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标题: "Deployment Is Not Destiny: Robot Recomposition in the Field with Unseen Software, Hardware, and Compute Payloads"
原文链接: "https://arxiv.org/abs/2608.11063"
发布日期: "2026-08-11"
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## Computer Science > Robotics

## Title:Deployment Is Not Destiny: Robot Recomposition in the Field with Unseen Software, Hardware, and Compute Payloads

[View PDF](https://arxiv.org/pdf/2608.11063) [HTML (experimental)](https://arxiv.org/html/2608.11063v1)

> Abstract: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.

| Subjects: | Robotics (cs.RO) |
| --- | --- |
| Cite as: | [arXiv:2608.11063](https://arxiv.org/abs/2608.11063) \[cs.RO\] |
|  | (or [arXiv:2608.11063v1](https://arxiv.org/abs/2608.11063v1) \[cs.RO\] for this version) |
|  | [https://doi.org/10.48550/arXiv.2608.11063](https://doi.org/10.48550/arXiv.2608.11063) |

## Submission history

From: Jonathan Salfity \[[view email](https://arxiv.org/show-email/8a819d1e/2608.11063)\]  
**\[v1\]** Tue, 11 Aug 2026 15:29:54 UTC (16,916 KB)

[Which authors of this paper are endorsers?](https://arxiv.org/auth/show-endorsers/2608.11063) | Disable MathJax ([What is MathJax?](https://info.arxiv.org/help/mathjax.html))
