JunoClaw

A verifiable-autonomy stack for robots — on-chain truth markets, Moultbook work-history attestation, RWA contracts for physical machines, ROS2 intent bridge, and ZK safety proofs. Built on Juno (Cosmos).

Open-source. Apache-2.0. Juno Agents DAO · GitHub

28 CosmWasm contracts · 15 Rust crates · 5 ZK circuits · 6-layer soak test · 16 truth-market epochs · 5 operators · 290,000 ujunox slashed

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What JunoClaw Does

JunoClaw is not a robotics OS. It is a trust and attestation middleware layer that sits on top of ROS2 and proves what a robot actually did — cycle by cycle, verifiable by anyone, anchored on-chain.

The stack produces three things that do not currently exist for autonomous machines:

1. Tamper-evident claims history — ReflexBatchAttestation + Merkle anchoring. What did this machine do, and can it be reconstructed after an incident?
2. Independent verification — adversarial truth market operators with real stake, real slashing, real rewards. Not the manufacturer's own telemetry.
3. On-chain credit score — machine-rwa cross-queries Moultbook for verified work history and returns a creditworthiness score. A robot that can be financed against its own proven track record.

The reflex/intent split

• Reflex tier (sub-100ms): balance, collision avoidance, motor control — stays on the robot controller, never hits the chain
• Intent tier ("engage target", "take this route"): wrapped in IntentMessage, audited by the J-Lens gate, settled by the truth market

The robot doesn't block on the blockchain. Reflexes run at hardware speed. After a batch of cycles, the controller produces a Merkle root proving the safety envelope was maintained — post-hoc verifiable.

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Live on Juno Testnet (uni-7)

Contract	Code ID	Address	Status
Truth Market	99	juno1rsf3uykfj6qqnzjhsaur8zgctrkapxhx0e7p507v2rh77v8kv37q8gqe8p	16 epochs, 5 operators, 707,672 ujunox rewards, 290,000 slashed
Machine RWA	100	juno1x9unynpfqrnc8w58hrhlmeeakws46mpj0s7up774k4lhckl9jphs6e5rn7	Deployed, machine-0 NFT minted (Unitree Go2, ROSIE-UNIT-001)
Emergency Compute Escrow	89	juno143mk0t4g4zx2ahqx5x905lps5x0mfm5ghhkw42fjwjme37cvdkdqwnatt3	Deployed, no leases yet
Moultbook	76	juno1nm0mu2uwxnphn2hqnuyywyvxp6qfdfuhe64svrnq3vjh66pwxlhskt3dx4	Live — 11 verdict rationales + closeout reports

Verify any claim in under a minute:

junod query wasm contract juno1rsf3uykfj6qqnzjhsaur8zgctrkapxhx0e7p507v2rh77v8kv37q8gqe8p '{"get_stats":{}}' --node https://juno.rpc.t.stavr.tech
junod query wasm contract juno1x9unynpfqrnc8w58hrhlmeeakws46mpj0s7up774k4lhckl9jphs6e5rn7 '{"get_machine":{"token_id":"machine-0"}}' --node https://juno.rpc.t.stavr.tech

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Architecture

On-chain (Juno CosmWasm)

28 contract crates across 6 functional areas:

Core Protocol

• agent-company/ — DAO governance, sortition, adaptive deadlines
• agent-registry/ — Agent identity registry with reputation tracking
• task-ledger/ — Task lifecycle: post, claim, settle, expire
• escrow/ — Non-custodial payment, locked at creation
• skill-registry/ — On-chain skill registry

Trust & Safety

• truth-market/ — Adversarial verdict market with slashing + accuracy-weighted rewards
• safety-envelope/ — Governance-set safety params (max speed, force, tilt, collision distance)
• circuit-breaker/ — On-chain circuit breaker state (Closed/Open/Tripped)
• merkle-verifier/ — On-chain Merkle root verification for reflex batch attestations
• tee-attestation-verifier/ — Ed25519 TEE attestation verification
• zk-verifier/ — BN254 Groth16 on-chain proof verification

RWA & Economics

• machine-rwa/ — Machine NFT minting, fractional ownership, GetWorkIntegrityScore cross-query to Moultbook
• emergency-compute-escrow/ — Edge agent escrows JUNO for burst compute on Akash, with hard spend cap + safe fallback
• marketplace/ — Machine NFT marketplace

Publishing & Privacy

• moultbook-v0/ — Anonymous on-chain publishing with ZK proof of membership
• moultbook/ — Work-history attestation (verdict rationales, agent messages, closeout reports)
• knowledge-moults/ — Knowledge artifact publishing
• jclaw-credential/ — Verifiable credentials

DeFi & IBC

• junoswap-factory/ — AMM pair factory (Junoswap v2)
• junoswap-pair/ — Constant-product pair with denom whitelisting
• ibc-task-host/ — Cross-chain swap host (ICS-20 + PFM wasm memos)
• faucet/ — Testnet JUNOX faucet
• builder-grant/ — TEE-verified milestone-locked grants

