Reconfiguration

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4 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

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Recompositional Robotics: Cross-Domain, Open-set, and Lifelong Modularity Beyond Morphology
Sep 29, 2026Steven Swanbeck, Jonathan Salfity, Corrie Van Sice +2Reconfiguration Modular Framework
Texas Robotics and the Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX 78712, USA
Fly, Drive, Reconfigure: A Modular Reconfigurable Aerial-Ground Platform for Field Operations
Sep 24, 2026Li-Yu Lo, Yanbaihui Liu, Chengchuan Shu +3Aerial Robots Heterogeneous Robot Teams
Duke University
A Reconfigurable Bidirectional Cable-Driven Hip Exoskeleton with Swappable Bench/Backpack Dual-configuration Actuation
Sep 22, 2026YuanLong Ji, Shuhan Xiang, Qihan Ye +1Exoskeleton Rehabilitation
School of Biological Science and Medical Engineering, Beihang University; the Key Laboratory of Biomechanics and Mechanobiology (Beihang University), Ministry of Education; Key Laboratory of Innovation and Transformation of Advanced Medical Devices, Ministry of Industry and Information Technology; National Medical Innovation Platform for Industry-Education Integration in Advanced Medical Devices (Interdiscipline of Medicine and Engineering), Beihang University, Beijing, 100191, China
A Programmable Optics Cloud Laboratory
Sep 14, 2026Sachin Vaidya, Caio Silva, Seou Choi +2Optical Reconfiguration
Research Laboratory of Electronics, Massachusetts Institute of Technology, Cambridge, MA 02139, USA · NSF Institute for Artificial Intelligence and Fundamental Interactions and the Department of Physics, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
Feature Reconfiguration With Visual Prior for Medical Lesion Segmentation
Sep 3, 2026Yinan Liu, Jiankang Hong, Zhen Gao +1Lesion Segmentation Medical Imaging
School of Computer Science and Technology, Tongji University · Shanghai, China
Deployment Is Not Destiny: Robot Recomposition in the Field with Unseen Software, Hardware, and Compute Payloads
Aug 11, 2026Steven Swanbeck, Jonathan Salfity, Jeffery Gunawan +3Reconfiguration Robot Systems
Texas Robotics and the Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX 78712, USA
Reconfigurable Structural Robotic Assembly: Interlocking 3D Aggregations with Self-Aligning Compound Nested Lattice Modules
Aug 4, 2026Alexander Htet Kyaw, Miana Smith, Paul Richard +1Assembly Reconfiguration
Massachusetts Instittue of Technology (MIT) · École Polytechnique Fédérale de Lausanne (EPFL)
Morphing MILR: Design and control of a cable-driven limbless robot with rolling joints for maneuvering in complex environments
Jul 22, 2026Donoven Dortilus, Tianyu Wang, Galen Tunnicliffe +2Agile Locomotion Reconfiguration
Georgia Institute of Technology, Atlanta, GA 30332, USA
EFLUX: Elastic Multi-Robot Formation Navigation and Adaptation with Agentic LLMs
Jul 13, 2026Jinyuan Zhang, Yuwei Wu, Guangyao Shi +3Multi-Robot Systems Robot Trajectories
GRASP Lab, University of Pennsylvania, Philadelphia, PA 19104, USA · Department of Computer Science, University of Southern California, Los Angeles, CA 90089, USA
ProWAFT: A ROMA-LPD Instance for Workload-Aware and Dynamic Fault Tolerance in FPGA-Based CNN Accelerators
Jul 2, 2026Xinxin Chen, Haoran Qiao, Yiming Guo +3Field-Programmable Gate Arrays Fault Tolerance
Department of Computer Science University of Chinese Academy of Sciences
A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning
Jul 2, 2026Kento Koizumi, Tomoaki Ohba, Yuta Saito +2Wheel Legged Robots
Artificial Intelligence Laboratory, University of Tsukuba, Tsukuba, Japan · Ph.D. Program in Engineering Mechanics and Energy, University of Tsukuba, Tsukuba, Japan · Beaver’s Hive, Osaka, Japan +1
Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure
Jun 25, 2026Yiyuan Pan, Hanjiang Hu, Shangtao Li +2Robot Policies Inference-Time Steering
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA
Reconfigurable Computing Challenge: Transformer for Jet Tagging on Versal AI Engines
Jun 16, 2026Gram Koski, Sean Lipps, Zhenghua Ma +2Transformer Architectures Reconfiguration
Department of Computer Science and Engineering University of California San Diego La Jolla, CA, USA
Tessellated Biomes: Distributed Robotic Assemblies for Architectural Resilience
Jun 7, 2026Sergio Mutis, Eric Hughes, Gert DuvenhageAssembly Reconfiguration
MIT · UCL
Reinforcement learning in linear embedding space unlocks generalizable control across soft robot configurations
Jun 6, 2026Xinglong Zhang, Cong Li, Hangjie Mo +13Soft Robotics Scalable Robot Learning
College of Intelligence Science and Technology, National University of Defense Technology, Deya Road, Changsha, 410003, Hunan, China. · School of Management, Hefei University of Technology, Nanyihuan Road, Hefei, 230002,2026 Anhui, China. · State Key NanjingLaboratoryUniversityfor Novel(SuzhouSoftwareCampus),TechnologyTaihuandRoad,the Suzhou,School of215163,ScienceChina.and Technology, 4School of Computation, Information and Technology, Technical University of Munich, Boltzmann Strasse, Munich, 85748, Germany. +5
RSC: Decentralized Rigid Formation Flocking for Large-Scale Swarms via Hybrid Predictive Control and Online Reconfiguration
Jun 2, 2026Ganyu Zou, Linhan Wang, Chen Dai +2Unmanned Aerial Vehicle Swarms Swarms
Outage Detection in Self-Healing Smart Grids Using Reinforcement Learning with Spectral Graph Neural Networks
May 26, 2026Lihui Liu, Mucun Sun, Caisheng WangDistributed Energy Resources Optimal Power Flow
Wayne State University, Detroit, MI, USA
Chain-based Adaptive Reconfiguration Over Lattices for Hallucination Reduction
May 26, 2026Joan Vendrell Gallart, Solmaz Kia, Russell Bent +1Large Language Model Hallucination Hallucination Mitigation
Department of Mechanical and Aerospace University of California Irvine Irvine, CA 92617-4322, USA · T-5 Los Alamos National Laboratory Los Alamos, NM 88220, USA · CAI-4 Los Alamos National Laboratory Los Alamos, NM 88220, USA
DynaTrain: Fast Online Parallelism Switching for Elastic LLM Training
May 12, 2026Yuanqing Wang, Yuchen Zhang, Hao Lin +9Large Language Model Training Reconfiguration
Peking University · Infinigence AI · Institute of Computing Technology, CAS +2
Reconfigurable Computing Challenge: Real-Time Graph Neural Networks for Online Event Selection in Big Science
May 11, 2026Marc Neu, Frank Baptist, Thomas Lobmaier +3Field-Programmable Gate Arrays Graph Neural Networks
Institute for Information Processing Technology, Karlsruhe Institute of Technology, Germany · Institute of Experimental Particle Physics, Karlsruhe Institute of Technology, Germany
AuditRepairBench: A Paired-Execution Trace Corpus for Evaluator-Channel Ranking Instability in Agent Repair
May 6, 2026Yuelin Hu, Zhenbo Yu, Zhengxue Cheng +2Model Auditing Leaderboard
Shanghai Jiao Tong University · Shanghai Maritime University
From Ontology Conformance to Admissible Reconfiguration: A RoSO/SMGI Adequacy Argument for Robotic Service Governance
May 5, 2026Aomar OsmaniReconfiguration Ontology
Accelerating Long-Tail Generation in Synchronous RLHF Training via Adaptive Tensor Parallelism
May 3, 2026Long Zhao, Qinghe Wang, Jiaan Zhu +5Reinforcement Learning From Human Feedback Multi-Stage Training
Anhui University · Institute of Artificial Intelligence, Hefei Comprehensive National Science Center · University of Science and Technology of China +2
Bi-Level Reinforcement Learning Control for an Underactuated Blimp via Center-of-Mass Reconfiguration
May 2, 2026Xiaorui Wang, Hongwu Wang, Yue Fan +2Reconfiguration
X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation
Apr 23, 2026Yan Ning, Xingzhou Chen, Delong Li +6Agile Locomotion Humanoid Loco-Manipulation
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong, China. · X-lab Department, Agibot Innovation Company, Shanghai, China.
PipeLive: Efficient Live In-place Pipeline Parallelism Reconfiguration for Dynamic LLM Serving
Apr 14, 2026Xu Bai, Muhammed Tawfiqul Islam, Chen Wang +1Reconfiguration
DisNet Lab University of Melbourne Melbourne, VIC, Australia · IBM Research Yorktown Heights, NY, USA
Physical Analogue Kolmogorov-Arnold Networks based on Reconfigurable Nonlinear-Processing Units
Feb 7, 2026Manuel Escudero, Mohamadreza Zolfagharinejad, Sjoerd van den Belt +2Kolmogorov-Arnold Networks Neuromorphic Computing
1NanoElectronics Group, MESA+ Institute and BRAINS Center for Brain-Inspired Computing, University of Twente, P.O. Box 217, Enschede,2026 7500 AE, The Netherlands. · 2CAESUniversity GroupofandTwente,BRAINSEnschede,Center 7500for Brain-InspiredAE, The Netherlands.Computing · Institute of Physics, University of Münster, Münster, 48149 Germany.
TransforMARS: Fault-Tolerant Self-Reconfiguration for Arbitrarily Shaped Modular Aerial Robot Systems
Sep 17, 2025Rui Huang, Zhiyu Gao, Siyu Tang +4Aerial Robots Reconfiguration
Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117583 · Department of Mechanical Engineering, National University of Singapore, Singapore 117583

