{"id":"https://openalex.org/W7133305526","doi":"https://doi.org/10.48550/arxiv.2603.00455","title":"Test-Driven Agentic Framework for Reliable Robot Controller","display_name":"Test-Driven Agentic Framework for Reliable Robot Controller","publication_year":2026,"publication_date":"2026-02-28","ids":{"openalex":"https://openalex.org/W7133305526","doi":"https://doi.org/10.48550/arxiv.2603.00455"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.00455","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00455","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.00455","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5127893634","display_name":"Shivanshu Tripathi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tripathi, Shivanshu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092675602","display_name":"Reza Akbarian Bafghi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bafghi, Reza Akbarian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5127898824","display_name":"Maziar Raissi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Raissi, Maziar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.17589999735355377,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.17589999735355377,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.14740000665187836,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.14630000293254852,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7943000197410583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5608999729156494},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.5523999929428101},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5264999866485596},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5171999931335449},{"id":"https://openalex.org/keywords/source-code","display_name":"Source code","score":0.4124000072479248},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.40700000524520874}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7943000197410583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6348000168800354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5608999729156494},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5523999929428101},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5264999866485596},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5171999931335449},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4291999936103821},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.4124000072479248},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.40700000524520874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39649999141693115},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.384799987077713},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35249999165534973},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.32899999618530273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31790000200271606},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3005000054836273},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2825999855995178},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2694000005722046},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2680000066757202},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2578999996185303},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.25609999895095825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.00455","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00455","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.00455","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00455","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"present":[4],"a":[5,11,20,32,58],"test-driven,":[6],"agentic":[7],"framework":[8,38],"for":[9,16],"synthesizing":[10],"deployable":[12],"low-level":[13],"robot":[14],"controller":[15,43,99,105],"navigation":[17,82,86],"tasks.":[18],"Given":[19],"2D":[21,81],"map":[22],"with":[23],"an":[24,27],"image":[25],"of":[26],"ultrasonic":[28],"sensor-based":[29],"robot,":[30],"or":[31],"3D":[33,85],"robotic":[34],"simulation":[35],"environment,":[36],"our":[37],"iteratively":[39],"refines":[40],"the":[41,64,78,88,109],"generated":[42,65],"code":[44,66,74,116],"using":[45],"diagnostic":[46],"feedback":[47],"from":[48],"structured":[49],"test":[50],"suites":[51],"to":[52,62],"achieve":[53],"task":[54],"success.":[55],"We":[56,76],"propose":[57],"dual-tier":[59],"repair":[60],"strategy":[61],"refine":[63],"that":[67,94],"alternates":[68],"between":[69],"prompt-level":[70],"refinement":[71],"and":[72,84,101,117],"direct":[73],"editing.":[75],"evaluate":[77],"approach":[79],"across":[80],"tasks":[83],"in":[87],"Webots":[89],"simulator.":[90],"Experimental":[91],"results":[92],"show":[93],"test-driven":[95],"synthesis":[96],"substantially":[97],"improves":[98],"reliability":[100],"robustness":[102],"over":[103],"one-shot":[104],"generation,":[106],"especially":[107],"when":[108],"initial":[110],"prompt":[111],"is":[112],"underspecified.":[113],"The":[114],"source":[115],"demonstration":[118],"videos":[119],"are":[120],"available":[121],"at:":[122],"https://shivanshutripath.github.io/robotic_controller.github.io.":[123]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-04T00:00:00"}