Spatial proof-of-presence for autonomous robots.
GridStamp gives robots the ability to prove where they are, remember where they've been, and get paid for verified operations. Built on 3D Gaussian Splatting, bio-inspired navigation (place cells + grid cells), and cryptographic spatial proofs.
Robots need to prove they actually did the job. A delivery robot needs to verify it reached the destination. A warehouse AMR needs spatial proof for billing. An inspection drone needs tamper-proof evidence it surveyed the site.
No existing SDK combines spatial memory, payment verification, and anti-spoofing in one package.
Six layers, each cryptographically isolated:
| Layer | What it does |
|---|---|
| Perception | HMAC-signed camera frames, stereo depth fusion, dual-camera support |
| Memory | 3-tier spatial memory (short/mid/long-term) with Merkle tree integrity |
| Navigation | A* and RRT* pathfinding on 3D occupancy grids, place cells + grid cells |
| Verification | SSIM + LPIPS + depth comparison for spatial proof-of-location |
| Anti-Spoofing | Replay detection, adversarial patch detection, depth injection, canary honeypots |
| Gamification | Trust tiers, capability badges, streak multipliers, zone mastery, fleet leaderboard |
npm install gridstampimport { createAgent } from 'gridstamp';
const agent = createAgent({
robotId: 'DLV-001',
cameras: [{ type: 'oak-d-pro', role: 'foveal', /* ... */ }],
hmacSecret: process.env.GRIDSTAMP_SECRET, // min 32 chars
}, cameraDriver);
// Capture and verify
const frame = await agent.see();
const proof = await agent.verifySpatial();
// Settle payment only if spatial proof passes
const settlement = await agent.settle({
amount: 15.00,
currency: 'USD',
payeeId: 'merchant-001',
spatialProof: true,
});Robots earn trust through verified operations, similar to a credit score:
| Tier | Points | Fee | Max Tx | Verification |
|---|---|---|---|---|
| Untrusted | 0 | 2.5x | $10 | Every operation |
| Probation | 100 | 2.0x | $50 | Every operation |
| Verified | 500 | 1.5x | $200 | Every 3rd |
| Trusted | 2,000 | 1.2x | $1,000 | Every 5th |
| Elite | 5,000 | 1.0x | $5,000 | Every 10th |
| Autonomous | 10,000 | 0.8x | $25,000 | Spot checks |
All tier changes are HMAC-signed. Spoofing attempts result in immediate two-tier demotion.
- Every camera frame is HMAC-SHA256 signed at capture time
- Cryptographic key derivation isolates subsystems (
deriveKey(master, 'frame-signing')) - Monotonic sequence numbers prevent replay attacks
- Canary landmarks detect memory poisoning
- Constant-time HMAC comparison prevents timing attacks
- Fail-closed: any integrity violation blocks payment
gridstamp # Full SDK
gridstamp/perception # Camera + depth
gridstamp/memory # Spatial memory + place/grid cells
gridstamp/navigation # Pathfinding
gridstamp/verification # Spatial proofs + settlements
gridstamp/antispoofing # Threat detection
gridstamp/gamification # Trust tiers + badges + leaderboard
- Last-mile delivery — Robot proves it reached the doorstep before payment settles
- Warehouse operations — AMRs earn trust tiers based on verified pick accuracy
- Drone inspection — Tamper-proof spatial evidence of site surveys
- Autonomous trucking — Spatial proof-of-delivery for freight settlements
- Roofing/HVAC/Plumbing — AI agents verify on-site work completion
- Node.js 20+
- TypeScript 5.6+
Apache 2.0 — see LICENSE