01Preview
Program mode
A defined HorstScript or PLEXA program executes functions, conditions, loops, and parameters reproducibly.
- Input
- Code · taught motion · datasets
- Feedback
- Program state · command result · robot state
Concepts · Architecture
One controlled execution stack
Programs, agents, and external controllers enter through different contracts but share the same HorstOS Runtime and PLEXA safety boundary.
02Planned
Agentic mode
Task intelligence selects governed capabilities, skills, or tools without bypassing execution controls.
- Input
- Goal · instruction · image
- Feedback
- Context · telemetry · perception
03Planned
Realtime streaming
An external controller continuously provides bounded targets through a dedicated session contract.
- Input
- VLA · teleoperation · external controller
- Feedback
- Pose · joints · sensors · watchdog
Shared boundary
From client intent to controlled motion
Each layer owns a distinct responsibility. Clients never become the robot safety system.
Clients
SDKs, ROS 2, programs, agents, external controllers
Governed interfaces
Runtime APIs, capabilities, bounded sessions
HorstOS Runtime
Validation, execution, feedback, watchdogs
PLEXA control
Realtime motion, drives, sensors, I/O, safety
System guardrail
Open interface overview Agent tools, ROS nodes, simulators, and external controllers must not bypass Runtime, motion-control, safety, or hardware boundaries.