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OppaAI edited this page May 1, 2026 · 3 revisions

AGi - Amazing GRACE infrastructure

Built by OppaAI · Beautiful British Columbia, Canada

AuRoRA is a ground robot powered by on-device AI with no cloud dependency. The cognitive core is GRACE — a biologically-inspired memory system running on a Jetson Orin Nano Super, modelled on how the human brain encodes, stores, and recalls experience. The goal: a robot that can explore nature alongside you, remember your conversations, and grow smarter over time.

"No CS degree. Just curiosity, a tracked robot, and NVIDIA Cosmos Reason2 on a Jetson."

Wiki

Page Description
Architecture Overview Cognitive layer diagram, data flow, component reference, thread model
Project Roadmap M1 through M16 — memory, voice, multimodal, autonomy, deep learning
Boot Sequence How to start GRACE, terminal layout, crash recovery, common issues

At a Glance
Robot Waveshare UGV Beast (tracked)
Brain Jetson Orin Nano Super 8GB · JetPack 6.2.2 · CUDA 12.6
Model Cosmos Reason2 2B via vLLM
Memory WMC + EMC · SQLite WAL · sqlite-vec · FTS5 · RRF
Framework ROS2 Humble
Status M1 — Chatbot + Working Memory + Episodic Memory 🟢

Memory Architecture

flowchart LR
    WMC["WMC\nWorking Memory\n7±2 turns"] -->|evict| EMC["EMC\nEpisodic Memory\nForever"]
    EMC -->|recall| CTX["Context\nWindow"]
    WMC -->|sustain| CTX
    CTX --> GRACE["GRACE\nCosmos 2B"]
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Roadmap Snapshot

Phase What GRACE gains Status
M1 Memory — "I can remember" 🟢 In Progress
M2 Salience — "I know what matters" ⬜ Planned
M3 Cognition — "I have inner state" ⬜ Planned
M4+ Voice, vision, autonomy, deep learning ⬜ Planned

Repository

AGi/
├── AuRoRA/          # Jetson Orin Nano — robot workspace
│   └── src/scs/scs/
│       ├── cnc.py   # Central Neural Core (ROS2 node)
│       ├── mcc.py   # Memory Coordination Core
│       ├── wmc.py   # Working Memory Cortex
│       ├── emc.py   # Episodic Memory Cortex
│       └── msb.py   # Memory Storage Bank (shared substrate)
└── AIVA/            # PC server workspace — future

Previous project: ERIC — Edge Robotics Innovation by Cosmos · Built for the NVIDIA Cosmos Cookoff 2026

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