gridstamp 1.0.0

package/.cursorrules

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+You are an expert in TypeScript, Node.js, robotics perception, and spatial computing.
+
+Project: GridStamp — Spatial proof-of-presence for autonomous robots.
+
+Architecture: 6-layer system
+1. Perception (src/perception/) — HMAC-signed camera frames, stereo depth, dual-camera fusion
+2. Memory (src/memory/) — Short/mid/long-term spatial memory, place cells, grid cells, Merkle integrity
+3. Navigation (src/navigation/) — A* and RRT* pathfinding on 3D occupancy grids
+4. Verification (src/verification/) — SSIM + LPIPS + depth MAE spatial proofs for payment authorization
+5. Anti-spoofing (src/antispoofing/) — Replay detection, adversarial patches, depth injection, canary honeypots
+6. Gamification (src/gamification/) — Trust tiers, badges, streaks, zone mastery, fleet leaderboard
+
+Core Rules:
+- Every camera frame MUST be HMAC-SHA256 signed at capture time
+- All secrets must be >= 32 characters
+- Use deriveKey() for subsystem key isolation — NEVER reuse the master secret directly
+- Fail closed: if any integrity check fails, reject the frame/proof
+- No floating-point equality checks — use tolerance-based comparison
+- All spatial coordinates use Vec3 { x, y, z } — right-handed coordinate system
+- Quaternions are { w, x, y, z } — Hamilton convention, w-first
+- Depth maps are Float32Array, RGB is Uint8Array (packed R,G,B per pixel)
+
+Type System (src/types/index.ts):
+- Pose = { position: Vec3, orientation: Quaternion, timestamp: number }
+- CameraFrame = RGB + depth + pose + HMAC + sequenceNumber
+- GaussianSplat = 59 parameters (position, covariance, SH coefficients, opacity)
+- SpatialProof = metrics + signature + nonce + Merkle root
+- ThreatDetection = { type, severity, confidence, details, mitigationApplied }
+
+Testing:
+- Framework: vitest
+- Run all: npx vitest run
+- Run specific: npx vitest run tests/memory/place-cells.test.ts
+- 221 tests across 13 test files
+- Test images use deterministic pseudo-random data (seed-based)
+
+Key Patterns:
+- Place cells: Gaussian activation centered at a 3D position
+- Grid cells: Hexagonal pattern via 3 cosine waves at 60° offsets
+- SSIM: 8x8 sliding window, constants C1=6.5025 C2=58.5225
+- Spatial proof composite: SSIM * 0.4 + (1-LPIPS) * 0.3 + depthScore * 0.3
+- Settlement: atomic verify-then-pay, proof must pass integrity check first
+
+Gamification Layer (maps WeMeetWeMet's activity-based system to robot fleet management):
+- Trust Tiers: 6 levels (Untrusted→Autonomous), fee multipliers, tx limits, HMAC-signed tier changes
+- Badges: 20+ capability badges across 5 categories, HMAC-signed awards
+- Streaks: Daily consecutive operation streaks, multiplier curve (1.0x→2.0x), freeze system
+- Zone Mastery: Geographic expertise = coverage × success_rate × time_factor
+- Fleet Leaderboard: Multi-fleet rankings by trust/deliveries/zones/safety, HMAC-signed entries
+- All tier changes, badges, and leaderboard entries are HMAC-signed to prevent forgery
+
+File Layout:
+src/
+  types/index.ts        — All type definitions
+  utils/crypto.ts       — HMAC, SHA-256, nonces, key derivation
+  utils/math.ts         — Vec3, quaternion, coordinate transforms
+  perception/camera.ts  — Frame capture, dual cameras, depth fusion
+  memory/spatial-memory.ts — STM/MTM/LTM with Merkle trees
+  memory/place-cells.ts — Place cells, grid cells, spatial coding
+  navigation/pathfinding.ts — A*, RRT*, occupancy grid
+  verification/spatial-proof.ts — SSIM, LPIPS, spatial proofs, settlements
+  antispoofing/detector.ts — Replay, patches, depth, canaries
+  gamification/trust-tiers.ts — 6-tier trust system with promotion/demotion
+  gamification/badges.ts — 20+ capability badges, criteria engine
+  gamification/streaks.ts — Daily streak multipliers, freeze system
+  gamification/zone-mastery.ts — Geographic zone expertise scoring
+  gamification/fleet-leaderboard.ts — Fleet-wide robot rankings
+  index.ts              — createAgent() factory, public API
+
+Dependencies:
+- merkletreejs + crypto-js — Merkle tree for memory integrity
+- sharp — Image processing (future: resize for multi-scale LPIPS)
+- ssim.js — Reference SSIM (we also have custom implementation)
+- typescript, vitest, eslint — Dev tooling

