feat(action-engine): add execution runtime and ActionAgent

[skywhite1024]

Stack

• Layer: 5/6
• Base: ljd/gen-sim-refactor-05-runtime-grounding
• Depends on: feat(action-engine): add runtime grounding and capability adapters #536
• Followed by: feat(task-engine): add orchestration and end-to-end integration #538

Description

This PR adds the execution half of Action Engine: DAG scheduling, vectorized execution state, retries and recovery, recording and reports, ActionAgent, runtime environment integration, CLI runner, A/B evaluation, and video archival.

The runtime consumes the coordinate-free bundles from #535 and grounds each action through #536 immediately before execution.

Type of change

• Bug fix
• Enhancement
• New feature
• Breaking change
• Documentation update

Validation

• black --check --diff --color ./
• python docs/scripts/check_api_docs.py
• Focused CLI, evaluation, executor, recovery, runtime contract, ActionAgent, architecture, motion policy, unbound-plan, and video tests (276 passed)

Checklist

• Code is formatted with Black 26.3.1
• Public API documentation is aligned
• Focused tests cover execution and recovery
• Reports and artifacts remain tensor-free and reproducible

[greptile-apps]

Greptile Summary

The PR adds an ActionAgent, an executable action runtime with recovery and recording, and offline/A-B CLI orchestration.

• Compiles grounded or unbound plans into executable seed graphs.
• Executes vectorized simulator actions with retries, recovery, and per-environment reporting.
• Adds process-isolated A/B evaluation and runtime artifact publication.
• Adds contract, recovery, agent, CLI, architecture, and evaluation tests.

Confidence Score: 4/5

The persistence failure path should be fixed before merging because a completed simulator execution can escape without the promised report; worker force-cleanup is also worth hardening.

Post-execution filesystem or serialization failures are outside ActionAgent.execute's handled exception set, so successful motion can end in a caller-visible exception rather than an execution report.

Files Needing Attention: embodichain/gen_sim/action_engine/agent.py; embodichain/gen_sim/action_engine/cli/run_agent.py

Important Files Changed

Filename	Overview
embodichain/gen_sim/action_engine/agent.py	Adds plan compilation and execution reporting, but successful runs can raise when post-execution trajectory persistence fails.
embodichain/gen_sim/action_engine/cli/run_agent.py	Adds offline and process-isolated A/B orchestration; worker cleanup lacks a final response for children that survive termination.
embodichain/gen_sim/action_engine/runtime/executor.py	Implements vectorized execution, retry, recovery, and result production with per-environment masking.
embodichain/gen_sim/action_engine/runtime/recovery.py	Adds per-environment retry and recovery decision tracking.
embodichain/gen_sim/action_engine/runtime/recording.py	Adds runtime graph, checkpoint, and revision artifact recording.
embodichain/gen_sim/action_engine/runtime/reporting.py	Adds strict execution-report validation and atomic report publication.
embodichain/gen_sim/action_engine/evaluation/ab.py	Adds strict offline-versus-online branch execution and comparison artifact generation.
embodichain/gen_sim/action_engine/environment/agent_env.py	Integrates the new execution runtime with the generated simulator environment.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
A[Grounded task plan] --> B[ActionAgent plan and preflight]
B --> C[ExecutionProgram]
C --> D[ProgramExecutor]
D --> E{Action outcome}
E -->|Retryable| F[Retry and recovery]
F --> D
E -->|Complete| G[ExecutionResult]
G --> H[Trajectory persistence]
H --> I[ExecutionReport]
I --> J[Runtime and Task Engine artifacts]
C --> K[A/B branch workers]
K --> L[Offline branch]
K --> M[Online branch]
L --> N[A/B comparison]
M --> N

Loading

Prompt To Fix All With AI

### Issue 1
embodichain/gen_sim/action_engine/agent.py:414
**Persistence errors escape reporting**
When a successful execution cannot persist its trajectory because the record directory is unwritable, full, or otherwise unavailable, `_persist_executed_trajectory` raises an uncaught filesystem or serialization error, causing `ActionAgent.execute` to exit without the promised aborted `ExecutionReport`.
### Issue 2
embodichain/gen_sim/action_engine/cli/run_agent.py:531-534
**Stuck workers survive cleanup**`_ABBranchWorker.close` stops after `terminate()` and a timed join without killing or reporting a child that remains alive, leaving a stuck simulator process able to retain GPU, shared-memory, and other runtime resources after the CLI exits.
---
For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

_{Reviews (1): Last reviewed commit: "feat(action-engine): add execution runti..." | Re-trigger Greptile}

[greptile-apps]

Persistence errors escape reporting

When a successful execution cannot persist its trajectory because the record directory is unwritable, full, or otherwise unavailable, _persist_executed_trajectory raises an uncaught filesystem or serialization error, causing ActionAgent.execute to exit without the promised aborted ExecutionReport.

Prompt To Fix With AI

This is a comment left during a code review.
Path: embodichain/gen_sim/action_engine/agent.py
Line: 414
Comment:
**Persistence errors escape reporting**
When a successful execution cannot persist its trajectory because the record directory is unwritable, full, or otherwise unavailable, `_persist_executed_trajectory` raises an uncaught filesystem or serialization error, causing `ActionAgent.execute` to exit without the promised aborted `ExecutionReport`.
---
For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

[greptile-apps]

Stuck workers survive cleanup

_ABBranchWorker.close stops after terminate() and a timed join without killing or reporting a child that remains alive, leaving a stuck simulator process able to retain GPU, shared-memory, and other runtime resources after the CLI exits.

Prompt To Fix With AI

This is a comment left during a code review.
Path: embodichain/gen_sim/action_engine/cli/run_agent.py
Line: 531-534
Comment:
**Stuck workers survive cleanup**`_ABBranchWorker.close` stops after `terminate()` and a timed join without killing or reporting a child that remains alive, leaving a stuck simulator process able to retain GPU, shared-memory, and other runtime resources after the CLI exits.
---
For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.