{ "name": "JEPA Shared World", "version": 1, "source": "./env.js", "description": "A deterministic multi-agent car and drone environment with explicit policy controllers, geometry observations and configurable rewards. DM-JEPA weights are fixed; this environment does not train a model by itself.", "verification": { "asOf": "2026-10-09", "passedChecks": [ { "file": "./env.test.mjs", "passed": 23, "scope": "Deterministic environment logic" }, { "file": "./mesh-collision.test.mjs", "passed": 15, "scope": "Triangle collision and ray queries against synthetic geometry" }, { "file": "./city-geometry.test.mjs", "passed": 7, "scope": "Synthetic tile geometry decoding, coordinates, textures and selection" }, { "file": "./protocol.test.mjs", "passed": 36, "scope": "In-memory room/RL/geometry/preset/proxy/host requests and mocked browser networking" }, { "file": "./control-policy.test.mjs", "passed": 6, "scope": "Explicit assisted-turn limiter; raw/manual commands unchanged; alignment, sign, no-target and obstacle guards" } ], "passedIntegrationScripts": [ "./mesh-env.test.mjs", "./terrain.test.mjs", "./city-scene.test.mjs" ], "integrationScope": "Synthetic triangle attachment, contacts, range observations, reset identity, atomic failure and metadata-only snapshots.", "liveHTTPVerified": true, "liveHTTPEvidence": "./verification/live-http-evidence.json", "liveCapacityEvidence": "./verification/live-capacity-evidence.json", "liveSFEvidence": "./verification/live-sf-evidence.json", "liveSFTerrainEvidence": "./verification/live-sf-terrain-evidence.json", "liveAssistanceEvidence": "./verification/live-assist-evidence.json", "liveLANEvidence": "./verification/live-lan-evidence.json", "liveLANScope": "Actual HTTP/SSE to loopback and the advertised private LAN address from this Mac, with shared-room manual movement, Origin/Host checks and static-asset scope. A second physical device and browser play are separate checks.", "liveSFTerrainScope": "Fresh server with measured ground: two actual SSE peers preserve all 6561 heights and both mesh hashes; 8 seconds of human car/drone input yields ground-following motion and touchdown. Real HTTP RL episodes repeat exactly after reset, including ground range and rewards.", "liveHTTPScope": "Two real SSE players, authoritative physics and synthetic bot metadata, real-time expiry, reconnect pause/resume, matching synthetic triangle geometry, and deterministic RL reset/step/reward/truncation. This is transport evidence, not model inference or public SF rendering evidence.", "browserRenderingVerified": false, "publicSFTilesFetched": true, "phoneInstallationVerifiedForThisWorld": false, "screenshotsCapturedForThisWorld": false, "genuineModelInferenceVerified": true, "modelInferenceEvidence": "./verification/live-sf-model-evidence.json", "modelInferenceScope": "Historical FP32 adaptive Node CPU runs on the initial four-goal course: raw and old assisted control each reached 0/4 in 30 seconds. That course crossed buildings and held-yaw assistance oscillated; both environment defects are now fixed. These historical runs are retained without treating them as a benchmark result.", "liveAssistedModelEvidence": "./verification/live-sf-room-model-evidence.json", "liveAssistedModelScope": "Historical generic-assistance (+2.5 on the scripted baseline action) with actual FP32 adaptive ONNX inference in a real-time authoritative room completed the visible 13-gate street circuit in 79.5 simulated seconds with zero collisions. Explicit navigation assistance changed all 150 policy selections; raw, policy and applied actions are recorded separately. This establishes assisted-controller gameplay, not raw-model competence or browser rendering. This predates danger-world-v1 custom rule priors.", "liveRawModelEvidence": "./verification/live-sf-room-raw-model-evidence.json", "liveRawModelScope": "The same FP32 adaptive graph controlled a bot on the new 13-gate course with assistance disabled. A 30-second wall-clock probe produced 51 actual decisions and 0 checkpoints, with no collisions or overrides. This short environment-specific run is not a benchmark ranking.", "inputFormatEvidence": "./verification/sf-input-format-comparison.json", "exportComparisonEvidence": "./verification/sf-export-comparison.json", "exportComparisonScope": "Six SF observations: fixed-four-step FP32 matched adaptive FP32 probabilities exactly; INT8 agreed on 5 of 6 choices with maximum probability difference 0.0122076. This small comparison is not a general parity