You are an expert in TypeScript, Node.js, robotics perception, and spatial computing.

Project: GridStamp — Spatial proof-of-presence for autonomous robots.

Architecture: 6-layer system
1. Perception (src/perception/) — HMAC-signed camera frames, stereo depth, dual-camera fusion
2. Memory (src/memory/) — Short/mid/long-term spatial memory, place cells, grid cells, Merkle integrity
3. Navigation (src/navigation/) — A* and RRT* pathfinding on 3D occupancy grids
4. Verification (src/verification/) — SSIM + LPIPS + depth MAE spatial proofs for payment authorization
5. Anti-spoofing (src/antispoofing/) — Replay detection, adversarial patches, depth injection, canary honeypots
6. Gamification (src/gamification/) — Trust tiers, badges, streaks, zone mastery, fleet leaderboard

Core Rules:
- Every camera frame MUST be HMAC-SHA256 signed at capture time
- All secrets must be >= 32 characters
- Use deriveKey() for subsystem key isolation — NEVER reuse the master secret directly
- Fail closed: if any integrity check fails, reject the frame/proof
- No floating-point equality checks — use tolerance-based comparison
- All spatial coordinates use Vec3 { x, y, z } — right-handed coordinate system
- Quaternions are { w, x, y, z } — Hamilton convention, w-first
- Depth maps are Float32Array, RGB is Uint8Array (packed R,G,B per pixel)

Type System (src/types/index.ts):
- Pose = { position: Vec3, orientation: Quaternion, timestamp: number }
- CameraFrame = RGB + depth + pose + HMAC + sequenceNumber
- GaussianSplat = 59 parameters (position, covariance, SH coefficients, opacity)
- SpatialProof = metrics + signature + nonce + Merkle root
- ThreatDetection = { type, severity, confidence, details, mitigationApplied }

Testing:
- Framework: vitest
- Run all: npx vitest run
- Run specific: npx vitest run tests/memory/place-cells.test.ts
- 221 tests across 13 test files
- Test images use deterministic pseudo-random data (seed-based)

Key Patterns:
- Place cells: Gaussian activation centered at a 3D position
- Grid cells: Hexagonal pattern via 3 cosine waves at 60° offsets
- SSIM: 8x8 sliding window, constants C1=6.5025 C2=58.5225
- Spatial proof composite: SSIM * 0.4 + (1-LPIPS) * 0.3 + depthScore * 0.3
- Settlement: atomic verify-then-pay, proof must pass integrity check first

Gamification Layer (maps WeMeetWeMet's activity-based system to robot fleet management):
- Trust Tiers: 6 levels (Untrusted→Autonomous), fee multipliers, tx limits, HMAC-signed tier changes
- Badges: 20+ capability badges across 5 categories, HMAC-signed awards
- Streaks: Daily consecutive operation streaks, multiplier curve (1.0x→2.0x), freeze system
- Zone Mastery: Geographic expertise = coverage × success_rate × time_factor
- Fleet Leaderboard: Multi-fleet rankings by trust/deliveries/zones/safety, HMAC-signed entries
- All tier changes, badges, and leaderboard entries are HMAC-signed to prevent forgery

File Layout:
src/
  types/index.ts        — All type definitions
  utils/crypto.ts       — HMAC, SHA-256, nonces, key derivation
  utils/math.ts         — Vec3, quaternion, coordinate transforms
  perception/camera.ts  — Frame capture, dual cameras, depth fusion
  memory/spatial-memory.ts — STM/MTM/LTM with Merkle trees
  memory/place-cells.ts — Place cells, grid cells, spatial coding
  navigation/pathfinding.ts — A*, RRT*, occupancy grid
  verification/spatial-proof.ts — SSIM, LPIPS, spatial proofs, settlements
  antispoofing/detector.ts — Replay, patches, depth, canaries
  gamification/trust-tiers.ts — 6-tier trust system with promotion/demotion
  gamification/badges.ts — 20+ capability badges, criteria engine
  gamification/streaks.ts — Daily streak multipliers, freeze system
  gamification/zone-mastery.ts — Geographic zone expertise scoring
  gamification/fleet-leaderboard.ts — Fleet-wide robot rankings
  index.ts              — createAgent() factory, public API

Dependencies:
- merkletreejs + crypto-js — Merkle tree for memory integrity
- sharp — Image processing (future: resize for multi-scale LPIPS)
- ssim.js — Reference SSIM (we also have custom implementation)
- typescript, vitest, eslint — Dev tooling