Article

Specification-aware action distribution optimization framework for robotics foundation models

The paper proposes a specification-aware action distribution optimization framework that enforces a class of Signal Temporal Logic (STL) constraints at execution time without modifying the parameters of a pretrained robotics foundation model. At each decision step, the method reasons over the remaining horizon via forward dynamics propagation to compute a minimally modified action distribution that satisfies a hard STL feasibility constraint, and it is validated in simulation with state-of-the-art robotics foundation models across multiple environments and complex specifications.

Part of the event: New Framework Enables Pretrained Robot Models to Satisfy STL Constraints at Execution Time

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