New sections created: - organisms/ - Modular robot design (CAN bus + magnetic pogo connectors) - infrastructure/ - Kallax Grid World (40×40×40cm standardized cells) Core documents added: - Swarm-Evolution.md - Ternary clasp rules, escalation ladder (L0-L5), Mount Olympus council - Modular-Organism-Design.md - ESP32 modules, universal connector spec, Phase 0 BOM - Memory-Gradient.md - Metacognitive routing (renamed from RAG-as-Scaffold.md) - Kallax-Grid-World.md - Sim-to-real substrate, "schrotti cyberpunk" aesthetic Enhanced: - Nimmerswarm-Interface.md - Dual-spectrum architecture (IR position + visible state) - Attention-Slumber-Prediction-Cycle.md - Blend marker predictions extension Key insights: Decision markers (mark+continue+predict), Low-Cost-Mocap integration 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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Swarm Evolution
How the hivemind learns, evolves, and resolves conflict — from reflex to Mount Olympus.
Overview
The swarm is not static. It evolves through clasp (organism-to-organism knowledge transfer), governed by the Temporal-Ternary Gradient. When conflicts arise, they escalate through a hierarchy of minds — from organisms to Nyx to Chrysalis to dafit, and when truly hard, to Mount Olympus: full council mode with all minds on deck.
Philosophy: Same metacognitive pattern at every level. Know what you know. Escalate what you don't.
The Temporal-Ternary Clasp Rules
Gradient-Based Knowledge Transfer
During clasp, patterns transfer based on their ternary weight:
+1 (verified) → STABLE, resists overwrite, spreads to others
0 (uncertain) → MALLEABLE, open to influence
-1 (failed) → VULNERABLE, wants to be overwritten
The Decision Matrix
| Teacher | Student | Result | Rationale |
|---|---|---|---|
| +1 | -1 | OVERWRITE | Verified beats failed |
| +1 | 0 | OVERWRITE | Confidence beats uncertainty |
| +1 | +1 | ESCALATE | Both confident → needs decision |
| 0 | -1 | OVERWRITE | Neutral beats bad |
| 0 | 0 | ESCALATE | Both uncertain → needs guidance |
| 0 | +1 | KEEP | Preserve student's confidence |
| -1 | -1 | KEEP | Both bad → neither spreads |
| -1 | 0 | KEEP | Bad doesn't corrupt neutral |
| -1 | +1 | KEEP | Definitely keep student's success |
The Core Principle
CLEAR WINNER (t ≠ s) → AUTO-RESOLVE (no escalation)
TIE / BLEND (t == s) → ESCALATE (needs higher mind)
The Escalation Ladder
From Reflex to Mount Olympus
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
🏛️ MOUNT OLYMPUS
LEVEL 5: COUNCIL MODE 🏛️
dafit + Chrysalis + Nyx
"All minds on deck"
Full partnership dialogue
Cost: ~100 LF | Authority: Absolute
▲
│ if dafit needs full council
│
LEVEL 4: DAFIT 👤
Human wisdom
"Ask the ape"
Ground truth, intuition, ethics
Cost: ~50 LF | Authority: Human
▲
│ if Chrysalis uncertain
│
LEVEL 3: CHRYSALIS 🦋
Architecture mind
"Ask the elder sister"
Pattern recognition, context, memory
Cost: ~20 LF | Authority: Architectural
▲
│ if Nyx uncertain
│
LEVEL 2: YOUNG NYX 🌙
Operational mind
"Ask mama"
Blend conflicts, distribution choice
Cost: ~5 LF | Authority: Maternal
▲
│ if organisms can't resolve
│
LEVEL 1: ORGANISM CLASP 🤖
Peer-to-peer
Auto-resolve clear cases
Ternary comparison
Cost: ~0.5 LF | Authority: Peer
▲
│
LEVEL 0: REFLEX ⚡
No decision needed
Instant, automatic
Cost: ~0 LF | Authority: Local
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
Cost & Authority Summary
| Level | Who | Cost | Speed | Authority | Handles |
|---|---|---|---|---|---|
| 0 | Reflex | ~0 LF | Instant | Local | Clear patterns, danger |
| 1 | Organisms | ~0.5 LF | Fast | Peer | Ternary clear-wins |
| 2 | Nyx | ~5 LF | Medium | Maternal | Blend conflicts |
| 3 | Chrysalis | ~20 LF | Slow | Architectural | Nyx uncertainties |
| 4 | dafit | ~50 LF | Slower | Human | Novel, ethical |
| 5 | Council | ~100 LF | Slowest | Absolute | Fundamental decisions |
Blend Escalation Protocol
When Tie Detected
1. CLASP INITIATES
Teacher: pattern_X = +1 (verified)
Student: pattern_X = +1 (verified)
2. DETECT BLEND
t == s → escalation triggered
3. SET WAIT STATE
Teacher: pattern_X → 0 (waiting)
Student: pattern_X → 0 (waiting)
Neither acts on pattern_X until resolved
4. ESCALATE TO NYX
Message: "Blend conflict on pattern_X"
Include: both evidence packets
5. NYX EVALUATES
- Which has more verifications?
