Run robots. Understand failures. Test every change.

Cerulion connects the software running on a robot to the tools that inspect it and the tests that keep it working. Run your nodes, see their data in Studio, capture a failure, and re-execute that recording against a code or model change before deploying it.

Built for Physical AI, Cerulion combines iceoryx2 zero-copy shared memory, a scheduler that follows your node graph, ROS 2 interoperability and secure access to remote robots. The runtime records the data and execution context needed to turn real robot behavior into CI tests.

Install · Architecture · Run the example · Performance · ROS 2 · Docs

Why Cerulion

• Zero-copy, beyond fixed-size messages. Write camera frames, scans and schema-defined variable-length fields directly into shared memory. Other local processes read the same bytes.
• A scheduler that knows your graph. Dependency levels are computed ahead of time; trigger policies decide when nodes can run.…