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tripl edited this page Oct 28, 2026
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Welcome to the PepperEvolution wiki!
An off-board mind for a SoftBank Pepper robot. A small bridge on the robot exposes its hardware as safe, bounded endpoints; a host application listens, sees and decides with Claude, and speaks and moves through Pepper. The goal is presence: a robot that is attentive, consistent and responsive enough to feel like someone in the room.
Current version: 0.7.0 (pre-1.0, 2026-10-09: conversation fixes, pointing, the camera fallback, a watchdog, initiative), plus fixes from the 2026-10-20 robot session. See Versions.
| Milestone | Status |
|---|---|
| M0 First live session | ✅ complete (2026-09-22) |
| M1 Reactive layer | ✅ working on the robot, including the command router (actions about 0.25 s after the transcript); tuning open |
| M2 Voice input | ✅ working on the robot (first word about 2 s after the transcript); shorter replies confirmed on the robot (2026-10-20); waiting for cut-off sentences works, end-of-turn pause 1.2 s; beamforming over the four microphones built in 0.8.0 (robot test next); side talk with two people failed on the robot (2026-10-22: Pepper joined in), barge-in open |
| M3 Vision grounding | 🟡 sharp photos and the handshake done; pointing and look at a point work on the robot (2026-10-20); come to me's camera fallback still to test in the open space; follow me open |
| M4 World model | 🟡 who is in view, greetings and camera judgements verified on the robot; memory built in 0.6.0 (pose, people out of view, voice direction, scene notes, recall), a first slice of initiative in 0.7.0 (opt-in); all on the robot since 2026-10-20. Open: voice direction behind Pepper (#31), a monitor seen as a person (#32). Built in 0.8.0 (robot test next): a map with named places and driving between them (#36) |
| M5 Memory and people | 🟡 long-term store with consent and "forget me" built in 0.6.0 and working on the robot (2026-10-20); face identity across encounters (opt-in) wanted next |
| M6 Robustness and operations | 🟡 bridge autostart and session records done; watchdog on the robot since 2026-10-20 (a killed bridge back in 11 s) |
Details: Roadmap · live tracking: milestones and issues
- Roadmap: milestones, goals and what is left
- Architecture: the design in brief (memory: docs/MEMORY.md)
- Test sessions: what was tested on the robot and what it found
- Versions: numbering and history
- README · Getting started · Architecture · Roadmap · Safety ledger · Bridge API · Handoff notes · Research notes · Changelog
Running it yourself: setup profiles (cloud models only, or with a local GPU machine for fast judgements).
PepperEvolution