Reproducibility Artifact for "The Brain Needs a Body"

📄 Research Paper Artifact

This release serves as the official code snapshot and reproducibility artifact for the paper:
"The Brain Needs a Body: Stabilizing Long-Horizon Reasoning with Kinematic Control" (Liang, 2026).

It contains the exact implementation, experimental configurations, and raw execution logs used to generate the results presented in Table I and Fig. 3 of the manuscript.

📊 Key Updates in v2.1.1

This patch version updates the experimental outputs to match the final published figures:

• Enhanced Visualization: Updated PCA trajectory plotting scripts (visualization.py) to explicitly distinguish between Success (⭐ Star marker) and Failure (❌ Red/Orange X marker).
• Raw Evidence Logs: Included full execution logs for the "Revolution" scenario, confirming the failure modes of the baselines:
  • Baseline A2 (Greedy + Memory): Confirmed Fail (Drift) status (exhausted steps without convergence).
  • Baseline B (GPT-5.1 CoT): Confirmed Fail (Loop) status (hallucination loop between "Causes of..." and "Polish death camp...").
• CyberLoop Stability: Verified the "Sole Survivor" status of the CyberLoop agent in high-entropy scenarios.

🧪 How to Reproduce

To replicate the experimental results presented in Table I and Fig. 3 of the paper, follow these steps using the revolution scenario (Coffee -> French Revolution).

1. Install Dependencies

npm install
pip install -r requirements.txt  # For visualization scripts

2. Run Baselines (Expected to Fail)

# Baseline A1: Naive Greedy (Expect Infinite Loop)
npm run examples:wikipedia -- --mode baseline-a1 revolution

# Baseline A2: Greedy + Memory (Expect Semantic Drift / Steps Exhausted)
npm run examples:wikipedia -- --mode baseline-a2 revolution

# Baseline B: LLM CoT / GPT-5.1 (Expect Hallucination Loop)
npm run examples:wikipedia -- --mode baseline-b revolution

3. Run CyberLoop & Controls (Expected to Succeed)

# Baseline A3: Greedy + Memory + Reflex (Expect Fast Success via Line-of-Sight)
npm run examples:wikipedia -- --mode baseline-a3 revolution

# CyberLoop (Strict): Deterministic Safety Brake Test
npm run examples:wikipedia -- --mode cyberloop-strict revolution

# CyberLoop (Full): The Full Stochastic System (Paper's Main Result)
npm run examples:wikipedia -- --mode cyberloop revolution

4. Analyze Results
The logs will be saved to experiments/wikipedia/logs. Run the visualizer to generate the PCA plots:

python3 experiments/wikipedia/visualization.py

🔗 Citation

If you use this code or architecture in your research, please cite the associated paper:

@article{liang2026brain,
  title={The Brain Needs a Body: Stabilizing Long-Horizon Reasoning with Kinematic Control},
  author={Liang, Jay (Fienna)},
  year={2026},
  publisher={Zenodo},
  doi={10.5281/zenodo.18138161}
}