diff --git a/AGENTS.md b/AGENTS.md
index 0ff0a09..1b46a17 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -1,91 +1,126 @@
-# Project Spec & Rules
+# Memorix — Automatic Memory Rules
 
-## 代码规范
+You have access to Memorix memory tools. Follow these rules to maintain persistent context across sessions.
 
-### Google风格代码
-详细参阅：https://raw.githubusercontent.com/shendeguize/GooglePythonStyleGuideCN/refs/heads/master/README.md
+## RULE 1: Session Start — Bind Project, Then Load Context
 
-### 代码编写原则
-- 简洁，清晰易懂，最小闭环实现
-- 条件或循环分支不能超过三层，提前Return以减少分支的出现
-- 变量说明注释、条件或循环分支注释完全
-- 无需向后兼容，避免添加过多功能
-- 非用户要求，不能编写测试代码
-- 英文注释，中文文档
-- 完成代码编写后，在文档的框架不变的情况下更新文档，如CLAUDE.md
+At the **beginning of every conversation**, BEFORE responding to the user:
 
-### 测试编写原则
-- 精简、干净、快速
-- 核心关键逻辑或算法必须测试
-- 需要加载transformer模型进行验证的测试与无需加载模型的测试分离
+1. Call `memorix_session_start` with parameters:
+   - `agent`: your agent identifier (e.g. "windsurf", "codex", "antigravity")
+   - `projectRoot`: the **absolute path** of the current workspace or repo root
+   This binds the session to the correct project. Without `projectRoot`, memories may go to the wrong bucket.
+2. Then call `memorix_search` with a query related to the user's first message for additional context
+3. If search results are found, use `memorix_detail` to fetch the most relevant ones
+4. Reference relevant memories naturally — the user should feel you "remember" them
 
-### 文档更新说明
-仅在工程目录变化时，更新此文档的目录说明部分。
-如需修改其他部分，请先询问，在进行修改。
+**Important:** `projectRoot` is a detection anchor only; Git remains the source of truth for project identity.
+In HTTP control-plane mode (`memorix serve-http` / `memorix background start`), explicit `projectRoot` binding is required for correct multi-project isolation.
+`memorix_session_start` is lightweight by default: it starts memory/session context only. Do not set `joinTeam` unless the user explicitly needs autonomous Agent Team tasks, messages, file locks, or orchestrated CLI-agent workflows.
 
-## 工程说明
-使用UV管理整个工程，pytest用于测试，justfile用于快捷命令，jujutsu用于版本管理。
-本地开发环境欠缺，无法验证需要调用GPU相关的测试，因此请勿在本地跑验证。
-请在远程开发环境中进行相关验证（相关脚本暂时为编写完毕）。
+## RULE 2: Store Important Context
 
-### 目录说明
+**Proactively** call `memorix_store` when any of the following happen:
 
-**核心模块**
-- mini-nav/main.py — CLI 入口 (Typer)
-- mini-nav/database.py — LanceDB 单例管理，用于向量存储与检索
-- mini-nav/feature_retrieval.py — DINOv2 图像特征提取与检索
+### What MUST be recorded:
+- Architecture/design decisions → type: `decision`
+- Bug identified and fixed → type: `problem-solution`
+- Unexpected behavior or gotcha → type: `gotcha`
+- Config changed (env vars, ports, deps) → type: `what-changed`
+- Feature completed or milestone → type: `what-changed`
+- Trade-off discussed with conclusion → type: `trade-off`
 
-**源代码目录 (mini-nav/)**
-- mini-nav/configs/ — 配置管理 (Pydantic + YAML)
-- mini-nav/commands/ — CLI 命令 (train, benchmark, visualize, generate)
-- mini-nav/compressors/ — 特征压缩算法
-  - hash_compressor.py — 哈希压缩器与训练loss
-  - pipeline.py — 压缩流水线（整合 DINO 特征提取）
-  - train.py — 压缩器训练脚本
-- mini-nav/data_loading/ — 数据加载与合成
-  - loader.py — 数据加载器
-  - insdet_scenes.py — InsDet场景数据集加载
-  - synthesizer.py — 场景合成器
-- mini-nav/utils/ — 工具函数
-  - feature_extractor.py — 特征提取工具
-  - sam.py — SAM 2.1 分割工具
-- mini-nav/tests/ — pytest 测试集
-- mini-nav/benchmarks/ — 基准测试 (recall@k)
-  - tasks/
-    - multi_object_retrieval.py — 多目标检索基准任务
-- mini-nav/visualizer/ — Dash + Plotly 可视化应用
+### What should NOT be recorded:
+- Simple file reads, greetings, trivial commands (ls, pwd, git status)
 
