Omniscient Reasoning & Intelligence Operations Network
A modular robotics ecosystem with four subsystems sharing state through ROS 2. Each subsystem owns one layer of the perception-decision-action loop. Each can run independently or as part of the full stack.
Co-built with David Young. Phase 1 of the central reasoning core is complete. Three of the four subsystems have working implementations.
BROTEUS sees. ORION decides. CHIRON moves. DAEDALUS calibrates.
The ecosystem is split along the natural seams of a robot's cognition. Perception turns sensor data into structured world state. Reasoning evaluates that state and chooses what to do. Motion translates intent into joint-space control. Discovery watches what actually happened and updates the underlying physics model.
Each layer is a separate FastAPI service. They communicate over ROS 2 with typed messages. No subsystem holds another's state. Any one of them can be replaced, restarted, or run in isolation without breaking the others.
ORION sits at the center as the reasoning hub. Each subsystem connects through a typed ROS 2 message channel. Below: the data flow during a single perception-action cycle.
Each subsystem has its own technical write-up, source repository, and accent color used consistently across the ecosystem.
Real-time vision pipeline: open-vocabulary detection (YOLO-World), dual-hand 3D tracking (MediaPipe), monocular depth (MiDaS), gesture recognition with 35-d feature vectors, and animation recognition via DTW.
Self-measuring gripper, geometry-based grasp planning, scene-aware motion with UP/ACROSS/DOWN decomposition, 9-phase pick-and-place with grasp verification and auto-retry.
Real-time 3D rover autonomy simulator. Four pathfinding algorithms (A*, Dijkstra, RRT, D* Lite), infinite procedural terrain, four planetary environments (Mars, Venus, Europa, Titan).
Self-calibrating physics discovery via SINDy (Sparse Identification of Nonlinear Dynamics). Watches CHIRON's executed trajectories and updates the underlying dynamics model from observed motion. The novel research contribution.
Live deployment status across the ecosystem.
ORION FastAPI service. ROS 2 message schemas. Subsystem registration and routing.
Wire BROTEUS, CHIRON, ATHENA, and DAEDALUS together for full perception-action loops on a single physical platform.
First physical robot. 6-DOF arm with camera eye. End-to-end test of the four-subsystem stack.
Self-calibrating physics discovery: paper on SINDy for sim-to-real adaptation in modular robotic systems.