Zeno

Z-Robotics-Lab's agent runtime for physical AI: natural language in, verified robot behavior out.
Open the CLI, say "explore" — the agent brings up the sim, the nav stack, RViz, and drives the robot.
Same CLI, same tools on real hardware. Sim-to-real symmetry is the product requirement.

Forked from VectorRobotics/vector-os-nano (Apache-2.0) and slimmed into a product runtime. The honest-verify spine — every agent step is graded against ground truth the actor cannot author — is inherited intact.

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What this is

An agent-orchestration runtime: plan · route · verify · recover. The agent decomposes a natural-language goal, routes each step to the best tool (big model, small model, classical nav/manip stack, atomic action), and grades every step on deterministic predicates reading ground truth — so "done" means verified done, never the model said so.

Flagship world: Unitree Go2W (wheeled quadruped + Livox Mid-360 + PiPER arm) — an Isaac Sim digital twin driven through the CMU autonomy stack (go2W_Sim), with the identical CLI targeting the real robot.

Status: under active development (fork bootstrap in progress — see progress.md). The quickstart below reflects the ground-up rename to Zeno (vector-cli → zeno).

Quick Start (inherited; being reworked)

git clone https://github.com/Z-Robotics-Lab/z-agent.git
cd z-agent
uv venv .venv && source .venv/bin/activate
uv pip install -e .
cp .env.example .env    # fill in ONE provider block
zeno                    # interactive agent REPL

Go2W world (requires the go2W_Sim digital twin on the same host — the agent will bring the sim + nav stack + RViz up itself):

zeno> 去 (2, 0)            # navigate: agent brings up the chain, drives, verifies arrival
zeno> explore              # TARE autonomous exploration, verified by explored-volume growth

Architecture (the parts that matter)

• Honest-verify spine (zeno/vcli/cognitive/): evidence classifier + actor-causation grading + goal verifier. A step counts only if its predicate reads world ground truth AND the robot actually caused the change.
• World Protocol (zeno/vcli/worlds/): a robot is a plugin + manifest — tools, verify predicates, persona, vocab. No kernel edits to bring a robot.
• Robot backend contract: a small HTTP bridge (pose / waypoint / ground-truth / health) is the seam between the runtime and any backend — Isaac Sim today, the real Go2W next, with the agent layer unchanged.

License

Apache License 2.0. Copyright 2024-2026 Vector Robotics (upstream) and Z-Robotics-Lab (fork changes). See LICENSE and NOTICE; upstream attribution preserved. "Vector Robotics" and "Vector OS Nano" are trademarks of Vector Robotics — this fork is renamed to Zeno accordingly.