claim.", "remaining": "Browser rendering, browser model execution, screenshot review and phone installation remain unverified. The browser tool still reports a saved denial for http://127.0.0.1:8100, including a retry after the user reported access allowed. The local server is running normally.", "circuitEvidence": "./verification/sf-circuit-baseline-evidence.json", "circuitScope": "Deterministic scene generation from the actual frozen SF triangles and measured terrain; 26 visible gates (13 per vehicle), 2934 full-body clearance samples, and bounded scripted baseline completion. Car: 13/13 in 35.00 seconds, zero contacts; drone: 13/13 in 47.23 seconds, zero contacts. No model inference or browser rendering is claimed by this check.", "terrainEvidence": "./verification/terrain-evidence.json", "terrainScope": "Measured SF grid and NAVD88\u2192EGM96 conversion; exact rendered triangle/height/range agreement, uphill car motion, gentle drone landing, deterministic terrain serialization. Local real-SF geometry run moved a car and drone for four seconds with zero collisions. Browser appearance remains unverified.", "dangerWorldPriorRuntimeVerified": true, "dangerWorldPriorScope": "Current motion contract and trusted SF preset, actual adaptive-FP32 inference in real-time rooms: drone13/13 in92.10simulatedseconds, car13/13 in69.07seconds, zero contacts. Priors changed all33drone and39car choices. This is assisted navigation, not raw-model competence or browser/native rendering.", "dangerWorldPriorFailedEvidence": "./verification/live-sf-room-custom-prior-2026-10-09T22-28-09.081Z.json", "dangerWorldPriorEvidence": "./verification/live-sf-room-custom-prior-2026-10-09T23-46-15.954Z.json", "motionInputEvidence": "./verification/world-motion-input-2026-10-09T23-39-30.259Z.json", "motionInputScope": "Six actual adaptive-FP32 SF simulator probes after exposing signed velocity and truthful action dynamics. All three drone inputs chose climb and all three car inputs chose brake. Input execution passes; improved navigation, browser rendering and new phone deployment are not established.", "liveMotionContractEvidence": "./verification/live-motion-contract-2026-10-09.json", "liveMotionContractScope": "Isolated current-source HTTP server: both cars and drones expose motion/control fields; 90-step action sequence and rewards reproduce exactly after reset. No screenshot or current 8100 deployment claim.", "livePresetEvidence": "./verification/live-preset-evidence-2026-10-09.json", "livePresetScope": "Two actual SSE clients on the updated usual port8100 shared exact14184-triangle SF geometry and6561terrain heights, moved car/drone with zero contacts and received31snapshots each. RL reset/replay matched; arbitrary upload without key returned403. Browser rendering and physical-device play remain separate.", "priorContributionRecordedStatesEvidence": "./verification/prior-model-contribution-recorded-states-2026-10-09.json", "priorContributionRecordedStatesScope": "On the recorded states, replacing model scores with uniform probabilities leaves all72inference-time and1159fresh-prior choices unchanged. This is counterfactual selection on the captured observations, not a new trajectory/reward ablation; useful model contribution is not established." }, "coordinates": { "unit": "meters", "x": "east", "y": "up", "z": "south", "yaw": "radians clockwise from negative Z", "forward": [ "sin(yaw)", 0, "-cos(yaw)" ] }, "observation": { "source": "simulated-geometry", "cameraInput": false, "fields": { "state": "Raw telemetry text for DM-JEPA, including geometry ranges, goal, nearby actors, signed world/body velocity and simulator control dynamics.", "instructions": "Task instructions supplied to the model.", "options": "Ordered label/criteria action candidates. Index is the action ID.", "vector": "22 floating point values in the order below; values are not normalized.", "info": "Episode, step, simulation time, target, ranges, nearby actors, completion and ruleAction. ruleAction is an explicit baseline suggestion outside the model's state/instructions." }, "vectorLength": 22, "vectorNames": [ "position_x_m", "position_y_m", "position_z_m", "velocity_x_mps", "velocity_y_mps", "velocity_z_mps", "heading_sin", "heading_cos", "target_distance_m", "target_bearing_error_rad", "target_altitude_error_m", "range_front_m", "range_left_m", "range_right_m", "range_back_m", "range_front_left_m", "range_front_right_m", "range_up_m", "range_down_m", "goal_index", "collision_count", "battery_percent" ], "rangeMaximumMeters": 