Luminus R&D Archives
Research
Whitepapers
Our theoretical foundations for scaling the Intelligent Embodiment Being (IEB). Explore our academic preprints solving the real-time kinematic gaps and safety observability boundaries.
WHITEPAPER PREPRINTJune 2026
Actuator Loops & Real-Time Kernels
Deterministic Real-Time Actuation loops in Bipedal Robotics using ROS2 & PREEMPT_RT
"A deep dive into jitter analysis, thread priority layouts, and zero-memory allocation pub/sub mechanics on macOS and Linux."
Luminus Labs Research (Lance M.)12 min read
01
Actuator Loops & Real-Time KernelsDeterministic Real-Time Actuation loops in Bipedal Robotics using ROS2 & PREEMPT_RT
A deep dive into jitter analysis, thread priority layouts, and zero-memory allocation pub/sub mechanics on macOS and Linux.
Jitter Bounds< 1.5μs
Locomotion Frequency1,000 Hz
ROS2PREEMPT_RTBipedal ControlActuator SeamsZero-Memory
WHITEPAPER PREPRINTJune 2026
Generative World Models & Observability
Embodied AI Observability — JEPA + ROS2 on Generative World Models
"Analysis of the latency, frequency mismatch, and telemetry monitoring at the interface of generative world models and deterministic real-time control loops."
Luminus Labs Research (Lance M.)15 min read
02
Generative World Models & ObservabilityEmbodied AI Observability — JEPA + ROS2 on Generative World Models
Analysis of the latency, frequency mismatch, and telemetry monitoring at the interface of generative world models and deterministic real-time control loops.
Inference Cadence10-30 Hz
World Model Size8.4B Params
V-JEPAWorld ModelsTelemetrySafety BridgesLatentState.msg