package/CLAUDE.md

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+# GridStamp
+
+Spatial proof-of-presence for autonomous robots.
+
+**IMPORTANT:** This is a SEPARATE project from MnemoPay. Do not mix codebases.
+
+## Quick Commands
+
+```bash
+npm test              # Run all 221 tests
+npx vitest run        # Same, explicit
+npx tsc --noEmit      # Type check only
+npm run build         # Compile to dist/
+```
+
+## Architecture
+
+6 layers, each isolated with derived keys:
+
+| Layer | Path | Purpose |
+|-------|------|---------|
+| Perception | src/perception/ | HMAC-signed frames, stereo depth |
+| Memory | src/memory/ | Place cells, grid cells, Merkle-signed LTM |
+| Navigation | src/navigation/ | A* + RRT* on 3D voxel grids |
+| Verification | src/verification/ | SSIM/LPIPS spatial proofs → payments |
+| Anti-spoofing | src/antispoofing/ | Replay, patches, depth injection, canaries |
+| Gamification | src/gamification/ | Trust tiers, badges, streaks, zone mastery, fleet leaderboard |
+
+## Security Model
+
+- Every frame is HMAC-SHA256 signed at capture (timestamp + sequence in payload)
+- Keys derived per subsystem: `deriveKey(masterSecret, 'frame-signing')` etc.
+- Fail closed on any integrity violation
+- Monotonic sequence numbers detect replay attacks
+- Canary landmarks detect memory poisoning
+- Constant-time HMAC comparison (timingSafeEqual)
+
+## Key Types
+
+- `CameraFrame` — RGB + depth + pose + HMAC + sequence
+- `SpatialProof` — Rendered vs captured comparison with cryptographic signature
+- `SpatialSettlement` — Payment contingent on spatial verification passing
+- `GridStampAgent` — Main API: see/remember/navigate/verifySpatial/settle
+
+## Module Map
+
+- `src/types/index.ts` — All interfaces and enums
+- `src/utils/crypto.ts` — HMAC, SHA-256, nonces, key derivation
+- `src/utils/math.ts` — Vec3, quaternions, coordinate transforms, Gaussian functions
+- `src/perception/camera.ts` — FrameCapture, DualCameraSystem, depth fusion
+- `src/memory/spatial-memory.ts` — ShortTermMemory (LRU+TTL), MidTermMemory, LongTermMemory (Merkle)
+- `src/memory/place-cells.ts` — PlaceCell, GridCell, PlaceCellPopulation, GridCellSystem
+- `src/navigation/pathfinding.ts` — OccupancyGrid, aStarPath, rrtStarPath
+- `src/verification/spatial-proof.ts` — computeSSIM, approximateLPIPS, generateSpatialProof, createSettlement
+- `src/antispoofing/detector.ts` — ReplayDetector, AdversarialPatchDetector, CanarySystem, FrameIntegrityChecker
+- `src/gamification/trust-tiers.ts` — TrustTierSystem (6 tiers, HMAC-signed promotion/demotion)
+- `src/gamification/badges.ts` — BadgeSystem (20+ badges, 5 categories, HMAC-signed awards)
+- `src/gamification/streaks.ts` — StreakSystem (daily streaks, multiplier curve, freeze system)
+- `src/gamification/zone-mastery.ts` — ZoneMasterySystem (coverage × success × time scoring)
+- `src/gamification/fleet-leaderboard.ts` — FleetLeaderboard (multi-fleet rankings, HMAC-signed entries)
+- `src/index.ts` — createAgent() factory, re-exports everything

