# Specification-aware action distribution optimization framework for robotics foundation models

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/d8ue4iglpybigsy93c1qzsdsl
- Original: https://arxiv.org/abs/2603.17969

## Summary

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.