Author

Jonathan Salfity

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Preprint Sep 2026

Recompositional Robotics: Cross-Domain, Open-set, and Lifelong Modularity Beyond Morphology

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 morphology to assume and automatically propagate that decision into the robot's motion planning and control. These approaches are powerful and incre...

Steven Swanbeck, Jonathan Salfity, Corrie M. Van Sice et al. · 0 citations

Preprint Aug 2026

Deployment Is Not Destiny: Robot Recomposition in the Field with Unseen Software, Hardware, and Compute Payloads

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 initial deployment. To address this challenge, we present a framework and supporting abstractions for recomposition during runtime that enab...

Steven Swanbeck, Jonathan Salfity, Jeffery Gunawan et al. · 2 citations · ⚡1

Jul 2026

Contract-Grounded Behavior Tree Synthesis via Coding Agents

A contract-grounded BT synthesis architecture in which a coding agent queries a robot-side Model Context Protocol (MCP) server to retrieve an explicit contract consisting of a skill library, permitted BT operators, and optional BT composition templates, before synthesizing a BT for validation and execution is proposed.

Jonathan Salfity, R. Anderson, Mitchell W. Pryor · arXiv.org · 0 citations