Deployment modes

Train in simulation. Deploy on real robots.

The same behavior contracts, safety governor, and episode pipeline run in both environments. What you validate in the lab is what executes on the floor — no rewrite, no second safety model.

Robot in digital twin simulation

Simulation mode

Develop and test behaviors without hardware. Fast iteration for teams building agent-driven workflows on any robot platform.

The built-in sim driver models motion, preconditions, and governor responses so you can run full intent → contract → episode loops on a laptop. Ideal for CI pipelines, agent prototyping, and stakeholder demos.

When to use sim

  • Agent and contract development before hardware arrives
  • Regression testing on every commit (make check, make bench)
  • Training operators and integrators on intent workflows
  • Benchmarking contract versions without wear on robots

What you get

  • Full safety and audit pipeline — same as production
  • Episode viewer and diff against real runs later
  • Zero hardware cost per test iteration
  • Deterministic scenarios for reproducible agent evals
Mobile robot on factory floor

Live deployment mode

Connect to physical robots through industry-standard robotics middleware. Every command passes through the safety layer before reaching the base.

Switch the runtime driver from sim to ROS. The ROS bridge and executor package translate approved contract outputs into governed motion on real hardware — quadrupeds, AMRs, or custom bases.

When to use real

  • Pilot deployments and production fleet operations
  • Validating sim-trained behaviors against physical drift
  • Shadow runs: parallel sim expectation vs live trajectory
  • Certification and audit with hardware-in-the-loop proof

What you get

  • Same behavior contracts as simulation — no fork
  • Independent safety enforcement on hardware
  • Multi-robot fleet support via robot pool
  • Episodes comparable directly to sim baselines

Sim vs real at a glance

Simulation Live deployment
Driver Built-in sim driver ROS 2 bridge + executor
Contracts & governor Identical Identical
Episode format Identical Identical
Hardware required No Yes
Typical use CI, dev, benchmarks Pilots, production
Switch effort One flag: -driver sim or -driver ros

Recommended workflow

  1. Define contracts — patrol, inspect, dock with preconditions and limits.
  2. Run in sim — agents submit intents; iterate until benchmarks pass.
  3. Shadow on hardware — optional parallel sim vs real comparison.
  4. Promote to live — same contracts, ROS driver, governed motion on the floor.
  5. Audit episodes — diff sim baseline against production runs over time.

Pick your platform and see supported use cases.

View platforms How it works