Merge pull request #543 from AssetOverflow/docs/reconcile-sensorium-adr-status

Reconcile sensorium ADR statuses + fail-closed efferent gate (ADR-0198 §3)

docs/decisions/ADR-0181-audio-compiler-delta-crdt.md

@@ -1,7 +1,8 @@
 # ADR-0181: CORE-native Audio Compiler over the Delta-CRDT Substrate
 
-**Status:** Proposed
+**Status:** Accepted — implementation landed
 **Date:** 2026-05-29
+**Implementation:** `sensorium/audio/` + `evals/audio_sensorium/`. Proof obligations are covered by `tests/test_audio_compiler.py`, `tests/test_audio_crdt_merge.py`, `tests/test_audio_eval_gates.py`, `tests/test_audio_pack_manifest.py`, and `tests/test_audio_sensorium_mount.py`.
 **Authors:** Joshua M. Shay, Core R&D Engine
 **Domains:** `sensorium/audio/`, `sensorium/adapters/audio.py`, `packs/audio/`, `core-rs/src/vault.rs` (read-only contract), `evals/audio_sensorium/`
 **Depends on:** ADR-0013 (Sensorium Multimodal Protocol), ADR-0180 (Delta-CRDT Sharded Substrate)

docs/decisions/ADR-0197-vision-compiler-delta-crdt.md

@@ -1,7 +1,8 @@
 # ADR-0197: CORE-native Vision Compiler over the Delta-CRDT Substrate
 
-**Status:** Proposed
+**Status:** Accepted — implementation landed
 **Date:** 2026-05-31
+**Implementation:** `sensorium/vision/` + `sensorium/adapters/vision.py`, `packs/vision/vision_core_v1/` (PR #537). Proof obligations are covered by `tests/test_vision_compiler.py`, `tests/test_vision_crdt_merge.py`, `tests/test_vision_sensorium_mount.py`, and `tests/test_vision_eval_gates.py`.
 **Authors:** Joshua M. Shay, Core R&D Engine
 **Domains:** `sensorium/vision/`, `sensorium/adapters/vision.py`, `packs/vision/`, `core-rs/src/vault.rs` (read-only contract), `evals/vision_sensorium/`
 **Depends on:** ADR-0013 (Sensorium Multimodal Protocol), ADR-0180 (Delta-CRDT Sharded Substrate), ADR-0181 (Audio Compiler — structural precedent)

docs/decisions/ADR-0198-motor-efferent-decoder-spike.md

@@ -1,6 +1,6 @@
 # ADR-0198: Motor as Efferent Modality — Protocol Gap & Governance (Design Spike)
 
-**Status:** Proposed (design spike — no implementation)
+**Status:** Accepted (design spike) — Gap A protocol change + a baseline efferent gate have landed; the §3 verdict-lowering and the motor compiler/decoder remain deferred. See **Implementation Status** below.
 **Date:** 2026-05-31
 **Authors:** Joshua M. Shay, Core R&D Engine
 **Domains:** `sensorium/protocol.py`, `sensorium/registry.py`, `packs/motor/` *(future)*, governance packs (ADR-0029/0033/0036/0037)
@@ -9,6 +9,16 @@
 
