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        { "block_key": "scifi-clean:benchmark_table", "title": "Benchmarks", "slot": "main", "sort_order": 3, "content": { "eyebrow": "Perception", "heading": "Detection recall by surface", "rows": [ { "label": "Paved road", "value": "99.2", "unit": "%", "bar": 99, "highlight": false }, { "label": "Gravel and dirt", "value": "97.8", "unit": "%", "bar": 98, "highlight": false }, { "label": "Low light", "value": "94.1", "unit": "%", "bar": 94, "highlight": true }, { "label": "Heavy dust", "value": "91.6", "unit": "%", "bar": 92, "highlight": false } ], "note": "Measured on the internal Halcyon field set. Numbers are illustrative product data for this demo site." } },
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        { "block_key": "heading", "title": "Heading", "slot": "main", "sort_order": 1, "content": { "text": "We build one autonomy stack", "level": 1 } },
        { "block_key": "text", "title": "Intro", "slot": "main", "sort_order": 2, "content": { "text": "<p>Halcyon Robotics builds a single runtime that carries a machine from raw sensor data to a motor command. We do not sell a demo. We sell the part that has to work at three in the morning in the rain.</p><p>The team came out of field robotics and controls. We test on real ground before we ship a line of code.</p>" } },
        { "block_key": "team", "title": "Team", "slot": "main", "sort_order": 3, "content": { "heading": "The founding engineers", "layout": "grid", "columns": 3, "members": [ { "name": "R. Novak", "role": "Perception", "bio": "Sensor fusion and detection for off-road ground vehicles." }, { "name": "S. Adeyemi", "role": "Controls", "bio": "Real-time control and state estimation on embedded targets." }, { "name": "T. Winters", "role": "Systems", "bio": "Runtime, safety cases, and field deployment." } ] } },
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      "title": "Field notes",
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        { "block_key": "card", "title": "Post 1", "slot": "main", "sort_order": 1, "content": { "title": "Why we run the control loop at 1000 Hz", "text": "<p>A slower loop looks fine on a bench and fails on gravel. Here is the reasoning.</p>", "link": "/blog/control-loop", "linkLabel": "Read" } },
        { "block_key": "card", "title": "Post 2", "slot": "main", "sort_order": 2, "content": { "title": "Measuring localisation drift honestly", "text": "<p>Drift over one clean kilometre is easy. Drift over a dusty one is the number that matters.</p>", "link": "/blog/localisation-drift", "linkLabel": "Read" } },
        { "block_key": "card", "title": "Post 3", "slot": "main", "sort_order": 3, "content": { "title": "Testing on real ground first", "text": "<p>Simulation earns a machine the right to a field test. It does not replace one.</p>", "link": "/blog/real-ground", "linkLabel": "Read" } }
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    {
      "slug": "/blog/control-loop",
      "parent_slug": "/blog",
      "title": "Why we run the control loop at 1000 Hz",
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        { "block_key": "heading", "title": "Title", "slot": "main", "sort_order": 1, "content": { "text": "Why we run the control loop at 1000 Hz", "level": 1 } },
        { "block_key": "text", "title": "Body", "slot": "main", "sort_order": 2, "content": { "text": "<p>On a paved test track a 200 Hz loop tracks a path cleanly. On loose gravel the wheels slip between updates and the estimate lags the truth. The machine corrects late and starts to hunt.</p><p>At 1000 Hz the loop sees the slip inside a single wheel rotation. The correction is small and the path stays smooth. The cost is a tighter compute budget, which is why the runtime is deterministic rather than best effort.</p><p>The first version of the platform ran the controller at 250 Hz. It looked fine in the lab and on the paved apron behind the workshop. The trouble started the first time we drove it across a dry creek bed.</p><p>On that surface the tyres broke traction for tens of milliseconds at a time. Between control updates the vehicle rotated a few degrees more than the model expected, and by the time the next update landed the correction it applied was already stale. The machine oscillated around the path instead of settling on it.</p><p>We spent a week convinced the problem was the estimator. It was not. The state estimate was accurate to within the sensor noise floor. The gap was time: the world was changing faster than we were reading it back.</p><p>Raising the loop rate is not free. Every doubling halves the time budget for the estimator, the planner, and the control solve. At 1000 Hz the whole chain has to finish in under a millisecond, every millisecond, with no exceptions and no pauses to collect memory.</p><p>That constraint is why the runtime is written the way it is. Memory is allocated once at start-up. The control thread is pinned to an isolated core. The scheduler is deterministic rather than best effort, so a slow frame is a bug we can catch instead of a statistic we learn to tolerate.</p><p>The payoff shows up on exactly the surfaces that used to break it. On gravel and loose dirt the corrections are now small and continuous. The path traces stay inside a few centimetres of the reference even when the tyres are slipping the whole way through a turn.</p><p>There is a ceiling to this. Past a certain rate the actuators cannot respond any faster and the extra updates buy nothing but heat. For our drivetrain that ceiling sits a little above 1000 Hz, which is why we stopped there rather than chase a larger number for its own sake.</p><p>If you are specifying a system like this, do not ask a vendor for their loop rate in isolation. Ask what surface they measured on, what the worst-case frame time is, and what happens on the frame that runs long. Those three answers tell you far more than the headline figure.</p>" } }
      ]
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      "slug": "/blog/localisation-drift",
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      "title": "Measuring localisation drift honestly",
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        { "block_key": "text", "title": "Body", "slot": "main", "sort_order": 2, "content": { "text": "<p>Every vendor quotes a drift figure. Few say what surface it came from. Drift on a flat paved loop tells you almost nothing about a field run.</p><p>We report drift over a kilometre of mixed dirt and gravel with dust in the air. The number is worse and it is the one you can trust. Ask any supplier for the surface behind the figure.</p>" } }
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