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This paper defines the capability governance layer within a broader governance architecture for autonomous robotic systems. It focuses on lifecycle management of capabilities, including validation, authorization, activation, monitoring, and revocation. Related works: - A Governance Architecture for Safe and Bounded Autonomous Robotics Systems (core architecture) - AI Capability Governance Framework for Autonomous Robotic Systems - Non-Bypassable Execution Control in Autonomous Systems (execution layer) This paper introduces a structured governance framework for managing the lifecycle of capabilities in autonomous robotic systems. The model defines how robotic capabilities are specified, validated, authorized, activated, monitored, suspended, and revoked within a governance architecture that separates decision authority from execution mechanisms. A conceptual authorization function and a capability governance state machine are introduced to formalize how robotic systems may control the activation of capabilities under safety, policy, and environmental constraints. The framework contributes to emerging research on robotics governance and safety architecture by providing a structured lifecycle model for capability management in autonomous systems. This work is part of a broader research program on governance and execution control in autonomous robotic systems, including capability governance, safety-bounded autonomy, and non-bypassable execution control architectures.