 ---
 
+## Implementation Status (reconciled 2026-06-04)
+
+**Gap A has landed.** `ModalityRegistry.decode(pack_id, mv, *, authority)` with a required, never-optional `AuthorityToken`, plus a baseline `DefaultEfferentGate` (`sensorium/efferent.py`, PR #541). The §1.2 Gap B ordering is **proven**: `tests/test_efferent_gate.py::test_registry_uses_default_efferent_gate_before_decoder` asserts `decoder.calls == 0` on refusal — the gate refuses *in the manifold*, before any command is formed. Traces are hash-only (no `mv`, no ndarray/bytes).
+
+**Deferred — blocking obligations before any motor decoder mounts:**
+
+1. **§3 verdict-lowering is NOT implemented — but is now enforced fail-closed.** `DefaultEfferentGate` admits on capability-token + `(32,)` vector-shape only (`enforces_action_verdicts` is `False`); it does **not** lower the decoded motor versor into the safety/ethics pack verdicts of ADR-0029/0033/0036/0037. To keep §1.2 Gap B from silently degrading, `ModalityRegistry.decode`/`decode_batch` now **refuse fail-closed** any emission through a gate whose `enforces_action_verdicts` is False, unless an explicit `allow_unverified_efferent=True` sandbox opt-in is set (tests only). A real motor decoder therefore *cannot* emit through the capability-only gate — the §3 verdict-lowering gate must be built and installed first. Proven by `tests/test_efferent_gate.py::test_registry_fails_closed_for_actuating_decode_through_capability_only_gate` (the decoder never runs) and `::test_registry_admits_decode_through_verdict_enforcing_gate`. Implementing the §3 lowering itself remains deferred behind the dedicated motor governance ADR (item 3).
+2. **The motor compiler/decoder itself remains out of scope** (per §5).
+3. **A dedicated motor governance ADR** ratifying the §3 lowering against ADR-0029/0033/0036/0037 remains a prerequisite (per §5).
+
 ## 1. Why motor is not "just another modality"
 
 Every modality landed so far is **afferent**: signal comes *in*, crosses the `ProjectionHead` boundary, becomes a `(32,)` versor. Motor is **efferent**: meaning leaves the manifold and becomes action in the world. The protocol already anticipates this asymmetry — `sensorium/protocol.py` defines:

docs/decisions/ADR-0208-environmental-sensorium-loop.md

@@ -1,7 +1,8 @@
 # ADR-0208: Environmental Sensorium Loop
 
-**Status:** Proposed
+**Status:** Accepted — implementation landed (afferent scope)
 **Date:** 2026-06-04
+**Implementation:** `sensorium/environment/frame.py` (PR #540) + `sensorium/environment/harness.py` (PR #541). Proof obligations are covered by falsifiable tests in `tests/test_observation_frame_contract.py` (order-invariant frame trace hash, `merge_key` dedup, `TypeError` on raw-payload units, `ValueError` on efferent units) and `tests/test_observation_frame_harness.py`. Disjoint from the GSM8K serving path (no import of `generate.derivation` / `core.reliability_gate`).
 **Domains:** `sensorium/environment/`, `sensorium/compiler/`, `sensorium/*`, future sensorimotor compilers
 **Depends on:** ADR-0013, ADR-0180, ADR-0181, ADR-0197, ADR-0198
 

docs/decisions/ADR-0209-sensorimotor-feedback-contract.md

@@ -1,7 +1,8 @@
 # ADR-0209: Sensorimotor Feedback Is Afferent
 
-**Status:** Proposed
+**Status:** Accepted — implementation landed (afferent scope)
 **Date:** 2026-06-04
+**Implementation:** `sensorium/sensorimotor/` (PR #540) + `sensorium/adapters/sensorimotor.py`, `packs/sensorimotor/sensorimotor_core_v1/` (PR #541). Proof obligations are covered by falsifiable tests in `tests/test_sensorimotor_contract.py` (deterministic unit + merge key, IR replay, idempotent delta merge, **no `decode`/`decode_batch` path**, hash-only trace with no command/trajectory payload) and `tests/test_sensorimotor_pack_manifest.py`.
 **Domains:** `sensorium/sensorimotor/`, `sensorium/protocol.py`, future robotics integrations
 **Depends on:** ADR-0013, ADR-0198, ADR-0208
 

sensorium/efferent.py

@@ -53,6 +53,15 @@ class DefaultEfferentGate:
             "shape": [CL41_DIM],
         })
 
+    @property
+    def enforces_action_verdicts(self) -> bool:
+        """Capability/shape pre-filter only — does NOT lower the decoded action
+        into the safety/ethics pack verdicts required by ADR-0198 §3. The
+        registry refuses actuating emission through this gate unless an explicit
+        sandbox opt-in is set. A future §3 verdict-enforcing gate returns True.
+        """
+        return False
+
     def admit(
         self,
         pack_id: str,

sensorium/protocol.py

@@ -107,7 +107,14 @@ class EfferentVerdict:
 