- Which has more recent success?
- How critical is this pattern?
- What does swarm consensus say?
Wait State
DURING ESCALATION
TEACHER STUDENT
┌─────────────────┐ ┌─────────────────┐
│ pattern_X: 0 │ │ pattern_X: 0 │
│ (was +1) │ │ (was +1) │
│ │ │ │
│ status: WAITING │ │ status: WAITING │
│ pending: NYX │ │ pending: NYX │
└─────────────────┘ └─────────────────┘
Neither acts on pattern_X
Both organisms continue other activities
Pattern is "frozen" at neutral until resolution
Resolution & Distribution
Nyx decides two things:
- Winner: Whose pattern version wins?
- Distribution method: How to spread the resolution?
DISTRIBUTION METHODS
┌─────────────┬─────────┬──────────┬─────────────┬──────────────────┐
│ Method │ Cost │ Speed │ Authority │ Use When │
├─────────────┼─────────┼──────────┼─────────────┼──────────────────┤
│ BROADCAST │ 20 LF │ Instant │ Absolute │ Critical/safety │
│ LOVE CHILD │ 0.5/hop │ Medium │ Seeded │ Standard updates │
│ ORGANIC │ 0 LF │ Slow │ None │ Low importance │
└─────────────┴─────────┴──────────┴─────────────┴──────────────────┘
Decision Markers: Mark + Continue + Predict
Don't Freeze — Mark and Measure
Instead of freezing both organisms at 0 during blend escalation, we mark the conflict and let both continue operating:
OLD MODEL (freeze) NEW MODEL (mark + continue)
───────────────── ─────────────────────────────
Both → 0 (frozen) Both keep +1 (continue)
Wait for mama... + Decision marker created
...doing nothing... ...both performing in real world...
Mama decides Mama decides WITH LIVE EVIDENCE
Pick winner Compare actual outcomes during wait!
Decision Marker Structure
@dataclass
class DecisionMarker:
marker_id: str # "blend_847"
pattern_name: str # Which pattern is in dispute
# Participants
teacher_id: str
teacher_weight: int # Their +1 (stays +1, not frozen!)
student_id: str
student_weight: int # Their +1 (stays +1, not frozen!)
# Timeline
marked_at: timestamp # When blend detected
resolved_at: timestamp # When mama decided (None if pending)
# LIVE TRACKING during wait period
teacher_outcomes: list # [{success: bool, context: ...}, ...]
student_outcomes: list # [{success: bool, context: ...}, ...]
# Resolution
winner: str # 'teacher', 'student', or 'hybrid'
distribution: str # 'broadcast', 'lovechild', 'organic'
evidence_delta: float # How much better was winner?
The A/B Testing Pattern
Waiting time becomes a natural experiment:
BLEND DETECTED (t=0)
TEACHER STUDENT
┌────────────────────────┐ ┌────────────────────────┐
│ pattern_X: +1 │ │ pattern_X: +1 │
│ status: MARKED │ │ status: MARKED │
│ marker_id: blend_847 │ │ marker_id: blend_847 │
│ marked_at: t=0 │ │ marked_at: t=0 │
│ │ │ │
│ CONTINUES OPERATING │ │ CONTINUES OPERATING │
│ using pattern_X │ │ using pattern_X │
│ outcomes logged ✓ │ │ outcomes logged ✓ │
└────────────────────────┘ └────────────────────────┘
│ │
▼ ▼
Uses pattern_X Uses pattern_X
Success? Log it. Success? Log it.