package/LICENSE

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package/README.md

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+# GridStamp
+
+Spatial proof-of-presence for autonomous robots.
+
+GridStamp gives robots the ability to prove where they are, remember where they've been, and get paid for verified operations. Built on 3D Gaussian Splatting, bio-inspired navigation (place cells + grid cells), and cryptographic spatial proofs.
+
+## Why
+
+Robots need to prove they actually did the job. A delivery robot needs to verify it reached the destination. A warehouse AMR needs spatial proof for billing. An inspection drone needs tamper-proof evidence it surveyed the site.
+
+No existing SDK combines spatial memory, payment verification, and anti-spoofing in one package.
+
+## Architecture
+
+Six layers, each cryptographically isolated:
+
+| Layer | What it does |
+|-------|-------------|
+| **Perception** | HMAC-signed camera frames, stereo depth fusion, dual-camera support |
+| **Memory** | 3-tier spatial memory (short/mid/long-term) with Merkle tree integrity |
+| **Navigation** | A* and RRT* pathfinding on 3D occupancy grids, place cells + grid cells |
+| **Verification** | SSIM + LPIPS + depth comparison for spatial proof-of-location |
+| **Anti-Spoofing** | Replay detection, adversarial patch detection, depth injection, canary honeypots |
+| **Gamification** | Trust tiers, capability badges, streak multipliers, zone mastery, fleet leaderboard |
+
+## Install
+
+```bash
+npm install gridstamp
+```
+
+## Quick Start
+
+```typescript
+import { createAgent } from 'gridstamp';
+
+const agent = createAgent({
+  robotId: 'DLV-001',
+  cameras: [{ type: 'oak-d-pro', role: 'foveal', /* ... */ }],
+  hmacSecret: process.env.GRIDSTAMP_SECRET, // min 32 chars
+}, cameraDriver);
+
+// Capture and verify
+const frame = await agent.see();
+const proof = await agent.verifySpatial();
+
+// Settle payment only if spatial proof passes
+const settlement = await agent.settle({
+  amount: 15.00,
+  currency: 'USD',
+  payeeId: 'merchant-001',
+  spatialProof: true,
+});
+```
+
+## Trust Tiers
+
+Robots earn trust through verified operations, similar to a credit score:
+
+| Tier | Points | Fee | Max Tx | Verification |
+|------|--------|-----|--------|-------------|
+| Untrusted | 0 | 2.5x | $10 | Every operation |
+| Probation | 100 | 2.0x | $50 | Every operation |
+| Verified | 500 | 1.5x | $200 | Every 3rd |
+| Trusted | 2,000 | 1.2x | $1,000 | Every 5th |
+| Elite | 5,000 | 1.0x | $5,000 | Every 10th |
+| Autonomous | 10,000 | 0.8x | $25,000 | Spot checks |
+
+All tier changes are HMAC-signed. Spoofing attempts result in immediate two-tier demotion.
+
+## Security Model
+
+- Every camera frame is HMAC-SHA256 signed at capture time
+- Cryptographic key derivation isolates subsystems (`deriveKey(master, 'frame-signing')`)
+- Monotonic sequence numbers prevent replay attacks
+- Canary landmarks detect memory poisoning
+- Constant-time HMAC comparison prevents timing attacks
+- Fail-closed: any integrity violation blocks payment
+
+## Modules
+
+```
+gridstamp                    # Full SDK
+gridstamp/perception         # Camera + depth
+gridstamp/memory             # Spatial memory + place/grid cells
+gridstamp/navigation         # Pathfinding
+gridstamp/verification       # Spatial proofs + settlements
+gridstamp/antispoofing       # Threat detection
+gridstamp/gamification       # Trust tiers + badges + leaderboard
+```
+
+## Use Cases
+
+- **Last-mile delivery** — Robot proves it reached the doorstep before payment settles
+- **Warehouse operations** — AMRs earn trust tiers based on verified pick accuracy
+- **Drone inspection** — Tamper-proof spatial evidence of site surveys
+- **Autonomous trucking** — Spatial proof-of-delivery for freight settlements
+- **Roofing/HVAC/Plumbing** — AI agents verify on-site work completion
+
+## Requirements
+
+- Node.js 20+
+- TypeScript 5.6+
+
+## License
+
+Apache 2.0 — see [LICENSE](LICENSE)

