Week 19 release.

Which PRs will be ready to merge

	Author	PR	Description	Size	Opened	Last Commit
✅	aclauer	#1880 Show child process cpu usage in dtop	dtop only shows CPU usage for Python workers spawned by DimOS; native child processes are invisible. Adds recursive child PID tracking, a --log flag, and a dtop-plot tool for visualizing CPU stats.	+248/-21	2026-04-18	2026-05-03
❌	admenon1	#1370 Feature: Trajectory Controller(s)	Replaces the P/PD controller for Unitree with a formal high-frequency control stack to eliminate oscillations and overshoots at higher speeds.	+1578/-4	2026-02-26	2026-03-01
❌	adob	#1911 feat(a750): initial A-750 robot support and blueprint	Implements initial support for the A-750 robotic arm, including connection module and blueprint registration.	+550/-20	2026-04-24	2026-05-02
❌	aphexcx	#1768 feat: Deep Robotics M20 autonomous navigation support	Adds full Deep Robotics M20 quadruped support with RTSP camera, UDP velocity control, dead-reckoning + ROS2 odometry, and autonomous navigation via ARISE SLAM in Docker.	+244293/-9692	2026-04-10	2026-04-03
❌	aphexcx	#1470 fix: command center socket.io auto-detect host	Fixes the command center's Socket.IO connection being hardcoded to ws://localhost:7779, breaking remote access; now auto-detects the server host from the browser URL.	+132/-3	2026-03-07	2026-03-07
❌	ArhamKhurram	#1577 feat(cli): implement dimos status table output and JSON support	Extends dimos status to list multiple processes, adds machine-readable --json mode, and improves table formatting.	+91/-19	2026-03-16	2026-03-20
❌	bogwi	#1906 Default to Zenoh transport on macOS and document replay workflow	Carries forward the Zenoh transport integration from #1787 and fixes the remaining macOS Big Office replay gap; supersedes #1787.	+1348/-25	2026-04-23	2026-05-04
❌	bogwi	#1884 Feat/1759 doc codeblocks ci	Adds a CI mechanism to execute documentation code blocks with a script and workflow; skips code blocks not meant to be run.	+614/-228	2026-04-20	2026-05-04
✅❌	christiefhyang	#1783 fix: rework navigation map into structural/live/planning layers	Replaces the single static binary navigation map with a three-layer model (structural, live, planning) with confidence-based structural updates.	+288/-116	2026-04-13	2026-04-13
✅❌	christiefhyang	#1554 feat: add Doom-style teleop control module	Adds a robot-agnostic DoomTeleop module enabling WASD + mouse FPS-style control for both Unitree Go2 and G1.	+749/-0	2026-03-14	2026-04-13
✅❌	christiefhyang	#1550 feat: keyboard mapping to velocity and pose via existing interfaces	Adds keyboard-based velocity and relative pose control for the Unitree G1 using existing control/navigation interfaces, complementing the existing KeyboardTeleop.	+510/-0	2026-03-14	2026-03-14
✅❌	Dreamsorcerer	#1889 Add codecov	Integrates Codecov so coverage changes are visible in each PR.	+28/-14	2026-04-21	2026-05-04
❌	Dreamsorcerer	#1901 Try splitting tests that don't need hosted runner	Splits the CI test suite so lightweight tests run on standard runners instead of hosted runners, reducing CI cost.	+1881/-1395	2026-04-22	2026-05-01
✅❌	Dreamsorcerer	#1888 Drop perception. Update docs.	Removes heavyweight perception (torch, bitsandbytes) from the base install, keeping it as an optional extra.	+18/-48	2026-04-21	2026-04-24
✅❌	Dreamsorcerer	#1538 Configure Dependabot	Adds Dependabot configuration to keep pinned dependencies regularly updated and catch version-compatibility errors early.	+51/-0	2026-03-12	2026-04-22
✅❌	Dreamsorcerer	#1877 Make whisper an optional extra with faster-whisper by default	Replaces the default whisper (150 MB model, torch dependency) with faster-whisper (2 MB) and makes full whisper an optional extra.	+112/-14	2026-04-17	2026-04-21
