Notes from the bench.

Research and working papers from the Heylper team.

• September 2026

  Executable Procedural Memory Graphs: Remembering Procedures, Not Policies

  Deployed robot work already has a procedure. We put determinism in the decision rather than the motion — and report a faithful failure that an end-to-end policy could not have diagnosed about itself.

  Read the post
• 2024

  The 5 Levels of Task Execution

  A map of hands-on task guidance, from static instructions to autonomous execution — and where Heylper sits on it.

  Read the post