ADR-029: Multi-paradigm integration architecture for EXO-AI

.github/workflows/thermorust-ci.yml

@@ -0,0 +1,62 @@
+name: thermorust CI
+
+on:
+  push:
+    paths:
+      - "crates/thermorust/**"
+      - ".github/workflows/thermorust-ci.yml"
+  pull_request:
+    paths:
+      - "crates/thermorust/**"
+      - ".github/workflows/thermorust-ci.yml"
+
+env:
+  CARGO_TERM_COLOR: always
+  RUSTFLAGS: "-D warnings"
+
+jobs:
+  test:
+    name: Test (${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Rust stable
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy, rustfmt
+
+      - name: Cache cargo registry
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cargo/registry
+            ~/.cargo/git
+            target
+          key: ${{ runner.os }}-cargo-thermorust-${{ hashFiles('crates/thermorust/Cargo.toml') }}
+          restore-keys: ${{ runner.os }}-cargo-thermorust-
+
+      - name: Check formatting
+        run: cargo fmt --package thermorust -- --check
+
+      - name: Clippy
+        run: cargo clippy --package thermorust --all-targets -- -D warnings
+
+      - name: Build
+        run: cargo build --package thermorust
+
+      - name: Run tests
+        run: cargo test --package thermorust
+
+  bench-check:
+    name: Benchmarks compile
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Check benchmarks compile
+        run: cargo bench --package thermorust --no-run

Cargo.toml

@@ -112,6 +112,8 @@ members = [
     "crates/ruvector-graph-transformer-node",
     "examples/rvf-kernel-optimized",
     "examples/verified-applications",
+    "crates/thermorust",
+    "crates/ruvector-dither",
     "crates/ruvector-robotics",
     "examples/robotics",
 ]

README.md

@@ -1567,6 +1567,7 @@ let syndrome = gate.assess_coherence(&quantum_state)?;
 | [ruvector-sparse-inference-wasm](./crates/ruvector-sparse-inference-wasm) | WASM bindings for sparse inference | [![crates.io](https://img.shields.io/crates/v/ruvector-sparse-inference-wasm.svg)](https://crates.io/crates/ruvector-sparse-inference-wasm) |
 | [ruvector-hyperbolic-hnsw](./crates/ruvector-hyperbolic-hnsw) | HNSW in hyperbolic space (Poincaré/Lorentz) | [![crates.io](https://img.shields.io/crates/v/ruvector-hyperbolic-hnsw.svg)](https://crates.io/crates/ruvector-hyperbolic-hnsw) |
 | [ruvector-hyperbolic-hnsw-wasm](./crates/ruvector-hyperbolic-hnsw-wasm) | WASM bindings for hyperbolic HNSW | [![crates.io](https://img.shields.io/crates/v/ruvector-hyperbolic-hnsw-wasm.svg)](https://crates.io/crates/ruvector-hyperbolic-hnsw-wasm) |
+| [ruvector-dither](./crates/ruvector-dither) | Deterministic golden-ratio and pi-digit dithering for quantization (`no_std`) | [![crates.io](https://img.shields.io/crates/v/ruvector-dither.svg)](https://crates.io/crates/ruvector-dither) |
 
 ### FPGA & Hardware Acceleration
 
@@ -1588,13 +1589,46 @@ let syndrome = gate.assess_coherence(&quantum_state)?;
 | [ruvector-exotic-wasm](./crates/ruvector-exotic-wasm) | Exotic AI primitives (strange loops, time crystals) | [![crates.io](https://img.shields.io/crates/v/ruvector-exotic-wasm.svg)](https://crates.io/crates/ruvector-exotic-wasm) |
 | [ruvector-attention-unified-wasm](./crates/ruvector-attention-unified-wasm) | Unified 18+ attention mechanisms (Neural, DAG, Mamba SSM) | [![crates.io](https://img.shields.io/crates/v/ruvector-attention-unified-wasm.svg)](https://crates.io/crates/ruvector-attention-unified-wasm) |
 | [micro-hnsw-wasm](./crates/micro-hnsw-wasm) | Neuromorphic HNSW with spiking neurons (11.8KB WASM) | [![crates.io](https://img.shields.io/crates/v/micro-hnsw-wasm.svg)](https://crates.io/crates/micro-hnsw-wasm) |
+| [thermorust](./crates/thermorust) | Thermodynamic neural motif engine — Ising/soft-spin Hamiltonians, Langevin dynamics, Landauer dissipation | [![crates.io](https://img.shields.io/crates/v/thermorust.svg)](https://crates.io/crates/thermorust) |
 
 **Bio-inspired features:**
 - **Spiking Neural Networks (SNNs)** — 10-50x energy efficiency vs traditional ANNs
 - **BTSP Learning** — Behavioral Time-Scale Synaptic Plasticity for rapid adaptation
 - **MicroLoRA** — Sub-microsecond fine-tuning for per-operator learning
 - **Mamba SSM** — State Space Model attention for linear-time sequences
 
