diff --git a/.gitignore b/.gitignore
index 6fbfaf3ae1..878769d3b9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -74,7 +74,7 @@ results/
 
 /thread_monitor_report.csv
 
-# Memory2 autorecord
+# Memory autorecord
 recording*.db
 
 # Rerun recordings
diff --git a/dimos/cli/dimos.py b/dimos/cli/dimos.py
index ee6a92f457..058c35589f 100644
--- a/dimos/cli/dimos.py
+++ b/dimos/cli/dimos.py
@@ -794,7 +794,7 @@ def dataprep_inspect(
 map_app.command("replay")(_map_replay_main)
 map_app.command("replay-marker")(_map_replay_marker_main)
 
-from dimos.memory2.cli.app import mem_app
+from dimos.memory.cli.app import mem_app
 
 main.add_typer(mem_app, name="mem")
 
diff --git a/dimos/cli/dtop.py b/dimos/cli/dtop.py
index f7182b8dba..8798e74519 100644
--- a/dimos/cli/dtop.py
+++ b/dimos/cli/dtop.py
@@ -213,7 +213,7 @@ def __init__(self, topic_name: str = "/resource_stats", db_path: str | None = No
         autoconf(check_only=True)
 
         if db_path is not None:
-            from dimos.memory2.store.sqlite import SqliteStore
+            from dimos.memory.store.sqlite import SqliteStore
 
             self._store: SqliteStore | None = SqliteStore(path=db_path)
             self._store.start()
@@ -565,7 +565,7 @@ def main() -> None:
     parser.add_argument(
         "--log",
         action="store_true",
-        help="Log stats to a memory2 SQLite database (dtop_{timestamp}.ignore.db).",
+        help="Log stats to a memory SQLite database (dtop_{timestamp}.ignore.db).",
     )
     args = parser.parse_args()
 
diff --git a/dimos/control/benchmarking/paths.py b/dimos/control/benchmarking/paths.py
index 8b3ed2e9bc..94c688d5d2 100644
--- a/dimos/control/benchmarking/paths.py
+++ b/dimos/control/benchmarking/paths.py
@@ -22,8 +22,8 @@
 
 import math
 
-from dimos.memory2.vis.space.elements import Point, Polyline, Text
-from dimos.memory2.vis.space.space import Space
+from dimos.memory.vis.space.elements import Point, Polyline, Text
+from dimos.memory.vis.space.space import Space
 from dimos.msgs.geometry_msgs.Point import Point as GeoPoint
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
@@ -41,7 +41,7 @@
 
 
 def _xy_to_path(executed_xy: list[tuple[float, float]]) -> Path:
-    """Wrap (x, y) tuples in a nav_msgs.Path so memory2 Polyline can render them."""
+    """Wrap (x, y) tuples in a nav_msgs.Path so memory Polyline can render them."""
     poses = [
         PoseStamped(
             position=Vector3(x, y, 0.0),
@@ -428,7 +428,7 @@ def default_battery() -> dict[str, Path]:
 
 
 def path_to_svg(path: Path, size_px: int = 400, margin_px: int = 20) -> str:
-    """Render a Path as an SVG polyline via memory2.vis.space.
+    """Render a Path as an SVG polyline via memory.vis.space.
 
     ``size_px`` / ``margin_px`` are kept for API compatibility but ignored;
     Space picks its own dimensions from world-space content bounds.
@@ -449,7 +449,7 @@ def trajectory_to_svg(
     size_px: int = 500,
     margin_px: int = 20,
 ) -> str:
-    """Reference path (gray) + executed trajectory (blue), via memory2.vis.space."""
+    """Reference path (gray) + executed trajectory (blue), via memory.vis.space."""
     if not reference.poses or not executed_xy:
         return Space().to_svg()
 
@@ -470,7 +470,7 @@ def multi_trajectory_to_svg(
     margin_px: int = 30,
     title: str | None = None,
 ) -> str:
-    """Reference + multiple executed trajectories overlaid, via memory2.vis.space.
+    """Reference + multiple executed trajectories overlaid, via memory.vis.space.
 
     Each cohort gets a distinct color from ``_COHORT_COLORS`` (10 unique
     entries; no collisions for the current cohort matrix). A small dot at
@@ -478,7 +478,7 @@ def multi_trajectory_to_svg(
     converge. The legend is emitted as ``Polyline`` stubs + ``Text`` labels
     placed in world space below the plot bounds, so it sits inside the
     auto-fit viewBox alongside the trajectories. Axes / grid / tick labels
-    are drawn by memory2's Space renderer (`show_axes=True`).
+    are drawn by memory's Space renderer (`show_axes=True`).
     """
     if not reference.poses:
         return Space().to_svg()
diff --git a/dimos/experimental/world_belief/recall.py b/dimos/experimental/world_belief/recall.py
index 0b74b8f3d0..7d989b0c6b 100644
--- a/dimos/experimental/world_belief/recall.py
+++ b/dimos/experimental/world_belief/recall.py
@@ -23,13 +23,13 @@
 import re
 from typing import TYPE_CHECKING, Any, cast
 
-from dimos.memory2.embed import EmbedImages
+from dimos.memory.embed import EmbedImages
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.base import Store
-    from dimos.memory2.type.observation import EmbeddedObservation
+    from dimos.memory.store.base import Store
+    from dimos.memory.type.observation import EmbeddedObservation
 
 logger = setup_logger()
 
diff --git a/dimos/experimental/world_belief/scene_scan.py b/dimos/experimental/world_belief/scene_scan.py
index cdd963d760..f386e32e14 100644
--- a/dimos/experimental/world_belief/scene_scan.py
+++ b/dimos/experimental/world_belief/scene_scan.py
@@ -30,7 +30,7 @@
 from dimos.utils.logging_config import setup_logger
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.base import Store
+    from dimos.memory.store.base import Store
     from dimos.perception.detection.detectors.base import Detector
     from dimos.perception.detection.type.detection2d.imageDetections2D import ImageDetections2D
 
diff --git a/dimos/experimental/world_belief/world_belief.py b/dimos/experimental/world_belief/world_belief.py
index cd50808913..dcbe3cf1e3 100644
--- a/dimos/experimental/world_belief/world_belief.py
+++ b/dimos/experimental/world_belief/world_belief.py
@@ -191,7 +191,7 @@ def __init__(
         novelty: float,
         max_views: int,
     ) -> None:
-        from dimos.memory2.store.sqlite import SqliteStore
+        from dimos.memory.store.sqlite import SqliteStore
 
         self._store = SqliteStore(path=path)
         self._namespace = _gallery_namespace(model_id)
diff --git a/dimos/experimental/world_belief/worldbelief_module.py b/dimos/experimental/world_belief/worldbelief_module.py
index 2b167646c8..0cda1e0e2f 100644
--- a/dimos/experimental/world_belief/worldbelief_module.py
+++ b/dimos/experimental/world_belief/worldbelief_module.py
@@ -40,7 +40,7 @@
 from dimos.experimental.world_belief.worldbelief_recorder import (
     WorldBeliefRecorderSpec,
 )
-from dimos.memory2.module import MemoryModuleConfig
+from dimos.memory.module import MemoryModuleConfig
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.msgs.vision_msgs.Detection3DArray import Detection3DArray
@@ -239,7 +239,7 @@ def scan(self, prompt: list[str] | None = None, window: float = 60.0) -> SkillRe
         from dimos.experimental.world_belief.scene_scan import (
             ScanIncompleteError,
         )
-        from dimos.memory2.store.sqlite import SqliteStore
+        from dimos.memory.store.sqlite import SqliteStore
         from dimos.perception.experimental.object import (
             aggregate_pointclouds,
             to_detection3d_array,
@@ -340,7 +340,7 @@ def recall(self, text: str, k: int = 20) -> dict[str, Any] | None:
         from contextlib import nullcontext
 
         from dimos.experimental.world_belief.recall import recall as _recall
-        from dimos.memory2.store.sqlite import SqliteStore
+        from dimos.memory.store.sqlite import SqliteStore
 
         text = text.strip()
         if not text:
diff --git a/dimos/experimental/world_belief/worldbelief_recorder.py b/dimos/experimental/world_belief/worldbelief_recorder.py
index ad3117574e..276b0897d1 100644
--- a/dimos/experimental/world_belief/worldbelief_recorder.py
+++ b/dimos/experimental/world_belief/worldbelief_recorder.py
@@ -21,7 +21,7 @@
 from dimos.constants import STATE_DIR
 from dimos.core.core import rpc
 from dimos.core.stream import In
-from dimos.memory2.module import Recorder, RecorderConfig, pose_setter_for
+from dimos.memory.module import Recorder, RecorderConfig, pose_setter_for
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image
diff --git a/dimos/hardware/sensors/lidar/fastlio2/recorder.py b/dimos/hardware/sensors/lidar/fastlio2/recorder.py
index 3ac40ae4bf..f6400df354 100644
--- a/dimos/hardware/sensors/lidar/fastlio2/recorder.py
+++ b/dimos/hardware/sensors/lidar/fastlio2/recorder.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Record FAST-LIO odometry + lidar into a memory2 SQLite db.
+"""Record FAST-LIO odometry + lidar into a memory SQLite db.
 
 A ``Recorder`` that records its In ports under their own names
 (``fastlio_odometry`` / ``fastlio_lidar``) — wire them to FastLio2's
@@ -25,7 +25,7 @@
 from __future__ import annotations
 
 from dimos.core.stream import In
-from dimos.memory2.module import OnExisting, Recorder, RecorderConfig, pose_setter_for
+from dimos.memory.module import OnExisting, Recorder, RecorderConfig, pose_setter_for
 from dimos.msgs.geometry_msgs.Pose import Pose
 from dimos.msgs.nav_msgs.Odometry import Odometry
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
diff --git a/dimos/hardware/sensors/lidar/fastlio2/tools/pcap_to_db.py b/dimos/hardware/sensors/lidar/fastlio2/tools/pcap_to_db.py
index 6d73c7c0e0..0c42313508 100644
--- a/dimos/hardware/sensors/lidar/fastlio2/tools/pcap_to_db.py
+++ b/dimos/hardware/sensors/lidar/fastlio2/tools/pcap_to_db.py
@@ -151,7 +151,7 @@ def _write_rrd(db_path: Path, odom_stream: str, lidar_stream: str, voxel: float)
     import numpy as np
     import rerun as rr
 
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
     from dimos.msgs.nav_msgs.Odometry import Odometry
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
     from dimos.visualization.rerun.init import rerun_init
@@ -413,7 +413,7 @@ def main(argv: list[str]) -> int:
     parser.add_argument(
         "--db",
         default=None,
-        help="target memory2 SQLite db. Existing -> append/align; missing -> fetched via "
+        help="target memory SQLite db. Existing -> append/align; missing -> fetched via "
         "get_data (LFS), else built from scratch. Omit to default to <pcap>.db.",
     )
     parser.add_argument(
diff --git a/dimos/hardware/sensors/lidar/pointlio/recorder.py b/dimos/hardware/sensors/lidar/pointlio/recorder.py
index e859190351..5ef22f8bc1 100644
--- a/dimos/hardware/sensors/lidar/pointlio/recorder.py
+++ b/dimos/hardware/sensors/lidar/pointlio/recorder.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Record Point-LIO odometry + lidar into a memory2 SQLite db.
+"""Record Point-LIO odometry + lidar into a memory SQLite db.
 
 A ``Recorder`` that records its In ports under their own names
 (``pointlio_odometry`` / ``pointlio_lidar``) — wire them to PointLio's
@@ -25,7 +25,7 @@
 from __future__ import annotations
 
 from dimos.core.stream import In
-from dimos.memory2.module import OnExisting, Recorder, RecorderConfig, pose_setter_for
+from dimos.memory.module import OnExisting, Recorder, RecorderConfig, pose_setter_for
 from dimos.msgs.geometry_msgs.Pose import Pose
 from dimos.msgs.nav_msgs.Odometry import Odometry
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
diff --git a/dimos/hardware/sensors/lidar/pointlio/scripts/pcap_to_db.py b/dimos/hardware/sensors/lidar/pointlio/scripts/pcap_to_db.py
index c05e497690..3ca9552686 100644
--- a/dimos/hardware/sensors/lidar/pointlio/scripts/pcap_to_db.py
+++ b/dimos/hardware/sensors/lidar/pointlio/scripts/pcap_to_db.py
@@ -231,7 +231,7 @@ def _write_rrd(db_path: Path, odom_stream: str, lidar_stream: str, voxel: float)
     import numpy as np
     import rerun as rr
 
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
     from dimos.msgs.nav_msgs.Odometry import Odometry
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
     from dimos.visualization.rerun.init import rerun_init
@@ -504,7 +504,7 @@ def main(argv: list[str]) -> int:
     parser.add_argument(
         "--db",
         default=None,
-        help="target memory2 SQLite db. Existing -> append/align; missing -> built from "
+        help="target memory SQLite db. Existing -> append/align; missing -> built from "
         "scratch. Omit to default to <pcap>.db next to the pcap.",
     )
     parser.add_argument(
diff --git a/dimos/imitation/collection/blueprint.py b/dimos/imitation/collection/blueprint.py
index 04aebdba30..40b5b3ef96 100644
--- a/dimos/imitation/collection/blueprint.py
+++ b/dimos/imitation/collection/blueprint.py
@@ -14,7 +14,7 @@
 
 """Recording blueprints.
 
-`CollectionRecorder` (a memory2 Recorder) captures the obs/action/status
+`CollectionRecorder` (a memory Recorder) captures the obs/action/status
 streams to a SQLite session DB during the run and flushes it durably on
 shutdown. DataPrep reads that DB afterwards.
 """
diff --git a/dimos/imitation/collection/recorder.py b/dimos/imitation/collection/recorder.py
index b873815b1e..5337b440d2 100644
--- a/dimos/imitation/collection/recorder.py
+++ b/dimos/imitation/collection/recorder.py
@@ -12,9 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""CollectionRecorder — captures teleop collection streams to a memory2 DB.
+"""CollectionRecorder — captures teleop collection streams to a memory DB.
 
-A `Recorder` (memory2) subscribes each declared `In` port and appends every
+A `Recorder` (memory) subscribes each declared `In` port and appends every
 message to a SQLite store, flushing durably on stop(). Only *connected*
 streams are recorded, so the same recorder works for any arm whose
 coordinator publishes `coordinator_joint_state`.
@@ -27,7 +27,7 @@
 
 from dimos.core.stream import In
 from dimos.imitation.collection.episode_monitor import EpisodeStatus
-from dimos.memory2.module import Recorder, RecorderConfig
+from dimos.memory.module import Recorder, RecorderConfig
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.msgs.sensor_msgs.JointState import JointState
 
diff --git a/dimos/imitation/dataprep/build.py b/dimos/imitation/dataprep/build.py
index 1955ec9b69..f535435475 100644
--- a/dimos/imitation/dataprep/build.py
+++ b/dimos/imitation/dataprep/build.py
@@ -36,7 +36,7 @@
     get_writer,
     iter_episode_samples,
 )
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.store.sqlite import SqliteStore
 from dimos.utils.logging_config import setup_logger
 
 logger = setup_logger()
diff --git a/dimos/imitation/dataprep/core.py b/dimos/imitation/dataprep/core.py
index 271cb995ef..3585a36040 100644
--- a/dimos/imitation/dataprep/core.py
+++ b/dimos/imitation/dataprep/core.py
@@ -39,8 +39,8 @@
 from dimos.protocol.service.spec import BaseConfig
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.sqlite import SqliteStore
-    from dimos.memory2.stream import Stream
+    from dimos.memory.store.sqlite import SqliteStore
+    from dimos.memory.stream import Stream
 
 # Each `formats/<name>/` package's writer/reader expose these, via get_writer/get_inspector.
 Writer = Callable[[Iterator["Sample"], "OutputConfig"], Path]
diff --git a/dimos/mapping/cli/map.py b/dimos/mapping/cli/map.py
index 4449431402..6fca8a6a2e 100644
--- a/dimos/mapping/cli/map.py
+++ b/dimos/mapping/cli/map.py
@@ -24,14 +24,14 @@
 
 if TYPE_CHECKING:
     from dimos.mapping.loop_closure.pgo import PoseGraph
-    from dimos.memory2.stream import Stream
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.stream import Stream
+    from dimos.memory.type.observation import Observation
     from dimos.msgs.geometry_msgs.Transform import Transform
     from dimos.msgs.sensor_msgs.Image import Image
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
 PATH_THICKNESS = 0.01
-# Pin pattern (from dimos/memory2/vis/space/rerun.py): thin vertical line
+# Pin pattern (from dimos/memory/vis/space/rerun.py): thin vertical line
 # from each marker with the label floating at the top so multi-marker
 # labels never overlap the boxes.
 MARKER_STEM = 1.0
@@ -183,7 +183,7 @@ def _log_reconstruction(
     import rerun as rr
     import rerun.blueprint as rrb
 
-    from dimos.memory2.vis.color import Color
+    from dimos.memory.vis.color import Color
     from dimos.msgs.geometry_msgs.Transform import Transform
 
     rr.send_blueprint(rrb.Blueprint(rrb.Spatial3DView(origin="world")))
@@ -421,9 +421,9 @@ def main(
     import rerun as rr
 
     from dimos.mapping.loop_closure.pgo import PGO
-    from dimos.memory2.cli.dataset import open_store, resolve_dataset
-    from dimos.memory2.transform import QualityWindow, SpeedLimit
-    from dimos.memory2.utils.progress import progress
+    from dimos.memory.cli.dataset import open_store, resolve_dataset
+    from dimos.memory.transform import QualityWindow, SpeedLimit
+    from dimos.memory.utils.progress import progress
     from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
     from dimos.msgs.sensor_msgs.Image import Image
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
@@ -449,7 +449,7 @@ def main(
     # clouds with no tf lookup are dropped. Stored per-frame poses are never
     # used for registration — only as trajectory metadata (dedup/path) when
     # the tf stream can't provide a position.
-    from dimos.memory2.tf import StreamTF
+    from dimos.memory.tf import StreamTF
 
     tf_buf = StreamTF.from_store(store)
     # Streams are homogeneous: read the cloud frame from the first observation.
diff --git a/dimos/mapping/cli/pose_fill.py b/dimos/mapping/cli/pose_fill.py
index 1a775bcd74..38465ff59f 100644
--- a/dimos/mapping/cli/pose_fill.py
+++ b/dimos/mapping/cli/pose_fill.py
@@ -37,9 +37,9 @@
 # Heavy dimos imports are deferred (TYPE_CHECKING / inside functions) so that
 # `dimos map --help` stays fast. See test_cli_startup.py.
 if TYPE_CHECKING:
-    from dimos.memory2.backend import Backend
-    from dimos.memory2.stream import Stream
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.backend import Backend
+    from dimos.memory.stream import Stream
+    from dimos.memory.type.observation import Observation
     from dimos.msgs.geometry_msgs.Transform import Transform
 
 
@@ -64,7 +64,7 @@ def pose_fill(
     camera_optical`` so a base-frame odometry source yields an optical-frame
     image pose.
     """
-    from dimos.memory2.type.observation import _to_tuple
+    from dimos.memory.type.observation import _to_tuple
     from dimos.msgs.geometry_msgs.Quaternion import Quaternion
     from dimos.msgs.geometry_msgs.Transform import Transform
     from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -103,7 +103,7 @@ def pose_fill_db(
     rtree spatial index is rebuilt from it on insert). Returns a per-stream
     count of observations written.
     """
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
 
     dest_p = Path(dest_path)
     if dest_p.exists():
diff --git a/dimos/mapping/cli/rename.py b/dimos/mapping/cli/rename.py
index acdc73742a..917f912ae3 100644
--- a/dimos/mapping/cli/rename.py
+++ b/dimos/mapping/cli/rename.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Copy a memory2 sqlite recording into a new file, renaming streams.
+"""Copy a memory sqlite recording into a new file, renaming streams.
 
