2 citations · 3 across the 6 of their papers we have counts for
4 papers · 1 filter
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…
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…