HRI
STeP：基于信号时序逻辑的视觉语言模型动作生成精确规范
Kasra Torshizi, Anukriti Singh, Sidharth Mathur, Khuzema Habib, Leo Du, Pratap Tokekar
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出一种分层框架，利用信号时序逻辑（STL）作为连接高层语言理解与低层机器人执行的共享表示。该框架通过视觉语言模型将语言指令分解为子任务并生成STL规范，实现语言驱动计划在运行时的检查、优化与修正。
关键词
Signal Temporal LogicVision-Language-ActionHierarchical FrameworkRobot ExecutionFormal Verification
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