 Iterates each source stream and re-appends every observation under its new
 name in a fresh destination db. Slower than in-place ``ALTER TABLE`` but
@@ -31,10 +31,10 @@
 
 import typer
 
-from dimos.memory2.codecs.base import resolve_payload_type
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.type.observation import Observation
+from dimos.memory.codecs.base import resolve_payload_type
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.stream import Stream
+from dimos.memory.type.observation import Observation
 from dimos.utils.data import resolve_named_path
 
 
diff --git a/dimos/mapping/cli/replay.py b/dimos/mapping/cli/replay.py
index 386d90200f..9f30e89cfd 100644
--- a/dimos/mapping/cli/replay.py
+++ b/dimos/mapping/cli/replay.py
@@ -37,10 +37,10 @@
 
 import typer
 
-from dimos.memory2.utils.progress import progress
+from dimos.memory.utils.progress import progress
 
 if TYPE_CHECKING:
-    from dimos.memory2.stream import Stream
+    from dimos.memory.stream import Stream
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
 TIMELINE = "ts"
@@ -177,8 +177,8 @@ def main(
     import rerun as rr
 
     from dimos.mapping.voxels.module import VoxelMapTransformer
-    from dimos.memory2.cli.dataset import open_store, resolve_dataset, stream_payload_types
-    from dimos.memory2.transform import throttle
+    from dimos.memory.cli.dataset import open_store, resolve_dataset, stream_payload_types
+    from dimos.memory.transform import throttle
     from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
     from dimos.msgs.nav_msgs.Odometry import Odometry
     from dimos.msgs.sensor_msgs.Image import Image
diff --git a/dimos/mapping/cli/replay_marker.py b/dimos/mapping/cli/replay_marker.py
index b299c0a26f..d2e72a2bc4 100644
--- a/dimos/mapping/cli/replay_marker.py
+++ b/dimos/mapping/cli/replay_marker.py
@@ -32,7 +32,7 @@
 import typer
 
 if TYPE_CHECKING:
-    from dimos.memory2.stream import Stream
+    from dimos.memory.stream import Stream
 
 TIMELINE = "ts"
 
@@ -64,9 +64,9 @@ def main(
     """Dump an AprilTag detection replay to .rrd and open it in rerun."""
     import rerun as rr
 
-    from dimos.memory2.cli.dataset import open_store, resolve_dataset
-    from dimos.memory2.transform import QualityWindow, SpeedLimit
-    from dimos.memory2.vis.color import Color
+    from dimos.memory.cli.dataset import open_store, resolve_dataset
+    from dimos.memory.transform import QualityWindow, SpeedLimit
+    from dimos.memory.vis.color import Color
     from dimos.msgs.sensor_msgs.Image import Image
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
     from dimos.perception.fiducial.marker_transformer import DetectMarkers
diff --git a/dimos/mapping/cli/test_cli.py b/dimos/mapping/cli/test_cli.py
index 1652ea42fa..ad7c820499 100644
--- a/dimos/mapping/cli/test_cli.py
+++ b/dimos/mapping/cli/test_cli.py
@@ -84,7 +84,7 @@ def _run(*args: str, timeout: float = 300.0, group: str = "map") -> SimpleNamesp
 
 
 def _stream_counts(db_path: Path) -> dict[str, int]:
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
 
     store = SqliteStore(path=str(db_path), must_exist=True)
     try:
@@ -151,7 +151,7 @@ def test_pose_fill_snippet(dataset: str, tmp_path: Path) -> None:
     assert res.returncode == 0, res.stderr
     assert out.exists()
 
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
     store = SqliteStore(path=str(out), must_exist=True)
diff --git a/dimos/mapping/cli/test_pose_fill.py b/dimos/mapping/cli/test_pose_fill.py
index 7bf6279754..2953d9e13e 100644
--- a/dimos/mapping/cli/test_pose_fill.py
+++ b/dimos/mapping/cli/test_pose_fill.py
@@ -21,7 +21,7 @@
 from __future__ import annotations
 
 from dimos.mapping.cli.pose_fill import pose_fill
-from dimos.memory2.store.memory import MemoryStore
+from dimos.memory.store.memory import MemoryStore
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
diff --git a/dimos/mapping/loop_closure/eval.py b/dimos/mapping/loop_closure/eval.py
index ddd9d4cb2a..571f94635e 100644
--- a/dimos/mapping/loop_closure/eval.py
+++ b/dimos/mapping/loop_closure/eval.py
@@ -34,10 +34,10 @@
 import typer
 
 from dimos.mapping.loop_closure.pgo import PGO
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.transform import QualityWindow, SpeedLimit
-from dimos.memory2.type.observation import Observation
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.stream import Stream
+from dimos.memory.transform import QualityWindow, SpeedLimit
+from dimos.memory.type.observation import Observation
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.perception.fiducial.marker_transformer import DetectMarkers
diff --git a/dimos/mapping/loop_closure/pgo.py b/dimos/mapping/loop_closure/pgo.py
index c36a6099c2..99eda558b5 100644
--- a/dimos/mapping/loop_closure/pgo.py
+++ b/dimos/mapping/loop_closure/pgo.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""PGO drift corrections as a memory2 Transformer.
+"""PGO drift corrections as a memory Transformer.
 
 A lidar/odom stream comes in with poses that drift over time — the robot's
 estimate of where it is in the world slowly diverges from ground truth as
@@ -51,8 +51,8 @@
 import numpy as np
 from scipy.spatial.transform import Rotation, Slerp
 
-from dimos.memory2.transform import Transformer
-from dimos.memory2.type.observation import Observation
+from dimos.memory.transform import Transformer
+from dimos.memory.type.observation import Observation
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -240,7 +240,7 @@ def interp(ts: float) -> Transform:
 
 
 class PGO(Transformer[PointCloud2, "PoseGraph"]):
-    """Pose-graph optimization as a memory2 Transformer.
+    """Pose-graph optimization as a memory Transformer.
 
     Emits one cumulative :class:`PoseGraph` snapshot per state change. By
     default (``emit_on="loop"``) that's one emit per accepted loop closure
diff --git a/dimos/mapping/loop_closure/pgo_auto.py b/dimos/mapping/loop_closure/pgo_auto.py
index 7f9ded4610..03525ef597 100644
--- a/dimos/mapping/loop_closure/pgo_auto.py
+++ b/dimos/mapping/loop_closure/pgo_auto.py
@@ -61,9 +61,9 @@
 import numpy as np
 from scipy.spatial.transform import Rotation
 
-from dimos.memory2.store.memory import MemoryStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.type.observation import Observation
+from dimos.memory.store.memory import MemoryStore
+from dimos.memory.stream import Stream
+from dimos.memory.type.observation import Observation
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
diff --git a/dimos/mapping/loop_closure/test_pgo.py b/dimos/mapping/loop_closure/test_pgo.py
index 47bc6f67dc..0815e65dbf 100644
--- a/dimos/mapping/loop_closure/test_pgo.py
+++ b/dimos/mapping/loop_closure/test_pgo.py
@@ -26,8 +26,8 @@
     _obs_to_pose3,
     _pose3_to_transform,
 )
-from dimos.memory2.store.memory import MemoryStore
-from dimos.memory2.stream import Stream
+from dimos.memory.store.memory import MemoryStore
+from dimos.memory.stream import Stream
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -69,7 +69,7 @@ def test_kwargs_typed_dict_matches_config(self) -> None:
 class TestTransformHelpers:
     def test_observation_normalizes_transform_pose(self) -> None:
         """Constructing/deriving with pose=Transform should coerce to 7-tuple."""
-        from dimos.memory2.type.observation import Observation
+        from dimos.memory.type.observation import Observation
 
         tf = Transform(
             translation=Vector3(1.5, -2.0, 0.7),
@@ -86,7 +86,7 @@ def test_observation_normalizes_transform_pose(self) -> None:
         assert derived.pose_tuple == obs.pose_tuple
 
     def test_observation_normalizes_posestamped(self) -> None:
-        from dimos.memory2.type.observation import Observation
+        from dimos.memory.type.observation import Observation
         from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 
         ps = PoseStamped(ts=1.0, position=(1.0, 2.0, 3.0), orientation=(0.0, 0.0, 0.0, 1.0))
@@ -94,7 +94,7 @@ def test_observation_normalizes_posestamped(self) -> None:
         assert obs.pose_tuple == (1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0)
 
     def test_obs_to_pose3_roundtrip(self) -> None:
-        from dimos.memory2.type.observation import Observation
+        from dimos.memory.type.observation import Observation
 
         rng = np.random.default_rng(4)
         R = _random_R(rng)
diff --git a/dimos/mapping/loop_closure/utils/markers_rrd.py b/dimos/mapping/loop_closure/utils/markers_rrd.py
index 3792d52ad2..5b8a27b107 100644
--- a/dimos/mapping/loop_closure/utils/markers_rrd.py
+++ b/dimos/mapping/loop_closure/utils/markers_rrd.py
@@ -32,10 +32,10 @@
 
 import typer
 
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.transform import QualityWindow, SpeedLimit
-from dimos.memory2.vis.color import Color
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.stream import Stream
+from dimos.memory.transform import QualityWindow, SpeedLimit
+from dimos.memory.vis.color import Color
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.perception.fiducial.marker_transformer import DetectMarkers
diff --git a/dimos/mapping/ray_tracing/test_transformer.py b/dimos/mapping/ray_tracing/test_transformer.py
index e18e980471..fdd5f43a80 100644
--- a/dimos/mapping/ray_tracing/test_transformer.py
+++ b/dimos/mapping/ray_tracing/test_transformer.py
@@ -22,7 +22,7 @@
 
 from dimos.mapping.ray_tracing.transformer import RayTraceMap
 from dimos.mapping.ray_tracing.voxel_map import VoxelRayMapper
-from dimos.memory2.type.observation import Observation
+from dimos.memory.type.observation import Observation
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
 
diff --git a/dimos/mapping/ray_tracing/transformer.py b/dimos/mapping/ray_tracing/transformer.py
index 267c69909a..b8dbed054e 100644
--- a/dimos/mapping/ray_tracing/transformer.py
+++ b/dimos/mapping/ray_tracing/transformer.py
@@ -19,7 +19,7 @@
 import numpy as np
 
 from dimos.mapping.ray_tracing.voxel_map import VoxelRayMapper, local_bounds
-from dimos.memory2.transform import Transformer
+from dimos.memory.transform import Transformer
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -31,7 +31,7 @@
 
     from numpy.typing import NDArray
 
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
 
 logger = setup_logger()
 
diff --git a/dimos/mapping/ray_tracing/utils/raytrace_rrd.py b/dimos/mapping/ray_tracing/utils/raytrace_rrd.py
index 43ddf870ce..466279e2ba 100644
--- a/dimos/mapping/ray_tracing/utils/raytrace_rrd.py
+++ b/dimos/mapping/ray_tracing/utils/raytrace_rrd.py
@@ -28,9 +28,9 @@
 import typer
 
 from dimos.mapping.ray_tracing.voxel_map import VoxelRayMapper
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.transform import FnTransformer
-from dimos.memory2.type.observation import Observation
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.transform import FnTransformer
+from dimos.memory.type.observation import Observation
 from dimos.msgs.nav_msgs.Odometry import Odometry
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.utils.data import resolve_named_path
diff --git a/dimos/mapping/voxels/grid.py b/dimos/mapping/voxels/grid.py
index 10886e1797..00b5d345d2 100644
--- a/dimos/mapping/voxels/grid.py
+++ b/dimos/mapping/voxels/grid.py
@@ -38,7 +38,7 @@ class VoxelGrid:
     300k voxels). Both produce identical voxel sets.
 
     No Module/framework dependency. Can be used standalone or wrapped
-    by VoxelGridMapper (Module) or VoxelMapTransformer (memory2 Transformer).
+    by VoxelGridMapper (Module) or VoxelMapTransformer (memory Transformer).
     """
 
     def __init__(
diff --git a/dimos/mapping/voxels/module.py b/dimos/mapping/voxels/module.py
index d275e5b2df..b273889a4c 100644
--- a/dimos/mapping/voxels/module.py
+++ b/dimos/mapping/voxels/module.py
@@ -20,15 +20,15 @@
 from dimos.core.module import ModuleConfig
 from dimos.core.stream import In, Out
 from dimos.mapping.voxels.grid import VoxelGrid
-from dimos.memory2.module import StreamModule
-from dimos.memory2.stream import Stream
-from dimos.memory2.transform import Transformer
+from dimos.memory.module import StreamModule
+from dimos.memory.stream import Stream
+from dimos.memory.transform import Transformer
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
 if TYPE_CHECKING:
     from collections.abc import Iterator
 
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
 
 
 class VoxelMapTransformer(Transformer[PointCloud2, PointCloud2]):
diff --git a/dimos/memory2/architecture.md b/dimos/memory/architecture.md
similarity index 99%
rename from dimos/memory2/architecture.md
rename to dimos/memory/architecture.md
index c4a90a7085..1e8e6316a1 100644
--- a/dimos/memory2/architecture.md
+++ b/dimos/memory/architecture.md
@@ -74,7 +74,7 @@ Transform-sourced streams (post `.transform()`) always use `StreamQuery.apply()`
 ## Quick start
 
 ```python
-from dimos.memory2 import MemoryStore
+from dimos.memory import MemoryStore
 
 store = MemoryStore()
 images = store.stream("images")
diff --git a/dimos/memory2/backend.py b/dimos/memory/backend.py
similarity index 94%
rename from dimos/memory2/backend.py
rename to dimos/memory/backend.py
index 49ba269742..81509ede79 100644
--- a/dimos/memory2/backend.py
+++ b/dimos/memory/backend.py
@@ -20,22 +20,22 @@
 from typing import TYPE_CHECKING, Any, Generic, TypeVar
 
 from dimos.core.resource import CompositeResource
-from dimos.memory2.codecs.base import Codec, codec_id
-from dimos.memory2.notifier.subject import SubjectNotifier
-from dimos.memory2.type.observation import _UNLOADED
+from dimos.memory.codecs.base import Codec, codec_id
+from dimos.memory.notifier.subject import SubjectNotifier
+from dimos.memory.type.observation import _UNLOADED
 
 if TYPE_CHECKING:
     from collections.abc import Iterator
 
     from reactivex.abc import DisposableBase
 
-    from dimos.memory2.blobstore.base import BlobStore
-    from dimos.memory2.buffer import BackpressureBuffer
-    from dimos.memory2.notifier.base import Notifier
-    from dimos.memory2.observationstore.base import ObservationStore
-    from dimos.memory2.type.filter import StreamQuery
-    from dimos.memory2.type.observation import Observation
-    from dimos.memory2.vectorstore.base import VectorStore
+    from dimos.memory.blobstore.base import BlobStore
+    from dimos.memory.buffer import BackpressureBuffer
+    from dimos.memory.notifier.base import Notifier
+    from dimos.memory.observationstore.base import ObservationStore
+    from dimos.memory.type.filter import StreamQuery
+    from dimos.memory.type.observation import Observation
+    from dimos.memory.vectorstore.base import VectorStore
 
 T = TypeVar("T")
 
@@ -222,7 +222,7 @@ def _iterate_live(
         buf: BackpressureBuffer[Observation[T]],
         sub: DisposableBase,
     ) -> Iterator[Observation[T]]:
-        from dimos.memory2.buffer import ClosedError
+        from dimos.memory.buffer import ClosedError
 
         eager = self.eager_blobs and self.blob_store is not None
 
diff --git a/dimos/memory2/blobstore/base.py b/dimos/memory/blobstore/base.py
similarity index 98%
rename from dimos/memory2/blobstore/base.py
rename to dimos/memory/blobstore/base.py
index e4fbc1a272..717a4cfc56 100644
--- a/dimos/memory2/blobstore/base.py
+++ b/dimos/memory/blobstore/base.py
@@ -18,7 +18,7 @@
 from typing import Any
 
 from dimos.core.resource import CompositeResource
-from dimos.memory2.registry import qual
+from dimos.memory.registry import qual
 from dimos.protocol.service.spec import BaseConfig, Configurable
 
 
diff --git a/dimos/memory2/blobstore/blobstore.md b/dimos/memory/blobstore/blobstore.md
similarity index 100%
rename from dimos/memory2/blobstore/blobstore.md
rename to dimos/memory/blobstore/blobstore.md
diff --git a/dimos/memory2/blobstore/file.py b/dimos/memory/blobstore/file.py
similarity index 94%
rename from dimos/memory2/blobstore/file.py
rename to dimos/memory/blobstore/file.py
index 60c8997db0..110fdd0b2a 100644
--- a/dimos/memory2/blobstore/file.py
+++ b/dimos/memory/blobstore/file.py
@@ -17,8 +17,8 @@
 from pathlib import Path
 from typing import Any
 
-from dimos.memory2.blobstore.base import BlobStore, BlobStoreConfig
-from dimos.memory2.utils.validation import validate_identifier
+from dimos.memory.blobstore.base import BlobStore, BlobStoreConfig
+from dimos.memory.utils.validation import validate_identifier
 
 
 class FileBlobStoreConfig(BlobStoreConfig):
diff --git a/dimos/memory2/blobstore/sqlite.py b/dimos/memory/blobstore/sqlite.py
similarity index 95%
rename from dimos/memory2/blobstore/sqlite.py
rename to dimos/memory/blobstore/sqlite.py
index 06021dcd9a..2a00e07d4e 100644
--- a/dimos/memory2/blobstore/sqlite.py
+++ b/dimos/memory/blobstore/sqlite.py
@@ -19,9 +19,9 @@
 
 from pydantic import Field, model_validator
 
-from dimos.memory2.blobstore.base import BlobStore, BlobStoreConfig
-from dimos.memory2.utils.sqlite import open_disposable_sqlite_connection
-from dimos.memory2.utils.validation import validate_identifier
+from dimos.memory.blobstore.base import BlobStore, BlobStoreConfig
+from dimos.memory.utils.sqlite import open_disposable_sqlite_connection
+from dimos.memory.utils.validation import validate_identifier
 
 
 class SqliteBlobStoreConfig(BlobStoreConfig):
diff --git a/dimos/memory2/blobstore/test_blobstore.py b/dimos/memory/blobstore/test_blobstore.py
similarity index 97%
rename from dimos/memory2/blobstore/test_blobstore.py
rename to dimos/memory/blobstore/test_blobstore.py
index 2cae1a8a55..7ba360cb50 100644
--- a/dimos/memory2/blobstore/test_blobstore.py
+++ b/dimos/memory/blobstore/test_blobstore.py
@@ -21,7 +21,7 @@
 import pytest
 
 if TYPE_CHECKING:
-    from dimos.memory2.blobstore.base import BlobStore
+    from dimos.memory.blobstore.base import BlobStore
 
 
 class TestBlobStore:
diff --git a/dimos/memory2/buffer.py b/dimos/memory/buffer.py
similarity index 100%
rename from dimos/memory2/buffer.py
rename to dimos/memory/buffer.py
diff --git a/dimos/memory2/cli/app.py b/dimos/memory/cli/app.py
similarity index 77%
rename from dimos/memory2/cli/app.py
rename to dimos/memory/cli/app.py
index 6036541235..b360b2a75b 100644
--- a/dimos/memory2/cli/app.py
+++ b/dimos/memory/cli/app.py
@@ -12,15 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""``dimos mem`` — memory2 store commands."""
+"""``dimos mem`` — memory store commands."""
 
 from __future__ import annotations
 
 import typer
 
-from dimos.memory2.cli.summary import main as _summary_main
+from dimos.memory.cli.summary import main as _summary_main
 
-mem_app = typer.Typer(help="memory2 store commands", no_args_is_help=True)
+mem_app = typer.Typer(help="memory store commands", no_args_is_help=True)
 mem_app.command("summary")(_summary_main)
 
 
@@ -34,8 +34,8 @@ def rerun(
         None, "--root", help="Nest every stream under this entity path (<root>/<name>)"
     ),
 ) -> None:
-    """Render a memory2 store into rerun (writes a .rrd, then opens the viewer)."""
-    from dimos.memory2.cli.dataset import open_dataset
-    from dimos.memory2.cli.render import render_store
+    """Render a memory store into rerun (writes a .rrd, then opens the viewer)."""
+    from dimos.memory.cli.dataset import open_dataset
+    from dimos.memory.cli.render import render_store
 
     render_store(open_dataset(path), out=out, seconds=seconds, no_gui=no_gui, root=root)
diff --git a/dimos/memory2/cli/dataset.py b/dimos/memory/cli/dataset.py
similarity index 92%
rename from dimos/memory2/cli/dataset.py
rename to dimos/memory/cli/dataset.py
index 3cd0d5fbc0..e0c40233be 100644
--- a/dimos/memory2/cli/dataset.py
+++ b/dimos/memory/cli/dataset.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Central dispatcher for opening a recorded memory2 dataset as a read store.
+"""Central dispatcher for opening a recorded memory dataset as a read store.
 
 One entry point for every CLI that opens a recording. :func:`open_dataset`
 resolves a dataset name/path (bare names look up the cwd / repo ``data/`` dir)
@@ -28,7 +28,7 @@
 from dimos.utils.data import resolve_named_path
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.base import Store
+    from dimos.memory.store.base import Store
 
 
 def open_store(path: str | Path) -> Store:
@@ -39,7 +39,7 @@ def open_store(path: str | Path) -> Store:
 
         return Go2McapStore(path=s)
     if s.endswith(".db"):
-        from dimos.memory2.store.sqlite import SqliteStore
+        from dimos.memory.store.sqlite import SqliteStore
 
         return SqliteStore(path=s, must_exist=True)
     raise ValueError(f"unsupported dataset {s!r}: expected a .db or .mcap path")
diff --git a/dimos/memory2/cli/render.py b/dimos/memory/cli/render.py
similarity index 96%
rename from dimos/memory2/cli/render.py
rename to dimos/memory/cli/render.py
index 14a6c5432f..41ee7bdc67 100644
--- a/dimos/memory2/cli/render.py
+++ b/dimos/memory/cli/render.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Render any memory2 store into rerun.
+"""Render any memory store into rerun.
 
 Generic: walks the store's streams and logs every observation whose payload
 implements ``to_rerun()`` (the :class:`RerunConvertible` convention). Streams
@@ -29,7 +29,7 @@
 from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.base import Store
+    from dimos.memory.store.base import Store
 
 
 def _open_viewer(rrd: str) -> None:
@@ -58,7 +58,7 @@ def render_store(
     """
     import rerun as rr
 
-    from dimos.memory2.utils.progress import progress
+    from dimos.memory.utils.progress import progress
     from dimos.visualization.rerun.init import rerun_init
 
     if out is None:
diff --git a/dimos/memory2/cli/summary.py b/dimos/memory/cli/summary.py
similarity index 93%
rename from dimos/memory2/cli/summary.py
rename to dimos/memory/cli/summary.py
index b7c16ad027..fb3750d6d9 100644
--- a/dimos/memory2/cli/summary.py
+++ b/dimos/memory/cli/summary.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Print ``Store.summary()`` for a memory2 sqlite recording.
+"""Print ``Store.summary()`` for a memory sqlite recording.
 
 Usage:
     uv run dimos mem summary mid360
@@ -30,9 +30,9 @@
 from dimos.utils.human import human_bytes
 
 if TYPE_CHECKING:
-    from dimos.memory2.stream import Stream
+    from dimos.memory.stream import Stream
 
-# Heavy dimos imports (memory2 store → codecs, msgs) and rich are deferred into
+# Heavy dimos imports (memory store → codecs, msgs) and rich are deferred into
 # the function bodies so that `dimos --help` — which imports this module just to
 # register the `mem summary` command — stays fast. See test_cli_startup.py.
 
@@ -56,7 +56,7 @@ def main(
     dataset: str = typer.Argument(..., help="Dataset .db/.mcap: bare name (cwd or data/) or path"),
 ) -> None:
     """Print per-stream counts, time ranges, and payload sizes for a recorded dataset."""
-    from dimos.memory2.cli.dataset import open_store, resolve_dataset
+    from dimos.memory.cli.dataset import open_store, resolve_dataset
 
     db_path = resolve_dataset(dataset)
     if db_path.suffix == ".mcap":
@@ -71,7 +71,7 @@ def main(
     from rich.progress import Progress
     from rich.table import Table
 
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
 
     rows: list[tuple[str, int, float | None, float | None, int]] = []
     store = SqliteStore(path=str(db_path))
diff --git a/dimos/memory2/codecs/README.md b/dimos/memory/codecs/README.md
similarity index 97%
rename from dimos/memory2/codecs/README.md
rename to dimos/memory/codecs/README.md
index 8ad40e95fd..719369f29a 100644
--- a/dimos/memory2/codecs/README.md
+++ b/dimos/memory/codecs/README.md
@@ -23,7 +23,7 @@ class Codec(Protocol[T]):
 `codec_for(payload_type)` picks the right codec:
 