65, "motionCoordinates": { "world": "east, up, south in meters/second", "body": "forward, right, up in meters/second", "precision": "Velocity components are rounded to 0.01 meters/second in model text; the numerical observation vector remains unrounded." } }, "actions": { "car": [ "keep", "accelerate", "brake", "slow", "left", "right", "turnLeft", "turnRight" ], "drone": [ "hold", "climb", "descend", "yawLeft", "yawRight", "forward", "backward", "rth", "land" ], "continuous": { "throttle": [ -1, 1 ], "steer": [ -1, 1 ], "lift": [ -1, 1 ], "brake": [ 0, 1 ] }, "continuousExample": { "throttle": 0.7, "steer": -0.2, "lift": 0, "brake": 0 }, "note": "One action per agent ID per step. Discrete indices are zero-based. Missing REST actions use environment defaults: cars coast under drag, drones decelerate to hover. Send car action 2 for a full brake. rth is the explicitly named built-in return-to-home controller.", "duration": "Discrete choices are continuous rate commands while applied. The caller controls hold duration; inference latency can age the observation. They are not completed finite-distance or finite-angle maneuvers." }, "scenarios": { "explore": "Continuous exploration; checkpoints loop and maxSeconds does not end the episode.", "race": "Complete every checkpoint for the vehicle kind, or truncate at maxSeconds.", "courier": "Reach pickup then delivery, or truncate at maxSeconds. The default route uses the second and final checkpoints." }, "rewards": { "newCollisionContact": -5, "checkpoint": 20, "completedMission": 50, "newExplorationCell": 1, "explorationCellMeters": [ 12, 10, 12 ], "progress": "0.035 * (previous target distance - current target distance)", "time": "-0.01 * dt outside explore; zero in explore", "score": "Sum of the agent's rewards during the episode." }, "scene": { "default": "harbor-yard", "descriptorFields": [ "id", "name", "bounds", "spawnPoints", "colliders", "checkpoints", "decor", "splat", "city", "collisionMesh", "terrain" ], "collisionSource": { "withoutCollisionMesh": "scene-aabbs", "withCollisionMesh": "rendered-triangles-and-scene-aabbs", "worldBounds": "World bounds remain enforced; terrain replaces the constant lower plane and cars follow the measured surface.", "withTerrain": "rendered-triangles-and-heightfield" }, "appearanceSource": "Procedural harbor meshes; public PLW/Esri textured SF buildings on measured USGS ground with aerial orthoimagery; optional Gaussian splat appearance.", "splatProvidesCollisions": false, "limits": { "colliders": 512, "checkpoints": 128, "spawnPoints": 64, "decor": 256, "collisionTriangles": 200000, "terrainColumns": 129, "terrainRows": 129 }, "collisionMesh": { "metadataFields": [ "id", "hash", "triangleCount", "bounds" ], "storedInSnapshot": "Identity metadata only; triangle arrays and BVH are never serialized in snapshots.", "localAttachment": "WorldEnv config.collisionWorld must contain a matching TriangleCollider.", "serverAttachment": "Upload triangles through /api/geometry, then provide the returned private capability and exact scene.collisionMesh metadata." }, "city": { "provider": "plw-sf", "attribution": "San Francisco 3D buildings \u00b7 Precision Light Works (PLW) \u00b7 Esri", "sourceURL": "https://tiles.arcgis.com/tiles/z2tnIkrLQ2BRzr6P/arcgis/rest/services/SanFrancisco_Bldgs/SceneServer/layers/0", "sourceItemURL": "https://www.arcgis.com/home/item.html?id=d3344ba99c3f4efaa909ccfbcc052ed5", "loader": "./city-layer.js", "loaderIntegratedInSource": true, "publicDataRuntimeVerified": true, "publicDataRuntimeScope": "Six fetched public I3S tiles, 14184 triangles. Actual HTTP upload preserves hash/bounds; two SSE players share the frozen mesh; a real facade blocks drone motion and supplies matching sensor/reward observations. Browser texture rendering is a separate check.", "episodeGeometry": "One frozen tile selection supplies the rendered triangles and collision triangles. Mesh identity must match across the local simulator and room server.", "circuit": { "sceneArtifact": "./verification/sf-circuit-scene.json", "geometryFixture": "./verification/fixtures/sf-neighborhood.json.gz", "checkpointsPerVehicle": 13, "gridSpacingMeters": 6, "maximumLegMeters": 45, "clearanceEnvelopeRadiusMeters": 3, "generation": "Connected street graph, shortest paths between circuit anchors, then body-clear line-of-sight simplification. Generated once from the actual building triangles and measured terrain.", "runtime": "All planned corners are serialized, visible checkpoints. No hidden runtime