A Behavioral State Vocabulary in Sony ERS-111 R-CODE
This paper presents a corpus-level analysis of behavior diagrams from Sony's R-CODE sample set for the ERS-111 AIBO, identifying a compact embodied grammar centered on initialization, sensing, iterative action, synchronization, and recovery, and argues for its utility as an intermediate representation for building new behaviors on constrained robotic systems.
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[Submitted on 13 Jul 2026]
Title:A Behavioral State Vocabulary in Sony ERS-111 R-CODE
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Abstract:This paper presents a corpus-level analysis of generated behavior diagrams derived from Sony's R-CODE sample distribution for the ERS-111 AIBO. Rather than reading each script in isolation, the study compares named states across the corpus to identify the recurring control vocabulary that structures the sample set. The resulting aggregate shows that many superficially different routines are built from a compact embodied grammar centered on initialization, sensing, iterative action, synchronization, and recovery. In addition to historical analysis, the paper argues that this form of state-based abstraction is useful as an intermediate representation for constructing new encapsulated behavior routines, especially on constrained native robotic systems where deterministic control, direct hardware access, and modular behavioral composition remain important.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.12115 [cs.RO]
(or arXiv:2607.12115v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.12115
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Christopher A. Tucker [view email] [v1] Mon, 13 Jul 2026 19:42:54 UTC (44 KB)
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