# Specola: An STL Specification-Driven Robot Simulation Evaluation Tool

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/da8dlgucz0m991n7tn2pq3z3p
- Original: https://arxiv.org/abs/2610.35730

## Summary

Specola is a tool for evaluating robot behavior in simulation against Signal Temporal Logic (STL) specifications. It provides a Python API and command-line interface that can be integrated into existing policy execution loops. It offers an adapter interface and already provides adapters for nine simulation environments and benchmarks, including LIBERO, RoboCasa, Isaac Lab, and RoboDojo, to supplement success rate with information such as degree of satisfaction, parameter sensitivity, and violated requirements.