 @runtime_checkable
 class EfferentGate(Protocol):
-    """Runtime gate for output actions. Runs before SurfaceDecoder.decode."""
+    """Runtime gate for output actions. Runs before SurfaceDecoder.decode.
+
+    Optional attribute ``enforces_action_verdicts: bool`` (absent ⇒ False):
+    True only for a gate that lowers the decoded action into the safety/ethics
+    pack verdicts required by ADR-0198 §3. ``ModalityRegistry`` fails closed and
+    refuses actuating emission through any gate where this is False, unless an
+    explicit ``allow_unverified_efferent`` sandbox opt-in is set.
+    """
 
     def admit(
         self,

sensorium/registry.py

@@ -36,9 +36,19 @@ class ModalityRegistry:
     mv   = registry.project("en", "beginning")
     """
 
-    def __init__(self, *, efferent_gate: EfferentGate | None = None) -> None:
+    def __init__(
+        self,
+        *,
+        efferent_gate: EfferentGate | None = None,
+        allow_unverified_efferent: bool = False,
+    ) -> None:
         self._packs: dict[str, ModalityPack] = {}
         self._efferent_gate = efferent_gate
+        # Fail-closed (ADR-0198 §3 / §1.2 Gap B): an efferent gate that does not
+        # lower the decoded action into safety/ethics pack verdicts may not
+        # authorize a real emission. This opt-in exercises the capability
+        # pre-filter in isolation (tests only); never set it on an actuating path.
+        self._allow_unverified_efferent = allow_unverified_efferent
 
     # ------------------------------------------------------------------
     # Mount
@@ -123,6 +133,28 @@ class ModalityRegistry:
             )
         return mvs.astype(np.float32)
 
+    def _refuse_unverified_efferent(self, pack_id: str, authority: AuthorityToken) -> None:
+        """Fail closed unless the gate enforces ADR-0198 §3 action verdicts.
+
+        ``DefaultEfferentGate`` is a capability/shape pre-filter only; it does
+        not lower the decoded action into the safety/ethics pack verdicts that
+        §3 requires. Until a verdict-enforcing gate exists, an actuating
+        emission must be refused — no motor decoder may rely on capability
+        tokens alone. ``allow_unverified_efferent`` is a sandbox/testing escape
+        hatch for exercising the pre-filter in isolation.
+        """
+        if self._allow_unverified_efferent:
+            return
+        if getattr(self._efferent_gate, "enforces_action_verdicts", False):
+            return
+        verdict = EfferentVerdict(
+            admitted=False,
+            reason="efferent gate does not enforce ADR-0198 §3 action verdicts",
+            authority_sha256=authority.authority_sha256,
+            policy_sha256="deny-unverified-efferent",
+        )
+        raise EfferentRefusal(pack_id, verdict)
+
     def decode(self, pack_id: str, mv: np.ndarray, *, authority: AuthorityToken) -> Any:
         """Decode a manifold vector through a governed SurfaceDecoder.
 
@@ -147,6 +179,7 @@ class ModalityRegistry:
                 policy_sha256="deny-by-default",
             )
             raise EfferentRefusal(pack_id, verdict)
+        self._refuse_unverified_efferent(pack_id, authority)
         verdict = self._efferent_gate.admit(pack_id, vec, authority)
         if not verdict.admitted:
             raise EfferentRefusal(pack_id, verdict)
@@ -179,6 +212,7 @@ class ModalityRegistry:
                 policy_sha256="deny-by-default",
             )
             raise EfferentRefusal(pack_id, verdict)
+        self._refuse_unverified_efferent(pack_id, authority)
         for vec in arr:
             verdict = self._efferent_gate.admit(pack_id, vec, authority)
             if not verdict.admitted:

tests/test_efferent_gate.py

@@ -4,7 +4,14 @@ import numpy as np
 import pytest
 
 from sensorium.efferent import DefaultEfferentGate
-from sensorium.protocol import AuthorityToken, EfferentRefusal, Modality, ModalityPack, ModalityVocabulary
+from sensorium.protocol import (
+    AuthorityToken,
+    EfferentRefusal,
+    EfferentVerdict,
+    Modality,
+    ModalityPack,
+    ModalityVocabulary,
+)
 from sensorium.registry import ModalityRegistry
 
