arxivcs.RO2026-07-13
Contract-Grounded Behavior Tree Synthesis via Coding Agents
Jonathan Salfity, Robert Blake Anderson, Mitch Pryor
Synthesizing deployable robot behavior trees (BTs) from natural language (NL) requires grounding to ensure every generated BT references only skills a robot can actually execute. Existing LLM-based BT synthesis approaches often place this grounding responsibility on the prompt au…