Author

Steven Swanbeck

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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

Preprint Aug 2026

Lifelong Robot Recomposition via Persistent Categorical Modeling for Unified Task-Driven Co-Design, Verification, and Planning

A compositional framework that formalizes robotic systems as abstract circuits within a strict symmetric monoidal category, in which design and runtime composition of hardware, software, and behavior are synthesized simultaneously via an SMT-based solver.

Steven Swanbeck, Mitchell W. Pryor · 1 citation · ⚡1