planner controls the vehicle. Model-only actions retain their supplied physics.", "scenarioScope": "Race and explore follow the complete ordered circuit. Courier selects pickup/delivery goals and does not automatically traverse all intermediate gates.", "verification": "./city-scene.test.mjs; bounded to 120 simulated seconds per scripted vehicle; no network or browser dependency.", "historicalEvidence": "The earlier live-sf-model-evidence.json four-gate runs are preserved unchanged and must not be reported as results on this circuit." }, "terrain": { "descriptor": "scene.terrain", "sourceFile": "./data/sf-ground.json", "imageFile": "./data/sf-ground.jpg", "captureDate": "2026-10-09", "origin": { "latitude": 37.7939, "longitude": -122.3965, "altitude": 0 }, "coverageMeters": [ 420, 420 ], "playableMeters": [ 360, 360 ], "sampleCount": [ 81, 81 ], "sampleSpacingMeters": 5.25, "heightRangeMeters": [ 0.6159, 7.5515 ], "source": "USGS 3DEP bare-earth DEM (raw float32 export, not hillshade)", "elevationService": "https://elevation.nationalmap.gov/arcgis/rest/services/3DEPElevation/ImageServer", "imagerySource": "USGS National Map orthoimagery", "imageryService": "https://basemap.nationalmap.gov/arcgis/rest/services/USGSImageryOnly/MapServer", "imagePixels": [ 2048, 2048 ], "verticalDatum": "EGM96 (PLW vertical CRS EPSG:5773)", "sourceVerticalDatum": "NAVD88", "datumConversion": "NOAA VDatum, westcoast region, GEOID18\u2192EGM1996, epoch 2010", "verticalOffsetMeters": -0.798, "datumUncertaintyMeters": 0.926, "offsetVariationAcrossPatchMeters": 0.005, "provenance": "Source request URLs, raster/image SHA-256 hashes and five complete NOAA responses are preserved in sf-ground.json. Capture date is not the aerial acquisition date.", "physics": "The serialized heightfield drives car grade, drone ground landing and terrain rays; rendering uses the same triangle split. Building collisions remain in the separately frozen building BVH.", "limitations": "One bounded neighborhood; 5.25 m terrain samples do not resolve curbs, stairs or traffic. Imagery has its native source resolution; exporting 2048 pixels does not create extra detail. These independently acquired public layers can differ in capture date and registration by around a meter; this is a simulator, not surveyed drone navigation." } }, "note": "A Gaussian scene must be aligned with matching collision geometry for meaningful physics. Uploading a splat alone does not reconstruct geometry or supply camera perception." }, "rest": { "baseURL": "http://127.0.0.1:8100", "contentType": "application/json", "authorization": "Authorization: Bearer ", "idleExpirySeconds": 600, "maxBodyBytes": 262144, "maxAgents": 16, "defaultDt": 0.03333333333333333, "dtRange": [ 0.008333333333333333, 0.1 ], "framesRange": [ 1, 120 ], "endpoints": [ { "method": "POST", "path": "/api/env/reset", "authenticated": false, "requestExample": { "seed": 7, "scenario": "race", "maxSeconds": 300, "agents": [ { "id": "drone", "name": "Policy A", "kind": "drone", "controller": "dmjepa", "assist": false }, { "id": "car", "name": "Policy B", "kind": "car", "controller": "human", "assist": false } ] }, "responseFields": [ "id", "token", "snapshot", "observations" ], "note": "Creates an isolated environment. Controller labels are metadata: the REST API never runs a model or silently inserts a rules policy." }, { "method": "POST", "path": "/api/env/{id}/step", "authenticated": true, "requestExample": { "actions": { "drone": 5, "car": 1 }, "dt": 0.03333333333333333, "frames": 1 }, "responseFields": [ "observations", "rewards", "terminated", "truncated", "info", "snapshot" ], "note": "Maps are keyed by agent ID. For frames > 1, rewards are summed and observations/info are from the last step. Execution stops early if every agent has terminated or truncated." }, { "method": "POST", "path": "/api/env/{id}/reset", "authenticated": true, "requestExample": { "seed": 8, "scenario": "courier" }, "responseFields": [ "snapshot", "observations" ], "note": "Resets the existing environment, preserving unspecified configuration." }, { "method": "GET", "path": "/api/env/{id}/state", "authenticated": true, "responseFields": [ "snapshot", "observations" ] }, { "method": "DELETE", "path": "/api/env/{id}", "authenticated": true, "responseFields": [ "ok" ] } ], "errors": { "400": "Invalid configuration or action", "401": "Invalid environment capability", "404": "Missing or expired environment", "413": "Body too large", "429": "Rate limited", "503": "Environment capacity