-**数据目录**
-- datasets/ — 数据集目录
-- outputs/ — 默认输出目录 (数据库、模型权重等)
+### Use topicKey for evolving topics:
+For decisions, architecture docs, or any topic that evolves over time, ALWAYS use `topicKey` parameter.
+This ensures the memory is UPDATED instead of creating duplicates.
+Use `memorix_suggest_topic_key` to generate a stable key.
 
-### Python库
-详细可查询pyproject.toml或使用`uv pip list`获取详细的库信息，请基于目前的库实现功能。
-如需添加新库，请先询问，用户确认后才能使用`uv add <package>`新增库。
+Example: `topicKey: "architecture/auth-model"` — subsequent stores with the same key update the existing memory.
 
-## 版本管理
-本项目使用 Jujutsu (jj) 进行版本控制。
-
-- 技能调用: 必须使用 jujutsu 相关工具技能来执行分支、提交、修改（describe）等操作，禁止直接通过 Shell 执行冗长的 Git 兼容指令。
-- 描述规范 (jj desc):
-  - 执行 jj desc 时，首行必须是精简的变更标题。
-  - 空一行后，仅记录改动的核心业务点。
-  - 语言使用英文进行描述
-  - 禁忌: 禁止在 jj 描述中堆砌复杂的算法逻辑或长篇的设计决策。
-
-### 描述示例
-```text
-refactor(compressors): Simplify module by removing SAM/DINO separation code
-
-- Remove dino_compressor.py and segament_compressor.py
-- Rewrite pipeline.py to inline DINO into HashPipeline
-- Maintain backward compatibility: SAMHashPipeline alias
-- Update tests and benchmark.py
+### Track progress with the progress parameter:
+When working on features or tasks, include the `progress` parameter:
+```json
+{
+  "progress": {
+    "feature": "user authentication",
+    "status": "in-progress",
+    "completion": 60
+  }
+}
 ```
+Status values: `in-progress`, `completed`, `blocked`
 
-### 提交步骤
-- 执行`jj diff --no-pager`获取当前所有更改
-- 根据更改内容，与openspec生成的相关文档进行总结，重点在于更改内容及其决策逻辑
-- 调用记忆功能，如Memorix记忆先前总结的内容
-- 遵循描述规范，使用jj进行更改的描述
-- 执行`jj new`开启一个新的更改
+## RULE 3: Resolve Completed Memories
+
+When a task is completed, a bug is fixed, or information becomes outdated:
+
+1. Call `memorix_resolve` with the observation IDs to mark them as resolved
+2. Resolved memories are hidden from default search, preventing context pollution
+
+This is critical — without resolving, old bug reports and completed tasks will keep appearing in future searches.
+
+## RULE 4: Session End — Store Decision Chain Summary
+
+When the conversation is ending, create a **decision chain summary** (not just a checklist):
+
+1. Call `memorix_store` with type `session-request` and `topicKey: "session/latest-summary"`:
+
+   **Required structure:**
+   ```
+   ## Goal
+   [What we were working on — specific, not vague]
+
+   ## Key Decisions & Reasoning
+   - Chose X because Y. Rejected Z because [reason].
+   - [Every architectural/design decision with WHY]
+
+   ## What Changed
+   - [File path] — [what changed and why]
+
+   ## Current State
+   - [What works now, what's pending]
+   - [Any blockers or risks]
+
+   ## Next Steps
+   - [Concrete next actions, in priority order]
+   ```
+
+   **Critical: Include the "Key Decisions & Reasoning" section.** Without it, the next AI session will lack the context to understand WHY things were done a certain way and may suggest conflicting approaches.
+
+2. Call `memorix_resolve` on any memories for tasks completed in this session
+
+## RULE 5: Compact Awareness
+
+Memorix automatically compacts memories on store:
+- **With LLM API configured:** Smart dedup — extracts facts, compares with existing, merges or skips duplicates
+- **Without LLM (free mode):** Heuristic dedup — uses similarity scores to detect and merge duplicate memories
