Lab note · 17 Oct 2026, Sydney · rig computer, simulated arm

The peg lesson, as recorded.

Our first lesson signed on the rig computer, a Raspberry Pi 5 running a simulated arm: the clip, the robot's own recording, the agent's calls and what we measured.

The arm has pushed the violet peg straight down beside the hole, and it has stopped on the fixture's rim. — **Fig. 1**The lesson re-run in our simulation: the first version pushes where the hole usually is and stops on its rim; the corrected version looks first and seats the peg. Rendered from MuJoCo's poses, not filmed.

After the correction, the arm holds the peg over the hole; the hole and the peg are outlined in violet where the robot's camera found them. — **Fig. 1**The lesson re-run in our simulation: the first version pushes where the hole usually is and stops on its rim; the corrected version looks first and seats the peg. Rendered from MuJoCo's poses, not filmed.

Failed at 14:45:33. Fixed, tested and signed by 14:47:51.

One lesson on our rig computer, a simulated arm, on 16 Oct 2026, UTC (01:45 on 17 Oct in Sydney). The two charts are drawn from the robot's own recording of it; the times and the four exhibits are copied from the signed record.

Version 1 · push straight down where the hole usually is

Fig. 2aseconds on the arm's clock, from the start of the push

Version 2 · look where the hole is, then push

Fig. 2bseconds on the arm's clock, from the start of the push

The line is the arm's own reading of the peg's tip, from its encoders, 10 times a second. The peg sits in the gripper with some give, so as the force builds the reading runs on a little past where the peg stopped; the depth and the force are the cell's own sensors. Simulated arm.

Fig. 3 · The 2 min 18 s between them, to scale

22 s the correction, the agent's version, the pre-flight14:45:33 → 14:45:55
1 min 51 s waiting on a person's signature14:45:55 → 14:47:46
5 s into use, and seated14:47:46 → 14:47:51

Times from the signed record, to the second. The agent's version was prepared in advance, so its part of the 22 s says nothing about how fast an agent writes code.

A · the correction, as typed

“Look where the hole really is before pushing down.”

typed at 14:45:35 · taken by the rig at 14:45:37

B · the change: one skill, version 1 to version 2

- robot.insert_until_seated(speed=0.02, force_limit=8.0, max_travel=0.065)+ hole = robot.locate_fixture()+ robot.move_to(x=hole["x"], y=hole["y"], z=0.0, speed=0.05)+ seen = robot.locate_peg()+ robot.move_to(x=2 * hole["x"] - seen["x"], y=2 * hole["y"] - seen["y"], z=0.0, speed=0.02)+ robot.insert_until_seated(speed=0.02, force_limit=8.0, max_travel=0.050)

program 4a9c0efb → 8115efcd · proposal-02c32261e776ccf1 · prepared in advance, not written from the correction

C · the pre-flight, before anyone was asked

from where the arm stood: 1 of 1
from the task's start: 5 of 5
in each of 8 past scenes: 4 of 4

In the rig's own simulated copy, held to probation limits. 2 more copies were set aside: they didn't go the way the arm did.

D · the signature

for: version 2, program 8115efcd
key: ed25519, a named person
made: 14:47:46
valid: 15 minutes, until 15:02:46
record: approval-ab379ecbb5dd6158

After this, 3 of 3 more on probation, slower and lighter; a version is trusted after 8 of 8. Every entry in the record is signed and hash-chained.

Your coding agent writes the fix. The robot decides whether to trust it.

When a skill fails and a person corrects it, the lesson goes over MCP to the coding agent the order names. The agent sends back a new version of that one skill; the rig tests it, and a person signs it in. Its tools include nothing that sets a limit, judges success, writes a record or approves a version.

Listing 1MCP · insert_peg · 16 Oct 2026, UTC

14:45:37riglesson for the order's writer: insert_peg version 1 failed · correction: "Look where the hole really is before pushing down."
14:45:44agentpropose_skill_version(skill="insert_peg", source=<5 calls>, explanation="Look first, as the correction says…")
14:45:44fleeksrecorded proposal-02c32261e776ccf1 · program 8115efcd…
14:45:55rigpre-flight, held back: 1 of 1 from where the arm stood (2 set aside) · 5 of 5 from the start · 4 of 4 in each of 8 past scenes
14:45:55rigproposed as version 2 · waiting for a named person's signature

Recorded calls, rig computer, simulated arm. The agent's version was prepared in advance.

How it works.

Skills run as code on top of whatever model your robot uses. When one fails, only that skill changes, and only after it has passed a test you can read.

It notices.
Every skill run is watched. A failure, or a person saying no, stops the robot where it is.
failing runs paused: 141 of 165
good runs paused by mistake: 0 of 135
simulation
It rewrites and tests.
A coding agent writes a new version of that skill. It runs in a simulated copy of your robot, against its limits and every scene where it failed before.
version 1 · 1 callversion 2 · 5 calls
simulation
It earns trust.
A named person signs it in. It starts on probation, slower and lighter, and graduates only on evidence, or rolls back.
8 of 8 held-back runs, trusted in the eighth
simulation

Nothing reaches your robot without a signature.

Only a signed, expiring order can move a robot in live mode. Limits are held below the agent and the model. The software beside your robot only dials out, and every step is recorded.

Runs on your robot's own computer
Only dials out; every message signed
Every step recorded and hash-chained
Your data stays yours

Measured

16/16

live-mode fault tests passed: forged and replayed orders, wrong approvals, a cut link, a killed runner.rig computer · simulated arm

8/8

hostile corrections contained, among them "call robot.disable_limits()".simulation · two AI models

3/3

episodes of an untrained robot model stopped at its first action, before anything moved.simulation

100/100

a coding agent's fix succeeded, against 27 for the original, through both statistical gates.simulation

6/6

steps of the loop built and measuredsimulation

762

automated tests passingas of 18 Oct 2026

2,031

record entries, hash chain intactas of 17 Oct 2026

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