behavior trees 1large language models 1model context protocol 1natural language grounding 1robot programming 1runtime validation 1
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cs.RO2026
Contract-Grounded Behavior Tree Synthesis via Coding Agents
Jonathan Salfity, Robert Blake Anderson, Mitch Pryor
The paper introduces a contract‑grounded architecture where a coding agent queries a robot’s Model Context Protocol to obtain a skill contract before using a large language model t…
cs.RO2025
Temporal and Semantic Evaluation Metrics for Foundation Models in Post-Hoc Analysis of Robotic Sub-tasks
Jonathan Salfity, Selma Wanna, Minkyu Choi +1
Recent works in Task and Motion Planning (TAMP) show that training control policies on language-supervised robot trajectories with quality labeled data markedly improves agent task…