",
+                content=f"Calling tool: {tool_name}",
+                metadata={
+                    "step_number": self.step_number,
+                    "tool_name": tool_name,
+                    "tool_arguments": tool_arguments,
+                    "robot_name": self.robot_name,
+                    "message_type": "tool_call"
+                }
+            )
 
-        return await self._execute_tool_call(tool_name, tool_arguments, memory_step)
+        observation = await self._execute_tool_call(tool_name, tool_arguments, memory_step)
+
+        # Record tool execution result to new memory system
+        await self.memory_manager.add_message(
+            role="system",
+            content=f"Tool {tool_name} execution result: {observation}",
+            metadata={
+                "step_number": self.step_number,
+                "tool_name": tool_name,
+                "observation_type": "tool_result",
+                "robot_name": self.robot_name,
+                "message_type": "observation"
+            }
+        )
+
+        return observation
+
+    # Convenience methods for new memory system
+    async def search_memory(self, query: str, limit: int = 10):
+        """Search messages in memory"""
+        return await self.memory_manager.search_messages(query, limit)
+
+    async def get_memory_stats(self):
+        """Get memory statistics"""
+        return await self.memory_manager.get_memory_stats()
+
+    async def record_important_info(self, thinking: str, content: list, **kwargs):
+        """Record important information to long-term memory"""
+        return await self.memory_manager.record_important_info(thinking, content, **kwargs)
+
+    async def retrieve_important_info(self, keywords: list, limit: int = 5):
+        """Retrieve important information from long-term memory"""
+        return await self.memory_manager.retrieve_important_info(keywords, limit)
+
+    def save_memory_state(self, filepath: str):
+        """Save memory state"""
+        self.memory_manager.save_state(filepath)
+
+    def load_memory_state(self, filepath: str):
+        """Load memory state"""
+        self.memory_manager.load_state(filepath)

slaver/config.yaml

@@ -54,5 +54,64 @@ robot:
   call_type: remote
   path: "http://127.0.0.1:8000"
 
+# Memory System Configuration
+memory:
+  # Short-term memory configuration
+  short_term:
+    # Maximum number of messages to store in short-term memory
+    max_size: 1000
+    # Auto-migrate to long-term memory when short-term exceeds this count
+    auto_migrate_threshold: 100
+    # Auto-migrate to long-term memory after this many hours
+    migration_age_hours: 24
+
+  # Long-term memory configuration
+  long_term:
+    # Agent identifier
+    agent_name: "roboos_agent"
+    # User identifier
+    user_name: "default_user"
+    # Run identifier
+    run_name: "default_run"
+
+    # Vector store configuration
+    vector_store:
+      # Vector store provider (qdrant, chroma, etc.)
+      provider: "qdrant"
+      config:
+        # Store vectors on disk for persistence
+        on_disk: true
+        # Collection name for storing vectors
+        collection_name: "roboos_memory"
+        # Qdrant server configuration
+        host: "localhost"
+        port: 6333
+        # API key for Qdrant (if required)
+        api_key: null
+
+    # mem0 configuration
+    mem0:
+      # Embedding model configuration
+      embedder:
+        provider: "huggingface"
+        config:
+          model: "sentence-transformers/all-MiniLM-L6-v2"
+
+      # LLM model configuration for memory operations
+      llm:
+        provider: "openai"
+        config:
+          # Use local vLLM service with OpenAI-compatible API
+          model: "RoboBrain2.0-7B"
+          api_key: "EMPTY"  # vLLM doesn't require real API key
+          base_url: "http://localhost:4567/v1"
+
+      # Memory retrieval configuration
+      retrieval:
+        # Number of memories to retrieve by default
+        default_limit: 5
+        # Similarity threshold for memory retrieval
+        similarity_threshold: 0.7
+
 # Output reasoning context, time cost and other information
 profiling: true