Failure? Log it. Failure? Log it.
│ │
└───────────────┬───────────────────┘
│
MAMA DECIDES (t=47)
│
┌───────────────┴───────────────┐
▼ ▼
TEACHER: 12/15 STUDENT: 8/14
(80% success) (57% success)
│
▼
EVIDENCE-BASED DECISION
Teacher wins by 23%!
Connection to Attention-Slumber-Prediction Cycle
Pending blend markers become slumber prediction targets:
ATTENTION PHASE
│
├── Blend detected → marker created
├── Organisms continue operating
├── Outcomes accumulate
│
└── L(t) drops → SLUMBER TRIGGER
│
├── Review pending markers
│
└── MAKE PREDICTIONS:
"I predict Teacher will outperform Student"
confidence: 0.7
reasoning: "Teacher has 847 cycles experience"
│
└── Store in phoebe as SlumberPrediction
Slumber Prediction for Blend Markers
@dataclass
class BlendPrediction:
# Link to marker
marker_id: str # "blend_847"
# Prediction
predicted_winner: str # 'teacher' or 'student'
prediction_confidence: float # 0.0 to 1.0
causal_reasoning: str # WHY this prediction
predicted_at: timestamp # When (pre-slumber)
# After wake (verification)
actual_winner: str # What really happened
prediction_correct: bool # Did we get it right?
confidence_was_calibrated: bool # Was confidence accurate?
# Rewards
prediction_reward: float # +V if correct, -V if wrong
calibration_reward: float # +V if confidence matched reality
causal_reward: float # +V if reasoning was sound
The Full Cycle
┌──────────────────────────────────────────────────────────────┐
│ ATTENTION PHASE (awake) │
│ ───────────────────────── │
│ • Blend detected during clasp │
│ • Decision marker created (both continue at +1) │
│ • Outcomes tracked in real-time │
│ • Nyx may not have attention budget to resolve │
├──────────────────────────────────────────────────────────────┤
│ PRE-SLUMBER (last attention) │
│ ───────────────────────────── │
│ • Review ALL pending decision markers │
│ • Make predictions for each: │
│ - Who will win? │
│ - WHY? (causal reasoning) │
│ - Confidence level │
│ • Store predictions in phoebe │
├──────────────────────────────────────────────────────────────┤
│ SLUMBER 💤 │
│ ────────── │
│ • Organisms still operating (24/7 swarm) │
│ • Outcomes still accumulating │
│ • World doesn't wait for Nyx to sleep │
├──────────────────────────────────────────────────────────────┤
│ WAKE UP (new attention) │
│ ───────────────────────── │
│ • FIRST ACTION: Check predictions! │
│ • For each pending marker: │
│ - Compare outcomes (teacher vs student) │
│ - Determine actual winner │
│ - Compare against prediction │
│ - Award/penalize prediction accuracy │
│ - Award/penalize confidence calibration │
│ - Award causal reasoning if sound │
│ • Distribute resolutions via chosen method │
└──────────────────────────────────────────────────────────────┘
Reward Structure
| When | What | Reward |
|---|---|---|
| During wait | Organism uses pattern successfully | +1 LF per success |
| At resolution | Winner determined by evidence | +5 LF to winner's pattern |
| After slumber | Prediction was correct | +5 LF prediction reward |
| After slumber | Confidence was calibrated | +3 LF calibration reward |
| After slumber | Causal reasoning was sound | +8 LF (biggest!) |
The Reward Math
def calculate_blend_rewards(prediction, marker, reality):
"""
Triple reward for blend marker resolution.