✅❌	Dreamsorcerer	#1708 Record replay	Adds RecordReplay for recording and replaying selected module streams using the memory2 module, along with a recorder UI and app blueprints.	+1567/-49	2026-03-29	2026-04-21
❌	iamMihirT	#1916 fix(agents): stabilize context memory CI	Fixes CI failures in the agent context memory PR by wrapping memory ingest, assembly, and graph streaming in a finally block around agent_idle cleanup.	+6109/-21	2026-04-24	2026-04-24
❌	iamMihirT	#1915 feat(agents): paged, multi-fidelity context memory for McpClient	Replaces the unbounded list[BaseMessage] history in McpClient with a paged, multi-fidelity memory layer to keep assembled prompts within context limits.	+6301/-19	2026-04-24	2026-04-24
❌	jaswu51	#1963 feat(agent): persist and restore conversation history across runs	Adds session_store.py to save/load agent _history as JSON under ~/.local/state/dimos/, with --restore-session and --no-restore CLI flags; closes #1898.	+283/-0	2026-05-03	2026-05-03
❌	jeevanbhatta	#1923 Feature/agent compaction 1899	Adds automatic history compaction to Agent to prevent TokenLimitExceeded errors when long-running sessions exceed the LLM context window.	+180/-2	2026-04-28	2026-04-23
✅❌	jeff-hykin	#1943 Jeff/fix/rconnect2 - revised	Fixes a gRPC deadlock that broke dev, a host access issue, and an address printout issue.	+1679/-285	2026-04-30	2026-05-04
✅❌	jeff-hykin	#1544 Dimensional Unified TUI dio	Draft: adds a unified terminal UI (dio) for DimOS.	+6143/-351	2026-03-13	2026-04-28
✅❌	jeff-hykin	#1879 feat(arduino): add ArduinoModule with full arduino sim and real arduino support	Adds ArduinoModule with a full simulator and real hardware support; marked experimental.	+5279/-4	2026-04-18	2026-04-28
✅❌	jeff-hykin	#1791 Jeff/fix/rosnav8	Ongoing ROS navigation fixes, perpetually re-tested against hardware after upstream merges.	+15709/-6979	2026-04-16	2026-04-28
✅❌	jeff-hykin	#1875 native module refinement	Refines native module rebuild logic, logging, and keyboard interrupt handling.	+174/-115	2026-04-17	2026-04-24
✅❌	jeff-hykin	#1663 Threading Utils (and fix for Native Module flakey test)	Adds smart thread tooling with auto-cleanup to reduce flaky thread-lifecycle failures and bloat in modules.	+1729/-213	2026-03-25	2026-04-22
✅❌	jeff-hykin	#1485 Jeff/feat/graph	Draft: graph feature work-in-progress.	+1037/-3	2026-03-07	2026-04-22
✅❌	jeff-hykin	#1907 Jeff/fix/mac configurator	Fixes a macOS bug from #1789 caused by > instead of >=; includes test readability cleanup.	+75/-54	2026-04-23	2026-04-22
✅❌	jeff-hykin	#1715 Twitch support	Draft: adds Twitch integration so robots can be controlled by chat votes; voter dedup logic still being refined.	+2138/-2	2026-03-30	2026-04-21
✅❌	jeff-hykin	#1716 Have rerun render shared memory topics (fix dev for MacOS)	Draft: makes the Rerun bridge render shared-memory topics so camera images appear on macOS, where the current implementation silently drops them.	+115/-15	2026-03-30	2026-04-15
❌	jetsonearth	#1719 docs: add Chinese (zh-CN) translations for README, AGENTS, and CLA	Adds full Simplified Chinese translations of README.md, AGENTS.md, and CLA.md, plus a language switcher at the top of each English source file.	+747/-0	2026-03-31	2026-03-31
❌	jhengyilin	#1908 feat(perception): monocular obstacle avoidance via optical flow	Adds monocular obstacle avoidance using optical flow τ-estimation, requiring no depth sensor.	+412/-0	2026-04-23	2026-04-26
❌	jj7258	#1054 fix(docker): stable navigation build and automation	Overhauls the navigation Docker build to be robust, automated, and HTTPS-compatible, resolving multiple runtime crashes and build failures.	+138/-100	2026-01-18	2026-01-22