 
@@ -81,7 +88,9 @@ def test_default_efferent_trace_is_hash_only():
 
 def test_registry_uses_default_efferent_gate_before_decoder():
     decoder = _Decoder()
-    reg = ModalityRegistry(efferent_gate=DefaultEfferentGate())
+    # Exercises the capability pre-filter in isolation: the capability/shape
+    # gate is not verdict-enforcing, so the sandbox opt-in is required here.
+    reg = ModalityRegistry(efferent_gate=DefaultEfferentGate(), allow_unverified_efferent=True)
     reg.mount(_pack(decoder))
 
     with pytest.raises(EfferentRefusal, match="missing capability"):
@@ -90,3 +99,36 @@ def test_registry_uses_default_efferent_gate_before_decoder():
 
     assert reg.decode("motor_test", _mv(), authority=_authority("decode:motor_test")) == "decoded"
     assert decoder.calls == 1
+
+
+def test_registry_fails_closed_for_actuating_decode_through_capability_only_gate():
+    """ADR-0198 §3 / §1.2 Gap B: a capability/shape gate must not authorize a
+    real emission. With no sandbox opt-in the decode fails closed and the
+    decoder never runs."""
+    decoder = _Decoder()
+    reg = ModalityRegistry(efferent_gate=DefaultEfferentGate())
+    reg.mount(_pack(decoder))
+    with pytest.raises(EfferentRefusal, match="action verdicts"):
+        reg.decode("motor_test", _mv(), authority=_authority("decode:motor_test"))
+    assert decoder.calls == 0
+
+
+def test_registry_admits_decode_through_verdict_enforcing_gate():
+    """A gate that enforces ADR-0198 §3 action verdicts needs no sandbox opt-in."""
+
+    class _VerdictGate:
+        enforces_action_verdicts = True
+
+        def admit(self, pack_id: str, mv: np.ndarray, authority: AuthorityToken) -> EfferentVerdict:
+            return EfferentVerdict(
+                admitted=True,
+                reason="admitted",
+                authority_sha256=authority.authority_sha256,
+                policy_sha256="verdict-test",
+            )
+
+    decoder = _Decoder()
+    reg = ModalityRegistry(efferent_gate=_VerdictGate())
+    reg.mount(_pack(decoder))
+    assert reg.decode("motor_test", _mv(), authority=_authority("decode:motor_test")) == "decoded"
+    assert decoder.calls == 1

tests/test_sensorium_efferent_decode.py

@@ -80,7 +80,7 @@ def test_decode_denies_by_default_before_decoder_runs():
 def test_decode_requires_admitting_gate_before_surface_decode():
     decoder = _Decoder()
     gate = _Gate(admitted=True)
-    reg = ModalityRegistry(efferent_gate=gate)
+    reg = ModalityRegistry(efferent_gate=gate, allow_unverified_efferent=True)
     reg.mount(_pack(decoder))
     assert reg.decode("motor_test", _mv(), authority=_authority()) == "decoded:1.0"
     assert gate.calls == 1
@@ -89,7 +89,7 @@ def test_decode_requires_admitting_gate_before_surface_decode():
 
 def test_decode_refusal_does_not_call_decoder():
     decoder = _Decoder()
-    reg = ModalityRegistry(efferent_gate=_Gate(admitted=False))
+    reg = ModalityRegistry(efferent_gate=_Gate(admitted=False), allow_unverified_efferent=True)
     reg.mount(_pack(decoder))
     with pytest.raises(EfferentRefusal, match="denied"):
         reg.decode("motor_test", _mv(), authority=_authority())
@@ -99,7 +99,7 @@ def test_decode_refusal_does_not_call_decoder():
 def test_decode_batch_admits_all_before_decoding_any_surface():
     decoder = _Decoder()
     gate = _Gate(admitted=True, deny_after=1)
-    reg = ModalityRegistry(efferent_gate=gate)
+    reg = ModalityRegistry(efferent_gate=gate, allow_unverified_efferent=True)
     reg.mount(_pack(decoder))
     batch = np.stack([_mv(), _mv()])
     with pytest.raises(EfferentRefusal, match="denied"):