Cerulion

Cerulion is an open-source runtime for robots, written in Rust. It runs the software on a robot and connects it to the tools that inspect and test it: zero-copy shared-memory pub/sub built on iceoryx2 (1 MiB round trip in 4.08 us median, 7.38 us p99), a graph-aware scheduler with deterministic record and replay to MCAP, ROS 2 interoperability through rmw_cerulion, authenticated remote access to robots over Iroh, Flashback incident capture, and an MCP server so AI coding agents can inspect graphs, topics and recordings. Recordings of real robot failures become CI regression tests. Funding goes to maintaining the open-source core: security hardening, ROS 2 compatibility, platform support (Linux, macOS, Windows, Android, iOS, NVIDIA Jetson) and documentation.