From Ontology Conformance to Admissible Reconfiguration: A RoSO/SMGI Adequacy Argument for Robotic Service Governance

Role-based LLM multi-agent systems need adaptive role pools, yet adapting such systems is not merely a matter of prompt optimization: roles often carry structural obligations, including capability coverage, message compatibility, validation, final-answer aggregation, and parser-compatible output protocols. Existing systems either fix the role inventory and lose adaptivity, or allow unconstrained generation to induce role drift, removing structurally necessary roles and breaking answer contracts. We formulate this as contract-preserving role evolution, requiring every committed edit to preserve five structural contracts (capability, communication, validation, aggregation, output protocol). We instantiate this formulation in SERO, a Self-Evolving Role Orchestration framework that evolves a typed role-card pool through credit-guided retrieval, a credit-ranked communication DAG with a protected terminal aggregator and conditional validator repair, and a contextual-bandit controller whose LLM-proposed edits are committed only when they preserve the contracts and improve task score. Experiments on real-world reasoning benchmarks across three LLM backbones confirm the value of contract-preserving role evolution.

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 enable robots to quickly integrate previously unseen modular software, hardware, and compute payloads. Our approach allows non-expert users to quickly add new capabilities in the field through a true plug-and-play process. Crucially, new resources are not only immediately available to a host robot but are also shared with distributed peers, enabling compute-constrained systems to access powerful new remote capabilities. Our framework reduces reconfiguration time to a matter of minutes with no developer intervention, in stark contrast to the hours of expert effort often required for traditional manual integration. We demonstrate our method in two disaster response scenarios, including radioactive source localization at an operational nuclear reactor facility and a thermal-guided search for people in dark, difficult-to-reach spaces. These demonstrations show how in-field recomposition provides timely, flexible, and accessible adaptation to dynamic requirements, representing a critical step toward creating robots that can quickly evolve alongside the tasks, technologies, and environments they support.

Robotics foundation models (RFMs) are making general-purpose robots increasingly practical for factory deployments. While RFM serving systems are central to this vision, existing systems are largely shaped by a single-robot, single-model assumption: inference is treated as an edge-computing problem handled by an on-robot or dedicated nearby GPU, and the serving objective is to minimize the latency of a single action model. In this paper, we propose ROSA, an RFM serving system for robot factories designed around three key principles. First, ROSA adopts shared GPU-pool serving, allowing a fleet of robots to access powerful server-class GPUs over the network in order to improve inference performance, battery duration, and GPU utilization. Second, ROSA provides a robotics-aware programming abstraction and system design that supports multi-model pipelines, per-task performance requirements, and failure handling. Third, ROSA uses factory-objective-driven scheduling to maximize SLO-qualified factory productivity rather than minimizing individual request latency. We implement ROSA on top of Ray Serve for distributed orchestration, with vLLM, PyTorch, and JAX as model-serving backends, and evaluate it on both real robots and synthetic large-scale workloads. The results show that ROSA improves factory productivity by up to 12.06x over conventional dedicated serving systems.