Shay e5bc73ebb9 docs: reconcile sensorium ADR statuses with shipped implementation

ADR-0181/0197/0208/0209 were marked Proposed despite test-backed
afferent implementations merged to main; flip to Accepted with
verifiable Implementation lines (paths + PRs + falsifiable tests).
ADR-0198's 'no implementation' status was stale (Gap A protocol
change + baseline efferent gate landed in #541); correct it and
document the deferred §3 safety/ethics verdict-lowering as an
explicit blocking obligation before any motor decoder mounts.

2026-06-03 21:51:59 -07:00

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ADR-0209: Sensorimotor Feedback Is Afferent

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

Decision

CORE will treat proprioception, tactile/contact state, actuator state feedback, and action result evidence as afferent sensorimotor input. Motor commands remain efferent and are governed separately by EfferentGate.

proprioception / contact / actuator feedback
  -> sensorimotor compiler
  -> SensorimotorCompilationUnit
  -> ObservationFrame

field action intent
  -> EfferentGate + AuthorityToken
  -> governed decode / refusal
  -> environment effect
  -> result feedback re-enters as sensorimotor input

Contract

The v1 afferent signal is quantized and replayable:

ProprioceptiveSignal
  pose_q
  velocity_q
  force_torque_q
  contact_q
  actuator_state_q
  source_sha256
  canonical_sha256

The compiler emits:

SensorimotorIR
SensorimotorCompilationUnit
ContentAddressedDelta

No decoder, trajectory executor, actuator driver, robot interface, tool call, or skill invocation is introduced by this contract.

Consequences

This reserves the correct robotics shape without making unsafe action emission look like ordinary perception. A robot can later close the loop through environment orchestration, but the two halves remain type-separated:

sensorimotor feedback is evidence;
motor command is authorized action;
action results become new evidence only after they re-enter through an afferent compiler.

Proof Obligations

Same canonical proprioceptive signal produces identical unit and merge key.
IR replay reproduces the projection.
Sensorimotor deltas merge idempotently.
Sensorimotor compiler exposes no decode path.
Trace records contain no command or trajectory payload.

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