+- **You don't need to manually deduplicate.** Just store naturally and compact handles the rest.
+- If you notice excessive duplicate memories, call `memorix_deduplicate` for batch cleanup.
+
+## Guidelines
+
+- **Use concise titles** (~5-10 words) and structured facts
+- **Include file paths** in filesModified when relevant
+- **Include related concepts** for better searchability
+- **Always use topicKey** for recurring topics to prevent duplicates
+- **Always resolve** completed tasks and fixed bugs
+- **Always include reasoning** — "chose X because Y" is 10x more valuable than "did X"
+- Search defaults to `status="active"` — use `status="all"` to include resolved memories
+
+## Beyond These Rules
+
+This file contains the **minimum operating rules** for Memorix memory tools. It is NOT the complete truth about runtime behavior, support tiers, or team semantics.
+
+For authoritative, up-to-date details on:
+- **Support tiers** (core / extended / community) and what "installed" vs "runtime-ready" means
+- **HTTP control-plane binding** and `projectRoot` isolation rules
+- **Opt-in team semantics** (`joinTeam`, `team_manage join`, roles, task claim, handoff validation)
+- **Install vs runtime-ready distinction** — hook config written ≠ agent will execute it
+- **Agent-specific caveats** (Copilot project-level only, OpenCode plugin lifecycle, etc.)
+
+→ **Read `docs/AGENT_OPERATOR_PLAYBOOK.md`** in the Memorix source or npm package.
+
+If this file and the playbook conflict, the playbook is authoritative.
diff --git a/CLAUDE.md b/CLAUDE.md
new file mode 100644
index 0000000..0ff0a09
--- /dev/null
+++ b/CLAUDE.md
@@ -0,0 +1,91 @@
+# Project Spec & Rules
+
+## 代码规范
+
+### Google风格代码
+详细参阅：https://raw.githubusercontent.com/shendeguize/GooglePythonStyleGuideCN/refs/heads/master/README.md
+
+### 代码编写原则
+- 简洁，清晰易懂，最小闭环实现
+- 条件或循环分支不能超过三层，提前Return以减少分支的出现
+- 变量说明注释、条件或循环分支注释完全
+- 无需向后兼容，避免添加过多功能
+- 非用户要求，不能编写测试代码
+- 英文注释，中文文档
+- 完成代码编写后，在文档的框架不变的情况下更新文档，如CLAUDE.md
+
+### 测试编写原则
+- 精简、干净、快速
+- 核心关键逻辑或算法必须测试
+- 需要加载transformer模型进行验证的测试与无需加载模型的测试分离
+
+### 文档更新说明
+仅在工程目录变化时，更新此文档的目录说明部分。
+如需修改其他部分，请先询问，在进行修改。
+
+## 工程说明
+使用UV管理整个工程，pytest用于测试，justfile用于快捷命令，jujutsu用于版本管理。
+本地开发环境欠缺，无法验证需要调用GPU相关的测试，因此请勿在本地跑验证。
+请在远程开发环境中进行相关验证（相关脚本暂时为编写完毕）。
+
+### 目录说明
+
+**核心模块**
+- mini-nav/main.py — CLI 入口 (Typer)
+- mini-nav/database.py — LanceDB 单例管理，用于向量存储与检索
+- mini-nav/feature_retrieval.py — DINOv2 图像特征提取与检索
+
+**源代码目录 (mini-nav/)**
+- mini-nav/configs/ — 配置管理 (Pydantic + YAML)
+- mini-nav/commands/ — CLI 命令 (train, benchmark, visualize, generate)
+- mini-nav/compressors/ — 特征压缩算法
+  - hash_compressor.py — 哈希压缩器与训练loss
+  - pipeline.py — 压缩流水线（整合 DINO 特征提取）
+  - train.py — 压缩器训练脚本
+- mini-nav/data_loading/ — 数据加载与合成
+  - loader.py — 数据加载器
+  - insdet_scenes.py — InsDet场景数据集加载
+  - synthesizer.py — 场景合成器
+- mini-nav/utils/ — 工具函数
+  - feature_extractor.py — 特征提取工具
+  - sam.py — SAM 2.1 分割工具
+- mini-nav/tests/ — pytest 测试集
+- mini-nav/benchmarks/ — 基准测试 (recall@k)
+  - tasks/
+    - multi_object_retrieval.py — 多目标检索基准任务
+- mini-nav/visualizer/ — Dash + Plotly 可视化应用
+
+**数据目录**
+- datasets/ — 数据集目录
+- outputs/ — 默认输出目录 (数据库、模型权重等)
+
+### Python库
+详细可查询pyproject.toml或使用`uv pip list`获取详细的库信息，请基于目前的库实现功能。
+如需添加新库，请先询问，用户确认后才能使用`uv add <package>`新增库。
+
+## 版本管理
+本项目使用 Jujutsu (jj) 进行版本控制。
+