slaver/tools/config_loader.py

@@ -0,0 +1,160 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Configuration Loader
+
+Utility for loading and managing configuration from config.yaml file.
+"""
+
+import os
+import yaml
+from typing import Any, Dict, Optional
+from logging import getLogger
+
+logger = getLogger(__name__)
+
+
+class ConfigLoader:
+    """Configuration loader for RoboOS system"""
+
+    def __init__(self, config_path: Optional[str] = None):
+        """Initialize configuration loader
+
+        Args:
+            config_path: Path to config.yaml file. If None, uses default path.
+        """
+        if config_path is None:
+            # Default config path relative to this file
+            current_dir = os.path.dirname(os.path.abspath(__file__))
+            config_path = os.path.join(current_dir, '..', 'config.yaml')
+
+        self.config_path = config_path
+        self._config: Optional[Dict[str, Any]] = None
+
+    def load_config(self) -> Dict[str, Any]:
+        """Load configuration from YAML file
+
+        Returns:
+            Configuration dictionary
+
+        Raises:
+            FileNotFoundError: If config file doesn't exist
+            yaml.YAMLError: If config file is invalid YAML
+        """
+        if self._config is not None:
+            return self._config
+
+        if not os.path.exists(self.config_path):
+            raise FileNotFoundError(f"Config file not found: {self.config_path}")
+
+        try:
+            with open(self.config_path, 'r', encoding='utf-8') as f:
+                self._config = yaml.safe_load(f)
+
+            logger.info(f"Configuration loaded from {self.config_path}")
+            return self._config
+
+        except yaml.YAMLError as e:
+            logger.error(f"Failed to parse config file {self.config_path}: {e}")
+            raise
+        except Exception as e:
+            logger.error(f"Failed to load config file {self.config_path}: {e}")
+            raise
+
+    def get_memory_config(self) -> Dict[str, Any]:
+        """Get memory system configuration
+
+        Returns:
+            Memory configuration dictionary
+        """
+        config = self.load_config()
+        return config.get("memory", {})
+
+    def get_short_term_config(self) -> Dict[str, Any]:
+        """Get short-term memory configuration
+
+        Returns:
+            Short-term memory configuration dictionary
+        """
+        memory_config = self.get_memory_config()
+        return memory_config.get("short_term", {})
+
+    def get_long_term_config(self) -> Dict[str, Any]:
+        """Get long-term memory configuration
+
+        Returns:
+            Long-term memory configuration dictionary
+        """
+        memory_config = self.get_memory_config()
+        return memory_config.get("long_term", {})
+
+    def get_model_config(self) -> Dict[str, Any]:
+        """Get model configuration
+
+        Returns:
+            Model configuration dictionary
+        """
+        config = self.load_config()
+        return config.get("model", {})
+
+    def get_tool_config(self) -> Dict[str, Any]:
+        """Get tool configuration
+
+        Returns:
+            Tool configuration dictionary
+        """
+        config = self.load_config()
+        return config.get("tool", {})
+
+    def get_collaborator_config(self) -> Dict[str, Any]:
+        """Get collaborator configuration
+
+        Returns:
+            Collaborator configuration dictionary
+        """
+        config = self.load_config()
+        return config.get("collaborator", {})
+
+    def get_robot_config(self) -> Dict[str, Any]:
+        """Get robot configuration
+
+        Returns:
+            Robot configuration dictionary
+        """
+        config = self.load_config()
+        return config.get("robot", {})
+
+    def reload_config(self) -> Dict[str, Any]:
+        """Reload configuration from file
+
+        Returns:
+            Updated configuration dictionary
+        """
+        self._config = None
+        return self.load_config()
+
+
+def load_config(config_path: Optional[str] = None) -> Dict[str, Any]:
+    """Convenience function to load configuration
+
+    Args:
+        config_path: Path to config.yaml file
+
+    Returns:
+        Configuration dictionary
+    """
+    loader = ConfigLoader(config_path)
+    return loader.load_config()
+
+
+def get_memory_config(config_path: Optional[str] = None) -> Dict[str, Any]:
+    """Convenience function to get memory configuration
+
+    Args:
+        config_path: Path to config.yaml file
+
+    Returns:
+        Memory configuration dictionary
+    """
+    loader = ConfigLoader(config_path)
+    return loader.get_memory_config()