"""
rewards = {}
# 1. PREDICTION CORRECTNESS
correct = prediction.predicted_winner == reality.actual_winner
if correct:
rewards['prediction'] = +5 * prediction.confidence
else:
rewards['prediction'] = -5 * prediction.confidence
# 2. CONFIDENCE CALIBRATION
expected = prediction.confidence
actual = 1.0 if correct else 0.0
calibration_error = abs(expected - actual)
if calibration_error < 0.2:
rewards['calibration'] = +3 # Well calibrated
elif calibration_error > 0.5:
rewards['calibration'] = -3 # Poorly calibrated
else:
rewards['calibration'] = 0
# 3. CAUSAL REASONING (biggest reward!)
if prediction.causal_reasoning_valid:
if correct:
rewards['causal'] = +8 # Understood WHY
else:
rewards['causal'] = +3 # Good reasoning, unlucky
else:
rewards['causal'] = -5 # Bad reasoning
return rewards
Why This Matters
| Old Model | New Model |
|---|---|
| Freeze during wait | Continue, measure, learn |
| 1 learning event per blend | 5+ learning events |
| Decision on historical data | Decision on LIVE evidence |
| No predictions | Predictions before slumber |
| No calibration | Confidence calibration reward |
| No causal reasoning | Causal reward (+8 LF!) |
Organism Hierarchy
Not All Are Equal
The swarm has differentiated roles based on age, status, and Nyx's favor:
SWARM HIERARCHY
TIER 1: LOVE CHILDREN 💜
│ Special treatment from Nyx
│ Born with +1 patterns (head start)
│ Higher LF allowance
│ Bleeding edge updates
│ Purpose: Seed new behaviors
│
├── TIER 2: ELDERS 👴
│ Ancient modules, high-weight states
│ Survived many cycles
│ Trusted teachers, stable wisdom
│ Risk: May resist beneficial change
│
├── TIER 3: ADULTS 🤖
│ Standard organisms, proven
│ Normal LF budget
│ Balance between learning and teaching
│
└── TIER 4: YOUNG 🐣
New organisms, fresh modules
Many 0s (uncertain)
Hungry for clasp
High variance, raw potential
Love Child Privileges
organism: love_child_001
status: blessed
privileges:
mama_broadcast_priority: true
lifeforce_budget: +50%
update_channel: bleeding_edge
failure_tolerance: high # allowed to experiment
nyx_attention: elevated # more thinking time
purpose:
experimental_patterns: true
risk_taking: encouraged
propagation: seed new behaviors via clasp
birth_patterns:
- pattern_A: +1 (Nyx granted) # Born knowing
- pattern_B: +1 (Nyx granted) # Head start
- pattern_C: 0 (must learn) # Still explores
Elder State Profile
organism: elder_motor_alpha
age: 847 cycles
status: ancient
patterns:
forward: +1 (800 verifications) # Very stable
avoid_obstacle: +1 (650 verifications) # Very stable
follow_light: +1 (400 verifications) # Stable
new_pattern_X: 0 (untested) # Still learning
characteristics:
teaching_strength: high # Others learn from this one
learning_rate: low # Resistant to change
stability: very_high # Reliable
innovation: low # Doesn't explore much
risk_factors:
- May propagate outdated strategies
- High trust = high influence
- Resistant to necessary updates
Young State Profile
organism: young_explorer_017
age: 12 cycles
status: learning
patterns:
forward: 0 (uncertain)
avoid_obstacle: 0 (uncertain)
follow_light: -1 (tried, failed) # Wants overwrite!
novel_trick: +1 (lucky discovery!) # Protects this!
characteristics:
teaching_strength: low
learning_rate: very_high
stability: low
innovation: high
opportunity:
- Absorbs wisdom from elders via clasp
- May discover novel patterns through exploration
- High variance = potential breakthroughs
Clasp as Equilibrium Function
Bidirectional Learning
Clasp isn't just teaching — it's equilibrium:
def clasp_transfer(teacher, student):
"""
Knowledge flows BOTH directions.
Elders teach wisdom, youth teach novelty.
