Validating Generalist Robots with Situation Calculus and STL Falsification

TL;DR

This paper introduces a two-layer validation framework for generalist robots that combines abstract reasoning with concrete falsification, effectively uncovering failure cases in complex manipulation tasks.

Contribution

It presents a novel approach integrating situation calculus and STL falsification to systematically validate diverse robot behaviors.

Findings

Successfully identified failure cases in robot manipulation tasks.

Demonstrated effectiveness on NVIDIA GR00T controller.

Provides a scalable validation method for generalist robots.

Abstract

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.