Operating modes

sim (default)

FDIR loop against a simulated robot with optional fault injection. No hardware or API key. Use --scenario, --faults, --render, --plots, --no-learning. Good for benchmarking.

agent

Interactive REPL on live hardware. You type objectives; the planner resolves them against the genome and dispatches tools. Requires a calibrated robot and ANTHROPIC_API_KEY.

realworld

Continuous FDIR loop on live hardware using camera + system sensors — no planner. Pair with --continuous and --faults for soak tests.

server

$ aether --mode server --port 8080
$ curl -X POST localhost:8080/objective -H 'content-type: application/json' \
       -d '{"objective": "move forward for 2 seconds"}'
$ curl localhost:8080/health