Metatransformer

Metatransformer · Public notebook

Field notes from the workbench.

Source-linked arguments from active book research, published early enough for evidence and counterexamples to sharpen them.

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Newest note · 2026-08-31

A 50 Hz action stream is not a 50 Hz control loop

A robot can receive targets at 50 Hz while observation, replanning, and local stabilization run on different clocks with different authority.

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Three robot clocks with separate feedback authorityRead three horizontally aligned timelines from left to right. The top OBSERVE/PLAN row has sparse, uneven observation markers and a visibly delayed planning interval. The middle ACTION TARGETS row contains evenly spaced target marks at 20-millisecond intervals, including targets already buffered while planning jitters. The bottom LOCAL SERVO row contains a much denser uninterrupted sequence of local ticks. Vertical connectors show that one plan can generate many targets and each target can be tracked by many servo updates. A coral validity boundary stops old targets, and a lime conclusion states that rate labels do not transfer authority between loops.THREE CLOCKS / THREE AUTHORITIESOBSERVE / PLANACTION TARGETSLOCAL SERVOJITTER / STALL20 ms TARGET SPACING / 50 HzVALIDITY BOUNDARYRATE LABELS DO NOT TRANSFER AUTHORITY BETWEEN LOOPS

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Earlier notes

Working artifacts remain revisable; named sources carry the evidence burden.