GridStamp

Cryptographic dispute evidence for autonomous fleets.

When a robot causes an incident — a delivery goes missing, an AMR damages inventory, an AV is involved in a collision — the question that decides who pays is always the same: where was it, exactly, and can you prove it?

GridStamp is the evidence layer. Every operation produces a tamper-evident spatial receipt: HMAC-signed camera frames, Merkle-rooted memory, cryptographic proof-of-location. The receipts hold up under replay, adversarial patches, depth-injection, and GPS spoofing — tested at fleet scale.

Proven at scale

In a 92-day simulation with 5,500 agents across 20 fleets and 8 cities, parameterised with publicly disclosed fleet data from Waymo, Tesla, Starship Technologies, Coco Robotics, Serve Robotics, and commercial drone operators (GridStamp is not affiliated with or endorsed by any of them; parameters come from public filings and press releases):

• 14.55M operations processed (fleet simulation)
• 99,911 operations in 43 seconds — 2,323 ops/sec (100K stress test)
• 100% replay detection, 100% HMAC tamper detection, 100% verification pass
• 200 concurrent robots, 80,000 proof chain links, all chains valid
• p99 latency: 0.86ms per spatial proof generation
• Rigorous test suite with 100K production stress bench

Receipts are designed to be admissible-grade evidence for insurance disputes, SLA audits, and regulatory investigations. Final admissibility is jurisdiction-dependent and should be confirmed with counsel for your underwriting market.

Who this is for

Buyer	Problem GridStamp solves
AV / robotics insurance underwriters	Reduce loss ratio by resolving location-of-incident disputes with cryptographic evidence instead of he-said/she-said.
Logistics visibility platforms (freight, last-mile)	Give shippers verifiable proof-of-delivery their customers can't dispute — upgrade ETAs from claims to receipts.
AR gaming & location-based apps	Stop the ~9% of top players who GPS-spoof. Our stress test catches 91% of spoof attempts.

If you're evaluating GridStamp for a pilot, contact: omiagbogold@icloud.com.

Architecture

Six layers, each cryptographically isolated:

Layer	What it does
Perception	HMAC-signed camera frames, stereo depth fusion, dual-camera support
Memory	3-tier spatial memory (short/mid/long-term) with Merkle tree integrity
Navigation	A* and RRT* pathfinding on 3D occupancy grids, place cells + grid cells
Verification	SSIM + LPIPS + depth comparison for spatial proof-of-location
Anti-Spoofing	Replay detection, adversarial patch detection, depth injection, canary honeypots
Gamification	Trust tiers, capability badges, streak multipliers, zone mastery, fleet leaderboard

Install

npm install gridstamp

Quick Start

import { createAgent } from 'gridstamp';

const agent = createAgent({
  robotId: 'DLV-001',
  cameras: [{ type: 'oak-d-pro', role: 'foveal', /* ... */ }],
  hmacSecret: process.env.GRIDSTAMP_SECRET, // min 32 chars
}, cameraDriver);

// Capture and verify
const frame = await agent.see();
const proof = await agent.verifySpatial();

// Settle payment only if spatial proof passes
const settlement = await agent.settle({
  amount: 15.00,
  currency: 'USD',
  payeeId: 'merchant-001',
  spatialProof: true,
});

Trust Tiers

Robots earn trust through verified operations, similar to a credit score:

Tier	Points	Fee	Max Tx	Verification
Untrusted	0	2.5x	$10	Every operation
Probation	100	2.0x	$50	Every operation
Verified	500	1.5x	$200	Every 3rd
Trusted	2,000	1.2x	$1,000	Every 5th
Elite	5,000	1.0x	$5,000	Every 10th
Autonomous	10,000	0.8x	$25,000	Spot checks

All tier changes are HMAC-signed. Spoofing attempts result in immediate two-tier demotion.

Proof Chains

Every spatial proof links to the previous via SHA-256 hash chain. A robot's entire operational history becomes a tamper-evident linked list — if any proof is modified, the chain breaks.

import { ProofChain } from 'gridstamp';

const chain = new ProofChain();
chain.append(proof1);  // genesis
chain.append(proof2);  // links to proof1
chain.append(proof3);  // links to proof2

const result = chain.verify();
// → { valid: true, chainIntegrity: 1.0, length: 3 }

This means a fleet operator or insurance underwriter can verify the complete history of a robot's spatial claims — not just individual proofs, but the unbroken chain between them.

Security Model

• Every camera frame is HMAC-SHA256 signed at capture time
• Cryptographic key derivation isolates subsystems (deriveKey(master, 'frame-signing'))
• Monotonic sequence numbers prevent replay attacks
• Canary landmarks detect memory poisoning
• Constant-time HMAC comparison prevents timing attacks
• Fail-closed: any integrity violation blocks payment

Modules

gridstamp                    # Full SDK
gridstamp/perception         # Camera + depth
gridstamp/memory             # Spatial memory + place/grid cells
gridstamp/navigation         # Pathfinding
gridstamp/verification       # Spatial proofs + settlements
gridstamp/antispoofing       # Threat detection
gridstamp/gamification       # Trust tiers + badges + leaderboard

Use Cases

• Last-mile delivery — Robot proves it reached the doorstep before payment settles
• Warehouse operations — AMRs earn trust tiers based on verified pick accuracy
• Drone inspection — Tamper-proof spatial evidence of site surveys
• Autonomous trucking — Spatial proof-of-delivery for freight settlements
• Roofing/HVAC/Plumbing — AI agents verify on-site work completion

Requirements

• Node.js 20+
• TypeScript 5.6+

License

Apache 2.0 — see LICENSE.

Copyright 2026 J&B Enterprise LLC.

Claude Agent SDK

GridStamp ships a first-class Claude-driven agent wrapper that orchestrates the full verification pipeline without any manual glue code.

Quick start (5 lines):

import { runProofAgent } from 'gridstamp/agent';

const result = await runProofAgent({
  robotId: 'DLV-001',
  hmacSecret: process.env.GRIDSTAMP_SECRET,
  sensorReader: async (sensorId) => myCameraDriver.read(sensorId),
});
// result.status → 'pass' | 'fail' | 'spoofing_detected'

The agent (claude-sonnet-4-6) runs four tools in sequence — read_sensor → verify_spatial_proof → check_antispoofing → write_attestation — and returns a typed AttestationResult with confidence score, spoofing signals, and chain length.

Audit log: every write_attestation call appends an NDJSON record to ./proof-audit.ndjson (path configurable). This is the file your claims team reads — immutable, timestamped, one record per robot attestation.

See the full runnable example: examples/agent-proof-of-presence.ts

ANTHROPIC_API_KEY=sk-... npm run example:agent

Remote ID / ASTM F3411 evidence

FAA Part 108 (BVLOS) requires every operator to keep tamper-evident position logs alongside their existing Remote ID broadcast. GridStamp signs each of the five F3411-22a message types (BasicID, Location/Vector, SelfID, System, OperatorID) with an Ed25519 identity key persisted at ${GRIDSTAMP_PERSIST_DIR}/remoteid-ed25519.key, then batches them into a COSE Merkle Tree Proofs-style receipt (tracking draft-ietf-cose-merkle-tree-proofs-18).

import { remoteid } from 'gridstamp';

const key = remoteid.loadKey();
const log = remoteid.sign(
  { kind: 'operator_id', operatorIdType: 0, operatorId: 'FA1234567890' },
  key,
);
const ok = remoteid.verify(log, key.publicKey);
const batch = remoteid.batchRoot([log]);