❌	jlelong-berkeley	#1667 feat(drone): add RoboMaster TT/Tello integration	Adds a native DimOS embodiment layer for the RoboMaster TT / DJI Tello using its Wi-Fi UDP text SDK (commands on 8889, state on 8890, video on 11111).	+2542/-34	2026-03-25	2026-03-25
❌	jongmoon-konglabs	#1368 fix(vision): correct LCM serialization for detection class_id and results_length	Fixes two LCM serialization bugs: a type mismatch on class_id (int vs string) and an incorrect results_length field causing detection data corruption.	+138/-17	2026-02-25	2026-02-25
❌	kahzmic	#1358 Feature: Fastlio working with Go2 navigation stack	Integrates Mid-360 LiDAR into the Go2 navigation stack via the Fastlio native module, including a replay test case with Rerun visualization.	+883/-4	2026-02-24	2026-03-11
❌	kaiknower	#1565 fix: default G1 camera to WebRTC with webcam fallback	Makes the G1 primitive stack use the built-in WebRTC camera by default, keeping the previous local webcam path as a fallback.	+70/-17	2026-03-15	2026-03-15
❌	Kaweees	#1434 Booster K1 integration	Adds support for the Booster K1 robot with basic, spatial, and agentic blueprints.	+1494/-466	2026-03-06	2026-03-23
❌	Kaweees	#1296 [DRAFT] Create Zenoh Transport Protocol	Draft: implements a Zenoh transport layer as a high-performance pub/sub alternative.	+300/-2	2026-02-19	2026-02-19
❌	KrishnaH96	#1792 feature: add real-time Rerun URDF visualizer for robot arms	Adds a real-time URDF robot arm visualizer integrated into Rerun, replacing the separate Drake Meshcat browser window.	+238/-0	2026-04-16	2026-04-16
❌	leshy	#1390 Antim/sim integration merged	Merges the Antim sim integration branch.	+4802/-4	2026-03-01	2026-05-03
❌	leshy	#1787 Feat/integrate zenoh	Integrates Zenoh transport into DimOS.	+1092/-11	2026-04-14	2026-04-14
❌	leshy	#1598 feat(perception): add ORB-SLAM3 native module	Adds an ORB-SLAM3 native module for monocular navigation experiments, with bindings moved to a separate repo due to GPL3 licensing.	+163/-5	2026-03-17	2026-03-26
❌	leshy	#1653 [Vibed Experiment] feat: render TF tree as hierarchical Rerun entity paths	Intercepts TFMessage in the Rerun bridge and renders transforms as hierarchical entity paths via DFS traversal of the accumulated TF tree.	+312/-32	2026-03-23	2026-03-23
❌	leshy	#1622 [vibed experiment] Add Rust language interop example	Adds a Rust example with a minimal pure-Rust LCM UDP multicast transport (~100 lines, no system LCM library), matching the existing C++/Lua/TypeScript examples.	+734/-0	2026-03-20	2026-03-20
❌	leshy	#1597 initial depth anything module implementation	Initial implementation of the Depth Anything monocular depth estimation module.	+283/-146	2026-03-17	2026-03-17
❌	leshy	#1555 Revert "chore: add GitHub issue templates"	Reverts #1517 (GitHub issue templates addition).	+0/-126	2026-03-14	2026-03-14
❌	LuigiVan01	#1902 feat: Visual servoing	Adds visual servoing support for robot manipulation, including dynamic tracking modules.	+1078/-0	2026-04-22	2026-04-24
✅	mustafab0	#1897 Task: OpenArm Integration with DimOS	Adds a from-scratch Damiao MIT-mode CAN driver and DimOS adapter for the OpenArm bimanual 7-DOF research arm, which ships no Python SDK.	+2552/-0	2026-04-22	2026-05-01
❌	mustafab0	#1357 Feature: go2 control coordinator TwistBase adapter	Adds UnitreeGo2Adapter implementing TwistBaseAdapter so the Go2 can be driven through the ControlCoordinator via cmd_vel.	+661/-100	2026-02-24	2026-03-18
❌	mustafab0	#1410 Feature: G1 control coordinator adapter for mobile base cmd vel	Adds two TwistBaseAdapter implementations for the Unitree G1, enabling unified velocity (Twist) control through the ControlCoordinator with DDS support.	+943/-5	2026-03-04	2026-03-04