 ```python
-from dimos.memory2.codecs import codec_for
+from dimos.memory.codecs import codec_for
 
 codec_for(Image)        # → JpegCodec(quality=50)
 codec_for(SomeLcmMsg)   # → LcmCodec(SomeLcmMsg)   (if has lcm_encode/lcm_decode)
diff --git a/dimos/memory2/codecs/base.py b/dimos/memory/codecs/base.py
similarity index 89%
rename from dimos/memory2/codecs/base.py
rename to dimos/memory/codecs/base.py
index 0ddd384e84..7b77609b36 100644
--- a/dimos/memory2/codecs/base.py
+++ b/dimos/memory/codecs/base.py
@@ -30,17 +30,17 @@ def decode(self, data: bytes) -> T: ...
 
 def codec_for(payload_type: type[Any] | None = None) -> Codec[Any]:
     """Auto-select codec based on payload type."""
-    from dimos.memory2.codecs.pickle import PickleCodec
+    from dimos.memory.codecs.pickle import PickleCodec
 
     if payload_type is not None:
         from dimos.msgs.sensor_msgs.Image import Image
 
         if issubclass(payload_type, Image):
-            from dimos.memory2.codecs.jpeg import JpegCodec
+            from dimos.memory.codecs.jpeg import JpegCodec
 
             return JpegCodec()
         if hasattr(payload_type, "lcm_encode") and hasattr(payload_type, "lcm_decode"):
-            from dimos.memory2.codecs.lcm import LcmCodec
+            from dimos.memory.codecs.lcm import LcmCodec
 
             return LcmCodec(payload_type)
     return PickleCodec()
@@ -92,21 +92,21 @@ def resolve_payload_type(payload_module: str) -> type[Any]:
 def _make_one(name: str, payload_module: str, inner: Codec[Any] | None = None) -> Codec[Any]:
     """Instantiate a single codec by its short name."""
     if name == "lz4":
-        from dimos.memory2.codecs.lz4 import Lz4Codec
+        from dimos.memory.codecs.lz4 import Lz4Codec
 
         if inner is None:
             raise ValueError("lz4 is a wrapper codec — must have an inner codec")
         return Lz4Codec(inner)
     if name == "jpeg":
-        from dimos.memory2.codecs.jpeg import JpegCodec
+        from dimos.memory.codecs.jpeg import JpegCodec
 
         return JpegCodec()
     if name == "lcm":
-        from dimos.memory2.codecs.lcm import LcmCodec
+        from dimos.memory.codecs.lcm import LcmCodec
 
         return LcmCodec(resolve_payload_type(payload_module))
     if name == "pickle":
-        from dimos.memory2.codecs.pickle import PickleCodec
+        from dimos.memory.codecs.pickle import PickleCodec
 
         return PickleCodec()
     raise ValueError(f"Unknown codec: {name!r}")
diff --git a/dimos/memory2/codecs/jpeg.py b/dimos/memory/codecs/jpeg.py
similarity index 100%
rename from dimos/memory2/codecs/jpeg.py
rename to dimos/memory/codecs/jpeg.py
diff --git a/dimos/memory2/codecs/lcm.py b/dimos/memory/codecs/lcm.py
similarity index 100%
rename from dimos/memory2/codecs/lcm.py
rename to dimos/memory/codecs/lcm.py
diff --git a/dimos/memory2/codecs/lz4.py b/dimos/memory/codecs/lz4.py
similarity index 96%
rename from dimos/memory2/codecs/lz4.py
rename to dimos/memory/codecs/lz4.py
index 15cbad56e4..4d8b0c51cf 100644
--- a/dimos/memory2/codecs/lz4.py
+++ b/dimos/memory/codecs/lz4.py
@@ -19,7 +19,7 @@
 import lz4.frame  # type: ignore[import-untyped]
 
 if TYPE_CHECKING:
-    from dimos.memory2.codecs.base import Codec
+    from dimos.memory.codecs.base import Codec
 
 
 class Lz4Codec:
diff --git a/dimos/memory2/codecs/pickle.py b/dimos/memory/codecs/pickle.py
similarity index 100%
rename from dimos/memory2/codecs/pickle.py
rename to dimos/memory/codecs/pickle.py
diff --git a/dimos/memory2/codecs/test_codecs.py b/dimos/memory/codecs/test_codecs.py
similarity index 91%
rename from dimos/memory2/codecs/test_codecs.py
rename to dimos/memory/codecs/test_codecs.py
index c477ece8a9..6c647bf110 100644
--- a/dimos/memory2/codecs/test_codecs.py
+++ b/dimos/memory/codecs/test_codecs.py
@@ -24,10 +24,10 @@
 
 import pytest
 
-from dimos.memory2.codecs.base import Codec, codec_for
-from dimos.memory2.codecs.jpeg import JpegCodec
-from dimos.memory2.codecs.lcm import LcmCodec
-from dimos.memory2.codecs.pickle import PickleCodec
+from dimos.memory.codecs.base import Codec, codec_for
+from dimos.memory.codecs.jpeg import JpegCodec
+from dimos.memory.codecs.lcm import LcmCodec
+from dimos.memory.codecs.pickle import PickleCodec
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat
 
@@ -62,7 +62,7 @@ def _lcm_values() -> list[DimosMsg]:
 
 
 def _pickle_case() -> Case:
-    from dimos.memory2.codecs.pickle import PickleCodec
+    from dimos.memory.codecs.pickle import PickleCodec
 
     return Case(
         name="pickle",
@@ -72,7 +72,7 @@ def _pickle_case() -> Case:
 
 
 def _lcm_case() -> Case:
-    from dimos.memory2.codecs.lcm import LcmCodec
+    from dimos.memory.codecs.lcm import LcmCodec
     from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 
     return Case(
@@ -83,8 +83,8 @@ def _lcm_case() -> Case:
 
 
 def _lz4_pickle_case() -> Case:
-    from dimos.memory2.codecs.lz4 import Lz4Codec
-    from dimos.memory2.codecs.pickle import PickleCodec
+    from dimos.memory.codecs.lz4 import Lz4Codec
+    from dimos.memory.codecs.pickle import PickleCodec
 
     return Case(
         name="lz4+pickle",
@@ -94,8 +94,8 @@ def _lz4_pickle_case() -> Case:
 
 
 def _lz4_lcm_case() -> Case:
-    from dimos.memory2.codecs.lcm import LcmCodec
-    from dimos.memory2.codecs.lz4 import Lz4Codec
+    from dimos.memory.codecs.lcm import LcmCodec
+    from dimos.memory.codecs.lz4 import Lz4Codec
     from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 
     return Case(
@@ -213,6 +213,6 @@ def test_lcm_type_returns_lcm(self) -> None:
 
     def test_image_type_returns_jpeg(self) -> None:
         pytest.importorskip("turbojpeg")
-        from dimos.memory2.codecs.jpeg import JpegCodec
+        from dimos.memory.codecs.jpeg import JpegCodec
 
         assert isinstance(codec_for(Image), JpegCodec)
diff --git a/dimos/memory2/conftest.py b/dimos/memory/conftest.py
similarity index 88%
rename from dimos/memory2/conftest.py
rename to dimos/memory/conftest.py
index 90f96cbd50..745bf6ae9d 100644
--- a/dimos/memory2/conftest.py
+++ b/dimos/memory/conftest.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Shared fixtures for memory2 tests."""
+"""Shared fixtures for memory tests."""
 
 from __future__ import annotations
 
@@ -23,10 +23,10 @@
 
 import pytest
 
-from dimos.memory2.blobstore.file import FileBlobStore
-from dimos.memory2.blobstore.sqlite import SqliteBlobStore
-from dimos.memory2.store.memory import MemoryStore
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.blobstore.file import FileBlobStore
+from dimos.memory.blobstore.sqlite import SqliteBlobStore
+from dimos.memory.store.memory import MemoryStore
+from dimos.memory.store.sqlite import SqliteStore
 from dimos.models.embedding.clip import CLIPModel
 
 # sqlite-vec fails to load on Linux ARM (32-bit binary in the aarch64 wheel)
@@ -37,8 +37,8 @@
     from collections.abc import Iterator
     from pathlib import Path
 
-    from dimos.memory2.blobstore.base import BlobStore
-    from dimos.memory2.store.base import Store
+    from dimos.memory.blobstore.base import BlobStore
+    from dimos.memory.store.base import Store
 
 
 @pytest.fixture(scope="module")
diff --git a/dimos/memory2/embed.py b/dimos/memory/embed.py
similarity index 96%
rename from dimos/memory2/embed.py
rename to dimos/memory/embed.py
index 17b5b98a31..3de9d814ce 100644
--- a/dimos/memory2/embed.py
+++ b/dimos/memory/embed.py
@@ -17,12 +17,12 @@
 from itertools import islice
 from typing import TYPE_CHECKING, Any, TypeVar
 
-from dimos.memory2.transform import Transformer
+from dimos.memory.transform import Transformer
 
 if TYPE_CHECKING:
     from collections.abc import Iterator
 
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
     from dimos.models.embedding.base import EmbeddingModel
 
 T = TypeVar("T")
diff --git a/dimos/memory2/embeddings.md b/dimos/memory/embeddings.md
similarity index 100%
rename from dimos/memory2/embeddings.md
rename to dimos/memory/embeddings.md
diff --git a/dimos/memory2/intro.md b/dimos/memory/intro.md
similarity index 97%
rename from dimos/memory2/intro.md
rename to dimos/memory/intro.md
index 1b2153908b..ca7c5af797 100644
--- a/dimos/memory2/intro.md
+++ b/dimos/memory/intro.md
@@ -3,7 +3,7 @@
 ## Quick start
 
 ```python session=memory ansi=false no-result
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.store.sqlite import SqliteStore
 
 store = SqliteStore(path="/tmp/memory_readme.db")
 ```
@@ -141,7 +141,7 @@ Use `EmbedText` transformer with CLIP to enrich observations with embeddings, th
 
 ```python session=memory ansi=false
 from dimos.models.embedding.clip import CLIPModel
-from dimos.memory2.embed import EmbedText
+from dimos.memory.embed import EmbedText
 
 clip = CLIPModel()
 
diff --git a/dimos/memory2/module.py b/dimos/memory/module.py
similarity index 96%
rename from dimos/memory2/module.py
rename to dimos/memory/module.py
index b8289ebd12..ff9e410fde 100644
--- a/dimos/memory2/module.py
+++ b/dimos/memory/module.py
@@ -32,12 +32,12 @@
 from dimos.core.core import rpc
 from dimos.core.module import Module, ModuleConfig
 from dimos.core.stream import In
-from dimos.memory2.embed import EmbedImages
-from dimos.memory2.store.null import NullStore
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.transform import QualityWindow
-from dimos.memory2.type.observation import EmbeddedObservation, Observation
+from dimos.memory.embed import EmbedImages
+from dimos.memory.store.null import NullStore
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.stream import Stream
+from dimos.memory.transform import QualityWindow
+from dimos.memory.type.observation import EmbeddedObservation, Observation
 from dimos.models.embedding.base import EmbeddingModel
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.sensor_msgs.Image import Image
@@ -74,7 +74,7 @@ def _on_error(e: Exception) -> None:
 
 
 class StreamModule(Module, Generic[TIn, TOut]):
-    """Module base class that wires a memory2 stream pipeline
+    """Module base class that wires a memory stream pipeline
     and deploys it as a dimos module
 
     Parameterize with the In/Out data types so the pipeline is
@@ -99,7 +99,7 @@ def pipeline(self, stream: Stream[PointCloud2]) -> Stream[PointCloud2]:
     is applied to the live stream, publishing results to the single ``Out`` port.
 
     The MemoryStore acts as a bridge between the push-based Module In port
-    and the pull-based memory2 stream pipeline — it also enables replay and
+    and the pull-based memory stream pipeline — it also enables replay and
     persistence if the store is swapped for a persistent backend later.
     """
 
@@ -232,7 +232,7 @@ def start(self) -> None:
 
     @skill
     def search(self, query: str) -> PoseStamped:
-        from dimos.memory2.transform import peaks
+        from dimos.memory.transform import peaks
 
         assert self.model is not None and self.embeddings is not None, (
             "SemanticSearch.search() called before start()"
@@ -299,7 +299,7 @@ def decorate(fn: Any) -> Any:
 
 
 class Recorder(MemoryModule):
-    """Records all ``In`` ports to a memory2 SQLite database, plus the live tf tree.
+    """Records all ``In`` ports to a memory SQLite database, plus the live tf tree.
 
     Subclass with the topics you want to record::
 
diff --git a/dimos/memory2/notes.md b/dimos/memory/notes.md
similarity index 100%
rename from dimos/memory2/notes.md
rename to dimos/memory/notes.md
diff --git a/dimos/memory2/notifier/base.py b/dimos/memory/notifier/base.py
similarity index 92%
rename from dimos/memory2/notifier/base.py
rename to dimos/memory/notifier/base.py
index 053eb10690..ad663f964f 100644
--- a/dimos/memory2/notifier/base.py
+++ b/dimos/memory/notifier/base.py
@@ -18,14 +18,14 @@
 from typing import TYPE_CHECKING, Any, Generic, TypeVar
 
 from dimos.core.resource import Resource
-from dimos.memory2.registry import qual
+from dimos.memory.registry import qual
 from dimos.protocol.service.spec import BaseConfig, Configurable
 
 if TYPE_CHECKING:
     from reactivex.abc import DisposableBase
 
-    from dimos.memory2.buffer import BackpressureBuffer
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.buffer import BackpressureBuffer
+    from dimos.memory.type.observation import Observation
 
 T = TypeVar("T")
 
diff --git a/dimos/memory2/notifier/subject.py b/dimos/memory/notifier/subject.py
similarity index 92%
rename from dimos/memory2/notifier/subject.py
rename to dimos/memory/notifier/subject.py
index cbca3fcc18..9ab5ac3b83 100644
--- a/dimos/memory2/notifier/subject.py
+++ b/dimos/memory/notifier/subject.py
@@ -21,13 +21,13 @@
 
 from reactivex.disposable import Disposable
 
-from dimos.memory2.notifier.base import Notifier, NotifierConfig
+from dimos.memory.notifier.base import Notifier, NotifierConfig
 
 if TYPE_CHECKING:
     from reactivex.abc import DisposableBase
 
-    from dimos.memory2.buffer import BackpressureBuffer
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.buffer import BackpressureBuffer
+    from dimos.memory.type.observation import Observation
 
 T = TypeVar("T")
 
diff --git a/dimos/memory2/observationstore/base.py b/dimos/memory/observationstore/base.py
similarity index 93%
rename from dimos/memory2/observationstore/base.py
rename to dimos/memory/observationstore/base.py
index c2643c4cc4..7568455e12 100644
--- a/dimos/memory2/observationstore/base.py
+++ b/dimos/memory/observationstore/base.py
@@ -18,14 +18,14 @@
 from typing import TYPE_CHECKING, Any, Generic, TypeVar
 
 from dimos.core.resource import CompositeResource
-from dimos.memory2.registry import qual
+from dimos.memory.registry import qual
 from dimos.protocol.service.spec import BaseConfig, Configurable
 
 if TYPE_CHECKING:
     from collections.abc import Iterator
 
-    from dimos.memory2.type.filter import StreamQuery
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.filter import StreamQuery
+    from dimos.memory.type.observation import Observation
 
 T = TypeVar("T")
 
diff --git a/dimos/memory2/observationstore/memory.py b/dimos/memory/observationstore/memory.py
similarity index 92%
rename from dimos/memory2/observationstore/memory.py
rename to dimos/memory/observationstore/memory.py
index 199a83cfcb..2462320bbf 100644
--- a/dimos/memory2/observationstore/memory.py
+++ b/dimos/memory/observationstore/memory.py
@@ -18,13 +18,13 @@
 import threading
 from typing import TYPE_CHECKING, Any, TypeVar
 
-from dimos.memory2.observationstore.base import ObservationStore, ObservationStoreConfig
+from dimos.memory.observationstore.base import ObservationStore, ObservationStoreConfig
 
 if TYPE_CHECKING:
     from collections.abc import Iterator
 
-    from dimos.memory2.type.filter import StreamQuery
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.filter import StreamQuery
+    from dimos.memory.type.observation import Observation
 
 T = TypeVar("T")
 
diff --git a/dimos/memory2/observationstore/sqlite.py b/dimos/memory/observationstore/sqlite.py
similarity index 97%
rename from dimos/memory2/observationstore/sqlite.py
rename to dimos/memory/observationstore/sqlite.py
index 31c6a25ea0..1d6c20e364 100644
--- a/dimos/memory2/observationstore/sqlite.py
+++ b/dimos/memory/observationstore/sqlite.py
@@ -22,9 +22,9 @@
 
 from pydantic import Field, model_validator
 
-from dimos.memory2.codecs.base import Codec
-from dimos.memory2.observationstore.base import ObservationStore, ObservationStoreConfig
-from dimos.memory2.type.filter import (
+from dimos.memory.codecs.base import Codec
+from dimos.memory.observationstore.base import ObservationStore, ObservationStoreConfig
+from dimos.memory.type.filter import (
     AfterFilter,
     AtFilter,
     BeforeFilter,
@@ -32,13 +32,13 @@
     TagsFilter,
     TimeRangeFilter,
 )
-from dimos.memory2.type.observation import _UNLOADED, Observation, PoseTuple
-from dimos.memory2.utils.sqlite import open_disposable_sqlite_connection
+from dimos.memory.type.observation import _UNLOADED, Observation, PoseTuple
+from dimos.memory.utils.sqlite import open_disposable_sqlite_connection
 
 if TYPE_CHECKING:
     from collections.abc import Iterator
 
-    from dimos.memory2.type.filter import Filter, StreamQuery
+    from dimos.memory.type.filter import Filter, StreamQuery
 
 T = TypeVar("T")
 
diff --git a/dimos/memory2/registry.py b/dimos/memory/registry.py
similarity index 85%
rename from dimos/memory2/registry.py
rename to dimos/memory/registry.py
index a5707a8cea..f55634cf1b 100644
--- a/dimos/memory2/registry.py
+++ b/dimos/memory/registry.py
@@ -27,7 +27,7 @@
 
 
 def qual(cls: type) -> str:
-    """Fully qualified class name, e.g. 'dimos.memory2.blobstore.sqlite.SqliteBlobStore'."""
+    """Fully qualified class name, e.g. 'dimos.memory.blobstore.sqlite.SqliteBlobStore'."""
     return f"{cls.__module__}.{cls.__qualname__}"
 
 
@@ -63,7 +63,10 @@ def get(self, name: str) -> dict[str, Any] | None:
         row = self._conn.execute("SELECT config FROM _streams WHERE name = ?", (name,)).fetchone()
         if row is None:
             return None
-        return json.loads(row[0])  # type: ignore[no-any-return]
+        # Recordings written before the memory2 -> memory rename persist the old
+        # module paths. The classes are otherwise unchanged, so remap on read —
+        # callers compare these strings against qual() as well as import them.
+        return json.loads(row[0].replace("dimos.memory2.", "dimos.memory."))  # type: ignore[no-any-return]
 
     def put(self, name: str, config: dict[str, Any]) -> None:
         self._conn.execute(
diff --git a/dimos/memory2/replay.py b/dimos/memory/replay.py
similarity index 97%
rename from dimos/memory2/replay.py
rename to dimos/memory/replay.py
index 516d39b372..20f2a90daf 100644
--- a/dimos/memory2/replay.py
+++ b/dimos/memory/replay.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Multi-stream replay over a memory2 :class:`Store` with a shared anchor.
+"""Multi-stream replay over a memory :class:`Store` with a shared anchor.
 
 ``store.replay()`` returns a :class:`Replay` view. The first ``.observable()``
 subscribe across all streams pins a single ``(wall_t0, replay_t0)`` anchor;
@@ -34,14 +34,14 @@
 from reactivex.observable import Observable
 from reactivex.scheduler import TimeoutScheduler
 
-from dimos.memory2.store.base import Store, StreamAccessor
+from dimos.memory.store.base import Store, StreamAccessor
 from dimos.protocol.service.spec import BaseConfig, Configurable
 from dimos.utils.data import resolve_named_path
 
 if TYPE_CHECKING:
     from collections.abc import Callable, Iterator
 
-    from dimos.memory2.stream import Stream
+    from dimos.memory.stream import Stream
 
 T = TypeVar("T")
 
@@ -139,7 +139,7 @@ def _decode(self, obs: Any) -> T:
         return cast("T", data)
 
     def _base_stream(self) -> Stream[Any]:
-        """Memory2 Stream bounded by the replay window, ordered by ts."""
+        """Memory Stream bounded by the replay window, ordered by ts."""
         cfg = self._replay.config
         s: Stream[Any] = self._replay.store.stream(self._name)
 
diff --git a/dimos/memory2/store/README.md b/dimos/memory/store/README.md
similarity index 97%
rename from dimos/memory2/store/README.md
rename to dimos/memory/store/README.md
index 4766c24998..80fcbb55de 100644
--- a/dimos/memory2/store/README.md
+++ b/dimos/memory/store/README.md
@@ -40,7 +40,7 @@ The **Backend** is the glue — on `append()` it encodes the payload, inserts me
 ### 1. Subclass ObservationStore
 
