2 citations · 3 across the 6 of their papers we have counts for
7 papers
Recompositional Robotics: Cross-Domain, Open-set, and Lifelong Modularity Beyond Morphology
Steven Swanbeck, Jonathan Salfity, Corrie Van Sice +2
Research in modular robotics has produced capable approaches allowing a robot's morphology to change online, with recent efforts also developing approaches to decide which morpholo…
Deployment Is Not Destiny: Robot Recomposition in the Field with Unseen Software, Hardware, and Compute Payloads
Steven Swanbeck, Jonathan Salfity, Jeffery Gunawan +3
The tight coupling of subsystems in most robots, though a natural consequence of their complexity, leads to monolithic designs that are time-consuming and difficult to adapt after…
Contract-Grounded Behavior Tree Synthesis via Coding Agents
Jonathan Salfity, Robert Blake Anderson, Mitch Pryor
Synthesizing deployable robot behavior trees (BTs) from natural language (NL) requires grounding to ensure every generated BT references only skills a robot can actually execute. E…
Limited Linguistic Diversity in Embodied AI Datasets
Selma Wanna, Agnes Luhtaru, Jonathan Salfity +4
Language plays a critical role in Vision-Language-Action (VLA) models, yet the linguistic characteristics of the datasets used to train and evaluate these systems remain poorly doc…
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…
Inverse Matrix Games with Unique Quantal Response Equilibrium
Yue Yu, Jonathan Salfity, David Fridovich-Keil +1
In an inverse game problem, one needs to infer the cost function of the players in a game such that a desired joint strategy is a Nash equilibrium. We study the inverse game proble…
Cost-effective Machine Learning Inference Offload for Edge Computing
Christian Makaya, Amalendu Iyer, Jonathan Salfity +2
Computing at the edge is increasingly important since a massive amount of data is generated. This poses challenges in transporting all that data to the remote data centers and clou…