1 · Abstract
We describe a decentralized physical-infrastructure network (DePIN) for embodied AI: a pool of GPUs that simulates, trains, and benchmarks robot policies across thousands of domain-randomized worlds, metered by the GPU-second and settled on Robinhood Chain, with an open ROS-compatible runtime that deploys the same policy to real hardware.
2 · The rehearsal bottleneck
Surveyed robotics teams report the sim2real gap as their top blocker; the established fix is volume — randomizing friction, mass, latency, lighting and geometry so the policy does not overfit. That volume is GPU-bound, and hyperscaler pricing (4.50–6.88 $/H100-hr) makes large rehearsal budgets prohibitive.
3 · Architecture
Three layers. SimArena (interaction): a browser arena that compiles a scene description into parallel randomized environments. Fabric (scheduling): a market that places jobs onto operator nodes by live capacity and price, with verifiable execution receipts. Runtime (deployment): a portable vision-language-action loop, identical in sim and on hardware.
4 · Metering & settlement
Usage is metered in GPU-seconds. Charges and operator rewards are aggregated and settled on Robinhood Chain, whose sub-cent fees and fast finality make per-second accounting economical. The current network spot price is ~$0.000681/GPU-second, roughly 61% below hyperscaler on-demand.
5 · The runtime
The runtime targets the open VLA lineage (RT-2-X, OpenVLA, π0, NORA) plus diffusion-policy and ACT baselines. A single binary executes the policy against either a simulated embodiment or a ROS 2 stack, so the artifact validated in SimArena is the artifact that ships.
6 · Token & incentives
$XOLED denominates compute and rewards. Node operators earn per GPU-second served, weighted by uptime and verified completion. Emissions taper on a published schedule; see the tokenomics page.
7 · Roadmap
- Now — SimArena v1, Fabric spot market, runtime SDK, devnet settlement.
- Next — verifiable execution proofs, multi-GPU cluster jobs, teleop data marketplace.
- Later — on-chain policy registry, cross-operator reproducibility attestations.
This document describes the protocol design and will evolve with the network. Nothing here is a solicitation or financial advice.