❌	ouazmourad	#1573 feat: MuJoCo drone simulation with city environment	Adds a MuJoCo-based drone simulation with a city environment, a PD attitude DroneController, and a SimulatedDroneConnection module.	+1088/-1	2026-03-16	2026-03-16
❌	paul-nechifor	#1735 feat(sim): dimsim as connection	Wires DimSim up as a first-class connection module so it can be used in blueprints like hardware connections.	+1463/-65	2026-04-03	2026-05-02
❌	pmg5408	#1748 feat(control): RGB-only collision guardrail module at ~10 Hz	Adds a reusable RGB-only collision guardrail that runs at ~10 Hz on the cmd_vel path, preventing behaviors like person-following from commanding motion into obstacles without depth sensing.	+2335/-0	2026-04-04	2026-04-08
❌	ruthwikdasyam	#1788 Ruthwik/autoresearch	Adds automated research capabilities to agents.	+2949/-53	2026-04-14	2026-04-15
❌	ruthwikdasyam	#1412 feat(mcp): add OpenClaw MCP bridge plugin	Adds an OpenClaw plugin at dimos/web/plugin_openclaw/ that bridges DimOS MCP tools into OpenClaw, with a setup README.	+7177/-23	2026-03-04	2026-03-06
❌	salmanmkc	#1567 Upgrade GitHub Actions to latest versions	Bumps all GitHub Actions to their latest versions for bug fixes and security patches.	+17/-15	2026-03-15	2026-03-15
❌	salmanmkc	#1566 Upgrade GitHub Actions for Node 24 compatibility	Upgrades GitHub Actions to versions supporting Node 24 ahead of Node 20's April 2026 EOL.	+9/-9	2026-03-15	2026-03-15
❌	skorinko	#1881 [codex] Reconstruct rerun TF trees in the bridge	Teaches MultiTBuffer to publish transform updates and makes RerunBridgeModule reconstruct hierarchical TF frame chains logged at correct Rerun entity paths.	+270/-1	2026-04-18	2026-04-18
❌	snktshrma	#1576 feat: Ardupilot support for Gazebo drone simulation	Adds Gazebo + ArduPilot SITL integration with RTP video stream, MAVLink position targeting, and basic/spatial/agentic blueprints.	+853/-222	2026-03-16	2026-03-26
✅❌	spomichter	#1688 fix(tests): macOS timestamp alignment flaky test	Fixes a flaky test_timestamp_alignment on macOS CI caused by timing sensitivity in backpressure frame-drop logic.	+4/-3	2026-03-26	2026-03-26
✅❌	spomichter	#1402 docs: compact system requirements into table	Replaces the verbose System Requirements section in README with a compact table, moving details to docs/.	+67/-23	2026-03-03	2026-03-03
✅❌	spomichter	#1288 feat: AGIbot nav test blueprint using ROSNav bridge	Adds an AGIbot navigation test blueprint composing ROSNav with explicit ROS/default transport assignments.	+65/-0	2026-02-18	2026-02-18
✅❌	SUMMERxYANG	#1533 fix(test): resolve thread leak failures in CI	Fixes flaky test_process_crash_triggers_stop CI failures caused by run_forever/_lcm_loop/_watch_process threads not closing fast enough after a simulated crash.	+13/-3	2026-03-12	2026-03-23
❌	tomaioo	#1777 Security: MCP server defaults to public network binding	High-severity fix: changes the MCP server default binding from public network to localhost in global_config.py.	+1/-1	2026-04-11	2026-04-11
❌	Viswa4599	#1387 Add Antim Labs sim integration module (dimsim)	Adds a native DimSim bridge (NativeModule) and nav blueprint for browser-based 3D simulation with LCM transport.	+3416/-1837	2026-03-01	2026-03-01
❌	zhangyinxina-ui	#1945 test: add fast unit tests for LFS pointer detection	Adds five fast pytest cases for _is_lfs_pointer_file covering valid LFS headers, oversized files, plain text, missing paths, and invalid UTF-8; no network or git lfs pull required.	+665/-0	2026-04-30	2026-04-30
❌	zhangyinxina-ui	#1928 Add claude GitHub actions	Adds Claude-powered GitHub Actions automation.	+502/-0	2026-04-28	2026-04-28