Multimodal Behaviour Trees for Robotic Laboratory Task Automation. - Hatem Fakhruldeen; Arvind Raveendran Nambiar; Satheeshkumar Veeramani; Bonilkumar Vijaykumar Tailor; Hadi Beyzaee Juneghani; Gabriella Pizzuto; Andrew Ian Cooper (CoRR, 2025)