{
 "axes": [
  {
   "id": "signal",
   "label": "Signal",
   "question": "What does the model learn from?",
   "values": [
    {
     "id": "text",
     "label": "Internet-scale text"
    },
    {
     "id": "human-preference",
     "label": "Human preference"
    },
    {
     "id": "verifiable-reward",
     "label": "Verifiable outcome rewards"
    },
    {
     "id": "video",
     "label": "Video and sensor streams"
    },
    {
     "id": "simulation",
     "label": "Simulation data"
    },
    {
     "id": "physical-law",
     "label": "Governing equations as a checkable reward"
    },
    {
     "id": "scalar-reward",
     "label": "Scalar reward from interaction"
    },
    {
     "id": "demonstrations",
     "label": "Teleoperated demonstrations and human video"
    },
    {
     "id": "task-success",
     "label": "Task success on novel problems"
    },
    {
     "id": "free-energy",
     "label": "Free-energy minimization"
    }
   ]
  },
  {
   "id": "when",
   "label": "When",
   "question": "When does learning happen?",
   "values": [
    {
     "id": "offline",
     "label": "Pretrain once, then freeze"
    },
    {
     "id": "inference-planning",
     "label": "Plan at inference by rolling out imagined futures"
    },
    {
     "id": "inference-optimisation",
     "label": "Optimisation loops at inference"
    },
    {
     "id": "on-robot-finetune",
     "label": "Offline, then on-robot fine-tuning"
    },
    {
     "id": "continual",
     "label": "Continually at runtime, no train/deploy boundary"
    },
    {
     "id": "test-time",
     "label": "Search and adapt per task at test time"
    }
   ]
  },
  {
   "id": "representation",
   "label": "Representation",
   "question": "What is the internal representation?",
   "values": [
    {
     "id": "tokens",
     "label": "Tokens over a transformer"
    },
    {
     "id": "latent",
     "label": "Latent embeddings (JEPA)"
    },
    {
     "id": "pixels",
     "label": "Generated pixels (video models)"
    },
    {
     "id": "fields",
     "label": "Continuous fields in 3D plus time"
    },
    {
     "id": "online-features",
     "label": "Features and options built online"
    },
    {
     "id": "vla",
     "label": "Vision-language model with an action head"
    },
    {
     "id": "programs",
     "label": "Explicit programs and symbols"
    },
    {
     "id": "probabilistic",
     "label": "Probabilistic models"
    }
   ]
  },
  {
   "id": "acts_in",
   "label": "Acts in",
   "question": "Where does it act?",
   "values": [
    {
     "id": "software",
     "label": "Software"
    },
    {
     "id": "simulation",
     "label": "Simulated environments"
    },
    {
     "id": "physical",
     "label": "The physical world"
    },
    {
     "id": "design-loops",
     "label": "Design and discovery loops"
    },
    {
     "id": "abstract",
     "label": "Abstract problems"
    }
   ]
  }
 ]
}