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arXiv · 2603.17969

Specification-Aware Distribution Shaping for Robotics Foundation Models

Sadık Bera Yüksel·Derya Aksaray
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Abstract

Robotics foundation models have demonstrated strong capabilities in executing natural language instructions across diverse tasks and environments. However, they remain largely data-driven and lack formal guarantees on safety and satisfaction of time-dependent specifications during deployment. In practice, robots often need to comply with operational constraints involving rich spatio-temporal requirements such as time-bounded goal visits, sequential objectives, and persistent safety conditions. In this work, we propose a specification-aware action distribution optimization framework that enforces a broad class of Signal Temporal Logic (STL) constraints during execution of a pretrained robotics foundation model without modifying its parameters. At each decision step, the method computes a minimally modified action 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 a state-of-the-art robotics foundation model across multiple environments and complex specifications.

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Sadık Bera Yüksel, Derya Aksaray. 2026-03-18. Specification-Aware Distribution Shaping for Robotics Foundation Models. https://arxiv.org/abs/2603.17969

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