Hi AMBER Lab,
Posting this as a research-collaboration proposal to Prof. Aaron Ames and the AMBER team. I'm Ido Yahalomi, maintainer of URML, an Apache 2.0 specification for substrate-neutral robot intent.
AMBER's nonlinear control + hybrid-systems + bipedal-locomotion + prosthetics research is the strongest formal-methods alignment URML has encountered across six outreach moves. URML's capability manifest schema can encode joint limits, contact constraints, hybrid-systems mode-switch boundaries. Exactly the formal surfaces AMBER's papers reason over. URML's static-verification path (RFC-0014 Draft) sits one layer above that.
obelisk is interesting: it's "a stable generic robot control interface" with explicit overlap to URML's substrate-Protocol abstraction. The two should compose, not compete. URML's RFC asks whether obelisk + URML composition is the right shape.
This is proposal-only, part of URML's Move #6 outreach (US-friendly university robotics labs). No URML adapter against AMBER code in this RFC.
Full RFC: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0081-caltech-amber-outreach.md
Feedback we'd value
- obelisk + URML composition. Is
obelisk a substrate-Protocol target for URML, or is URML's primitive layer better composed above obelisk at a different level?
- Formal-methods integration. Is there an AMBER publication whose controller would be a useful pilot for URML manifest encoding?
- Coursework integration. Caltech Robotics Minor or ME 11 as candidate for URML primitive vocabulary?
- Prosthetics research-side complement. URML's RFC-0079 opened accessibility as a documented identity (academic + commercial-courtesy). Interest in a documented bridge between AMBER's prosthetics work and URML's accessibility identity?
- Conformance lane on obelisk README or bipedalrobotics.com?
- Anything else.
Thanks for AMBER's open-source posture across obelisk, ambersim, and the broader Caltech-AMBER repos. The formal-methods alignment with URML is the strongest of any Move #6 lab.
Ido Yahalomi (URML maintainer, urml.dev)
Hi AMBER Lab,
Posting this as a research-collaboration proposal to Prof. Aaron Ames and the AMBER team. I'm Ido Yahalomi, maintainer of URML, an Apache 2.0 specification for substrate-neutral robot intent.
AMBER's nonlinear control + hybrid-systems + bipedal-locomotion + prosthetics research is the strongest formal-methods alignment URML has encountered across six outreach moves. URML's capability manifest schema can encode joint limits, contact constraints, hybrid-systems mode-switch boundaries. Exactly the formal surfaces AMBER's papers reason over. URML's static-verification path (RFC-0014 Draft) sits one layer above that.
obeliskis interesting: it's "a stable generic robot control interface" with explicit overlap to URML's substrate-Protocol abstraction. The two should compose, not compete. URML's RFC asks whether obelisk + URML composition is the right shape.This is proposal-only, part of URML's Move #6 outreach (US-friendly university robotics labs). No URML adapter against AMBER code in this RFC.
Full RFC: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0081-caltech-amber-outreach.md
Feedback we'd value
obeliska substrate-Protocol target for URML, or is URML's primitive layer better composed above obelisk at a different level?Thanks for AMBER's open-source posture across
obelisk,ambersim, and the broader Caltech-AMBER repos. The formal-methods alignment with URML is the strongest of any Move #6 lab.Ido Yahalomi (URML maintainer, urml.dev)