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

• URL: http://arxiv.org/abs/2608.21676v1
• Date: Fri, 21 Aug 2026 22:46:37 GMT
• Title: Lifelong Robot Recomposition via Persistent Categorical Modeling for Unified Task-Driven Co-Design, Verification, and Planning
• Abstract summary: We present a compositional framework that formalizes robotic systems as abstract circuits within a strict symmetric monoidal category.<n>We demonstrate the approach end-to-end in a search-and-rescue scenario in which the robot recognizes when it has become unfit and synthesizes and assumes new holistic configurations to restore operation.
• Score: 2.5137859989323537
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Robotic systems are traditionally designed and deployed in static configurations, with assumptions made at design-time becoming immutable constraints during runtime. This design-then-deploy paradigm produces performant systems under narrow operating conditions, but renders robots brittle when qualities of themselves, their tasks, or their environments unexpectedly change. We address this challenge with 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, with monoidal functors projecting the system into lifecycle-specific views and free symbolic variables simultaneously solving for parameters and entire component specifications within larger compositions. This persistent model also supports queries a long-lived system needs beyond plan existence across its entire lifecycle, including mapping Pareto fronts over candidate compositions, diagnosing why a composition has become infeasible, finding its minimal restoration, and reconfiguring with limited change to the deployed system. We evaluate against official implementations of optimal numeric, stream-based, and SMT-based planners all measured onboard a deployed robot and demonstrate the approach end-to-end in a search-and-rescue scenario in which the robot recognizes when it has become unfit and synthesizes and assumes new holistic configurations to restore operation. We release our solver and supporting software open-source.

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