Specification-Aware Distribution Shaping for Robotics Foundation Models
Overview
This paper introduces a specification-aware action distribution optimization framework designed to enforce Signal Temporal Logic (STL) constraints during the execution of pretrained robotics foundation models. The method computes minimally modified action distributions at each decision step to satisfy hard STL feasibility constraints by reasoning over the remaining horizon using forward dynamics propagation, without altering the model's parameters. The framework is validated in simulation using state-of-the-art robotics foundation models across multiple environments and complex specifications.
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“on distribution that satisfies a hard STL feasibility constraint by reasoning over the remaining horizon using forward dynamics propagation. We validate the proposed framework in simulation using state-of-the-art robotics foundation models across multiple environments and complex specifications.”
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- arXiv Robotics — research abstractsSignalSpecification-Aware Distribution Shaping for Robotics Foundation Models
This paper introduces a specification-aware action distribution optimization framework designed to enforce Signal Temporal Logic (STL) constraints during the execution of pretrained robotics foundation models. The method computes minimally modified action distributions at each decision step to satisfy hard STL feasibility constraints by reasoning over the remaining horizon using forward dynamics propagation, without altering the model's parameters. The framework is validated in simulation using state-of-the-art robotics foundation models across multiple environments and complex specifications.
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