 ```python
-from dimos.memory2.observationstore.base import ObservationStore
+from dimos.memory.observationstore.base import ObservationStore
 
 class MyObservationStore(ObservationStore[T]):
     def __init__(self, name: str, **kwargs: Any) -> None:
@@ -83,9 +83,9 @@ class MyObservationStore(ObservationStore[T]):
 ### 2. Create a Store subclass
 
 ```python
-from dimos.memory2.backend import Backend
-from dimos.memory2.codecs.base import codec_for
-from dimos.memory2.store.base import Store
+from dimos.memory.backend import Backend
+from dimos.memory.codecs.base import codec_for
+from dimos.memory.store.base import Store
 
 class MyStore(Store):
     def _create_backend(
diff --git a/dimos/memory2/store/base.py b/dimos/memory/store/base.py
similarity index 92%
rename from dimos/memory2/store/base.py
rename to dimos/memory/store/base.py
index 7a7162a6d1..b19b2c3934 100644
--- a/dimos/memory2/store/base.py
+++ b/dimos/memory/store/base.py
@@ -17,19 +17,19 @@
 from typing import TYPE_CHECKING, Any, Generic, Protocol, TypeVar, cast
 
 from dimos.core.resource import CompositeResource
-from dimos.memory2.backend import Backend
-from dimos.memory2.blobstore.base import BlobStore
-from dimos.memory2.codecs.base import Codec, codec_for, codec_from_id
-from dimos.memory2.notifier.base import Notifier
-from dimos.memory2.notifier.subject import SubjectNotifier
-from dimos.memory2.observationstore.base import ObservationStore
-from dimos.memory2.observationstore.memory import ListObservationStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.vectorstore.base import VectorStore
+from dimos.memory.backend import Backend
+from dimos.memory.blobstore.base import BlobStore
+from dimos.memory.codecs.base import Codec, codec_for, codec_from_id
+from dimos.memory.notifier.base import Notifier
+from dimos.memory.notifier.subject import SubjectNotifier
+from dimos.memory.observationstore.base import ObservationStore
+from dimos.memory.observationstore.memory import ListObservationStore
+from dimos.memory.stream import Stream
+from dimos.memory.vectorstore.base import VectorStore
 from dimos.protocol.service.spec import BaseConfig, Configurable
 
 if TYPE_CHECKING:
-    from dimos.memory2.replay import Replay
+    from dimos.memory.replay import Replay
 
 T = TypeVar("T")
 S = TypeVar("S")
@@ -127,7 +127,7 @@ def replay(
         ``replay.streams.odom.observable()`` advance together rather than
         each re-anchoring on their own ``first_ts``.
         """
-        from dimos.memory2.replay import Replay
+        from dimos.memory.replay import Replay
 
         return Replay(
             store=self,
diff --git a/dimos/memory2/store/mcap.py b/dimos/memory/store/mcap.py
similarity index 93%
rename from dimos/memory2/store/mcap.py
rename to dimos/memory/store/mcap.py
index 6301ca5500..26f2c04876 100644
--- a/dimos/memory2/store/mcap.py
+++ b/dimos/memory/store/mcap.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Read-only memory2 store backed by an mcap file.
+"""Read-only memory store backed by an mcap file.
 
 Generic and codec-injected — it knows nothing about any robot. The caller
 supplies ``codecs`` (DDS/wire topic -> codec that decodes a message's stored
@@ -30,13 +30,13 @@
 from functools import partial
 from typing import Any, Protocol, runtime_checkable
 
-from dimos.memory2.backend import Backend
-from dimos.memory2.codecs.base import codec_for
-from dimos.memory2.notifier.subject import SubjectNotifier
-from dimos.memory2.observationstore.base import ObservationStore, ObservationStoreConfig
-from dimos.memory2.store.base import Store, StoreConfig
-from dimos.memory2.type.filter import StreamQuery
-from dimos.memory2.type.observation import Observation
+from dimos.memory.backend import Backend
+from dimos.memory.codecs.base import codec_for
+from dimos.memory.notifier.subject import SubjectNotifier
+from dimos.memory.observationstore.base import ObservationStore, ObservationStoreConfig
+from dimos.memory.store.base import Store, StoreConfig
+from dimos.memory.type.filter import StreamQuery
+from dimos.memory.type.observation import Observation
 
 
 @runtime_checkable
@@ -136,7 +136,7 @@ class McapStoreConfig(StoreConfig):
 
 
 class McapStore(Store):
-    """A memory2 store backed by an mcap file (read-only).
+    """A memory store backed by an mcap file (read-only).
 
     Every channel present in the file with a codec is exposed. Names default to
     the slugified topic (see :func:`_slug`); ``streams`` (friendly name -> topic)
diff --git a/dimos/memory2/store/memory.py b/dimos/memory/store/memory.py
similarity index 89%
rename from dimos/memory2/store/memory.py
rename to dimos/memory/store/memory.py
index 16d25cc06b..46c065ee65 100644
--- a/dimos/memory2/store/memory.py
+++ b/dimos/memory/store/memory.py
@@ -14,9 +14,9 @@
 
 from typing import Any
 
-from dimos.memory2.backend import Backend
-from dimos.memory2.observationstore.memory import ListObservationStore
-from dimos.memory2.store.base import Store, StoreConfig
+from dimos.memory.backend import Backend
+from dimos.memory.observationstore.memory import ListObservationStore
+from dimos.memory.store.base import Store, StoreConfig
 
 
 class MemoryStoreConfig(StoreConfig):
diff --git a/dimos/memory2/store/null.py b/dimos/memory/store/null.py
similarity index 94%
rename from dimos/memory2/store/null.py
rename to dimos/memory/store/null.py
index 71f02c4aee..d1568854ed 100644
--- a/dimos/memory2/store/null.py
+++ b/dimos/memory/store/null.py
@@ -14,7 +14,7 @@
 
 from typing import Any
 
-from dimos.memory2.store.memory import MemoryStore
+from dimos.memory.store.memory import MemoryStore
 
 
 class NullStore(MemoryStore):
diff --git a/dimos/memory2/store/sqlite.py b/dimos/memory/store/sqlite.py
similarity index 90%
rename from dimos/memory2/store/sqlite.py
rename to dimos/memory/store/sqlite.py
index 8afab3a714..784b0a0ac3 100644
--- a/dimos/memory2/store/sqlite.py
+++ b/dimos/memory/store/sqlite.py
@@ -20,17 +20,17 @@
 
 from pydantic import BeforeValidator
 
-from dimos.memory2.backend import Backend
-from dimos.memory2.blobstore.base import BlobStore
-from dimos.memory2.blobstore.sqlite import SqliteBlobStore
-from dimos.memory2.codecs.base import codec_id
-from dimos.memory2.observationstore.sqlite import SqliteObservationStore
-from dimos.memory2.registry import RegistryStore, deserialize_component, qual
-from dimos.memory2.store.base import Store, StoreConfig
-from dimos.memory2.utils.sqlite import open_disposable_sqlite_connection
-from dimos.memory2.utils.validation import validate_identifier
-from dimos.memory2.vectorstore.base import VectorStore
-from dimos.memory2.vectorstore.sqlite import SqliteVectorStore
+from dimos.memory.backend import Backend
+from dimos.memory.blobstore.base import BlobStore
+from dimos.memory.blobstore.sqlite import SqliteBlobStore
+from dimos.memory.codecs.base import codec_id
+from dimos.memory.observationstore.sqlite import SqliteObservationStore
+from dimos.memory.registry import RegistryStore, deserialize_component, qual
+from dimos.memory.store.base import Store, StoreConfig
+from dimos.memory.utils.sqlite import open_disposable_sqlite_connection
+from dimos.memory.utils.validation import validate_identifier
+from dimos.memory.vectorstore.base import VectorStore
+from dimos.memory.vectorstore.sqlite import SqliteVectorStore
 
 
 class SqliteStoreConfig(StoreConfig):
@@ -69,7 +69,7 @@ def _open_connection(self) -> sqlite3.Connection:
 
     def _assemble_backend(self, name: str, stored: dict[str, Any]) -> Backend[Any]:
         """Reconstruct a Backend from a stored config dict."""
-        from dimos.memory2.codecs.base import codec_from_id, resolve_payload_type
+        from dimos.memory.codecs.base import codec_from_id, resolve_payload_type
 
         payload_module = stored["payload_module"]
         codec = codec_from_id(stored["codec_id"], payload_module)
@@ -104,7 +104,7 @@ def _assemble_backend(self, name: str, stored: dict[str, Any]) -> Backend[Any]:
         if notifier_data is not None:
             notifier = deserialize_component(notifier_data)
         else:
-            from dimos.memory2.notifier.subject import SubjectNotifier
+            from dimos.memory.notifier.subject import SubjectNotifier
 
             notifier = SubjectNotifier()
 
diff --git a/dimos/memory2/store/test_null.py b/dimos/memory/store/test_null.py
similarity index 97%
rename from dimos/memory2/store/test_null.py
rename to dimos/memory/store/test_null.py
index 8e1e0a5780..e58709362e 100644
--- a/dimos/memory2/store/test_null.py
+++ b/dimos/memory/store/test_null.py
@@ -16,7 +16,7 @@
 
 from __future__ import annotations
 
-from dimos.memory2.store.null import NullStore
+from dimos.memory.store.null import NullStore
 
 
 def test_max_size_zero_monotonic_ids() -> None:
diff --git a/dimos/memory2/stream.py b/dimos/memory/stream.py
similarity index 98%
rename from dimos/memory2/stream.py
rename to dimos/memory/stream.py
index 1ed4651398..afa1119455 100644
--- a/dimos/memory2/stream.py
+++ b/dimos/memory/stream.py
@@ -26,10 +26,10 @@
     from typing_extensions import TypeVar
 
 from dimos.core.resource import CompositeResource
-from dimos.memory2.backend import Backend
-from dimos.memory2.buffer import BackpressureBuffer, KeepLast
-from dimos.memory2.transform import FnIterTransformer, FnTransformer, Transformer
-from dimos.memory2.type.filter import (
+from dimos.memory.backend import Backend
+from dimos.memory.buffer import BackpressureBuffer, KeepLast
+from dimos.memory.transform import FnIterTransformer, FnTransformer, Transformer
+from dimos.memory.type.filter import (
     AfterFilter,
     AtFilter,
     BeforeFilter,
@@ -40,7 +40,7 @@
     TagsFilter,
     TimeRangeFilter,
 )
-from dimos.memory2.type.observation import EmbeddedObservation, Observation
+from dimos.memory.type.observation import EmbeddedObservation, Observation
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
 from dimos.utils.human import human_bytes
 from dimos.utils.logging_config import setup_logger
@@ -546,7 +546,7 @@ def materialize(self) -> Stream[T, O]:
         Useful when you need to iterate the same results multiple times
         without re-running the upstream query.
         """
-        from dimos.memory2.store.memory import MemoryStore
+        from dimos.memory.store.memory import MemoryStore
 
         mem = MemoryStore()
         target = cast("Stream[T, O]", mem.stream("materialize"))
diff --git a/dimos/memory2/streaming.md b/dimos/memory/streaming.md
similarity index 100%
rename from dimos/memory2/streaming.md
rename to dimos/memory/streaming.md
diff --git a/dimos/memory2/test_blobstore_integration.py b/dimos/memory/test_blobstore_integration.py
similarity index 95%
rename from dimos/memory2/test_blobstore_integration.py
rename to dimos/memory/test_blobstore_integration.py
index 3d081e6d74..f9c9950c6a 100644
--- a/dimos/memory2/test_blobstore_integration.py
+++ b/dimos/memory/test_blobstore_integration.py
@@ -21,9 +21,9 @@
 import numpy as np
 import pytest
 
-from dimos.memory2.blobstore.file import FileBlobStore
-from dimos.memory2.store.memory import MemoryStore
-from dimos.memory2.type.observation import _UNLOADED
+from dimos.memory.blobstore.file import FileBlobStore
+from dimos.memory.store.memory import MemoryStore
+from dimos.memory.type.observation import _UNLOADED
 from dimos.models.embedding.base import Embedding
 
 if TYPE_CHECKING:
@@ -117,7 +117,7 @@ def test_no_blobstore_unchanged(self) -> None:
             assert obs.data == "inline"
 
     def test_blobstore_with_vector_search(self, bs: FileBlobStore) -> None:
-        from dimos.memory2.vectorstore.memory import MemoryVectorStore
+        from dimos.memory.vectorstore.memory import MemoryVectorStore
 
         vs = MemoryVectorStore()
         with MemoryStore(blob_store=bs, vector_store=vs) as store:
diff --git a/dimos/memory2/test_buffer.py b/dimos/memory/test_buffer.py
similarity index 96%
rename from dimos/memory2/test_buffer.py
rename to dimos/memory/test_buffer.py
index f851a6fcee..33235890e1 100644
--- a/dimos/memory2/test_buffer.py
+++ b/dimos/memory/test_buffer.py
@@ -21,7 +21,7 @@
 
 import pytest
 
-from dimos.memory2.buffer import Bounded, ClosedError, DropNew, KeepLast, Unbounded
+from dimos.memory.buffer import Bounded, ClosedError, DropNew, KeepLast, Unbounded
 
 
 class TestBackpressureBuffers:
diff --git a/dimos/memory2/test_e2e_processing.py b/dimos/memory/test_e2e_processing.py
similarity index 100%
rename from dimos/memory2/test_e2e_processing.py
rename to dimos/memory/test_e2e_processing.py
diff --git a/dimos/memory2/test_embedding.py b/dimos/memory/test_embedding.py
similarity index 93%
rename from dimos/memory2/test_embedding.py
rename to dimos/memory/test_embedding.py
index caa1080ffd..f1f33ccee5 100644
--- a/dimos/memory2/test_embedding.py
+++ b/dimos/memory/test_embedding.py
@@ -19,7 +19,7 @@
 import numpy as np
 import pytest
 
-from dimos.memory2.type.observation import EmbeddedObservation, Observation
+from dimos.memory.type.observation import EmbeddedObservation, Observation
 from dimos.models.embedding.base import Embedding
 
 
@@ -241,7 +241,7 @@ def embed_text(self, *texts):
 
 class TestEmbedTransformers:
     def test_embed_images_produces_embedded_observations(self, memory_store) -> None:
-        from dimos.memory2.embed import EmbedImages
+        from dimos.memory.embed import EmbedImages
 
         model = _MockEmbeddingModel()
         s = memory_store.stream("imgs", str)
@@ -256,7 +256,7 @@ def test_embed_images_produces_embedded_observations(self, memory_store) -> None
             assert obs.embedding.to_numpy().shape == (8,)
 
     def test_embed_text_produces_embedded_observations(self, memory_store) -> None:
-        from dimos.memory2.embed import EmbedText
+        from dimos.memory.embed import EmbedText
 
         model = _MockEmbeddingModel()
         s = memory_store.stream("logs", str)
@@ -270,7 +270,7 @@ def test_embed_text_produces_embedded_observations(self, memory_store) -> None:
             assert isinstance(obs.embedding, Embedding)
 
     def test_embed_preserves_data(self, memory_store) -> None:
-        from dimos.memory2.embed import EmbedText
+        from dimos.memory.embed import EmbedText
 
         model = _MockEmbeddingModel()
         s = memory_store.stream("logs", str)
@@ -280,7 +280,7 @@ def test_embed_preserves_data(self, memory_store) -> None:
         assert result.data == "hello"
 
     def test_embed_then_search(self, memory_store) -> None:
-        from dimos.memory2.embed import EmbedText
+        from dimos.memory.embed import EmbedText
 
         model = _MockEmbeddingModel()
         s = memory_store.stream("logs", str)
@@ -297,7 +297,7 @@ def test_embed_then_search(self, memory_store) -> None:
         assert results[0].similarity > 0.99
 
     def test_embed_batching(self, memory_store) -> None:
-        from dimos.memory2.embed import EmbedText
+        from dimos.memory.embed import EmbedText
 
         call_sizes: list[int] = []
 
@@ -320,8 +320,8 @@ class TestPluggableVectorStore:
     """Verify that injecting a VectorStore via store config actually delegates search."""
 
     def test_append_stores_in_vector_store(self) -> None:
-        from dimos.memory2.store.memory import MemoryStore
-        from dimos.memory2.vectorstore.memory import MemoryVectorStore
+        from dimos.memory.store.memory import MemoryStore
+        from dimos.memory.vectorstore.memory import MemoryVectorStore
 
         vs = MemoryVectorStore()
         with MemoryStore(vector_store=vs) as store:
@@ -332,8 +332,8 @@ def test_append_stores_in_vector_store(self) -> None:
         assert len(vs._vectors["vecs"]) == 2
 
     def test_append_without_embedding_skips_vector_store(self) -> None:
-        from dimos.memory2.store.memory import MemoryStore
-        from dimos.memory2.vectorstore.memory import MemoryVectorStore
+        from dimos.memory.store.memory import MemoryStore
+        from dimos.memory.vectorstore.memory import MemoryVectorStore
 
         vs = MemoryVectorStore()
         with MemoryStore(vector_store=vs) as store:
@@ -343,8 +343,8 @@ def test_append_without_embedding_skips_vector_store(self) -> None:
         assert "plain" not in vs._vectors
 
     def test_search_uses_vector_store(self) -> None:
-        from dimos.memory2.store.memory import MemoryStore
-        from dimos.memory2.vectorstore.memory import MemoryVectorStore
+        from dimos.memory.store.memory import MemoryStore
+        from dimos.memory.vectorstore.memory import MemoryVectorStore
 
         vs = MemoryVectorStore()
         with MemoryStore(vector_store=vs) as store:
@@ -361,8 +361,8 @@ def test_search_uses_vector_store(self) -> None:
             assert results[0].similarity > 0.99
 
     def test_search_with_filters_via_vector_store(self) -> None:
-        from dimos.memory2.store.memory import MemoryStore
-        from dimos.memory2.vectorstore.memory import MemoryVectorStore
+        from dimos.memory.store.memory import MemoryStore
+        from dimos.memory.vectorstore.memory import MemoryVectorStore
 
         vs = MemoryVectorStore()
         with MemoryStore(vector_store=vs) as store:
@@ -376,8 +376,8 @@ def test_search_with_filters_via_vector_store(self) -> None:
             assert results[0].data == "late"
 
     def test_per_stream_vector_store_override(self) -> None:
-        from dimos.memory2.store.memory import MemoryStore
-        from dimos.memory2.vectorstore.memory import MemoryVectorStore
+        from dimos.memory.store.memory import MemoryStore
+        from dimos.memory.vectorstore.memory import MemoryVectorStore
 
         vs_default = MemoryVectorStore()
         vs_override = MemoryVectorStore()
diff --git a/dimos/memory2/test_materialize.py b/dimos/memory/test_materialize.py
similarity index 87%
rename from dimos/memory2/test_materialize.py
rename to dimos/memory/test_materialize.py
index 7d8a3178fb..dfa6533e39 100644
--- a/dimos/memory2/test_materialize.py
+++ b/dimos/memory/test_materialize.py
@@ -12,11 +12,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dimos.memory2.backend import Backend
-from dimos.memory2.codecs.pickle import PickleCodec
-from dimos.memory2.observationstore.memory import ListObservationStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.type.observation import Observation
+from dimos.memory.backend import Backend
+from dimos.memory.codecs.pickle import PickleCodec
+from dimos.memory.observationstore.memory import ListObservationStore
+from dimos.memory.stream import Stream
+from dimos.memory.type.observation import Observation
 
 
 def make_stream(n: int = 5, start_ts: float = 0.0) -> Stream[int]:
diff --git a/dimos/memory2/test_module.py b/dimos/memory/test_module.py
similarity index 93%
rename from dimos/memory2/test_module.py
rename to dimos/memory/test_module.py
index eb3e2d6c54..6c076e2b19 100644
--- a/dimos/memory2/test_module.py
+++ b/dimos/memory/test_module.py
@@ -22,10 +22,10 @@
 
 from dimos.core.module import ModuleConfig
 from dimos.core.stream import In, Out
-from dimos.memory2.module import StreamModule
-from dimos.memory2.stream import Stream
-from dimos.memory2.transform import Transformer
-from dimos.memory2.type.observation import Observation
+from dimos.memory.module import StreamModule
+from dimos.memory.stream import Stream
+from dimos.memory.transform import Transformer
+from dimos.memory.type.observation import Observation
 
 # -- Shared transformer ---------------------------------------------------
 
diff --git a/dimos/memory2/test_registry.py b/dimos/memory/test_registry.py
similarity index 81%
rename from dimos/memory2/test_registry.py
rename to dimos/memory/test_registry.py
index dc085da123..5b9037ba56 100644
--- a/dimos/memory2/test_registry.py
+++ b/dimos/memory/test_registry.py
@@ -16,36 +16,38 @@
 
 from __future__ import annotations
 
+import sqlite3
+
 import pytest
 
-from dimos.memory2.blobstore.file import FileBlobStore
-from dimos.memory2.blobstore.sqlite import SqliteBlobStore, SqliteBlobStoreConfig
-from dimos.memory2.notifier.subject import SubjectNotifier
-from dimos.memory2.observationstore.sqlite import SqliteObservationStoreConfig
-from dimos.memory2.registry import RegistryStore, deserialize_component, qual
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.vectorstore.sqlite import SqliteVectorStore, SqliteVectorStoreConfig
+from dimos.memory.blobstore.file import FileBlobStore
+from dimos.memory.blobstore.sqlite import SqliteBlobStore, SqliteBlobStoreConfig
+from dimos.memory.notifier.subject import SubjectNotifier
+from dimos.memory.observationstore.sqlite import SqliteObservationStoreConfig
+from dimos.memory.registry import RegistryStore, deserialize_component, qual
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.vectorstore.sqlite import SqliteVectorStore, SqliteVectorStoreConfig
 
 
 class TestQual:
     def test_qual_blob_store(self) -> None:
-        assert qual(SqliteBlobStore) == "dimos.memory2.blobstore.sqlite.SqliteBlobStore"
+        assert qual(SqliteBlobStore) == "dimos.memory.blobstore.sqlite.SqliteBlobStore"
 
     def test_qual_file_blob_store(self) -> None:
-        assert qual(FileBlobStore) == "dimos.memory2.blobstore.file.FileBlobStore"
+        assert qual(FileBlobStore) == "dimos.memory.blobstore.file.FileBlobStore"
 
     def test_qual_vector_store(self) -> None:
-        assert qual(SqliteVectorStore) == "dimos.memory2.vectorstore.sqlite.SqliteVectorStore"
+        assert qual(SqliteVectorStore) == "dimos.memory.vectorstore.sqlite.SqliteVectorStore"
 
     def test_qual_notifier(self) -> None:
-        assert qual(SubjectNotifier) == "dimos.memory2.notifier.subject.SubjectNotifier"
+        assert qual(SubjectNotifier) == "dimos.memory.notifier.subject.SubjectNotifier"
 
 
 @pytest.mark.skipif_macos
 @pytest.mark.skipif_aarch64
 class TestRegistryStore:
     def test_put_get_round_trip(self, tmp_path) -> None:
-        from dimos.memory2.utils.sqlite import open_sqlite_connection
+        from dimos.memory.utils.sqlite import open_sqlite_connection
 
         conn = open_sqlite_connection(str(tmp_path / "reg.db"))
         reg = RegistryStore(conn=conn)
@@ -57,7 +59,7 @@ def test_put_get_round_trip(self, tmp_path) -> None:
         conn.close()
 
     def test_get_missing(self, tmp_path) -> None:
-        from dimos.memory2.utils.sqlite import open_sqlite_connection
+        from dimos.memory.utils.sqlite import open_sqlite_connection
 
         conn = open_sqlite_connection(str(tmp_path / "reg.db"))
         reg = RegistryStore(conn=conn)
@@ -65,7 +67,7 @@ def test_get_missing(self, tmp_path) -> None:
         conn.close()
 
     def test_list_streams(self, tmp_path) -> None:
-        from dimos.memory2.utils.sqlite import open_sqlite_connection
+        from dimos.memory.utils.sqlite import open_sqlite_connection
 
         conn = open_sqlite_connection(str(tmp_path / "reg.db"))
         reg = RegistryStore(conn=conn)
@@ -75,7 +77,7 @@ def test_list_streams(self, tmp_path) -> None:
         conn.close()
 
     def test_delete(self, tmp_path) -> None:
-        from dimos.memory2.utils.sqlite import open_sqlite_connection
+        from dimos.memory.utils.sqlite import open_sqlite_connection
 
         conn = open_sqlite_connection(str(tmp_path / "reg.db"))
         reg = RegistryStore(conn=conn)
@@ -85,7 +87,7 @@ def test_delete(self, tmp_path) -> None:
         conn.close()
 
     def test_upsert(self, tmp_path) -> None:
-        from dimos.memory2.utils.sqlite import open_sqlite_connection
+        from dimos.memory.utils.sqlite import open_sqlite_connection
 
         conn = open_sqlite_connection(str(tmp_path / "reg.db"))
         reg = RegistryStore(conn=conn)
@@ -153,12 +155,30 @@ def test_deserialize_component(self, tmp_path) -> None:
         restored = deserialize_component(data)
         assert isinstance(restored, FileBlobStore)
 
+    def test_reopen_recording_with_legacy_memory2_paths(self, tmp_path) -> None:
+        """Recordings predating the memory2 -> memory rename still open."""
+        db = str(tmp_path / "legacy.db")
+        with SqliteStore(path=db) as store:
+            store.stream("data", str).append("hello", ts=1.0)
+
+        conn = sqlite3.connect(db)
+        for name, cfg in conn.execute("SELECT name, config FROM _streams").fetchall():
+            conn.execute(
+                "UPDATE _streams SET config = ? WHERE name = ?",
+                (cfg.replace("dimos.memory.", "dimos.memory2."), name),
+            )
+        conn.commit()
+        conn.close()
+
+        with SqliteStore(path=db) as store2:
+            assert store2.stream("data").first().data == "hello"
+
 
 class TestBackendSerialization:
     def test_backend_serialize(self, tmp_path) -> None:
-        from dimos.memory2.backend import Backend
-        from dimos.memory2.codecs.pickle import PickleCodec
-        from dimos.memory2.observationstore.memory import ListObservationStore
+        from dimos.memory.backend import Backend
+        from dimos.memory.codecs.pickle import PickleCodec
+        from dimos.memory.observationstore.memory import ListObservationStore
 
         backend = Backend(
             metadata_store=ListObservationStore(name="test"),
diff --git a/dimos/memory2/test_replay.py b/dimos/memory/test_replay.py
similarity index 97%
rename from dimos/memory2/test_replay.py
rename to dimos/memory/test_replay.py
index 54f7af604f..9e4a6c0337 100644
--- a/dimos/memory2/test_replay.py
+++ b/dimos/memory/test_replay.py
@@ -18,11 +18,11 @@
 
 import pytest
 
-from dimos.memory2.replay import ReplayStream
-from dimos.memory2.store.base import StreamAccessor
+from dimos.memory.replay import ReplayStream
+from dimos.memory.store.base import StreamAccessor
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
 
 
 def _populate(store: SqliteStore, name: str, timestamps: list[float]) -> None:
diff --git a/dimos/memory2/test_save.py b/dimos/memory/test_save.py
similarity index 92%
rename from dimos/memory2/test_save.py
rename to dimos/memory/test_save.py
index ec4d627fc3..bb47bf13f3 100644
--- a/dimos/memory2/test_save.py
+++ b/dimos/memory/test_save.py
@@ -18,13 +18,13 @@
 
 import pytest
 
-from dimos.memory2.backend import Backend
-from dimos.memory2.codecs.pickle import PickleCodec
-from dimos.memory2.notifier.base import Notifier
-from dimos.memory2.observationstore.memory import ListObservationStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.transform import FnTransformer
-from dimos.memory2.type.observation import Observation
+from dimos.memory.backend import Backend
+from dimos.memory.codecs.pickle import PickleCodec
+from dimos.memory.notifier.base import Notifier
+from dimos.memory.observationstore.memory import ListObservationStore
+from dimos.memory.stream import Stream
+from dimos.memory.transform import FnTransformer
+from dimos.memory.type.observation import Observation
 
 
 def _make_backend(name: str = "test") -> Backend[int]:
diff --git a/dimos/memory2/test_store.py b/dimos/memory/test_store.py
similarity index 94%
rename from dimos/memory2/test_store.py
rename to dimos/memory/test_store.py
index 912992a710..525bd3566b 100644
--- a/dimos/memory2/test_store.py
+++ b/dimos/memory/test_store.py
@@ -25,14 +25,14 @@
 
 import pytest
 
-from dimos.memory2.backend import Backend
-from dimos.memory2.blobstore.base import BlobStore
-from dimos.memory2.vectorstore.base import VectorStore
+from dimos.memory.backend import Backend
+from dimos.memory.blobstore.base import BlobStore
+from dimos.memory.vectorstore.base import VectorStore
 
 _SKIP_SQLITE_VEC = platform.machine() == "aarch64" or platform.system() == "Darwin"
 
 if TYPE_CHECKING:
-    from dimos.memory2.store.base import Store
+    from dimos.memory.store.base import Store
 
 
 class TestStoreBasic:
@@ -162,7 +162,7 @@ def test_same_stream_on_repeated_calls(self, session: Store) -> None:
     def test_append_with_embedding(self, session: Store) -> None:
         import numpy as np
 
-        from dimos.memory2.type.observation import EmbeddedObservation
+        from dimos.memory.type.observation import EmbeddedObservation
         from dimos.models.embedding.base import Embedding
 
         s = session.stream("vectors", str)
@@ -212,7 +212,7 @@ class TestBlobLoading:
 
     def test_sqlite_lazy_by_default(self, sqlite_store: Store) -> None:
         """Default sqlite iteration uses lazy loaders — data is _UNLOADED until accessed."""
-        from dimos.memory2.type.observation import _Unloaded
+        from dimos.memory.type.observation import _Unloaded
 
         s = sqlite_store.stream("lazy_test", str)
         s.append("hello", ts=1.0)
@@ -230,7 +230,7 @@ def test_sqlite_lazy_by_default(self, sqlite_store: Store) -> None:
 
     def test_sqlite_eager_loads_inline(self, sqlite_store: Store) -> None:
         """With eager_blobs=True, data is loaded via JOIN — no lazy loader."""
-        from dimos.memory2.type.observation import _Unloaded
+        from dimos.memory.type.observation import _Unloaded
 