+### Cognitive Robotics
+
+<details>
+<summary>Perception, planning, behavior trees, and swarm coordination for autonomous robots</summary>
+
+| Crate | Description | crates.io |
+|-------|-------------|-----------|
+| [ruvector-robotics](./crates/ruvector-robotics) | Cognitive robotics platform — perception, A* planning, behavior trees, swarm coordination | [![crates.io](https://img.shields.io/crates/v/ruvector-robotics.svg)](https://crates.io/crates/ruvector-robotics) |
+
+**Modules:**
+
+| Module | What It Does |
+|--------|--------------|
+| **bridge** | OccupancyGrid, PointCloud, SensorFrame, SceneGraph data types with spatial kNN |
+| **perception** | Scene-graph construction from point clouds, obstacle detection pipeline |
+| **planning** | A* grid search (octile heuristic) and potential-field velocity commands |
+| **cognitive** | Perceive-think-act-learn loop with utility-based reasoning |
+| **domain_expansion** | Cross-domain transfer learning via Meta Thompson Sampling and Beta priors |
+
+**Key features:** 290 tests, clippy-clean, `no_std`-friendly types, optional `domain-expansion` feature flag for cross-domain transfer, pluggable `PotentialFieldConfig` for obstacle avoidance, Byzantine-tolerant swarm coordination via `ruvector-domain-expansion`.
+
+```rust
+use ruvector_robotics::planning::{astar, potential_field, PotentialFieldConfig};
+use ruvector_robotics::bridge::OccupancyGrid;
+
+let grid = OccupancyGrid::new(100, 100, 0.1);
+let path = astar(&grid, (5, 5), (90, 90))?;
+let cmd = potential_field(&[0.0, 0.0, 0.0], &[5.0, 3.0, 0.0], &[], &PotentialFieldConfig::default());
+```
+
+</details>
+
 ### Self-Learning (SONA)
 
 | Crate | Description | crates.io |

crates/cognitum-gate-kernel/src/canonical_witness.rs

@@ -106,10 +106,7 @@ impl CactusNode {
 // Compile-time size check: repr(C) layout is 12 bytes
 // (u16 + u16 + u8 + u8 + 2-pad + u32 = 12, aligned to 4)
 // 256 nodes * 12 = 3072 bytes (~3KB), fits in 14.5KB headroom.
-const _: () = assert!(
-    size_of::<CactusNode>() == 12,
-    "CactusNode must be 12 bytes"
-);
+const _: () = assert!(size_of::<CactusNode>() == 12, "CactusNode must be 12 bytes");
 
 /// Arena-allocated cactus tree for a single tile (up to 256 vertices).
 ///
@@ -329,7 +326,8 @@ impl ArenaCactus {
                 let node_v = comp_to_node[cv];
                 let node_p = comp_to_node[cp];
 
-                if node_v < 256 && node_p < 256
+                if node_v < 256
+                    && node_p < 256
                     && cactus.nodes[node_v as usize].parent == CactusNode::NO_PARENT
                     && node_v != cactus.root
                 {
@@ -390,10 +388,8 @@ impl ArenaCactus {
             for adj in neighbors {
                 let eid = adj.edge_id as usize;
                 if eid < graph.edges.len() && graph.edges[eid].is_active() {
-                    weight_sum =
-                        weight_sum.saturating_add(FixedPointWeight::from_u16_weight(
-                            graph.edges[eid].weight,
-                        ));
+                    weight_sum = weight_sum
+                        .saturating_add(FixedPointWeight::from_u16_weight(graph.edges[eid].weight));
                 }
             }
             if weight_sum < min_weight {
@@ -902,7 +898,10 @@ mod tests {
         g.recompute_components();
 
         let cactus = ArenaCactus::build_from_compact_graph(&g);
-        assert!(cactus.n_nodes >= 2, "Single edge should have 2 cactus nodes");
+        assert!(
+            cactus.n_nodes >= 2,
+            "Single edge should have 2 cactus nodes"
+        );
 
         let partition = cactus.canonical_partition();
         // One vertex on each side

crates/cognitum-gate-kernel/src/lib.rs

@@ -123,7 +123,7 @@ pub mod canonical_witness;
 
 #[cfg(feature = "canonical-witness")]
 pub use canonical_witness::{
-    ArenaCactus, CanonicalPartition, CanonicalWitnessFragment, CactusNode, FixedPointWeight,
+    ArenaCactus, CactusNode, CanonicalPartition, CanonicalWitnessFragment, FixedPointWeight,
 };
 
 use crate::delta::{Delta, DeltaTag};

crates/cognitum-gate-kernel/tests/canonical_witness_bench.rs

@@ -67,10 +67,20 @@ mod bench {
         println!("\n=== Canonical Witness Fragment (64 vertices) ===");
         println!("  ArenaCactus build:    {:.1} µs", avg_cactus_us);
         println!("  Partition extract:    {:.1} µs", avg_partition_us);
-        println!("  Full witness:         {:.1} µs  (target: < 50 µs)", avg_witness_us);
-        println!("  Fragment size:        {} bytes", std::mem::size_of::<CanonicalWitnessFragment>());
+        println!(
+            "  Full witness:         {:.1} µs  (target: < 50 µs)",
+            avg_witness_us
+        );
+        println!(
+            "  Fragment size:        {} bytes",
+            std::mem::size_of::<CanonicalWitnessFragment>()
+        );
         println!("  Cut value:            {}", ref_f.cut_value);
 
-        assert!(avg_witness_us < 50.0, "Witness exceeded 50µs target: {:.1} µs", avg_witness_us);
+        assert!(
+            avg_witness_us < 50.0,
+            "Witness exceeded 50µs target: {:.1} µs",
+            avg_witness_us
+        );
     }
 }