reached" } }, "multiplayer": { "module": "./room-client.js", "maxPlayers": 8, "maxBots": 3, "physicsHz": 30, "snapshotHz": 10, "inputExpiryMs": { "human": 500, "dmjepa": 2000 }, "membershipExpirySeconds": 120, "actionValidation": "Actions carry episode and observation step; player inputs also carry a controller/vehicle revision. Old generations and delayed inputs are rejected. Room versions prevent stale HTTP replies from replacing newer SSE snapshots.", "authority": "Server owns poses, physics, collisions, goals and rewards. Clients send actions only.", "modelExecution": "Host browser runs DM-JEPA bots. Each player may run DM-JEPA for their own vehicle. Rules bots are explicitly labeled and run on the server.", "hostDisconnected": "World pauses and bot commands are cleared until the host reconnects. Room expires after 120 seconds without host activity.", "invite": "Share the room URL or six-character code on the same reachable room server. Tokens are private capabilities and must not be shared as invites.", "serverInfo": { "method": "GET", "path": "/api/server-info", "responseFields": [ "scope", "inviteBaseURL", "inviteBaseURLs" ], "scope": "lan when the listener serves detected RFC1918 IPv4 interfaces; local when it only exposes a local page origin.", "use": "Keep the host's RoomClient on its current origin. Use a returned LAN origin only in friend invitations; guests open that origin's own page. Localhost remains a secure context for host inference while HTTP LAN guests can use manual controls." }, "allowedHosts": "localhost, loopback, the explicit bound IP and detected private IPv4 interface addresses. JEPA_ALLOWED_HOSTS adds comma-separated host names/IPs without schemes, ports or paths. Unknown Host names are rejected before API/static dispatch.", "staticScope": "Only application paths under dual-loop-web are served. Dot/private/log paths, verification artifacts, fixtures, test sources and package metadata are excluded; paths and resolved symlink targets must both pass the same scope checks.", "nativePageLimitation": "Packaged appassets pages do not connect to arbitrary room servers. Open that server's own browser page for the implemented same-origin room protocol.", "runtimeVerified": true, "runtimeVerificationScope": "Actual HTTP/SSE protocol with two clients and explicitly synthetic model metadata; two clients also shared and moved through the same frozen public SF geometry. Browser multiplayer play and real inference are separate acceptance checks.", "runtimeEvidence": "./verification/live-http-evidence.json" }, "geometryAPI": { "maxBodyBytes": 25165824, "maxTrianglesPerUpload": 200000, "maxTotalStoredTriangles": 400000, "maxRegistryEntries": 8, "maxConcurrentUploadBodies": 2, "unusedExpirySeconds": 600, "activeReferencesPinGeometry": true, "rateLimits": { "perIPPerSecond": 0.1, "perIPBurst": 2, "globalPerSecond": 1, "globalBurst": 4 }, "endpoints": [ { "method": "POST", "path": "/api/geometry", "authenticated": true, "requestExample": { "id": "wall-example", "triangles": [ -10, 0, -10, 10, 0, -10, 10, 20, -10, -10, 0, -10, 10, 20, -10, -10, 20, -10 ] }, "responseFields": [ "geometryId", "token", "metadata", "idleExpirySeconds" ], "note": "A flat JSON array contains nine finite numbers per triangle, in world meters. Server construction copies Float32 coordinates and returns the resulting metadata." }, { "method": "DELETE", "path": "/api/geometry/{geometryId}", "authenticated": true, "authorization": "Authorization: Bearer ", "responseFields": [ "ok" ], "note": "Only unused uploads can be deleted; active room/RL references return 409." } ], "attachToRoomOrEnvironment": { "scene.collisionMesh": "Copy the upload response metadata object unchanged.", "geometry.geometryId": "Copy the upload response geometryId.", "geometry.token": "Copy the upload response token. Keep it private.", "where": "Include scene and geometry together in room create/reset or the RL reset configuration. Wrapped RL requests place both inside config." }, "matchingRequired": [ "id", "hash", "triangleCount", "bounds.min", "bounds.max" ], "resetBehavior": "An ordinary reset retains the attached matching collider. Switching mesh requires its capability. Missing or mismatched geometry rejects the operation; failed resets preserve the current world.", "clientHelpers": [ "RoomClient.uploadGeometry(triangles, {id})", "RoomClient.releaseGeometry(capability)" ], "privacy": "Capabilities and triangle bytes are private in-memory server data. Snapshots and invitations carry no geometry