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API Reference

Two entry points, depending on where you sit in the pipeline:

  • Armatura -- wearable shield for a single 1D series (loss, sensor telemetry, token stream). Built on the hybrid engine.
  • Orca -- full input+output shield for an entire model. Built on the adaptive engine (AdaptiveSignalStabilizer, Stage 1) plus a Collatz-based gate (Stage 2). Optional use_arbiter=True adds per-point routing (see Arbiter) instead of one gate for the whole signal.

Plus a standalone toolkit, independent of both:

  • Arbiter -- classifies each point as clean/spike/regime against a wide causal reference window, then routes it to the right corrector. Also callable on its own (classify_segments/route_and_correct), not only through Orca(use_arbiter=True).
  • Streaming -- a zero-latency, one-point-at-a-time port of Arbiter's causal deviation check (not the spike/regime label, which needs lookahead and stays batch-only), plus native multi-channel wrappers for real-time and multi-sensor use.
  • CUSUM + ARL theory -- accumulates small, sustained deviations Arbiter's instantaneous threshold is structurally blind to, plus a closed-form pre-flight estimate (detectability_report) of expected detection/false-alarm latency, validated on two real physical domains.
  • Rate limiter -- bounds how fast a command can physically change instead of classifying whether a deviation is real; a safety bound for real-time command damping (e.g. LLM-to-motor), not a signal cleaner. Validated on two real physical domains (SO-101, ALOHA).
  • CBF filter -- bounds WHERE a command can go (never enter a forbidden region), complementing the rate limiter's WHEN/HOW FAST guarantee. Same underlying theory as SAFER-Splat, without its GPU-bound perception requirement. Validated on two real physical domains (SO-101, ALOHA).
  • Trajectory -- generates the reference the rate limiter and CBF filter keep safe in the first place: a closed-form, minimum-jerk-continuous point-to-point path for any number of joints. Validated on two real physical domains (SO-101, ALOHA).
  • Kinematic controller -- turns a reference from Trajectory into an actual velocity command: closed-form feedforward-plus-proportional tracking with an exact exponential convergence guarantee. Validated on two real physical domains (SO-101, ALOHA), chained with Trajectory.
  • Robust filters -- four classic anomaly detectors (Chauvenet, Tukey, Hampel, sigma-clipping) and pressure_valve, a Lagrange-multiplier minimum-variance orchestrator with a Jensen-Shannon-modulated dynamic threshold.
  • Curvature -- a bounded, saturating proximity-to-reference score in [0,1), used internally by Orca's input shield. Takes a scale parameter (default 1.0, backward compatible) tying its saturation point to real physical units -- see its own docs for a real finding on why the unscaled default is a near-binary indicator, not a graded one.
  • Toolkit -- generic JAX/NumPy pipeline tools that don't participate in the anomaly shield: an op-compiler, a memory guard, hardware profiling, logging/provenance export, and audio/HDF5/NetCDF I/O helpers.