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

arXiv:2609.37734 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Adaptation — 5× in this paper · explained in 1 episode
• Abstraction — 2× in this paper · explained in 1 episode
• Adaptability — 2× in this paper · explained in 1 episode
• Modularity — 2× in this paper · explained in 9 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Hefty: A Modular Reconfigurable Robot for Advancing Robot Manipulation in Agriculture
• A Mathematical Theory of Co-Design
• Deployment Is Not Destiny: Robot Recomposition in the Field with Unseen Software, Hardware, and Compute Payloads

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