         s = sqlite_store.stream("eager_test", str, eager_blobs=True)
         s.append("hello", ts=1.0)
@@ -261,9 +261,9 @@ def test_sqlite_lazy_and_eager_same_values(self, sqlite_store: Store) -> None:
 
     def test_memory_lazy_with_blobstore(self, tmp_path) -> None:
         """MemoryStore with a BlobStore uses lazy loaders."""
-        from dimos.memory2.blobstore.file import FileBlobStore
-        from dimos.memory2.store.memory import MemoryStore
-        from dimos.memory2.type.observation import _Unloaded
+        from dimos.memory.blobstore.file import FileBlobStore
+        from dimos.memory.store.memory import MemoryStore
+        from dimos.memory.type.observation import _Unloaded
 
         bs = FileBlobStore(root=str(tmp_path / "blobs"))
         bs.start()
@@ -339,7 +339,7 @@ def delete(self, stream: str, key: int) -> None:
 
 @pytest.fixture
 def memory_spy_session():
-    from dimos.memory2.store.memory import MemoryStore
+    from dimos.memory.store.memory import MemoryStore
 
     blob_spy = SpyBlobStore()
     vec_spy = SpyVectorStore()
@@ -351,7 +351,7 @@ def memory_spy_session():
 def sqlite_spy_session(tmp_path):
     if _SKIP_SQLITE_VEC:
         pytest.skip("sqlite-vec extension not loadable here")
-    from dimos.memory2.store.sqlite import SqliteStore
+    from dimos.memory.store.sqlite import SqliteStore
 
     blob_spy = SpyBlobStore()
     vec_spy = SpyVectorStore()
@@ -431,10 +431,10 @@ class TestStandaloneComponents:
     """Verify each SQLite component works standalone with path= (no Store needed)."""
 
     def test_observation_store_standalone(self, tmp_path) -> None:
-        from dimos.memory2.codecs.base import codec_for
-        from dimos.memory2.observationstore.sqlite import SqliteObservationStore
-        from dimos.memory2.type.filter import StreamQuery
-        from dimos.memory2.type.observation import Observation
+        from dimos.memory.codecs.base import codec_for
+        from dimos.memory.observationstore.sqlite import SqliteObservationStore
+        from dimos.memory.type.filter import StreamQuery
+        from dimos.memory.type.observation import Observation
 
         db = str(tmp_path / "obs.db")
         codec = codec_for(str)
@@ -449,7 +449,7 @@ def test_observation_store_standalone(self, tmp_path) -> None:
             assert results[0].ts == 1.0
 
     def test_blob_store_standalone(self, tmp_path) -> None:
-        from dimos.memory2.blobstore.sqlite import SqliteBlobStore
+        from dimos.memory.blobstore.sqlite import SqliteBlobStore
 
         db = str(tmp_path / "blob.db")
         with SqliteBlobStore(path=db) as store:
@@ -461,7 +461,7 @@ def test_blob_store_standalone(self, tmp_path) -> None:
     def test_vector_store_standalone(self, tmp_path) -> None:
         import numpy as np
 
-        from dimos.memory2.vectorstore.sqlite import SqliteVectorStore
+        from dimos.memory.vectorstore.sqlite import SqliteVectorStore
         from dimos.models.embedding.base import Embedding
 
         db = str(tmp_path / "vec.db")
@@ -478,9 +478,9 @@ def test_vector_store_standalone(self, tmp_path) -> None:
     def test_conn_and_path_mutually_exclusive(self, tmp_path) -> None:
         import sqlite3
 
-        from dimos.memory2.blobstore.sqlite import SqliteBlobStore
-        from dimos.memory2.observationstore.sqlite import SqliteObservationStore
-        from dimos.memory2.vectorstore.sqlite import SqliteVectorStore
+        from dimos.memory.blobstore.sqlite import SqliteBlobStore
+        from dimos.memory.observationstore.sqlite import SqliteObservationStore
+        from dimos.memory.vectorstore.sqlite import SqliteVectorStore
 
         conn = sqlite3.connect(":memory:")
         db = str(tmp_path / "test.db")
diff --git a/dimos/memory2/test_stream.py b/dimos/memory/test_stream.py
similarity index 99%
rename from dimos/memory2/test_stream.py
rename to dimos/memory/test_stream.py
index eaee853930..633c0284ad 100644
--- a/dimos/memory2/test_stream.py
+++ b/dimos/memory/test_stream.py
@@ -25,11 +25,11 @@
 
 import pytest
 
-from dimos.memory2.buffer import KeepLast, Unbounded
-from dimos.memory2.store.memory import MemoryStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.transform import FnTransformer, QualityWindow, Transformer
-from dimos.memory2.type.observation import Observation
+from dimos.memory.buffer import KeepLast, Unbounded
+from dimos.memory.store.memory import MemoryStore
+from dimos.memory.stream import Stream
+from dimos.memory.transform import FnTransformer, QualityWindow, Transformer
+from dimos.memory.type.observation import Observation
 
 if TYPE_CHECKING:
     from collections.abc import Callable
diff --git a/dimos/memory2/test_voxel_map.py b/dimos/memory/test_voxel_map.py
similarity index 98%
rename from dimos/memory2/test_voxel_map.py
rename to dimos/memory/test_voxel_map.py
index ce58b98a16..ae9adc3bfc 100644
--- a/dimos/memory2/test_voxel_map.py
+++ b/dimos/memory/test_voxel_map.py
@@ -17,7 +17,7 @@
 import numpy as np
 
 from dimos.mapping.voxels.module import VoxelMapTransformer
-from dimos.memory2.type.observation import Observation
+from dimos.memory.type.observation import Observation
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
 
diff --git a/dimos/memory2/tf.py b/dimos/memory/tf.py
similarity index 98%
rename from dimos/memory2/tf.py
rename to dimos/memory/tf.py
index 27806dddf2..bb006409d4 100644
--- a/dimos/memory2/tf.py
+++ b/dimos/memory/tf.py
@@ -19,7 +19,7 @@
 import math
 from typing import TYPE_CHECKING, Any, cast
 
-from dimos.memory2.stream import Stream
+from dimos.memory.stream import Stream
 from dimos.msgs.tf2_msgs.TFMessage import TFMessage
 from dimos.protocol.tf.tf import MultiTBuffer
 
diff --git a/dimos/memory2/tool_e2e.py b/dimos/memory/tool_e2e.py
similarity index 96%
rename from dimos/memory2/tool_e2e.py
rename to dimos/memory/tool_e2e.py
index b79b051f6c..a3d3ffa676 100644
--- a/dimos/memory2/tool_e2e.py
+++ b/dimos/memory/tool_e2e.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""E2E test: import legacy pickle replays into memory2 SqliteStore."""
+"""E2E test: import legacy pickle replays into memory SqliteStore."""
 
 from __future__ import annotations
 
@@ -21,9 +21,9 @@
 
 import pytest
 
-from dimos.memory2.embed import EmbedImages
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.transform import QualityWindow
+from dimos.memory.embed import EmbedImages
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.transform import QualityWindow
 from dimos.models.embedding.clip import CLIPModel
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
@@ -88,9 +88,9 @@ def lidar_replay() -> LegacyPickleStore[PointCloud2]:
 
 
 class TestImportReplay:
-    """Import legacy pickle replay data into a memory2 SqliteStore.
+    """Import legacy pickle replay data into a memory SqliteStore.
 
-    Lidar/odom are trimmed to start at video's first ts. The Memory2ReplayAdapter
+    Lidar/odom are trimmed to start at video's first ts. The MemoryReplayAdapter
     scheduler anchors each stream to its own first_ts on subscribe, so aligning
     first_ts across streams keeps replay synchronized.
     """
@@ -266,7 +266,7 @@ def test_order_by_desc(self, session: SqliteStore) -> None:
 
     def test_lazy_data_loads_correctly(self, session: SqliteStore) -> None:
         """Verify lazy blob loading returns valid Image data."""
-        from dimos.memory2.type.observation import _Unloaded
+        from dimos.memory.type.observation import _Unloaded
 
         video = session.stream("color_image", Image)
         obs = next(iter(video.limit(1)))
diff --git a/dimos/memory2/tool_module.py b/dimos/memory/tool_module.py
similarity index 95%
rename from dimos/memory2/tool_module.py
rename to dimos/memory/tool_module.py
index dbde0cfe02..32006e9f93 100644
--- a/dimos/memory2/tool_module.py
+++ b/dimos/memory/tool_module.py
@@ -26,8 +26,8 @@
 from reactivex.scheduler import ThreadPoolScheduler
 
 from dimos.core.transport import pLCMTransport
-from dimos.memory2.module import StreamModule
-from dimos.memory2.test_module import module_cases
+from dimos.memory.module import StreamModule
+from dimos.memory.test_module import module_cases
 
 
 def _reset_thread_pool() -> None:
diff --git a/dimos/memory2/tool_visualizer.py b/dimos/memory/tool_visualizer.py
similarity index 98%
rename from dimos/memory2/tool_visualizer.py
rename to dimos/memory/tool_visualizer.py
index 204b472926..399abb7121 100644
--- a/dimos/memory2/tool_visualizer.py
+++ b/dimos/memory/tool_visualizer.py
@@ -21,8 +21,8 @@
 
 import pytest
 
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.transform import Batch, QualityWindow
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.transform import Batch, QualityWindow
 from dimos.models.embedding.clip import CLIPModel
 from dimos.models.vl.florence import Florence2Model
 from dimos.models.vl.moondream import MoondreamVlModel
diff --git a/dimos/memory2/tool_voxel_map.py b/dimos/memory/tool_voxel_map.py
similarity index 97%
rename from dimos/memory2/tool_voxel_map.py
rename to dimos/memory/tool_voxel_map.py
index 70f7a778ac..90b992be10 100644
--- a/dimos/memory2/tool_voxel_map.py
+++ b/dimos/memory/tool_voxel_map.py
@@ -20,7 +20,7 @@
 import pytest
 
 from dimos.mapping.voxels.module import VoxelMapTransformer
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.store.sqlite import SqliteStore
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.utils.data import get_data
 
diff --git a/dimos/memory2/transform.py b/dimos/memory/transform.py
similarity index 99%
rename from dimos/memory2/transform.py
rename to dimos/memory/transform.py
index 328c1de647..2f23ec7859 100644
--- a/dimos/memory2/transform.py
+++ b/dimos/memory/transform.py
@@ -21,13 +21,13 @@
 import time
 from typing import TYPE_CHECKING, Any, Generic, Literal, TypeVar, cast
 
-from dimos.memory2.utils.formatting import FilterRepr
+from dimos.memory.utils.formatting import FilterRepr
 
 if TYPE_CHECKING:
     from collections.abc import Callable, Iterator, Sequence
 
-    from dimos.memory2.stream import Stream
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.stream import Stream
+    from dimos.memory.type.observation import Observation
 
 T = TypeVar("T")
 R = TypeVar("R")
diff --git a/dimos/memory2/type/filter.py b/dimos/memory/type/filter.py
similarity index 98%
rename from dimos/memory2/type/filter.py
rename to dimos/memory/type/filter.py
index 1250c4c31f..37229571f5 100644
--- a/dimos/memory2/type/filter.py
+++ b/dimos/memory/type/filter.py
@@ -24,8 +24,8 @@
 if TYPE_CHECKING:
     from collections.abc import Callable, Iterator
 
-    from dimos.memory2.buffer import BackpressureBuffer
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.buffer import BackpressureBuffer
+    from dimos.memory.type.observation import Observation
     from dimos.models.embedding.base import Embedding
 
 
diff --git a/dimos/memory2/type/observation.py b/dimos/memory/type/observation.py
similarity index 100%
rename from dimos/memory2/type/observation.py
rename to dimos/memory/type/observation.py
diff --git a/dimos/memory2/utils/formatting.py b/dimos/memory/utils/formatting.py
similarity index 100%
rename from dimos/memory2/utils/formatting.py
rename to dimos/memory/utils/formatting.py
diff --git a/dimos/memory2/utils/progress.py b/dimos/memory/utils/progress.py
similarity index 98%
rename from dimos/memory2/utils/progress.py
rename to dimos/memory/utils/progress.py
index 05f1256ac1..5e05f0cf5a 100644
--- a/dimos/memory2/utils/progress.py
+++ b/dimos/memory/utils/progress.py
@@ -35,7 +35,7 @@
 if TYPE_CHECKING:
     from collections.abc import Iterator
 
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
 
 _REFRESH_S = 0.1  # refresh cap; keeps 200 Hz streams from redrawing per frame
 
diff --git a/dimos/memory2/utils/sqlite.py b/dimos/memory/utils/sqlite.py
similarity index 100%
rename from dimos/memory2/utils/sqlite.py
rename to dimos/memory/utils/sqlite.py
diff --git a/dimos/memory2/utils/test_progress.py b/dimos/memory/utils/test_progress.py
similarity index 95%
rename from dimos/memory2/utils/test_progress.py
rename to dimos/memory/utils/test_progress.py
index 309ca71408..78fa6b4a97 100644
--- a/dimos/memory2/utils/test_progress.py
+++ b/dimos/memory/utils/test_progress.py
@@ -18,8 +18,8 @@
 
 import pytest
 
-from dimos.memory2.type.observation import Observation
-from dimos.memory2.utils.progress import progress
+from dimos.memory.type.observation import Observation
+from dimos.memory.utils.progress import progress
 
 
 def _obs(ts: float) -> Observation[None]:
diff --git a/dimos/memory2/utils/validation.py b/dimos/memory/utils/validation.py
similarity index 100%
rename from dimos/memory2/utils/validation.py
rename to dimos/memory/utils/validation.py
diff --git a/dimos/memory2/vectorstore/base.py b/dimos/memory/vectorstore/base.py
similarity index 98%
rename from dimos/memory2/vectorstore/base.py
rename to dimos/memory/vectorstore/base.py
index d76daaa5be..d546cb2a36 100644
--- a/dimos/memory2/vectorstore/base.py
+++ b/dimos/memory/vectorstore/base.py
@@ -18,7 +18,7 @@
 from typing import TYPE_CHECKING, Any
 
 from dimos.core.resource import CompositeResource
-from dimos.memory2.registry import qual
+from dimos.memory.registry import qual
 from dimos.protocol.service.spec import BaseConfig, Configurable
 
 if TYPE_CHECKING:
diff --git a/dimos/memory2/vectorstore/memory.py b/dimos/memory/vectorstore/memory.py
similarity index 96%
rename from dimos/memory2/vectorstore/memory.py
rename to dimos/memory/vectorstore/memory.py
index 5d3d5c5d6b..3269110854 100644
--- a/dimos/memory2/vectorstore/memory.py
+++ b/dimos/memory/vectorstore/memory.py
@@ -16,7 +16,7 @@
 
 from typing import TYPE_CHECKING, Any
 
-from dimos.memory2.vectorstore.base import VectorStore, VectorStoreConfig
+from dimos.memory.vectorstore.base import VectorStore, VectorStoreConfig
 
 if TYPE_CHECKING:
     from dimos.models.embedding.base import Embedding
diff --git a/dimos/memory2/vectorstore/sqlite.py b/dimos/memory/vectorstore/sqlite.py
similarity index 95%
rename from dimos/memory2/vectorstore/sqlite.py
rename to dimos/memory/vectorstore/sqlite.py
index bb5e9d200e..36e51fc563 100644
--- a/dimos/memory2/vectorstore/sqlite.py
+++ b/dimos/memory/vectorstore/sqlite.py
@@ -20,9 +20,9 @@
 
 from pydantic import Field, model_validator
 
-from dimos.memory2.utils.sqlite import open_disposable_sqlite_connection
-from dimos.memory2.utils.validation import validate_identifier
-from dimos.memory2.vectorstore.base import VectorStore, VectorStoreConfig
+from dimos.memory.utils.sqlite import open_disposable_sqlite_connection
+from dimos.memory.utils.validation import validate_identifier
+from dimos.memory.vectorstore.base import VectorStore, VectorStoreConfig
 
 if TYPE_CHECKING:
     from dimos.models.embedding.base import Embedding
diff --git a/dimos/memory2/vis/color.py b/dimos/memory/vis/color.py
similarity index 99%
rename from dimos/memory2/vis/color.py
rename to dimos/memory/vis/color.py
index c1897f4ccf..b4781ff851 100644
--- a/dimos/memory2/vis/color.py
+++ b/dimos/memory/vis/color.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Color type and utilities for memory2 visualization.
+"""Color type and utilities for memory visualization.
 
 Canonical storage is RGBA float 0-1 (matplotlib-native, easy to blend). All
 consumers convert at the boundary:
diff --git a/dimos/memory2/vis/plot/elements.py b/dimos/memory/vis/plot/elements.py
similarity index 100%
rename from dimos/memory2/vis/plot/elements.py
rename to dimos/memory/vis/plot/elements.py
diff --git a/dimos/memory2/vis/plot/plot.py b/dimos/memory/vis/plot/plot.py
similarity index 89%
rename from dimos/memory2/vis/plot/plot.py
rename to dimos/memory/vis/plot/plot.py
index 082b147125..08a6d4a5f0 100644
--- a/dimos/memory2/vis/plot/plot.py
+++ b/dimos/memory/vis/plot/plot.py
@@ -12,14 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Plot: 2D chart builder for memory2 visualization."""
+"""Plot: 2D chart builder for memory visualization."""
 
 from __future__ import annotations
 
 from enum import Enum
 from typing import Any
 
-from dimos.memory2.vis.plot.elements import HLine, Markers, PlotElement, Series, VLine
+from dimos.memory.vis.plot.elements import HLine, Markers, PlotElement, Series, VLine
 
 
 class TimeAxis(str, Enum):
@@ -50,8 +50,8 @@ def __init__(self, time_axis: TimeAxis = TimeAxis.relative) -> None:
 
     def add(self, element: Any, **kwargs: Any) -> Plot:
         """Add a plot element with smart dispatch."""
-        from dimos.memory2.stream import Stream
-        from dimos.memory2.type.observation import Observation
+        from dimos.memory.stream import Stream
+        from dimos.memory.type.observation import Observation
 
         if isinstance(element, (Series, Markers, HLine, VLine)):
             self._elements.append(element)
@@ -82,8 +82,8 @@ def _add_from_observations(self, obs_list: list[Any], **kwargs: Any) -> None:
 
     def to_svg(self, path: str | None = None) -> str:
         """Render to SVG string. Optionally write to file."""
-        from dimos.memory2.vis.color import resolve_deferred
-        from dimos.memory2.vis.plot.svg import render
+        from dimos.memory.vis.color import resolve_deferred
+        from dimos.memory.vis.plot.svg import render
 
         resolve_deferred(self._elements)
         svg = render(self)
@@ -94,8 +94,8 @@ def to_svg(self, path: str | None = None) -> str:
 
     def to_rerun(self, app_id: str = "plot", spawn: bool = True) -> None:
         """Render to Rerun viewer (placeholder — currently a no-op)."""
-        from dimos.memory2.vis.color import resolve_deferred
-        from dimos.memory2.vis.plot.rerun import render
+        from dimos.memory.vis.color import resolve_deferred
+        from dimos.memory.vis.plot.rerun import render
 
         resolve_deferred(self._elements)
         render(self, app_id=app_id, spawn=spawn)
diff --git a/dimos/memory2/vis/plot/rerun.py b/dimos/memory/vis/plot/rerun.py
similarity index 94%
rename from dimos/memory2/vis/plot/rerun.py
rename to dimos/memory/vis/plot/rerun.py
index e5ce9365ab..2a013a7f9d 100644
--- a/dimos/memory2/vis/plot/rerun.py
+++ b/dimos/memory/vis/plot/rerun.py
@@ -19,7 +19,7 @@
 from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
-    from dimos.memory2.vis.plot.plot import Plot
+    from dimos.memory.vis.plot.plot import Plot
 
 
 def render(plot: Plot, app_id: str = "plot", spawn: bool = True) -> None:
diff --git a/dimos/memory2/vis/plot/svg.py b/dimos/memory/vis/plot/svg.py
similarity index 97%
rename from dimos/memory2/vis/plot/svg.py
rename to dimos/memory/vis/plot/svg.py
index 206596b05a..ad40a0c100 100644
--- a/dimos/memory2/vis/plot/svg.py
+++ b/dimos/memory/vis/plot/svg.py
@@ -22,12 +22,12 @@
 import matplotlib
 import matplotlib.pyplot as plt
 
-from dimos.memory2.vis.color import Color, palette_iter
-from dimos.memory2.vis.plot.elements import HLine, Markers, Series, VLine
-from dimos.memory2.vis.plot.plot import TimeAxis
+from dimos.memory.vis.color import Color, palette_iter
+from dimos.memory.vis.plot.elements import HLine, Markers, Series, VLine
+from dimos.memory.vis.plot.plot import TimeAxis
 
 if TYPE_CHECKING:
-    from dimos.memory2.vis.plot.plot import Plot
+    from dimos.memory.vis.plot.plot import Plot
 
 matplotlib.use("Agg")
 
diff --git a/dimos/memory2/vis/plot/test_plot.py b/dimos/memory/vis/plot/test_plot.py
similarity index 94%
rename from dimos/memory2/vis/plot/test_plot.py
rename to dimos/memory/vis/plot/test_plot.py
index 12cb979c5a..0de5ffdae9 100644
--- a/dimos/memory2/vis/plot/test_plot.py
+++ b/dimos/memory/vis/plot/test_plot.py
@@ -18,9 +18,9 @@
 
 import pytest
 
-from dimos.memory2.type.observation import Observation
-from dimos.memory2.vis.plot.elements import HLine, Markers, Series, Style, VLine
-from dimos.memory2.vis.plot.plot import Plot, TimeAxis
+from dimos.memory.type.observation import Observation
+from dimos.memory.vis.plot.elements import HLine, Markers, Series, Style, VLine
+from dimos.memory.vis.plot.plot import Plot, TimeAxis
 
 
 class TestPlotAdd:
@@ -168,7 +168,7 @@ def test_series_dotted_style_renders_as_dotted(self):
     def test_series_connect_breaks_on_gap(self):
         # Three samples at t=0, 1, 5. Gap 0→1 is 1s (kept), gap 1→5 is 4s
         # (broken). The renderer should produce SVG without crashing.
-        from dimos.memory2.vis.plot.svg import _break_on_gaps
+        from dimos.memory.vis.plot.svg import _break_on_gaps
 
         ts, values = _break_on_gaps([0.0, 1.0, 5.0], [10.0, 20.0, 30.0], 2.0)
         # The 4s gap should have inserted a NaN between samples 1 and 5.
@@ -185,7 +185,7 @@ def test_series_connect_breaks_on_gap(self):
         assert "<svg" in svg
 
     def test_series_connect_none_keeps_all(self):
-        from dimos.memory2.vis.plot.svg import _break_on_gaps
+        from dimos.memory.vis.plot.svg import _break_on_gaps
 
         ts, values = _break_on_gaps([0.0, 1.0, 5.0], [10.0, 20.0, 30.0], None)
         assert ts == [0.0, 1.0, 5.0]
@@ -193,7 +193,7 @@ def test_series_connect_none_keeps_all(self):
 
     def test_series_gap_fill_zero_creates_valley(self):
         # Drops to zero at the gap boundaries instead of breaking the line.
-        from dimos.memory2.vis.plot.svg import _break_on_gaps
+        from dimos.memory.vis.plot.svg import _break_on_gaps
 
         ts, values = _break_on_gaps([0.0, 1.0, 5.0], [10.0, 20.0, 30.0], 2.0, fill=0.0)
         # At the gap (between t=1 and t=5), inject (1, 0) and (5, 0).
@@ -201,14 +201,14 @@ def test_series_gap_fill_zero_creates_valley(self):
         assert values == [10.0, 20.0, 0.0, 0.0, 30.0]
 
     def test_series_gap_fill_arbitrary_value(self):
-        from dimos.memory2.vis.plot.svg import _break_on_gaps
+        from dimos.memory.vis.plot.svg import _break_on_gaps
 
         ts, values = _break_on_gaps([0.0, 1.0, 5.0], [10.0, 20.0, 30.0], 2.0, fill=42.0)
         assert ts == [0.0, 1.0, 1.0, 5.0, 5.0]
         assert values == [10.0, 20.0, 42.0, 42.0, 30.0]
 
     def test_vline_renders(self):
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         p = Plot()
         p.add(Series(ts=[0, 1, 2], values=[0, 1, 2]))
@@ -282,7 +282,7 @@ def test_explicit_color_excluded_from_auto_cycle(self):
         # If the user pins a Series to color.red, the auto-cycle for the next
         # series should skip red and yield yellow (the third color) instead
         # of red — otherwise we'd get two red lines.
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         p = Plot()
         p.add(Series(ts=[0, 1], values=[0, 1]))  # auto → blue (first)
@@ -320,7 +320,7 @@ class TestPalette:
     """The named palette and palette_iter live in vis/color.py."""
 
     def test_named_constants_exist(self):
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         assert color.blue == "#3498db"
         assert color.red == "#e74c3c"
@@ -331,13 +331,13 @@ def test_named_constants_exist(self):
         assert color.PALETTE[6] == color.green
 
     def test_palette_iter_yields_palette_first(self):
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         it = color.palette_iter()
         assert [next(it) for _ in range(12)] == color.PALETTE
 
     def test_palette_iter_continues_past_palette(self):
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         it = color.palette_iter()
         first_thirteen = [next(it) for _ in range(13)]
@@ -346,7 +346,7 @@ def test_palette_iter_continues_past_palette(self):
         assert first_thirteen[12] not in color.PALETTE
 
     def test_palette_iter_excludes(self):
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         it = color.palette_iter(exclude={color.red, color.yellow})
         first_three = [next(it) for _ in range(3)]
diff --git a/dimos/memory2/vis/space/elements.py b/dimos/memory/vis/space/elements.py
similarity index 97%
rename from dimos/memory2/vis/space/elements.py
rename to dimos/memory/vis/space/elements.py
index b181551cb3..2c4f052f63 100644
--- a/dimos/memory2/vis/space/elements.py
+++ b/dimos/memory/vis/space/elements.py
@@ -27,12 +27,12 @@
 from dataclasses import dataclass
 from typing import TYPE_CHECKING, Any, Union
 
-from dimos.memory2.vis.color import Color, DeferredColor
+from dimos.memory.vis.color import Color, DeferredColor
 
 ColorLike = Union[str, Color, DeferredColor]
 
 if TYPE_CHECKING:
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
     from dimos.msgs.geometry_msgs.Point import Point as GeoPoint
     from dimos.msgs.geometry_msgs.Pose import Pose as GeoPose
     from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
diff --git a/dimos/memory2/vis/space/rerun.py b/dimos/memory/vis/space/rerun.py
similarity index 97%
rename from dimos/memory2/vis/space/rerun.py
rename to dimos/memory/vis/space/rerun.py
index 1929ecef71..0242774dc3 100644
--- a/dimos/memory2/vis/space/rerun.py
+++ b/dimos/memory/vis/space/rerun.py
@@ -19,9 +19,9 @@
 import math
 from typing import TYPE_CHECKING, Any
 
-from dimos.memory2.type.observation import Observation
-from dimos.memory2.vis.color import Color
-from dimos.memory2.vis.space.elements import Arrow, Box3D, Camera, Point, Polyline, Pose, Text
+from dimos.memory.type.observation import Observation
+from dimos.memory.vis.color import Color
+from dimos.memory.vis.space.elements import Arrow, Box3D, Camera, Point, Polyline, Pose, Text
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -29,7 +29,7 @@
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
 if TYPE_CHECKING:
-    from dimos.memory2.vis.space.space import Space
+    from dimos.memory.vis.space.space import Space
 
 
 def _rgba(el: Any) -> tuple[int, int, int, int]:
diff --git a/dimos/memory2/vis/space/space.py b/dimos/memory/vis/space/space.py
similarity index 95%
rename from dimos/memory2/vis/space/space.py
rename to dimos/memory/vis/space/space.py
index cf7d8be0b3..65afe7d0ef 100644
--- a/dimos/memory2/vis/space/space.py
+++ b/dimos/memory/vis/space/space.py
@@ -23,9 +23,9 @@
 
 from typing import Any
 
-from dimos.memory2.type.observation import EmbeddedObservation, Observation
-from dimos.memory2.vis.color import ColorRange, resolve_deferred
-from dimos.memory2.vis.space.elements import (
+from dimos.memory.type.observation import EmbeddedObservation, Observation
+from dimos.memory.vis.color import ColorRange, resolve_deferred
+from dimos.memory.vis.space.elements import (
     Arrow,
     Box3D,
     Camera,
@@ -153,7 +153,7 @@ def base_map(self, grid: OccupancyGrid) -> Space:
 
     def to_svg(self, path: str | None = None) -> str:
         """Render to SVG string. Optionally write to file."""
-        from dimos.memory2.vis.space.svg import render
+        from dimos.memory.vis.space.svg import render
 
         resolve_deferred(self._elements)
         svg = render(self)
@@ -164,7 +164,7 @@ def to_svg(self, path: str | None = None) -> str:
 
     def to_rerun(self, app_id: str = "space", spawn: bool = True) -> None:
         """Render to Rerun viewer."""
-        from dimos.memory2.vis.space.rerun import render
+        from dimos.memory.vis.space.rerun import render
 
         resolve_deferred(self._elements)
         render(self, app_id=app_id, spawn=spawn)
diff --git a/dimos/memory2/vis/space/svg.py b/dimos/memory/vis/space/svg.py
similarity index 98%
rename from dimos/memory2/vis/space/svg.py
rename to dimos/memory/vis/space/svg.py
index f95119973b..2f7644a537 100644
--- a/dimos/memory2/vis/space/svg.py
+++ b/dimos/memory/vis/space/svg.py
@@ -32,9 +32,9 @@
 from PIL import Image as PILImage
 
 from dimos.mapping.occupancy.visualizations import generate_rgba_texture
-from dimos.memory2.type.observation import Observation
-from dimos.memory2.vis.color import Color
-from dimos.memory2.vis.space.elements import (
+from dimos.memory.type.observation import Observation
+from dimos.memory.vis.color import Color
+from dimos.memory.vis.space.elements import (
     Arrow,
     Box3D,
     Camera,
@@ -48,7 +48,7 @@
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
 if TYPE_CHECKING:
-    from dimos.memory2.vis.space.space import Space
+    from dimos.memory.vis.space.space import Space
 
 
 @dataclass
diff --git a/dimos/memory2/vis/space/test_space.py b/dimos/memory/vis/space/test_space.py
similarity index 96%
rename from dimos/memory2/vis/space/test_space.py
rename to dimos/memory/vis/space/test_space.py
index 5ae86af443..8f09e0e21e 100644
--- a/dimos/memory2/vis/space/test_space.py
+++ b/dimos/memory/vis/space/test_space.py
@@ -17,9 +17,9 @@
 import numpy as np
 import pytest
 
-from dimos.memory2.type.observation import EmbeddedObservation, Observation
-from dimos.memory2.vis.space.elements import Arrow, Box3D, Camera, Point, Polyline, Pose, Text
-from dimos.memory2.vis.space.space import Space
+from dimos.memory.type.observation import EmbeddedObservation, Observation
+from dimos.memory.vis.space.elements import Arrow, Box3D, Camera, Point, Polyline, Pose, Text
+from dimos.memory.vis.space.space import Space
