Hi Northwestern CRB,
Posting this as a research-collaboration proposal to Prof. Todd Murphey, Prof. Ed Colgate, and Prof. Kevin Lynch. I'm Ido Yahalomi, maintainer of URML, an Apache 2.0 specification for substrate-neutral robot intent.
Northwestern CRB anchors dexterous manipulation across medical, soft, and industrial robotics at URML's Move #6 wave. The HAND Engineering Research Center ($52M / 10y NSF) is the largest-budget academic research surface URML has engaged. URML proposes alignment on three vectors:
(a) ergodic-control + URML composition: Murphey's ergodic exploration policies generate state coverage; URML's measure + wait_for(threshold) + LLM-bridge are the user-facing layer above ergodic-policy execution.
(b) HAND ERC outreach mention (where ERC communications team decides).
(c) Lynch textbook (speculative): Modern Robotics: Mechanics, Planning, and Control is the global standard. A speculative ask: would a future edition or workshop consider a URML primitive-vocabulary appendix or worked example? URML expects this is below the base case but documents the ask.
License note: MurpheyLab is GPL-3.0 predominant; URML reference/ is Apache-2.0. The integration is documentation and cross-citation, not adapter code.
This is proposal-only, part of URML's Move #6 outreach.
Full RFC: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0085-northwestern-crb-outreach.md
Feedback we'd value
- Ergodic-control + URML composition. Useful direction?
- Coursework integration. ME 495 as candidate for URML primitive vocabulary?
- HAND ERC outreach. Interest in mentioning URML in HAND ERC developer outreach (ERC leadership decides)?
- License-fit. GPL-3.0 on MurpheyLab vs Apache-2.0 on URML. Cross-citation arrangements?
- Lynch textbook (speculative). Would Modern Robotics consider a URML appendix or worked example in a future edition?
- Conformance lane?
- Anything else.
Thanks for MurpheyLab's open-source posture across ergodic-control + max-diffusion-RL + brne + DPGO, the HAND ERC's scale, and Lynch's textbook lineage. URML's research-side outreach benefits from CRB's institutional depth.
Ido Yahalomi (URML maintainer, urml.dev)
Hi Northwestern CRB,
Posting this as a research-collaboration proposal to Prof. Todd Murphey, Prof. Ed Colgate, and Prof. Kevin Lynch. I'm Ido Yahalomi, maintainer of URML, an Apache 2.0 specification for substrate-neutral robot intent.
Northwestern CRB anchors dexterous manipulation across medical, soft, and industrial robotics at URML's Move #6 wave. The HAND Engineering Research Center ($52M / 10y NSF) is the largest-budget academic research surface URML has engaged. URML proposes alignment on three vectors:
(a) ergodic-control + URML composition: Murphey's ergodic exploration policies generate state coverage; URML's
measure+wait_for(threshold)+ LLM-bridge are the user-facing layer above ergodic-policy execution.(b) HAND ERC outreach mention (where ERC communications team decides).
(c) Lynch textbook (speculative): Modern Robotics: Mechanics, Planning, and Control is the global standard. A speculative ask: would a future edition or workshop consider a URML primitive-vocabulary appendix or worked example? URML expects this is below the base case but documents the ask.
License note: MurpheyLab is GPL-3.0 predominant; URML reference/ is Apache-2.0. The integration is documentation and cross-citation, not adapter code.
This is proposal-only, part of URML's Move #6 outreach.
Full RFC: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0085-northwestern-crb-outreach.md
Feedback we'd value
Thanks for MurpheyLab's open-source posture across ergodic-control + max-diffusion-RL + brne + DPGO, the HAND ERC's scale, and Lynch's textbook lineage. URML's research-side outreach benefits from CRB's institutional depth.
Ido Yahalomi (URML maintainer, urml.dev)