mlsanityData to 14 Oct 2026

Control from Signal Temporal Logic Specifications with Smooth Cumulative Quantitative Semantics

arXiv 1904.11611 ↗First posted 25 Apr 2019eess.SY cs.SYcited by 16

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Abstract (arXiv)

We present a framework to synthesize control policies for nonlinear dynamical systems from complex temporal constraints specified in a rich temporal logic called Signal Temporal Logic (STL). We propose a novel smooth and differentiable STL quantitative semantics called cumulative robustness, and efficiently compute control policies through a series of smooth optimization problems that are solved using gradient ascent algorithms. Furthermore, we demonstrate how these techniques can be incorporated in a model predictive control framework in order to synthesize control policies over long time horizons. The advantages of combining the cumulative robustness function with smooth optimization methods as well as model predictive control are illustrated in case studies.

Key facts. Cited by 16 papers in the map (data through 14 Oct 2026). First posted on arXiv 25 Apr 2019.

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Citing papers per year: 2021: 5; 2022: 3; 2023: 1; 2024: 2; 2025: 1; 2026: 4.

16 papers.

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  1. 2022Learning Model Checking and the Kernel Trick for Signal Temporal Logic on Stochastic Processescited by 7
  2. 2022Testing Rare Downstream Safety Violations via Upstream Adaptive Sampling of Perception Error Modelscited by 7
  3. 2021STL Robustness Risk over Discrete-Time Stochastic Processescited by 4
  4. 2021Safe Model-based Control from Signal Temporal Logic Specifications Using Recurrent Neural Networkscited by 3
  5. 2021Reinforcement Learning with Formal Performance Metrics for Quadcopter Attitude Control under Non-nominal Contextscited by 3
  6. 2024Interpretable Imitation Learning via Generative Adversarial STL Inference and Controlcited by 3
  7. 2021Neural Network-based Control for Multi-Agent Systems from Spatio-Temporal Specificationscited by 2
  8. 2021Learning Spatio-Temporal Specifications for Dynamical Systemscited by 1
  9. 2022Neural Controller Synthesis for Signal Temporal Logic Specifications Using Encoder-Decoder Structured Networkscited by 1
  10. 2023Signal Temporal Logic-Guided Apprenticeship Learningcited by 1
  11. 2024Tolerance of Reinforcement Learning Controllers against Deviations in Cyber Physical Systemscited by 1
  12. 2025STL-based Optimization of Biomolecular Neural Networks for Regression and Controlcited by 1
4 more
  1. 2026Spatiotemporal Robustness of Temporal Logic Tasks using Multi-Objective Reasoningcited by 1
  2. 2026Learning-enabled Parameter Synthesis for Nonlinear Systems from Signal Temporal Logiccited by 0
  3. 2026Reward Machines for Signal Temporal Logiccited by 0
  4. 2026PAA: The Probabilistic Allen Algebra: A Generative and Complete Probabilistic Extension of Allen's Interval Relationscited by 0