 from dimos.msgs.geometry_msgs.Point import Point as GeoPoint
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.nav_msgs.OccupancyGrid import OccupancyGrid
@@ -255,7 +255,7 @@ def test_empty_space(self):
         assert svg.endswith("</svg>")
 
     def test_point_renders_circle(self):
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         s = Space()
         s.add(Point(GeoPoint(3, 4, 0), color="red", label="hi"))
@@ -265,7 +265,7 @@ def test_point_renders_circle(self):
         assert "hi" in svg
 
     def test_pose_renders_polygon(self):
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         s = Space()
         s.add(Pose(PoseStamped(1, 2, 0), color="blue"))
@@ -274,7 +274,7 @@ def test_pose_renders_polygon(self):
         assert color.blue.hex() in svg
 
     def test_arrow_renders_polygon(self):
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         s = Space()
         s.add(Arrow(PoseStamped(0, 0, 0, 0, 0, 0.38, 0.92), color="orange"))
@@ -311,7 +311,7 @@ def test_text_renders(self):
         assert "hello &lt;world&gt;" in svg
 
     def test_camera_without_info_renders_dot(self):
-        from dimos.memory2.vis import color
+        from dimos.memory.vis import color
 
         s = Space()
         s.add(Camera(pose=PoseStamped(1, 2, 0), color="purple"))
diff --git a/dimos/memory2/vis/utils.py b/dimos/memory/vis/utils.py
similarity index 97%
rename from dimos/memory2/vis/utils.py
rename to dimos/memory/vis/utils.py
index f1db33daa2..443b371c5d 100644
--- a/dimos/memory2/vis/utils.py
+++ b/dimos/memory/vis/utils.py
@@ -20,7 +20,7 @@
 
 import numpy as np
 
-from dimos.memory2.type.observation import EmbeddedObservation, Observation
+from dimos.memory.type.observation import EmbeddedObservation, Observation
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat
 from dimos.perception.detection.type.detection2d.base import Detection2D
 from dimos.perception.detection.type.detection2d.imageDetections2D import ImageDetections2D
diff --git a/dimos/navigation/cmu_nav/modules/nav_record/nav_record.py b/dimos/navigation/cmu_nav/modules/nav_record/nav_record.py
index e7a6db4870..a655d09158 100644
--- a/dimos/navigation/cmu_nav/modules/nav_record/nav_record.py
+++ b/dimos/navigation/cmu_nav/modules/nav_record/nav_record.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""NavRecord: records all nav stack streams to a memory2 SQLite database."""
+"""NavRecord: records all nav stack streams to a memory SQLite database."""
 
 from __future__ import annotations
 
@@ -20,7 +20,7 @@
 
 from dimos.core.core import rpc
 from dimos.core.stream import In
-from dimos.memory2.module import Recorder, RecorderConfig
+from dimos.memory.module import Recorder, RecorderConfig
 from dimos.msgs.geometry_msgs.PointStamped import PointStamped
 from dimos.msgs.geometry_msgs.Twist import Twist
 from dimos.msgs.nav_msgs.Odometry import Odometry
@@ -35,7 +35,7 @@ class NavRecordConfig(RecorderConfig):
 
 
 class NavRecord(Recorder):
-    """Records nav stack outputs to SQLite via memory2 (only connected streams are recorded)."""
+    """Records nav stack outputs to SQLite via memory (only connected streams are recorded)."""
 
     config: NavRecordConfig
 
diff --git a/dimos/navigation/nav_3d/mls_planner/test_transformer.py b/dimos/navigation/nav_3d/mls_planner/test_transformer.py
index 2cd84e03bb..6513de5020 100644
--- a/dimos/navigation/nav_3d/mls_planner/test_transformer.py
+++ b/dimos/navigation/nav_3d/mls_planner/test_transformer.py
@@ -20,7 +20,7 @@
 
 pytest.importorskip("dimos_mls_planner")
 
-from dimos.memory2.type.observation import Observation
+from dimos.memory.type.observation import Observation
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.navigation.nav_3d.mls_planner.transformer import MLSPlan
 
diff --git a/dimos/navigation/nav_3d/mls_planner/transformer.py b/dimos/navigation/nav_3d/mls_planner/transformer.py
index 1a52f1b183..411f24752a 100644
--- a/dimos/navigation/nav_3d/mls_planner/transformer.py
+++ b/dimos/navigation/nav_3d/mls_planner/transformer.py
@@ -17,7 +17,7 @@
 import time
 from typing import TYPE_CHECKING, Any
 
-from dimos.memory2.transform import Transformer
+from dimos.memory.transform import Transformer
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.nav_msgs.Path import Path
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
@@ -30,7 +30,7 @@
     import numpy as np
     from numpy.typing import NDArray
 
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
 
 logger = setup_logger()
 
diff --git a/dimos/navigation/nav_3d/mls_planner/utils/plan_rrd.py b/dimos/navigation/nav_3d/mls_planner/utils/plan_rrd.py
index ffea4626b9..396ffc93e7 100644
--- a/dimos/navigation/nav_3d/mls_planner/utils/plan_rrd.py
+++ b/dimos/navigation/nav_3d/mls_planner/utils/plan_rrd.py
@@ -28,10 +28,10 @@
 import typer
 
 from dimos.mapping.ray_tracing.transformer import RayTraceMap
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.tf import StreamTF
-from dimos.memory2.transform import FnTransformer
-from dimos.memory2.type.observation import Observation
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.tf import StreamTF
+from dimos.memory.transform import FnTransformer
+from dimos.memory.type.observation import Observation
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
diff --git a/dimos/perception/detection/project.py b/dimos/perception/detection/project.py
index f664eac92a..0ea57730bf 100644
--- a/dimos/perception/detection/project.py
+++ b/dimos/perception/detection/project.py
@@ -20,7 +20,7 @@
 
 import numpy as np
 
-from dimos.memory2.transform import Transformer
+from dimos.memory.transform import Transformer
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.perception.detection.type.detection3d.imageDetections3DPC import ImageDetections3DPC
 
@@ -29,7 +29,7 @@
 
     from dimos_lcm.sensor_msgs import CameraInfo
 
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
     from dimos.msgs.sensor_msgs.Image import Image
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
     from dimos.perception.detection.type.detection2d.imageDetections2D import ImageDetections2D
diff --git a/dimos/perception/fiducial/marker_detection_stream_module.py b/dimos/perception/fiducial/marker_detection_stream_module.py
index efe118a0e3..e200326c75 100644
--- a/dimos/perception/fiducial/marker_detection_stream_module.py
+++ b/dimos/perception/fiducial/marker_detection_stream_module.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Live marker detection as a memory2 StreamModule.
+"""Live marker detection as a memory StreamModule.
 
 The module keeps the same transform chain used by offline marker tooling:
 quality-gated images, optional motion gating, marker fan-out, then one
@@ -30,10 +30,10 @@
 from dimos.core.core import rpc
 from dimos.core.module import Module, ModuleConfig
 from dimos.core.stream import In, Out
-from dimos.memory2.module import StreamModule, stream_to_port
-from dimos.memory2.store.null import NullStore
-from dimos.memory2.stream import Stream
-from dimos.memory2.transform import QualityWindow, SpeedLimit
+from dimos.memory.module import StreamModule, stream_to_port
+from dimos.memory.store.null import NullStore
+from dimos.memory.stream import Stream
+from dimos.memory.transform import QualityWindow, SpeedLimit
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image
 from dimos.msgs.tf2_msgs.TFMessage import TFMessage
diff --git a/dimos/perception/fiducial/marker_transformer.py b/dimos/perception/fiducial/marker_transformer.py
index 16243102de..0a0f7bfd03 100644
--- a/dimos/perception/fiducial/marker_transformer.py
+++ b/dimos/perception/fiducial/marker_transformer.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""ArUco / AprilTag detection as memory2 transforms.
+"""ArUco / AprilTag detection as memory transforms.
 
 Wraps :func:`dimos.perception.fiducial.marker_detect.detect_markers_in_image`
 and emits one :class:`Detection3DMarker` observation per detected marker, with
@@ -36,7 +36,7 @@
 
 import numpy as np
 
-from dimos.memory2.transform import Transformer
+from dimos.memory.transform import Transformer
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
@@ -59,7 +59,7 @@
 if TYPE_CHECKING:
     from collections.abc import Iterator
 
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
 
 logger = setup_logger()
 
diff --git a/dimos/perception/fiducial/test_marker_detection_stream_module.py b/dimos/perception/fiducial/test_marker_detection_stream_module.py
index 746c027da6..59779c5fc2 100644
--- a/dimos/perception/fiducial/test_marker_detection_stream_module.py
+++ b/dimos/perception/fiducial/test_marker_detection_stream_module.py
@@ -19,8 +19,8 @@
 import numpy as np
 import pytest
 
-from dimos.memory2.store.memory import MemoryStore
-from dimos.memory2.type.observation import Observation
+from dimos.memory.store.memory import MemoryStore
+from dimos.memory.type.observation import Observation
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
diff --git a/dimos/perception/fiducial/test_marker_transformer.py b/dimos/perception/fiducial/test_marker_transformer.py
index 6697e67efb..16830e3556 100644
--- a/dimos/perception/fiducial/test_marker_transformer.py
+++ b/dimos/perception/fiducial/test_marker_transformer.py
@@ -15,7 +15,7 @@
 import numpy as np
 import pytest
 
-from dimos.memory2.type.observation import Observation
+from dimos.memory.type.observation import Observation
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat
 from dimos.perception.fiducial.marker_detect import detect_markers_in_image
diff --git a/dimos/perception/memory/tool_localize.py b/dimos/perception/memory/tool_localize.py
index 15e1bec6a2..8f7de3050b 100644
--- a/dimos/perception/memory/tool_localize.py
+++ b/dimos/perception/memory/tool_localize.py
@@ -23,11 +23,11 @@
 
 import numpy as np
 
-from dimos.memory2.embed import EmbedImages
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.tf import StreamTF
-from dimos.memory2.transform import throttle
-from dimos.memory2.utils.progress import progress
+from dimos.memory.embed import EmbedImages
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.tf import StreamTF
+from dimos.memory.transform import throttle
+from dimos.memory.utils.progress import progress
 from dimos.models.embedding.clip import CLIPModel
 from dimos.models.segmentation.edge_tam import EdgeTAMImageSegmenter
 from dimos.models.vl.moondream import MoondreamVlModel
@@ -39,7 +39,7 @@
 parser = argparse.ArgumentParser(description=__doc__)
 parser.add_argument("query", nargs="?", default="plant")
 parser.add_argument("out", nargs="?", default="localize.rrd")
-parser.add_argument("--dataset", type=Path, help="memory2 recording database")
+parser.add_argument("--dataset", type=Path, help="memory recording database")
 parser.add_argument(
     "--from", dest="start", type=float, default=0.0, help="start offset into the recording (s)"
 )
diff --git a/dimos/protocol/tf/test_tf.py b/dimos/protocol/tf/test_tf.py
index 59b329cf2b..b44d99c1f1 100644
--- a/dimos/protocol/tf/test_tf.py
+++ b/dimos/protocol/tf/test_tf.py
@@ -21,9 +21,9 @@
 import pytest
 
 from dimos.core.transport_factory import make_transport
-from dimos.memory2.store.memory import MemoryStore
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.tf import StreamTF
+from dimos.memory.store.memory import MemoryStore
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.tf import StreamTF
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
@@ -640,7 +640,7 @@ def _t(parent: str, child: str, x: float, ts: float) -> Transform:
         "live",
         "stream_memory",
         # sqlite-vec ships a 32-bit binary in the aarch64 wheel and fails to
-        # load on macOS CI (same guard as memory2/conftest.py).
+        # load on macOS CI (same guard as memory/conftest.py).
         pytest.param("stream_sqlite", marks=[pytest.mark.skipif_aarch64, pytest.mark.skipif_macos]),
     ]
 )
diff --git a/dimos/protocol/tf/tf.py b/dimos/protocol/tf/tf.py
index 2b0309e52e..4ddafbd050 100644
--- a/dimos/protocol/tf/tf.py
+++ b/dimos/protocol/tf/tf.py
@@ -38,7 +38,7 @@ class TFLookup(Protocol):
     """Read side of a tf buffer: resolve ``parent ← child`` at a time point.
 
     Satisfied by the live buffers (:class:`MultiTBuffer`, :class:`TF`) and by
-    replay backends like ``dimos.memory2.tf.StreamTF``. Code that only queries
+    replay backends like ``dimos.memory.tf.StreamTF``. Code that only queries
     transforms should accept this instead of a concrete implementation.
     """
 
diff --git a/dimos/robot/all_blueprints.py b/dimos/robot/all_blueprints.py
index 58b941ae79..cc22e318ce 100644
--- a/dimos/robot/all_blueprints.py
+++ b/dimos/robot/all_blueprints.py
@@ -232,7 +232,7 @@
     "marker-tf-module": "dimos.perception.fiducial.marker_tf_module.MarkerTfModule",
     "mcp-client": "dimos.agents.mcp.mcp_client.McpClient",
     "mcp-server": "dimos.agents.mcp.mcp_server.McpServer",
-    "memory-module": "dimos.memory2.module.MemoryModule",
+    "memory-module": "dimos.memory.module.MemoryModule",
     "mid360-pcap-recorder": "dimos.hardware.sensors.lidar.virtual_mid360.recorder.Mid360PcapRecorder",
     "mid360-realsense-recorder": "dimos.robot.assembly.mid360_realsense_30.Mid360RealsenseRecorder",
     "mid360-realsense-static-tf": "dimos.robot.assembly.mid360_realsense_30.Mid360RealsenseStaticTf",
@@ -265,7 +265,7 @@
     "ray-tracing-voxel-map": "dimos.mapping.ray_tracing.module.RayTracingVoxelMap",
     "real-sense-camera": "dimos.hardware.sensors.camera.realsense.camera.RealSenseCamera",
     "receiver-module": "dimos.utils.demo_image_encoding.ReceiverModule",
-    "recorder": "dimos.memory2.module.Recorder",
+    "recorder": "dimos.memory.module.Recorder",
     "reid-module": "dimos.perception.detection.reid.module.ReidModule",
     "relay-bridge-module": "dimos.web.relay_bridge.relay_bridge_module.RelayBridgeModule",
     "relocalization-module": "dimos.mapping.relocalization.module.RelocalizationModule",
@@ -273,7 +273,7 @@
     "rerun-bridge-module": "dimos.visualization.rerun.bridge.RerunBridgeModule",
     "rerun-web-socket-server": "dimos.visualization.rerun.websocket_server.RerunWebSocketServer",
     "security-module": "dimos.experimental.security_demo.security_module.SecurityModule",
-    "semantic-search": "dimos.memory2.module.SemanticSearch",
+    "semantic-search": "dimos.memory.module.SemanticSearch",
     "simple-phone-teleop": "dimos.teleop.phone.phone_extensions.SimplePhoneTeleop",
     "simple-planner": "dimos.navigation.cmu_nav.modules.simple_planner.simple_planner.SimplePlanner",
     "spatial-memory": "dimos.perception.experimental.spatial_perception.SpatialMemory",
diff --git a/dimos/robot/assembly/mid360_realsense_30.py b/dimos/robot/assembly/mid360_realsense_30.py
index bc884a04a5..3a22c6e397 100644
--- a/dimos/robot/assembly/mid360_realsense_30.py
+++ b/dimos/robot/assembly/mid360_realsense_30.py
@@ -15,12 +15,12 @@
 """The RealSense D435i + Mid-360 rig: static mount frames, recorder, record blueprints.
 
 A single physical sensor assembly described in one place: the mount geometry published
-onto tf (:class:`Mid360RealsenseStaticTf`), the memory2 recorder
+onto tf (:class:`Mid360RealsenseStaticTf`), the memory recorder
 (:class:`Mid360RealsenseRecorder`), and the record blueprints that wire them to the
 live sensors.
 
 Point-LIO odom+lidar and the RealSense color/depth/pointcloud streams are recorded into
-a memory2 db, with the rig's mount frames published continuously onto tf. Two variants:
+a memory db, with the rig's mount frames published continuously onto tf. Two variants:
 ``mid360_realsense_record`` (db only) and ``mid360_realsense_record_with_pcap`` (also
 captures a raw .pcap of the Mid-360 UDP stream).
 
@@ -126,7 +126,7 @@ def transforms(self) -> list[Transform]:
 
 
 class Mid360RealsenseRecorder(PointlioRecorder):
-    """Records Point-LIO odom+lidar plus the RealSense streams into a memory2 db.
+    """Records Point-LIO odom+lidar plus the RealSense streams into a memory db.
 
     Trajectory is baked into ``pointlio_lidar`` via the inherited ``@pose_setter_for``.
     The raw Livox stream is NOT recorded here — enable the pcap recorder in the record
diff --git a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_mid360_record.py b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_mid360_record.py
index 92b84714e6..500d0093a1 100644
--- a/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_mid360_record.py
+++ b/dimos/robot/unitree/go2/blueprints/basic/unitree_go2_mid360_record.py
@@ -16,7 +16,7 @@
 """Drive-and-record blueprint for the Go2 + Mid-360 rig.
 
 Pygame WASD teleop drives the dog while Point-LIO odom+lidar, the Go2's lidar/odom,
-and the front camera are recorded into a memory2 db. The Go2/Mid-360 mount frames are
+and the front camera are recorded into a memory db. The Go2/Mid-360 mount frames are
 published continuously onto tf so they're captured in the recording. Raw Livox capture
 is opt-in: set ``RECORD_PCAP=1`` to also record a .pcap of the Mid-360 UDP stream.
 
diff --git a/dimos/robot/unitree/go2/blueprints/navigation/unitree_go2_nav_3d.py b/dimos/robot/unitree/go2/blueprints/navigation/unitree_go2_nav_3d.py
index 2c03b51142..d8ca4a0f4b 100644
--- a/dimos/robot/unitree/go2/blueprints/navigation/unitree_go2_nav_3d.py
+++ b/dimos/robot/unitree/go2/blueprints/navigation/unitree_go2_nav_3d.py
@@ -28,7 +28,7 @@
 from dimos.hardware.sensors.lidar.pointlio.recorder import PointlioRecorder
 from dimos.hardware.sensors.lidar.virtual_mid360.recorder import Mid360PcapRecorder
 from dimos.mapping.ray_tracing.module import RayTracingVoxelMap
-from dimos.memory2.module import pose_setter_for
+from dimos.memory.module import pose_setter_for
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 from dimos.navigation.basic_path_follower.module import BasicPathFollower
diff --git a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py
index 4e41e0e675..308071f16c 100644
--- a/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py
+++ b/dimos/robot/unitree/go2/blueprints/smart/unitree_go2.py
@@ -21,7 +21,7 @@
 from dimos.mapping.costmapper import CostMapper
 from dimos.mapping.relocalization.module import RelocalizationModule
 from dimos.mapping.voxels.module import VoxelGridMapper
-from dimos.memory2.module import Recorder, RecorderConfig, pose_setter_for
+from dimos.memory.module import Recorder, RecorderConfig, pose_setter_for
 from dimos.msgs.geometry_msgs.Pose import Pose
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.sensor_msgs.Image import Image
diff --git a/dimos/robot/unitree/go2/connection.py b/dimos/robot/unitree/go2/connection.py
index b285273f23..71f134abc4 100644
--- a/dimos/robot/unitree/go2/connection.py
+++ b/dimos/robot/unitree/go2/connection.py
@@ -32,8 +32,8 @@
 from dimos.core.module import Module, ModuleConfig
 from dimos.core.resource import CompositeResource
 from dimos.core.stream import In, Out
-from dimos.memory2.replay import Replay, ReplayStream, resolve_db_path
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.replay import Replay, ReplayStream, resolve_db_path
+from dimos.memory.store.sqlite import SqliteStore
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion
 from dimos.msgs.geometry_msgs.Transform import Transform
diff --git a/dimos/robot/unitree/go2/dds/cli/render.py b/dimos/robot/unitree/go2/dds/cli/render.py
index 5fcf2fcf37..7711e9cf0b 100644
--- a/dimos/robot/unitree/go2/dds/cli/render.py
+++ b/dimos/robot/unitree/go2/dds/cli/render.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Render Go2 odom sources to rerun — memory2 store pipelines (standalone).
+"""Render Go2 odom sources to rerun — memory store pipelines (standalone).
 
 Each *pipeline* is a function ``(store, seconds) -> None`` composed from
 reusable stream transforms over standard dimos messages. ``leg_odom`` logs both
@@ -37,8 +37,8 @@
 import numpy as np
 import typer
 
-from dimos.memory2.transform import throttle
-from dimos.memory2.utils.progress import progress
+from dimos.memory.transform import throttle
+from dimos.memory.utils.progress import progress
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
@@ -51,7 +51,7 @@
 if TYPE_CHECKING:
     from collections.abc import Iterator
 
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
     from dimos.msgs.sensor_msgs.Image import Image
     from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
 
diff --git a/dimos/robot/unitree/go2/dds/codec.py b/dimos/robot/unitree/go2/dds/codec.py
index 0f0262b508..ed645d77e0 100644
--- a/dimos/robot/unitree/go2/dds/codec.py
+++ b/dimos/robot/unitree/go2/dds/codec.py
@@ -18,7 +18,7 @@
 same codec decodes a recorded mcap message and a live DDS sample (both are CDR),
 and its ``encode`` half publishes back to the wire — so this is shared by the
 reader, :class:`~dimos.robot.unitree.go2.dds.store.Go2McapStore`, and (later) a live
-DDS bridge. It is distinct from memory2's storage codecs (pickle/lcm/jpeg);
+DDS bridge. It is distinct from memory's storage codecs (pickle/lcm/jpeg);
 they only coincide when an mcap is opened as a store.
 
 ``GO2_CODECS`` is the Go2 channel set — the default registry today.
diff --git a/dimos/robot/unitree/go2/dds/store.py b/dimos/robot/unitree/go2/dds/store.py
index aeb34615a4..0f62cd3c0c 100644
--- a/dimos/robot/unitree/go2/dds/store.py
+++ b/dimos/robot/unitree/go2/dds/store.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Open a Go2 DDS mcap directly as a read-only memory2 store.
+"""Open a Go2 DDS mcap directly as a read-only memory store.
 
     from dimos.robot.unitree.go2.dds.store import Go2McapStore
 
@@ -21,7 +21,7 @@
     for obs in store.streams.lidar.limit(5):
         print(obs.ts, obs.data)         # obs.data is a dimos PointCloud2
 
-Thin Go2 wiring over the generic :class:`dimos.memory2.store.mcap.McapStore`:
+Thin Go2 wiring over the generic :class:`dimos.memory.store.mcap.McapStore`:
 supplies the Go2 codec set and stream-name map, and resolves the path through
 the repo data dir / LFS.
 """
@@ -30,11 +30,11 @@
 
 from typing import Any
 
-from dimos.memory2.store.mcap import McapStore
+from dimos.memory.store.mcap import McapStore
 from dimos.robot.unitree.go2.dds.codec import GO2_CODECS
 from dimos.utils.data import resolve_named_path
 
-# memory2 stream name -> Go2 DDS topic.
+# memory stream name -> Go2 DDS topic.
 STREAMS: dict[str, str] = {
     "lidar": "rt/utlidar/cloud",
     "lidar_deskewed": "rt/utlidar/cloud_deskewed",
diff --git a/dimos/robot/unitree/go2/dds/test_store.py b/dimos/robot/unitree/go2/dds/test_store.py
index c9cae8e388..296ca56e0a 100644
--- a/dimos/robot/unitree/go2/dds/test_store.py
+++ b/dimos/robot/unitree/go2/dds/test_store.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Open a real Go2 DDS mcap as a memory2 store (LFS-backed).
+"""Open a real Go2 DDS mcap as a memory store (LFS-backed).
 
 One test per message type — each prints a sample and checks the decode.
 """
diff --git a/dimos/robot/unitree/go2/dds/video.py b/dimos/robot/unitree/go2/dds/video.py
index dfd4e9650d..6b76617367 100644
--- a/dimos/robot/unitree/go2/dds/video.py
+++ b/dimos/robot/unitree/go2/dds/video.py
@@ -36,12 +36,12 @@
 from collections.abc import Iterator
 from typing import TYPE_CHECKING, Any
 
-from dimos.memory2.transform import Transformer
+from dimos.memory.transform import Transformer
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat
 from dimos.robot.unitree.go2.dds.msgs.CompressedVideo import CompressedVideo
 
 if TYPE_CHECKING:
-    from dimos.memory2.type.observation import Observation
+    from dimos.memory.type.observation import Observation
 
 
 class H264Decoder(Transformer[CompressedVideo, Image]):
diff --git a/dimos/robot/unitree/go2/go2_mid360_recorder.py b/dimos/robot/unitree/go2/go2_mid360_recorder.py
index e96f229df3..07555df81c 100644
--- a/dimos/robot/unitree/go2/go2_mid360_recorder.py
+++ b/dimos/robot/unitree/go2/go2_mid360_recorder.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Records the Go2 + Mid-360 rig into a memory2 SQLite db.
+"""Records the Go2 + Mid-360 rig into a memory SQLite db.
 
 Captures Point-LIO odom + lidar (trajectory baked into ``pointlio_lidar`` via the
 inherited ``@pose_setter_for``) plus the Go2's companion streams. The raw Livox
diff --git a/dimos/teleop/utils/recorder.py b/dimos/teleop/utils/recorder.py
index 820a7cca63..b1e810c2fd 100644
--- a/dimos/teleop/utils/recorder.py
+++ b/dimos/teleop/utils/recorder.py
@@ -27,8 +27,8 @@
 from dimos.constants import STATE_DIR
 from dimos.core.core import rpc
 from dimos.core.stream import In
-from dimos.memory2.module import Recorder, RecorderConfig
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.module import Recorder, RecorderConfig
+from dimos.memory.store.sqlite import SqliteStore
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
 from dimos.teleop.quest.quest_types import Buttons
diff --git a/dimos/teleop/utils/report.py b/dimos/teleop/utils/report.py
index fd68fbbc1a..a46f6f22a1 100644
--- a/dimos/teleop/utils/report.py
+++ b/dimos/teleop/utils/report.py
@@ -32,7 +32,7 @@
 
 import numpy as np
 
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.store.sqlite import SqliteStore
 from dimos.msgs.geometry_msgs.PoseStamped import PoseStamped
 from dimos.msgs.geometry_msgs.TwistStamped import TwistStamped
 from dimos.teleop.quest.quest_types import Buttons
diff --git a/dimos/utils/testing/replay.py b/dimos/utils/testing/replay.py
index d35818d735..1adf6679b0 100644
--- a/dimos/utils/testing/replay.py
+++ b/dimos/utils/testing/replay.py
@@ -12,16 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Shim layer exposing the legacy ``TimedSensorReplay`` API over memory2.
+"""Shim layer exposing the legacy ``TimedSensorReplay`` API over memory.
 
-``TimedSensorReplay(name, autocast=...)`` opens the memory2 SQLite database at
+``TimedSensorReplay(name, autocast=...)`` opens the memory SQLite database at
 ``{get_data_dir}/{dataset}.db`` and reads the named stream. ``name`` is expected
 to be ``"<dataset>/<stream>"``.
 
 Callers that still need to read from legacy pickle dirs should import
 ``LegacyPickleStore`` directly from ``dimos.utils.testing.legacy_pickle``. The
 write-side (``TimedSensorStorage``/``SensorStorage``) still points at
-``LegacyPickleStore`` — out of scope for the memory2 migration.
+``LegacyPickleStore`` — out of scope for the memory migration.
 """
 
 from __future__ import annotations
@@ -37,7 +37,7 @@
 from reactivex.observable import Observable
 from reactivex.scheduler import TimeoutScheduler
 
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.store.sqlite import SqliteStore
 from dimos.utils.data import get_data
 from dimos.utils.testing.legacy_pickle import LegacyPickleStore
 
@@ -175,8 +175,8 @@ def dispose() -> None:
     return rx.create(subscribe)
 
 
-class Memory2ReplayAdapter(Generic[T]):
-    """Memory2-backed replacement for the legacy ``TimedSensorReplay``.
+class MemoryReplayAdapter(Generic[T]):
+    """Memory-backed replacement for the legacy ``TimedSensorReplay``.
 
     Accepts names shaped like ``"<dataset>/<stream>"`` (e.g.
     ``"go2_bigoffice/lidar"``). ``autocast`` is applied after the codec
@@ -227,7 +227,7 @@ def iterate_ts(
             start_ts = start if start is not None else first_ts
             end = start_ts + duration
 
-        # Time-bound stream using memory2 filters. time_range is inclusive on
+        # Time-bound stream using memory filters. time_range is inclusive on
         # both sides; .after is exclusive. Use time_range with +inf for the
         # inclusive-start semantics legacy callers rely on.
         if start is not None and end is not None:
@@ -285,14 +285,14 @@ def count(self) -> int:
 
     @property
     def files(self) -> list[Path]:
-        """Compat stub — memory2 has no per-frame files."""
+        """Compat stub — memory has no per-frame files."""
         return []
 
     def load_one(self, name: int | str | Path) -> tuple[float, T]:
         """Compat stub — index-based access by offset."""
         if not isinstance(name, int):
             raise TypeError(
-                f"Memory2ReplayAdapter.load_one only supports integer offsets; got {name!r}"
+                f"MemoryReplayAdapter.load_one only supports integer offsets; got {name!r}"
             )
         obs = self._stream.limit(1).offset(int(name)).first()
         return (obs.ts, self._decode(obs))
@@ -314,7 +314,7 @@ def stream(
         )
 
 
-TimedSensorReplay = Memory2ReplayAdapter
+TimedSensorReplay = MemoryReplayAdapter
 
 # Write-side + non-timed read-side stay on legacy pickle.
 SensorReplay = LegacyPickleStore
diff --git a/docs/capabilities/memory/algo_comparison.md b/docs/capabilities/memory/algo_comparison.md
index d2d6f38596..04955b79a2 100644
--- a/docs/capabilities/memory/algo_comparison.md
+++ b/docs/capabilities/memory/algo_comparison.md
@@ -4,11 +4,11 @@ Example on how we can use memory to compare two algos on a real data.
 ```python
 import time
 
