STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
STEP is a framework that uses Signal Temporal Logic (STL) to bridge high-level natural language instructions with low-level robot actions. It translates complex commands into formal STL specifications, allowing a system to dynamically switch between learned policies and Model Predictive Control (MPC) based on real-time execution needs. This enables precise constraint enforcement and robust runtime replanning.