Modalities

Modality	Payload	Notes
`image/jpeg`	JPEG bytes	schema declares width, height, color_space
`image/raw`	packed pixels	schema declares format (`rgb8`, `bgr8`, `mono16`, `depth32f`) and stride
`audio/pcm`	PCM samples	schema declares rate_hz, channels, sample_format
`text/event+json`	UTF-8 JSON	structured events; schema per channel
`proprio/json`	UTF-8 JSON	joints, poses, twists (unit-suffixed fields)
`servo/json`	UTF-8 JSON	setpoints: joint targets, twists, wrenches (unit-suffixed fields); agent→world counterpart of `proprio/json`
`pointcloud/xyz32`	packed float32 triples	frame named in schema
`tensor/raw`	dtype+shape header, row-major data	for learned features

Payloads MUST validate against the channel’s declared modality and schema. [AWP-MOD-001]
Vendor modalities use x-<vendor>.<name>; agents ignore channels whose modality they did not declare. [AWP-MOD-002]
New standard modalities are added by RFD (MINOR version bump). [AWP-MOD-003]