The numbers
behind the runtime.

01 / TIMING

6.29 ms.
Measured.

The recorded changing-obstacle mission completed 41 acknowledged steps. Every measured action boundary stayed below the existing 20 ms budget.

The population is one complete software mission, with the common planner and the first-order straight-target software body on macOS arm64. Timing is the runtime’s recorded action-boundary elapsed interval, not total sensor-to-physical-motion latency. The percentile uses nearest rank: the 39th sorted sample of 41.

This is an observed reference result, not a hard real-time guarantee or a comparative speedup. A separately retained optional response experiment exceeded its deadline and is outside the delivered reference result.

02 / EXACT HISTORY

Recover the evidence.
Reauthorize the action.

All 26 promised historical versions were recovered exactly. The independent A–H readback accepted every recovery predicate, including the link between saved history, recovered bytes and a fresh run.

History recovery restores the promised evidence. It does not restore an old permission to move: the next action needs fresh observation and authority. This acceptance covers the declared save/readback workflow; power-loss durability and arbitrary live-crash recovery are separate platform work.

03 / STOPPING-AWARE COMPUTE

1,048 endpoints.
Replayed independently.

The released workflow ranks successfully admitted stopping endpoints from the command lease plus the full braking trajectory. A separate readback reconstructed the nominal scoring inputs and endpoints.

The replay checks conditional nominal ranking with an absolute numerical tolerance of 10⁻¹². It is not a rerun of every candidate’s geometry or a proof of physical tracking and continuous collision freedom. The distinction matters: the result is inspectable computation, with a defined model and a defined scope.

04 / COMPACT DELIVERY

The runtime release.
Without the lab.

The signed local AMR v1.2 release separates the operator’s runtime from development caches and research history. Relocated tests ran successfully without the canonical source checkout.

CRC, every file hash, the manifest, literal extraction and file permissions were checked. Signed installation authenticates and stages the inactive payload before execution. The private signing key is not distributed.

Supported configuration

Hosted macOS arm64 software runtime, with externally installed trusted Python 3.12 and pinned OpenSSL 3.6.4 for authenticated tools, plus the documented host system libraries. Archive size excludes those dependencies and the host operating system.

Release integrity

Archive SHA-256:
84242480dc5e98178da2f259c0cc3930ead5cbf73224ece321c04ba0154aa9dc

Local version replacement uses a documented manual side-by-side workflow. This release is a hosted robotics runtime, not a bootable general-purpose OS or an in-place transactional updater.

05 / USEFUL WORK

A goal.
A changing world.
A return.

The A/B/A changing-obstacle task completed all three ordered goals through runtime services and broker acknowledgments. The recorded reference used explicit software ray observations and a first-order software body.

The cell counts are update occurrences, not distinct real-world objects. The independent readback verified an explicit free observation for a previously occupied transient voxel; occupied memory was not globally cleared.

More than one mission path

The relocated release also completed its default two-goal mission with 26 acknowledged steps and the supplied three-stop typed mission with 25. Canonical common, fused and DWA arms completed the changing workload with 41, 39 and 39 acknowledgments respectively. Those counts show completed workflows, not a performance ranking.

The authenticated managed entry runs the fixed default demo. Supplied typed missions and the changing workload use a trusted direct developer entry; they do not establish authenticated arbitrary-application execution. Website route graphics are explanatory schematics, not recorded trajectories or live telemetry.

06 / OPERATING DISCIPLINE

Start is a feature.
So is stop.

Nine functional software acceptance gates were closed for this supported reference. Ten lifecycle cases were accepted, with original unsuccessful attempts retained. Independent review here means a separate project reviewer and readback, not external certification.

The accepted functional checklist

1. Offline signed install and authenticated start.
2. Useful typed missions through the runtime services.
3. Authority, finite resources and unchanged deadline enforcement.
4. Fault refusal, zero close, owned interruption and fresh restart.
5. Exact history recovery and wrong-pin refusal without replay authority.
6. Manual side-by-side local version replacement.
7. Coherent SDK, operator and dependency instructions.
8. Compact relocated release and safe workspace cleanup.
9. Frozen independent functional acceptance and delivery manifest.

Lifecycle cases exercised

Stale input and driver errors refused; history save/restart completed; wrong-pin and truncated copies refused; a real Ctrl+C returned exit 130 with the owned child reaped; a fresh authenticated run completed; and the retained previous release installed and ran in fresh state.

The accepted lifecycle report reused and reverified six original cases, then ran the four remaining cases after correcting test process discovery. The first whole attempt remains an unsuccessful result. A separate focused and integration gate passed 78 controls; this is a scoped test count, not the total repository suite.

07 / THE OPERATING LAYER

Intelligence proposes.
Authority decides.

The architectural through-line is a connected loop: versioned spatial state → typed proposal → explicit command authority → broker acknowledgment → exact evidence history. It makes the state behind a decision part of the execution contract.

The spatial model draws on local compatibility and restriction maps: explicit relationships between local descriptions. The implementation combines these ideas with versioned memory, typed computation and bounded execution. Mathematical consistency is conditional on the observations and model; sensing still supplies the physical evidence.

The product edge

Sheaf-OS brings planning, state, command checks and operator lifecycle into one inspectable reference. The differentiation is that integrated approach. No qualified industrywide performance advantage, exclusive invention or universal safety claim is established by this release.

08 / PLATFORM DIRECTION

One operating fabric.
Many forms.

The thesis is expansive: local intelligence, persistent context and explicit execution authority should travel together. The delivered starting point is the local mobile-robotics software reference.

Current reference

Offline local execution, signed managed demo installation and start, supplied typed tasks, stopping-aware nominal planning, broker acknowledgments, exact bounded history recovery and manual side-by-side version replacement.

Expansion work

Aerial and other embodied profiles, hardware and driver conformance, enforced isolation, boot and update assurance, offline natural-language compilation, accelerator execution, validated few-shot transfer and stronger physics and matched performance comparisons. These are platform directions and research work, not capabilities qualified by the local AMR release.

Physical deployment, hostile-host security, hard real-time behavior and a bootable general-purpose OS each need their own qualification. The ambition is a shared operating layer for physical intelligence. The reference provides a concrete system to evaluate today.