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.transform import throttle
-from dimos.memory2.vis import color
-from dimos.memory2.vis.plot.elements import Style
-from dimos.memory2.vis.plot.plot import Plot
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.transform import throttle
+from dimos.memory.vis import color
+from dimos.memory.vis.plot.elements import Style
+from dimos.memory.vis.plot.plot import Plot
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat
 from dimos.utils.data import get_data
 
@@ -95,11 +95,11 @@ Above example loads the same data and iterates it for each plot line, it's a bit
 ```python
 import time
 
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.transform import throttle
-from dimos.memory2.vis import color
-from dimos.memory2.vis.plot.elements import HLine, Series, Style
-from dimos.memory2.vis.plot.plot import Plot
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.transform import throttle
+from dimos.memory.vis import color
+from dimos.memory.vis.plot.elements import HLine, Series, Style
+from dimos.memory.vis.plot.plot import Plot
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat
 from dimos.utils.data import get_data
 
diff --git a/docs/capabilities/memory/demo_rerun.py b/docs/capabilities/memory/demo_rerun.py
index 3b0bcf5536..79db1e714b 100644
--- a/docs/capabilities/memory/demo_rerun.py
+++ b/docs/capabilities/memory/demo_rerun.py
@@ -17,12 +17,12 @@
 
 from dimos.mapping.occupancy.inflation import simple_inflate
 from dimos.mapping.pointclouds.occupancy import general_occupancy
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.transform import normalize, smooth
-from dimos.memory2.vis.color import Color
-from dimos.memory2.vis.space.elements import Point
-from dimos.memory2.vis.space.space import Space
-from dimos.memory2.vis.utils import mosaic
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.transform import normalize, smooth
+from dimos.memory.vis.color import Color
+from dimos.memory.vis.space.elements import Point
+from dimos.memory.vis.space.space import Space
+from dimos.memory.vis.utils import mosaic
 from dimos.models.embedding.clip import CLIPModel
 from dimos.utils.data import get_data
 
diff --git a/docs/capabilities/memory/index.md b/docs/capabilities/memory/index.md
index 2b36c08028..e5cc1646c1 100644
--- a/docs/capabilities/memory/index.md
+++ b/docs/capabilities/memory/index.md
@@ -5,12 +5,12 @@
 import pickle
 from dimos.mapping.pointclouds.occupancy import general_occupancy, simple_occupancy, height_cost_occupancy
 from dimos.mapping.occupancy.inflation import simple_inflate
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.vis.color import Color
-from dimos.memory2.transform import downsample, throttle, speed, smooth
-from dimos.memory2.vis.space.space import Space
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.vis.color import Color
+from dimos.memory.transform import downsample, throttle, speed, smooth
+from dimos.memory.vis.space.space import Space
 from dimos.utils.data import get_data
-from dimos.memory2.vis.space.elements import Point
+from dimos.memory.vis.space.elements import Point
 ```
 
