As robotic systems grow more general, legal norms are needed to integrate them into society. This paper extends the isomorphism problem of aligning legal source texts with their encodings, and measures two key challenges to robot norma- tive control: (1) the grounding isomorphism gap, where perception error grounds false atoms for legal reasoning, and (2) the ontological isomorphism gap, where one legal conclusion admits many faithful translations into planning constraints. The paper introduces a legal planning stack that employs Defeasible Deontic Logic (DDL) to constrain a motion planner. The stack leverages learned world models to plan and to provide legal context, enabling ex ante governance that intervenes before an illegal action is executed. It was deployed on a simulated robot arm pushing a cube across a 3 ×3 grid. The findings were (1) the legislated agent abided substan- tially more often than the non-legislated one, and modeling perception uncertainty lifted abidance even further, (2) the legal reasoning ran efficiently at runtime and its verdicts were auditable, and (3) the stack adapted to exogenous signals and endogenous rule changes. Both gaps were measured: (4) world model and probe error corrupted the factual input for the DDL reasoner, and (5) a single law admitted several faithful metric interpretations yielding drastically different abidance. Thus, ex ante legislation functions as intended, and closing these gaps with a standardized mapping from the law to runtime constraints and improved fact grounding fro

PDF, PS

arXiv:260915113 (2026).

@article{waldner:arxiv26, title={Legislating World-Model-Based Planning with Legal Reasoning}, author={Dylan Waldner and Yiannis Kantaros and Guido Governatori and Risto Miikkulainen and Amir Banifatemi}, journal={arXiv:260915113}, month={ }, url="http://www.cs.utexas.edu/users/ai-labpub-view.php?PubID=128187", year={2026} }