package/dist/index.js

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+/**
+ * GridStamp — Spatial Proof-of-Presence for Autonomous Robots
+ *
+ * Nobody else unifies spatial memory + payment verification + anti-spoofing.
+ * - Niantic has maps but no payments
+ * - NVIDIA has rendering but no memory persistence
+ * - OpenMind has robot payments but no spatial proof
+ * - FOAM/Auki has proof-of-location but no payments
+ *
+ * GridStamp sits at the intersection.
+ *
+ * API:
+ *   agent.see()            — Capture + process current view
+ *   agent.remember()       — Store spatial context to memory
+ *   agent.navigate()       — Plan path to target
+ *   agent.verifySpatial()  — Prove robot is at claimed location
+ *   agent.settle()         — Payment with spatial proof requirement
+ */
+export { CameraType, MemoryTier, PathAlgorithm, ReferenceFrame, SettlementStatus, ThreatType, ThreatSeverity, } from './types/index.js';
+// Re-export modules
+export * from './perception/index.js';
+export * from './memory/index.js';
+export * from './navigation/index.js';
+export * from './verification/index.js';
+export * from './antispoofing/index.js';
+export * from './gamification/index.js';
+// Re-export key utilities
+export { hmacSign, hmacVerify, signFrame, verifyFrame, generateNonce, sha256, deriveKey, } from './utils/crypto.js';
+export { vec3Distance, vec3Add, vec3Sub, vec3Scale, vec3Normalize, egoToAllo, alloToEgo, stereoDepth, gaussian3D, meanAbsoluteError, poseToMat4, quatRotateVec3, quatSlerp, } from './utils/math.js';
+import { FrameCapture } from './perception/index.js';
+import { ShortTermMemory, MidTermMemory, LongTermMemory as LongTermMemoryStore, MemoryConsolidator, } from './memory/index.js';
+import { PlaceCellPopulation, GridCellSystem, computeSpatialCode } from './memory/index.js';
+import { OccupancyGrid, planPath } from './navigation/index.js';
+import { generateSpatialProof, createSettlement, } from './verification/index.js';
+import { FrameIntegrityChecker, CanarySystem } from './antispoofing/index.js';
+import { deriveKey } from './utils/crypto.js';
+/**
+ * Create a GridStamp agent
+ *
+ * This is the main entry point. Pass a config + camera driver,
+ * get back an agent with see/remember/navigate/verify/settle methods.
+ */
+export function createAgent(config, primaryDriver) {
+    // Validate config
+    if (!config.robotId)
+        throw new Error('robotId is required');
+    if (!config.hmacSecret || config.hmacSecret.length < 32) {
+        throw new Error('hmacSecret must be at least 32 characters');
+    }
+    // Derive separate keys for each subsystem (key separation)
+    const frameKey = deriveKey(config.hmacSecret, 'frame-signing');
+    const memoryKey = deriveKey(config.hmacSecret, 'memory-signing');
+    const proofKey = config.hmacSecret; // proof uses master key
+    // Initialize subsystems
+    const frameCapture = new FrameCapture(primaryDriver, config.cameras[0], frameKey);
+    const shortTerm = new ShortTermMemory(900, config.memoryConfig?.shortTermTTL ?? 30_000);
+    const midTerm = new MidTermMemory(config.memoryConfig?.midTermMaxEntries ?? 1000);
+    const longTermStore = new LongTermMemoryStore(memoryKey);
+    const consolidator = new MemoryConsolidator(shortTerm, midTerm, longTermStore);
+    const placeCells = new PlaceCellPopulation();
+    const gridCells = new GridCellSystem();
+    const integrityChecker = new FrameIntegrityChecker(frameKey);
+    const canaries = new CanarySystem(memoryKey);
+    let lastFrame;
+    let initialized = false;
+    const agent = {
+        async see() {
+            if (!initialized) {
+                await frameCapture.initialize();
+                initialized = true;
+            }
+            const frame = await frameCapture.capture();
+            // Run integrity check on every frame (fail-closed)
+            const integrity = integrityChecker.check(frame);
+            if (!integrityChecker.isSafe(integrity)) {
+                const criticalThreats = integrity.threats
+                    .filter(t => t.severity === 'critical')
+                    .map(t => t.details)
+                    .join('; ');
+                throw new Error(`Frame rejected by anti-spoofing: ${criticalThreats}`);
+            }
+            // Store in short-term memory (empty splats for now — 3DGS integration point)
+            shortTerm.add(frame, []);
+            // Auto-generate place cell at frame position if we have pose
+            if (frame.pose) {
+                const cell = (await import('./memory/place-cells.js')).createPlaceCell(frame.pose.position);
+                placeCells.add(cell);
+            }
+            lastFrame = frame;
