← Voxel World Model

Multimodal World I/O

If VWM is the authoritative model of reality, then almost anything that can be measured or actuated can eventually become an input or output — multimodal world I/O around one voxel kernel.

Vision catalog, not a shipped-driver checklist

This page lists the intended I/O surface for an authoritative world model. Many modalities already plug into capture / query / sync / trust; others are horizon adapters on the same contracts. Reality becomes evidence; actuation becomes validated operations — never a second source of truth.

Reality (sensors · humans · machines · archives) │ ▼ Observation / Event intake → Authoritative Voxel World │ ├── world.query (read) ├── world.sync (replicate) ├── world.trust (authorize ops) └── actuation / views / APIs → Reality

Inputs — Reality → VWM

Everything that can observe the world can feed timestamped observations into the Adaptive Voxel World.

Visual

RGB cameras Stereo cameras 360° cameras Fisheye cameras Event cameras Infrared cameras Thermal cameras UV cameras Hyperspectral cameras Multispectral cameras Polarization cameras Microscopes Telescopes Satellite imagery Drone imagery Security cameras

Depth & Geometry

LiDAR Solid-state LiDAR Time-of-Flight (ToF) Structured light Depth cameras Photogrammetry Gaussian Splat captures NeRF captures Mesh scans Point clouds Radar point clouds

Audio

Microphones Microphone arrays Spatial audio Ultrasonic microphones Underwater hydrophones Vibration microphones Beamforming arrays

RF & Wireless

Wi-Fi CSI Bluetooth UWB RFID NFC LoRa Zigbee Cellular measurements GPS / GNSS SDR

Motion

IMU Accelerometer Gyroscope Magnetometer Compass Wheel encoders Odometry Optical flow

Robotics

Joint encoders Force sensors Torque sensors Grippers Robot state Tool position Robot diagnostics

Environmental

Temperature Humidity Pressure Air quality CO₂ VOCs Wind Rain Light level Radiation Soil moisture

Industrial

PLCs SCADA CAN bus OBD-II Modbus BACnet OPC UA MQTT

Smart Buildings

Thermostats Smart lights Door sensors Occupancy sensors Security systems Cameras HVAC Elevators

Vehicles

Engine telemetry Battery state Tire pressure Suspension Steering GPS Cameras Radar LiDAR Ultrasonics

Human Input

Keyboard Mouse Touch Stylus Voice Gestures Eye tracking Facial expressions Body pose Motion capture VR controllers Brain-computer interfaces

Scientific

DNA sequencing Mass spectrometry Electron microscopes X-ray MRI CT Ultrasound Particle detectors

Digital Inputs

CAD BIM GIS Maps IFC USD glTF FBX OBJ USDZ PDFs Images Video Existing digital twins Simulation outputs

Internal Inputs

These are not sensors — they become observations inside VWM, still under provenance and confidence rules.

AI object detections Semantic segmentation SLAM poses Human annotations Robot observations Simulation predictions Planning results External APIs Historical archives Knowledge graph imports

Predictions stay labeled as predictions. Annotations and detections carry evidence — they never silently become geometry authority.

Outputs — VWM → Reality

Views, commands, and interfaces leave the world without becoming a second simulator.

Visual

Raster rendering Voxel rendering Gaussian Splats NeRF Path tracing Ray tracing Point clouds Wireframes Heatmaps Semantic overlays AR VR MR Holographic displays HUDs Digital signage

Audio

Speakers Spatial audio Voice assistants Sonification Alerts Navigation cues

Robotics

Motion commands Manipulator control Navigation goals Task execution Fleet coordination Path planning

Vehicles

Autonomous driving commands Driver assistance Navigation HUD overlays Diagnostic reports

Buildings

HVAC control Lighting control Security automation Access control Fire systems Power management

Industrial

PLC outputs Factory automation Robot cells CNC Conveyor systems

Simulation

Physics engines Traffic simulators Weather simulators Energy simulators Digital twins

AI

LLM context Agent memory Planning Tool execution Knowledge retrieval

Human Interfaces

Browser Desktop app Mobile app Command line API SDK Dashboards

Bidirectional Systems

Some systems are naturally both inputs and outputs. They observe, receive commands, act, and produce new observations — a continuous feedback loop through the same authoritative world.

Robots Vehicles Drones Smart homes Industrial controllers VR headsets Smartphones Wearables IoT devices Digital twins Simulations
Observe → Evidence → World → Decision / View → Actuate ↑_______________________________________________↓ continuous feedback · one authority

End-to-end pipeline → Digital twins → Platform tracks →