 </details>
@@ -92,8 +92,8 @@ So knowing above, we can create embeddings for the full stream,
 ```python title="Python" session=mem skip
 from dimos.models.embedding.clip import CLIPModel
 from dimos.msgs.sensor_msgs.Image import Image
-from dimos.memory2.transform import QualityWindow
-from dimos.memory2.embed import EmbedImages
+from dimos.memory.transform import QualityWindow
+from dimos.memory.embed import EmbedImages
 
 embedded = store.stream("color_image_embedded", Image)
 clip = CLIPModel()
diff --git a/docs/capabilities/memory/plot.md b/docs/capabilities/memory/plot.md
index 2ee2a3fd82..caae4de586 100644
--- a/docs/capabilities/memory/plot.md
+++ b/docs/capabilities/memory/plot.md
@@ -7,8 +7,8 @@ You add streams, system auto assigns colors
 import math
 import random
 
-from dimos.memory2.vis.plot.elements import Series
-from dimos.memory2.vis.plot.plot import Plot
+from dimos.memory.vis.plot.elements import Series
+from dimos.memory.vis.plot.plot import Plot
 
 rng = random.Random(42)
 xs = [i * 0.1 for i in range(120)]
@@ -33,8 +33,8 @@ the named colors, the auto-cycle excludes it for the remaining series, so
 you never end up with two lines that share a color by accident.
 
 ```python session=plot output=none
-from dimos.memory2.vis import color
-from dimos.memory2.vis.plot.elements import Series, HLine, Style
+from dimos.memory.vis import color
+from dimos.memory.vis.plot.elements import Series, HLine, Style
 
 p = Plot()
 # auto → blue
@@ -55,11 +55,11 @@ p.to_svg("assets/plot_named.svg")
 you can assign different axes to different time series, label them etc
 
 ```python session=robotdata output=none
-from dimos.memory2.store.sqlite import SqliteStore
-from dimos.memory2.transform import smooth, speed, throttle
-from dimos.memory2.vis import color
-from dimos.memory2.vis.plot.elements import Series
-from dimos.memory2.vis.plot.plot import Plot
+from dimos.memory.store.sqlite import SqliteStore
+from dimos.memory.transform import smooth, speed, throttle
+from dimos.memory.vis import color
+from dimos.memory.vis.plot.elements import Series
+from dimos.memory.vis.plot.plot import Plot
 from dimos.utils.data import get_data
 
 store = SqliteStore(path=get_data("go2_bigoffice.db"))
@@ -95,9 +95,9 @@ plot.to_svg("assets/plot_robot_data.svg")
 Let's find some plants!
 
 ```python session=robotdata
-from dimos.memory2.vis.plot.elements import Series, HLine, Style
-from dimos.memory2.vis import color
-from dimos.memory2.transform import normalize, smooth_time
+from dimos.memory.vis.plot.elements import Series, HLine, Style
+from dimos.memory.vis import color
+from dimos.memory.transform import normalize, smooth_time
 
 from dimos.models.embedding.clip import CLIPModel
 clip = CLIPModel()
@@ -200,12 +200,12 @@ Let's auto-detect the peaks, extract images from those moments, and run a 2D det
 
 ```python skip session=robotdata
 from dimos.mapping.voxels.module import VoxelMapTransformer
-from dimos.memory2.vis.space.space import Space
-from dimos.memory2.transform import peaks
-from dimos.memory2.vis.color import ColorRange
-from dimos.memory2.vis.plot.elements import VLine
-from dimos.memory2.vis.utils import mosaic
-from dimos.memory2.stream import Stream
+from dimos.memory.vis.space.space import Space
+from dimos.memory.transform import peaks
+from dimos.memory.vis.color import ColorRange
+from dimos.memory.vis.plot.elements import VLine
+from dimos.memory.vis.utils import mosaic
+from dimos.memory.stream import Stream
 from itertools import chain
 
 semantic_peaks = plantness_query_materialized.transform(peaks(key=lambda obs: obs.similarity, distance=1.0))
@@ -274,7 +274,7 @@ We got 15 peaks back, we ran a detector on all of them so we can start projectin
 Once we put the surviving peaks on the timeline we get two very obvious plants.
 
 ```python skip session=robotdata
-from dimos.memory2.transform import significant
+from dimos.memory.transform import significant
 
 plot = Plot()
 plot.add(
@@ -308,8 +308,8 @@ We'll also pull all lidar frames in their vicinity and reconstruct global maps f
 
 ```python skip session=robotdata
 
-from dimos.memory2.vis.space.elements import Point
-from dimos.memory2.transform import QualityWindow
+from dimos.memory.vis.space.elements import Point
+from dimos.memory.transform import QualityWindow
 
 drawing = Space()
 
@@ -361,7 +361,7 @@ from dimos.robot.unitree.go2.connection import (
     _camera_info_static as go2_camerainfo,
     BASE_TO_OPTICAL,
 )
-from dimos.memory2.vis.space.elements import Box3D
+from dimos.memory.vis.space.elements import Box3D
 from dimos.msgs.geometry_msgs.Pose import Pose
 from dimos.msgs.geometry_msgs.Transform import Transform
 from dimos.msgs.geometry_msgs.Vector3 import Vector3
diff --git a/docs/capabilities/navigation/relocalization.md b/docs/capabilities/navigation/relocalization.md
index d3820805f9..f325402b9b 100644
--- a/docs/capabilities/navigation/relocalization.md
+++ b/docs/capabilities/navigation/relocalization.md
@@ -163,7 +163,7 @@ Note that [`CostMapper`](/dimos/mapping/costmapper.py) builds the costmap from t
 
 | File | Format | Produced by | Consumed by |
 |------|--------|-------------|-------------|
-| `{name}.db` | memory2 SQLite (`lidar`, `odom`, `color_image`, …) | `unitree-go2-memory` | `dimos map *`, `--replay-db` |
+| `{name}.db` | memory SQLite (`lidar`, `odom`, `color_image`, …) | `unitree-go2-memory` | `dimos map *`, `--replay-db` |
 | `{name}.pc2.lcm` | LCM-encoded `PointCloud2` premap | `dimos map global --export` | `RelocalizationModule` (`map_file`) |
 | `{name}.rrd` | Rerun recording (visual QA) | `dimos map global` | Rerun viewer |
 
diff --git a/docs/coding-agents/style.md b/docs/coding-agents/style.md
index 6581fa60db..7f7222c844 100644
--- a/docs/coding-agents/style.md
+++ b/docs/coding-agents/style.md
@@ -41,13 +41,13 @@ something/
 Never add imports to `__init__.py` files. Re-exporting from `__init__.py` makes imports too wide and slow — importing one symbol pulls in the entire package tree.
 
 ```python skip
-# BAD — dimos/memory2/__init__.py
-from dimos.memory2.store import Store, SqliteStore
-from dimos.memory2.stream import Stream
+# BAD — dimos/memory/__init__.py
+from dimos.memory.store import Store, SqliteStore
+from dimos.memory.stream import Stream
 ```
 
 ```python
 # GOOD — import directly from the module
-from dimos.memory2.store.base import Store
-from dimos.memory2.stream import Stream
+from dimos.memory.store.base import Store
+from dimos.memory.stream import Stream
 ```
diff --git a/docs/coding-agents/testing.md b/docs/coding-agents/testing.md
index 4969838585..a0d451e715 100644
--- a/docs/coding-agents/testing.md
+++ b/docs/coding-agents/testing.md
@@ -68,7 +68,7 @@ import tempfile
 
 import pytest
 
-from dimos.memory2.store.sqlite import SqliteStore
+from dimos.memory.store.sqlite import SqliteStore
 from dimos.msgs.sensor_msgs.Image import Image
 
 
diff --git a/docs/usage/cli.md b/docs/usage/cli.md
index 9f57380290..2dd7583349 100644
--- a/docs/usage/cli.md
+++ b/docs/usage/cli.md
@@ -18,7 +18,7 @@ dimos [GLOBAL OPTIONS] COMMAND [ARGS]
 | `--robot-ips` | TEXT | `None` | Multiple robot IPs |
 | `--simulation` / `--no-simulation` | bool | `False` | Enable MuJoCo simulation |
 | `--replay` / `--no-replay` | bool | `False` | Use recorded replay data |
-| `--replay-db` | TEXT | `go2_bigoffice` | Replay memory2 SQLite database name |
+| `--replay-db` | TEXT | `go2_bigoffice` | Replay memory SQLite database name |
 | `--new-memory` / `--no-new-memory` | bool | `False` | Clear persistent memory on start |
 | `--viewer` | `rerun\|none` | `rerun` | Visualization backend |
 | `--rerun-open` | `native\|web\|both\|none` | `native` | How to open the Rerun viewer |
diff --git a/experimental/docs/nav/map_recording/pointlio_pcap_to_db.md b/experimental/docs/nav/map_recording/pointlio_pcap_to_db.md
index 62302d17dd..5172691b06 100644
--- a/experimental/docs/nav/map_recording/pointlio_pcap_to_db.md
+++ b/experimental/docs/nav/map_recording/pointlio_pcap_to_db.md
@@ -38,7 +38,7 @@ dimos map global --lidar pointlio_lidar --pgo-tol=0 --no-carve
 | Flag | Default | Meaning |
 |------|---------|---------|
 | `--pcap` | *(required)* | Livox Mid-360 pcap (a missing path is fetched via `get_data`) |
-| `--db` | `<pcap>.db` | Target memory2 db. Existing → append/align; missing → built from scratch (or fetched via `get_data`) |
+| `--db` | `<pcap>.db` | Target memory db. Existing → append/align; missing → built from scratch (or fetched via `get_data`) |
 | `--rate` | `1.0` | Replay-speed multiplier |
 | `--odom-freq` | `30.0` | Point-LIO odometry rate (Hz) |
 | `--max-sensor-sec` | `0` (whole pcap) | Stop after N sensor seconds |