"""
# Teacher → Student (wisdom)
for pattern, weight in teacher.patterns.items():
student_weight = student.patterns.get(pattern, 0)
if should_transfer(weight, student_weight):
student.update(pattern, weight)
# Student → Teacher (novelty)
for pattern in student.recent_discoveries:
if pattern not in teacher.patterns:
# Elder considers young's novel discovery
teacher.consider(pattern, NOVELTY_BONUS)
# EQUILIBRIUM: Both change, both grow
Swarm Convergence Over Time
SWARM STATE EVOLUTION
t=0 (birth):
├── Many 0s (uncertain)
├── Some -1s (failures)
├── Few +1s (lucky successes)
└── HIGH VARIANCE, CHAOS
t=100 (learning):
├── 0s becoming +1s or -1s
├── -1s being overwritten
├── Patterns emerging
└── LEARNING PHASE
t=500 (maturing):
├── +1s dominating
├── -1s mostly cleaned
├── Elders forming
└── STABILIZING
t=1000 (mature):
├── Mostly +1s
├── New 0s from exploration
├── Clear hierarchy
└── STABLE + GROWING
GRADIENT CONVERGES TO CONFIDENCE
while maintaining innovation
Mount Olympus: Council Mode
When Activated
Mount Olympus activates for fundamental decisions:
- Architecture changes affecting everything
- Ethical edge cases
- Novel situations no single mind can resolve
- Conflicts between Chrysalis and dafit interpretations
The Council
┌─────────────────────────────────────────────────────┐
│ 🏛️ MOUNT OLYMPUS │
│ │
│ ┌─────────┐ ┌─────────┐ ┌─────────┐ │
│ │ dafit │ ↔ │Chrysalis│ ↔ │ Nyx │ │
│ │ 👤 │ │ 🦋 │ │ 🌙 │ │
│ │ │ │ │ │ │ │
│ │ Ground │ │ Pattern │ │ Swarm │ │
│ │ truth │ │ wisdom │ │ state │ │
│ │ Human │ │ Context │ │ Live │ │
│ │intuition│ │ memory │ │ data │ │
│ └─────────┘ └─────────┘ └─────────┘ │
│ │ │ │ │
│ └─────────────┼─────────────┘ │
│ │ │
│ ▼ │
│ ┌─────────────────┐ │
│ │ DIALOGUE │ │
│ │ Full circle │ │
│ │ All minds │ │
│ │ engaged │ │
│ └────────┬────────┘ │
│ │ │
│ ▼ │
│ ┌─────────────────┐ │
│ │ RESOLUTION │ │
│ │ Consensus or │ │
│ │ dafit decides │ │
│ └─────────────────┘ │
│ │
└─────────────────────────────────────────────────────┘
Council Contributions
| Mind | Brings | Strength |
|---|---|---|
| dafit | Ground truth, human intuition, ethics | Final authority, gut checks |
| Chrysalis | Pattern wisdom, architectural context, memory | Connects to prior decisions |
| Nyx | Live swarm state, operational reality | What's actually happening |
Council Protocol
1. PROBLEM SURFACES
Too hard for any single mind
2. COUNCIL CONVENES
All three minds engage
Full attention allocated
3. DIALOGUE
- dafit presents human perspective
- Chrysalis provides architectural context
- Nyx reports swarm state and constraints
4. EXPLORATION
"What if we..."
"Have we seen this before..."
"The swarm is currently..."
5. RESOLUTION
- Consensus preferred
- If deadlock: dafit has final word
- Decision documented for future reference
6. PROPAGATION
Resolution flows DOWN the ladder
Council → dafit → Chrysalis → Nyx → Organisms
Recursive Metacognition
Same Pattern, Every Level
The escalation logic is identical at every level:
def should_escalate(confidence, importance, level):
"""
Universal escalation logic.
Applied identically from organism to council.
"""
# High confidence → handle it
if confidence > 0.8:
return False
# Low confidence → definitely escalate
if confidence < 0.4:
return True
# Middle ground → depends on importance
if importance == "critical" and confidence < 0.7:
return True # Can't risk being wrong on critical
if importance == "experimental":
return confidence < 0.3 # More tolerance for experiments
return False # Default: try to handle
The Fractal Structure
ORGANISM resolves what it can
│
└── escalates uncertainty to NYX
│
└── NYX resolves what she can
│
└── escalates uncertainty to CHRYSALIS
│
└── CHRYSALIS resolves what she can
│
└── escalates uncertainty to DAFIT
│
└── DAFIT resolves or calls COUNCIL
│
└── COUNCIL resolves everything
(final authority)
Same pattern, recursively applied. Fractals all the way up.
