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NebulaForge: Offline-Resilient Federated Foundation Models for Space Robotics

NebulaForge is an offline-resilient, federated foundation-model platform designed for space robotics with intermittent connectivity. It enables on-device inference, privacy-preserving federated fine-tuning, and contract-driven safety guarantees across fleets of rovers, drones, and habitat modules.

Key Components

  • Runtime: compact on-device runtime optimized for ARM/RISC-V for real-time planning and perception tasks.
  • Federated: secure aggregation with optional differential privacy budgets.
  • Contracts: CatOpt-inspired data-contract layer with versioned schemas (LocalProblem, SharedVariables, PlanDelta, PrivacyBudget, AuditLog).
  • Governance: crypto-signed decisions and tamper-evident provenance ledger.
  • Simulator: Gazebo/ROS-ready stub for rapid HIL validation.

MVP Plan (8–12 weeks)

  • Phase 0: runtime core + two starter adapters (rover planner, habitat supervisor) + delta-sync scaffold.
  • Phase 1: secure aggregation, governance ledger, delta reconciliation proofs.
  • Phase 2: HIL validation with Gazebo/ROS and two physical rigs; cross-domain demo.
  • Phase 3: governance conformance tests and a lightweight adapter marketplace entry.

This repository contains a production-oriented skeleton to enable collaborative extension by multiple teams. See AGENTS.md for architectural guidelines and testing commands.

CatOpt Bridge

  • A lightweight Graph of Contracts (GoC) bridge that formalizes NebulaForge primitives as CatOpt objects (FoundationModel, PlanningPolicy) and maps delta-like states (PlanDelta, DualVariables) via data channels (morphisms) with a contract registry for adapters.
  • Provides per-message metadata (version, timestamp, nonce, signature) to enable replay protection, audit trails, and cross-domain interoperability with other CatOpt-style stacks.
  • Includes a minimal DSL sketch and two toy adapters (rover_runtime, habitat_supervisor) plus a deterministic delta-sync protocol for offline/partitioned operation.
  • MVP: 0–4 weeks to wire skeleton runtime + 2 adapters, then governance ledger scaffolding, then HIL cross-domain demo.