Retriever-0 temporal computation graph
A closed-loop robot agent connecting perception, belief and memory, a planning VLM, an execution monitor, a skill VLA, and 200 hertz control. Moving dots trace information flow; badges state each Flow's clock or trigger.
Perceive
Act
Obs
Belief
Belief Update Trigger
Belief
Replan Trigger
Skill Progress
Plan
Chunk
Skill
Action Chunk
Environment
Camera1
Flow
@ 30hz
Robot
Controller Flow
@ 200hz
Belief/Memory
Flow
@ Trigger(inspection_done)
Execution Monitor
Flow
@ Trigger(belief, progress)
High-level
Planning VLM Flow
@ Trigger(replan)
Low-level
Skill VLA Flow
@ 2hz
Cameras + Robot State
@ 30hz / @ 60hz
Pause
Speed
1.0x
Moving dots trace information flow.
Motion is schematic: badges carry the exact clocks and triggers. Colour traces every edge to the Flow that produced it, while the fast control band is visually compressed to remain legible.