3 papers
cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…