+            return frame;
+        },
+        async remember(tags) {
+            const consolidated = consolidator.consolidateToMidTerm(tags ?? []);
+            if (!consolidated) {
+                // Even if not enough for full consolidation, store what we have
+                const entries = shortTerm.getAll();
+                if (entries.length === 0) {
+                    throw new Error('No frames in short-term memory to remember');
+                }
+                // Force store
+                const allSplats = entries.flatMap(e => e.splats);
+                const scene = {
+                    id: (await import('./utils/crypto.js')).generateNonce(16),
+                    splats: allSplats,
+                    count: allSplats.length,
+                    boundingBox: {
+                        min: { x: 0, y: 0, z: 0 },
+                        max: { x: 0, y: 0, z: 0 },
+                    },
+                    createdAt: Date.now(),
+                };
+                const location = lastFrame?.pose?.position ?? { x: 0, y: 0, z: 0 };
+                return midTerm.store(scene, location, tags ?? []);
+            }
+            // Get the most recent mid-term memory
+            const memories = midTerm.findNear(lastFrame?.pose?.position ?? { x: 0, y: 0, z: 0 }, 100);
+            return memories[0];
+        },
+        async navigate(target, options) {
+            const start = lastFrame?.pose?.position ?? { x: 0, y: 0, z: 0 };
+            const bounds = {
+                min: {
+                    x: Math.min(start.x, target.x) - 10,
+                    y: Math.min(start.y, target.y) - 10,
+                    z: Math.min(start.z, target.z) - 2,
+                },
+                max: {
+                    x: Math.max(start.x, target.x) + 10,
+                    y: Math.max(start.y, target.y) + 10,
+                    z: Math.max(start.z, target.z) + 2,
+                },
+            };
+            const grid = new OccupancyGrid(bounds);
+            const algorithm = options?.algorithm ?? config.navigationConfig?.defaultAlgorithm ?? 'a-star';
+            const path = planPath(start, target, grid, bounds, algorithm);
+            if (!path)
+                throw new Error('No path found to target');
+            return path;
+        },
+        async verifySpatial(claimedPose) {
+            if (!lastFrame)
+                throw new Error('No frame captured. Call see() first.');
+            const pose = claimedPose ?? lastFrame.pose;
+            if (!pose)
+                throw new Error('No pose available. Provide claimedPose or ensure camera provides pose.');
+            // In production, this would render from long-term memory 3DGS
+            // For now, use the last frame as "expected" (self-verification)
+            const expectedRender = {
+                rgb: lastFrame.rgb,
+                depth: lastFrame.depth ?? new Float32Array(0),
+                width: lastFrame.width,
+                height: lastFrame.height,
+                pose,
+                renderTimeMs: 0,
+            };
+            return generateSpatialProof(config.robotId, pose, lastFrame, expectedRender, 'pending-merkle-root', // would come from long-term memory
+            [], proofKey, config.verificationThresholds);
+        },
+        async settle(params) {
+            if (!params.spatialProof) {
+                throw new Error('GridStamp requires spatialProof=true. Use MnemoPay directly for non-spatial payments.');
+            }
+            const proof = await agent.verifySpatial();
+            return createSettlement(proof, params.amount, params.currency, params.payeeId, proofKey);
+        },
+        getSpatialCode() {
+            const position = lastFrame?.pose?.position ?? { x: 0, y: 0, z: 0 };
+            return computeSpatialCode(position, placeCells, gridCells);
+        },
+        getMemoryStats() {
+            const shortEntries = shortTerm.getAll();
+            return {
+                shortTerm: {
+                    count: shortTerm.count,
+                    oldestMs: shortEntries.length > 0 ? Date.now() - shortEntries[0].timestamp : 0,
+                },
+                midTerm: {
+                    count: midTerm.count,
+                    totalSplats: midTerm.getTotalSplatCount(),
+                },
+                longTerm: {
+                    count: longTermStore.totalEntries,
+                    rooms: longTermStore.roomCount,
+                },
+            };
+        },
+        async shutdown() {
+            await frameCapture.shutdown();
+            integrityChecker.reset();
+        },
+    };
+    return agent;
+}
+//# sourceMappingURL=index.js.map