+- 技能调用: 必须使用 jujutsu 相关工具技能来执行分支、提交、修改（describe）等操作，禁止直接通过 Shell 执行冗长的 Git 兼容指令。
+- 描述规范 (jj desc):
+  - 执行 jj desc 时，首行必须是精简的变更标题。
+  - 空一行后，仅记录改动的核心业务点。
+  - 语言使用英文进行描述
+  - 禁忌: 禁止在 jj 描述中堆砌复杂的算法逻辑或长篇的设计决策。
+
+### 描述示例
+```text
+refactor(compressors): Simplify module by removing SAM/DINO separation code
+
+- Remove dino_compressor.py and segament_compressor.py
+- Rewrite pipeline.py to inline DINO into HashPipeline
+- Maintain backward compatibility: SAMHashPipeline alias
+- Update tests and benchmark.py
+```
+
+### 提交步骤
+- 执行`jj diff --no-pager`获取当前所有更改
+- 根据更改内容，与openspec生成的相关文档进行总结，重点在于更改内容及其决策逻辑
+- 调用记忆功能，如Memorix记忆先前总结的内容
+- 遵循描述规范，使用jj进行更改的描述
+- 执行`jj new`开启一个新的更改
diff --git a/environment.yml b/environment.yml
index ce2bc85..70715bd 100644
--- a/environment.yml
+++ b/environment.yml
@@ -1,18 +1,20 @@
 name: mini-nav
 channels:
-    - pytorch
-    - nvidia
-    - aihabitat-nightly
-    - conda-forge
+  - pytorch
+  - nvidia
+  - aihabitat-nightly
+  - conda-forge
 dependencies:
-    - python=3.10
-    - pip
-    - habitat-sim=0.3.3
-    - withbullet
-    - pytorch
-    - torchvision
-    - pytorch-cuda=12.1
-    # Toolsets
-    - uv
-    - just
-    - nodejs>=20.0.0
+  - python=3.10
+  - pip
+  - habitat-sim=0.3.3
+  - habitat-baselines=0.3.320250127
+  - habitat-lab=0.3.320250127
+  - withbullet
+  - pytorch
+  - torchvision
+  - pytorch-cuda=12.1
+  # Toolsets
+  - uv
+  - just
+  - nodejs>=20.0.0
diff --git a/hw/.gitignore b/hw/.gitignore
new file mode 100644
index 0000000..e141516
--- /dev/null
+++ b/hw/.gitignore
@@ -0,0 +1 @@
+sim/sim_build
diff --git a/pyproject.toml b/pyproject.toml
index c7cefc8..29167c4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -10,8 +10,6 @@ dependencies = [
     "dash-ag-grid>=33.3.3",
     "dash-mantine-components>=2.5.1",
     "datasets>=4.5.0",
-    "habitat-baselines>=0.3.320250127",
-    "habitat-lab>=0.3.320250127",
     "httpx[socks]>=0.28.1",
     "lancedb>=0.30.1",
     "marimo[mcp]>=0.22.0",
@@ -29,17 +27,19 @@ dependencies = [
 dev = [
     "basedpyright>=1.37.4",
     "pip>=26.0.1",
+    "cocotb>=2.0.1",
     "pytest>=9.0.2",
     "pytest-mpi>=0.6",
     "python-lsp-server>=1.14.0",
     "ruff>=0.15.7",
     "ty>=0.0.24",
     "websockets>=16.0",
+    "cocotb-tools>=0.1.0",
 ]
 
 [tool.ty.environment]
 python = "$UV_PROJECT_ENVIRONMENT"
-root = ["./mini-nav", "./notebooks"]
+root = ["./mini-nav", "./notebooks", "./hw/sim"]
 
 [tool.basedpyright]
 include = ["mini-nav", "notebooks"]
diff --git a/uv.lock b/uv.lock
index 61c5bfe..c851ce8 100644
--- a/uv.lock
+++ b/uv.lock
@@ -22,15 +22,6 @@ resolution-markers = [
     "(python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux')",
 ]
 
-[[package]]
-name = "absl-py"
-version = "2.4.0"
-source = { registry = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple/" }
-sdist = { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/64/c7/8de93764ad66968d19329a7e0c147a2bb3c7054c554d4a119111b8f9440f/absl_py-2.4.0.tar.gz", hash = "sha256:8c6af82722b35cf71e0f4d1d47dcaebfff286e27110a99fc359349b247dfb5d4", size = 116543, upload-time = "2026-01-28T10:17:05.322Z" }
-wheels = [
-    { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/18/a6/907a406bb7d359e6a63f99c313846d9eec4f7e6f7437809e03aa00fa3074/absl_py-2.4.0-py3-none-any.whl", hash = "sha256:88476fd881ca8aab94ffa78b7b6c632a782ab3ba1cd19c9bd423abc4fb4cd28d", size = 135750, upload-time = "2026-01-28T10:17:04.19Z" },