Sep 29, 2026, cs.ROJ/K move · Enter open · S save

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

Steven Swanbeck, Jonathan Salfity, Corrie Van Sice, Robert Blake Anderson+1

Texas Robotics and the Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX 78712, USA

Reconfiguration Modular Framework Mobile Robots Inertial Morphology

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Research in modular robotics has produced capable approaches allowing a robot's morphology to change online, with recent efforts also developing approaches to decide which morphology to assume and automatically propagate that decision into the robot's motion planning and control. These approaches are powerful and increase adaptability in the field. However, an alternative objective is not to build robots whose structures can change, but robots whose fundamental capabilities can change, where capability is a joint function across several domains, including kino-dynamics, perception, compute, and high-level coordinating behaviors. A robot designed to be reconfigured across these domains has a greater capacity to alter its capability than one that can be reconfigured in a single domain. We refer to this cross-domain reconfigurability as integration span, and recognize a complementary measure of the resistance to reconfiguration, which we refer to as integration inertia. Current modular robots have reduced integration inertia in the structural domain while it remains high in the other domains that contribute to integration span. We assert that the systems that can provide the most utility through reconfiguration in practice are those maximizing span and minimizing inertia and call this general problem recompositional robotics: adaptation over a heterogeneous set of modules including hardware, software, compute, and behavior that abstracts each component by the interfaces it requires and provides such that they can be reasoned over holistically. We define the problem, ground it in two deployed systems and active research efforts, and pose open questions about the future of recompositional robotics.

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