状況計算とSTL反証による汎用ロボットの検証
Validating Generalist Robots with Situation Calculus and STL Falsification
自然言語指示で多様な作業を行う汎用ロボットの検証のため、状況計算による抽象的推論とSTLモニタリングによるシミュレーション反証を組み合わせた二層フレームワークを提案し、GR00Tコントローラの失敗事例を発見できることを示した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Changwen Li, Rongjie Yan, Chih-Hong Cheng, Jian Zhang
分類: cs.RO, cs.AI
原文アブストラクト
Generalist robots are becoming a reality, capable of interpreting natural language instructions and executing diverse operations. However, their validation remains challenging because each task induces its own operational context and correctness specification, exceeding the assumptions of traditional validation methods. We propose a two-layer validation framework that combines abstract reasoning with concrete system falsification. At the abstract layer, situation calculus models the world and derives weakest preconditions, enabling constraint-aware combinatorial testing to systematically generate diverse, semantically valid world-task configurations with controllable coverage strength. At the concrete layer, these configurations are instantiated for simulation-based falsification with STL monitoring. Experiments on tabletop manipulation tasks show that our framework effectively uncovers failure cases in the NVIDIA GR00T controller, demonstrating its promise for validating general-purpose robot autonomy.