capability. No triangle download endpoint exists.", "verifiedScope": "In-memory requests plus actual HTTP upload, attachment, matched identity, active-reference deletion protection, synthetic wall contact, and atomic failed resets. Real HTTP checks also verify the 24 MiB body limit, 200000-triangle upload limit, per-IP rate burst, 400000 stored-triangle capacity and release/reuse. Capacity evidence: verification/live-capacity-evidence.json.", "trustedPresets": { "catalog": "GET /api/scene-presets", "selection": { "geometry": { "presetId": "sf-downtown-v1" } }, "scene": "Use the matching catalog scene manifest. The server validates mesh identity, city alignment and terrain. Checkpoints may be customized while preserving that physical identity.", "auth": "Trusted preset selection needs no upload key; arbitrary geometry uploads remain operator-authenticated.", "lifetime": "Server-owned preset collider is reused across room and RL episodes; no private upload capability is exposed.", "browser": "RoomClient.geometryForScene resolves a matching loaded city to the preset.", "data": [ "./data/sf-downtown-scene.json", "./data/sf-downtown-collision.json.gz" ] } }, "assistance": { "module": "./control-policy.js", "optIn": "Applies only to actors explicitly configured controller=dmjepa and assist=true.", "yawLimiter": "At each 30 Hz local/room tick, an assisted drone yaw is held at hover when target bearing reaches the existing 0.14-radian deadband or the held direction now turns away. It requires a current target and at least 6 meters of forward clearance; close-obstacle avoidance turns remain unchanged. For danger-world-v1 metadata, only turns explicitly marked priorTurnTarget=true are limited; avoidance turns are left intact.", "decisionFields": { "modelChoice": "Raw model argmax, preserved.", "executedChoice": "Assisted policy selection before the actuation limiter, preserved.", "appliedChoice": "Actual assisted command after the limiter.", "assistLimitReason": "Explicit reason when the limiter changes a held turn to hover; null otherwise.", "appliedPrior": "Current telemetry prior applied between real model replies, stored separately from the original prior selection.", "modelFresh": "Whether the actual model command is within its existing two-second validity window; rules do not renew it." }, "rl": "The isolated REST step API applies supplied actions exactly. External learners may explicitly call the helper each step; assistance is never inserted by the RL endpoint.", "prior": { "module": "./prior.js", "version": "danger-world-v1", "method": "softmax(log(max(rawProbability, 1e-9)) + boundedOffset), followed by argmax", "enabled": "New solo sessions use world priors by default, clearly labeled JEPA + world priors. The player toggle is stored under danger-world-priors. Bot policy can select model only, world priors, or a separate scripted baseline.", "inputs": "Labeled action candidates and current visible simulated telemetry: ranges, velocity, nearby actors, target bearing/distance/altitude. The prior never reads info.ruleAction, hidden route geometry, answer keys, or future states.", "telemetry": "Raw probabilities/modelChoice are preserved alongside priorOffsets, priorReasons, adjustedProbabilities, priorChoice, priorVersion and priorTurnTarget. Actual per-tick action remains separate.", "scope": "Simulation only. These hand-written priors do not update DM-JEPA weights and are not a real-aircraft obstacle-avoidance system.", "refreshHz": 30, "refresh": "Local and room controllers reweight the last real model probabilities from fresh visible telemetry at 30 Hz. Original model and inference-time prior fields remain unchanged; appliedPrior records current offsets, reasons, choice and observation step/time/target. Refreshing never extends the two-second model-result timeout." } }, "learning": { "onlineTraining": false, "description": "Use reset/observe/step/reward to connect an external learner. Existing DM-JEPA integration performs fixed-weight inference only." }, "deployment": { "edition": "Cloudflare Pages + WebRTC peers", "physicsAuthority": "Hosting browser", "serverRestAPIAvailable": false, "rl": "Client-side reset/observe/step hooks; no hosted Node environment endpoints", "persistence": "IndexedDB on this browser; no shared account database", "signaling": "Only room membership and SDP/ICE relay in Durable Objects", "legacyServerDocumentation": "Any Node REST descriptions below are source-reference metadata, not services exposed by this deployment" } }