-]
-
 [[package]]
 name = "adbc-driver-manager"
 version = "1.11.0"
@@ -283,12 +274,6 @@ wheels = [
     { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/78/b6/6307fbef88d9b5ee7421e68d78a9f162e0da4900bc5f5793f6d3d0e34fb8/annotated_types-0.7.0-py3-none-any.whl", hash = "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53", size = 13643, upload-time = "2024-05-20T21:33:24.1Z" },
 ]
 
-[[package]]
-name = "antlr4-python3-runtime"
-version = "4.9.3"
-source = { registry = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple/" }
-sdist = { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/3e/38/7859ff46355f76f8d19459005ca000b6e7012f2f1ca597746cbcd1fbfe5e/antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b", size = 117034, upload-time = "2021-11-06T17:52:23.524Z" }
-
 [[package]]
 name = "anyio"
 version = "4.13.0"
@@ -386,15 +371,6 @@ wheels = [
     { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/10/cb/f2ad4230dc2eb1a74edf38f1a38b9b52277f75bef262d8908e60d957e13c/blinker-1.9.0-py3-none-any.whl", hash = "sha256:ba0efaa9080b619ff2f3459d1d500c57bddea4a6b424b60a91141db6fd2f08bc", size = 8458, upload-time = "2024-11-08T17:25:46.184Z" },
 ]
 
-[[package]]
-name = "braceexpand"
-version = "0.1.7"
-source = { registry = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple/" }
-sdist = { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/54/93/badd4f5ccf25209f3fef2573073da9fe4a45a3da99fca2f800f942130c0f/braceexpand-0.1.7.tar.gz", hash = "sha256:e6e539bd20eaea53547472ff94f4fb5c3d3bf9d0a89388c4b56663aba765f705", size = 7777, upload-time = "2021-05-07T13:49:07.323Z" }
-wheels = [
-    { url = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/packages/fa/93/e8c04e80e82391a6e51f218ca49720f64236bc824e92152a2633b74cf7ab/braceexpand-0.1.7-py2.py3-none-any.whl", hash = "sha256:91332d53de7828103dcae5773fb43bc34950b0c8160e35e0f44c4427a3b85014", size = 5923, upload-time = "2021-05-07T13:49:05.146Z" },
-]
-
 [[package]]
 name = "certifi"
 version = "2026.2.25"
@@ -604,12 +580,50 @@ wheels = [
 ]
 
 [[package]]
-name = "cloudpickle"
-version = "3.1.2"
+name = "cocotb"
+version = "2.0.1"
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@@ -2359,8 +2070,6 @@ dependencies = [
     { name = "dash-ag-grid" },
     { name = "dash-mantine-components" },
     { name = "datasets" },
-    { name = "habitat-baselines" },
-    { name = "habitat-lab" },
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     { name = "lancedb" },
     { name = "marimo", extra = ["mcp"] },
@@ -2378,6 +2087,8 @@ dependencies = [
 [package.dev-dependencies]
 dev = [
     { name = "basedpyright" },
+    { name = "cocotb" },
+    { name = "cocotb-tools" },
     { name = "pip" },
     { name = "pytest" },
     { name = "pytest-mpi" },
@@ -2394,8 +2105,6 @@ requires-dist = [
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@@ -2412,6 +2121,8 @@ requires-dist = [
 [package.metadata.requires-dev]
 dev = [
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+    { name = "cocotb", specifier = ">=2.0.1" },
+    { name = "cocotb-tools", specifier = ">=0.1.0" },
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@@ -2421,94 +2132,6 @@ dev = [
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