Rook, the black box for robot fleets

Field notes

Rook places its recorder at the boundary of a fleet’s decision code, capturing every message and emitted effect in order before grading the recording. Its example uses real decision code with simulated robots in an Open-RMF blockade: 13 minutes, 1,516 deliveries, and a displayed divergence after byte 13,227 is rewritten. The page says perception, physics, radio, and robot motion are not replayed; they are read back from the captured record while the decision layer runs again.