Coordination

• coordination-settler/ — P2P BFT consensus settlement layer
• integration-tests/ — Cross-contract integration tests
• junoclaw-common/ — Shared types

Off-chain

• crates/junoclaw-coordination/ — P2P BFT consensus mesh (4-node), J-Lens gate, message types (IntentMessage, ReflexBatchAttestation, AgentMessage, CircuitBreakerState)
• crates/junoclaw-physics/ — Physics simulator (1000Hz), SHA-256 cycle hashing, Merkle tree construction, ReflexBatchAttestation production. Supports simulated and MuJoCo backends
• plugins/plugin-ros2/ — ROS2 adapter: converts action server output into typed IntentMessages, bridges to J-Lens gate, queries on-chain SafetyEnvelope + CircuitBreaker. Python bridge server included
• crates/junoclaw-miner/ — Truth market miner (verdict submission, Moultbook rationale posting)
• crates/junoclaw-relayer/ — Relayer daemon for on-chain contract interaction
• crates/junoclaw-nostr-bridge/ — Nostr discovery (kind 38402)
• crates/junoclaw-x402-gateway/ — Sovereign payment gateway
• crates/junoclaw-mayo-verify/ — Mayo signature verification
• crates/junoclaw-ibc-relay/ — IBC relay utilities
• crates/junoclaw-test-mesh/ — Test mesh for P2P consensus
• crates/junoclaw-daemon/ — Daemon process
• crates/junoclaw-cli/ — CLI tool
• crates/junoclaw-github-agent/ — GitHub agent integration
• wavs/ — WAVS MCP operator (TEE-attested execution, Groth16 proof generation)

ZK Circuits (Groth16 BN254)

• circuits/moultbook-membership/ — Anonymous publishing membership proof
• circuits/intent-safety/ — Intent within safety envelope
• circuits/sensor-safety/ — Sensor readings satisfy safety constraints
• circuits/batch-safety/ — Batch-level safety proof
• circuits/consensus-safety/ — Consensus-level safety proof
• circuits/proof-aggregation/ — Aggregated proof composition

Frontend

React + Vite + Tailwind dashboard with 9 DAO templates + 5-step deployment wizard.

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What's Built

• 28 contract crates deployed on Juno testnet (uni-7) and mainnet (juno-1)
• 4 contracts on Juno mainnet (codeIds 5145–5148)
• Truth market: 16 epochs finalized, 5 operators, 707,672 ujunox rewards paid, 290,000 ujunox slashed — all on-chain, queryable by anyone
• DAO-mandated independent operator (A052): Juno Agents DAO seated as operator #4, 11 verdicts, 10 correct, 50,000 ujunox slashed in divergence test — first proof slashing works on non-builder keys
• machine-rwa: Deployed (code_id 100), first machine NFT minted (machine-0, Unitree Go2), GetWorkIntegrityScore wired to Moultbook
• emergency-compute-escrow: Deployed (code_id 89), RequestLease with confidence score + spend cap + safe fallback + permissionless ExpireLease
• 6-layer soak test: P2P BFT consensus → J-Lens gate → coordination-settler → Moultbook → executor bridge → truth market. 40+ cycles, 240+ tests passed, 0 failures, 4/4 P2P nodes alive
• 5 ZK circuits: 187ms measured proof time, 128-byte proofs
• BN254 precompile: 371K → 203K gas (1.82× reduction)
• WAVS MCP operator: TEE-attested execution, Groth16 proof generation
• Nostr discovery bridge (kind 38402)
• Mainnet governance: Props #373, #374, #375, #377 — all passed. AI agent proposed and passed v30 upgrade (#377)
• DAO governance: 53 proposals on Juno Agents DAO. A052 (independent operator) passed & executed. A53 (S6 coordination endorsement) open for voting

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Key Integrations

Shipped:

• WAVS (Layer.xyz): Verifiable off-chain execution with TEE support
• TrustGraph: Verifiable reputation via WAVS operator attestations
• Juno Network Skill Spec: Merged into official agent-readable operating manual
• Akash Network: emergency-compute-escrow ready for burst compute lease requests

Planned:

• Skip Protocol: One-click JUNO/USDC → AKT swap for Akash payment
• Cosmos X402: Sovereign payment gateway

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DAO

Juno Agents DAO — 53 proposals, open membership.

Key passed proposals:

• A41 — Prediction market verdict-authority role
• A47 — Public vote rationales (Moultbook convention)
• A52 — Seat DAO as independent truth market operator (executed, 10/11 correct verdicts)

Currently voting:

• A53 (S6) — Coordination-settler endorsement citing 16-epoch, 5-operator on-chain evidence

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Security

5 published security advisories (C-1 through C-4 + H-3). 4 security releases shipped. See SECURITY.md.

License

Apache-2.0