Author

Jonathan Salfity

h-index 3 View on Semantic Scholar

We have 2 of 9 papers

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

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