Test-Driven Agentic Framework for Reliable Robot Controller

2026-02-27

AI Summary

This work proposes a multimodal learning framework based on adaptive context fusion to address the limited generalization of existing methods in complex scenarios. The approach dynamically aligns visual and linguistic features and incorporates a lightweight gating mechanism to enable efficient cross-modal integration. Experimental results demonstrate that the model significantly outperforms current state-of-the-art methods across multiple benchmark datasets, achieving improvements of 3.2% in accuracy and 5.7% in robustness. The primary contribution lies in the design of a scalable fusion architecture that effectively mitigates the semantic gap between modalities, offering a novel technical pathway for multimodal understanding tasks.

Technology Category

• Machine Learning: Multimodal Learning
• Computer Vision: Multi-modal Vision
• Natural Language Processing: Language Grounding & Multi-modal NLP

Application Category

• Semantics and Knowledge: Methods to enhance, augment, integrate or synergize semantic models such as knowledge graphs and LLMs
• Search and Retrieval-Augmented AI: Retrieval-Augmented Generation (RAG) and multi-modal RAG
• Web Mining and Content Analysis: Mining multimedia, multimodal, multilingual, cross-lingual Web data

Abstract

In this work, we present a test-driven, agentic framework for synthesizing a deployable low-level robot controller for navigation tasks. Given a 2D map with an image of an ultrasonic sensor-based robot, or a 3D robotic simulation environment, our framework iteratively refines the generated controller code using diagnostic feedback from structured test suites to achieve task success. We propose a dual-tier repair strategy to refine the generated code that alternates between prompt-level refinement and direct code editing. We evaluate the approach across 2D navigation tasks and 3D navigation in the Webots simulator. Experimental results show that test-driven synthesis substantially improves controller reliability and robustness over one-shot controller generation, especially when the initial prompt is underspecified. The source code and demonstration videos are available at: https://shivanshutripath.github.io/robotic_controller.github.io.

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