Small Brain. Big Clean.

The sensor backend renders local depth/clearance and segmented floor pixels from the simulated environment. Footprint clearance checks the full 0.73 m body, including rear and side directions. Depth observations classify nearby 0.5 m map cells with a conservative 0.79 m clearance margin. Floor pixels use 3.2 m range, forward field of view, occlusion and centimetre quantization; underbody sensing also observes the surrounding 0.8 m disk to clear stale dirt after contact. The memory receives relative observations and measured wheel odometry, never hidden world trash positions or a prebuilt room map. Raw 32-channel sector/history telemetry remains available; native spatial waves now consume the mapped observations. Hardware deployment would require real calibrated sensor, segmentation and odometry drivers; none is claimed.