5 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…
Lifelong Robot Recomposition via Persistent Categorical Modeling for Unified Task-Driven Co-Design, Verification, and Planning
Steven Swanbeck, Mitch Pryor
Robotic systems are traditionally designed and deployed in static configurations, with assumptions made at design-time becoming immutable constraints during runtime. This design-th…
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…
Coral: A Unifying Abstraction Layer for Composable Robotics Software
Steven Swanbeck, Mitch Pryor
Despite the multitude of excellent software components and tools available in the robotics and broader software engineering communities, successful integration of software for robo…