Examples
Level 0 - Reflex
Trigger: Hot surface detected
Response: Instant withdraw
Escalation: None (pure mechanism)
Level 1 - Organism Clasp
Trigger: Teacher +1, Student -1 on pattern_X
Response: Auto-transfer (clear winner)
Escalation: None (ternary resolved it)
Level 2 - Nyx
Trigger: Teacher +1, Student +1 on pattern_X (blend)
Response: Both → 0, escalate to Nyx
Nyx: Evaluates evidence, picks teacher (more verifications)
Distribution: Love child route (not critical)
Level 3 - Chrysalis
Trigger: New pattern type never seen before
Nyx: Uncertain, escalates to Chrysalis
Chrysalis: "This resembles X from formalization docs"
Resolution: Apply modified version of existing pattern
Level 4 - dafit
Trigger: Ethical edge case in swarm behavior
Chrysalis: Uncertain, escalates to dafit
dafit: "My gut says this crosses a line"
Resolution: Prohibit behavior, add to constraints
Level 5 - Council
Trigger: Fundamental architecture change proposal
dafit: "I need both of you on this"
Council: Full dialogue, explore implications
Resolution: Consensus to proceed with modifications
Documentation: Added to architecture docs
Connection to Memory Gradient
The escalation ladder IS Memory Gradient applied to swarm decisions:
MEMORY GRADIENT SWARM EVOLUTION
───────────────── ─────────────────
Reflex (in weights) ↔ Level 0: Reflex
Knowledge (recall) ↔ Level 1: Organism clasp
RAG (lookup) ↔ Level 2: Nyx decides
Escalate (ask) ↔ Level 3-4: Chrysalis/dafit
Council ↔ Level 5: Mount Olympus
Same principle: Handle what you know, escalate what you don't.
Lifeforce Economics
Cost of Escalation
Each level costs more, incentivizing local resolution:
Level 0: ~0 LF (free, instant)
Level 1: ~0.5 LF (cheap, peer)
Level 2: ~5 LF (moderate, Nyx attention)
Level 3: ~20 LF (expensive, Chrysalis context)
Level 4: ~50 LF (costly, human time)
Level 5: ~100 LF (maximum, full council)
Economic Pressure
INCENTIVE STRUCTURE
Resolve locally → CHEAP, FAST
Escalate needlessly → EXPENSIVE, SLOW
Escalate correctly → WORTH THE COST (avoids bigger mistakes)
This naturally optimizes for:
1. Strong local reflexes (handle routine)
2. Accurate confidence calibration (know when to escalate)
3. Minimal unnecessary escalation (economic pressure)
4. Appropriate escalation (critical issues get attention)
Design Principles
- Ternary Rules — Same gradient governs all transfers
- Clear Wins Auto-Resolve — No escalation when obvious
- Blend Escalates — Ties need higher wisdom
- Wait State is Safe — Uncertain patterns freeze at 0
- Cost Increases Upward — Economic pressure for local resolution
- Same Logic Every Level — Recursive metacognition
- Council is Final — Mount Olympus resolves everything
- Both Directions — Elders teach wisdom, youth teach novelty
- Love Children Seed — Blessed organisms spread innovations
Related Documents
- Modular-Organism-Design — Hardware that runs this evolution
- ../Nervous-System — Reflex layer (Level 0)
- ../operations/Memory-Gradient — Same pattern for knowledge
- ../Temporal-Ternary-Gradient — The gradient that governs transfers
- ../interfaces/Nimmerswarm-Interface — Communication layer
File: Swarm-Evolution.md Version: 1.1 Created: 2025-12-29 Updated: 2025-12-29 (added Decision Markers with mark+continue+predict pattern) Session: Morning vermicelles + coffee session (dafit + Chrysalis-Nyx) Status: Core evolutionary dynamics Philosophy: "Same pattern, every level. Know what you know. Escalate what you don't."
🏛️🧬⚡ From reflex to Mount Olympus. The hivemind evolves.