Event
Specola: Evaluating Robot Simulation Behavior According to STL Specifications
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Immanuel Ampomah Mensah and Hadas Kress-Gazit have released Specola, a tool for evaluating robot behavior in simulation according to signal temporal logic (STL) specifications. It provides a Python API and command-line interface, can be integrated into existing policy execution loops, and offers an adapter interface to connect new simulators. The authors state that adapters for nine simulation environments and benchmarks have been provided, including LIBERO, RoboCasa, Isaac Lab, and RoboDojo. According to them, the tool is intended to supplement information beyond success rates, such as degree of satisfaction, parameter sensitivity, and violated requirements; the code and adapters have been made public.
Report timeline
- Specola: An STL Specification-Driven Robot Simulation Evaluation Tool
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.
arXiv cs.RO ·