mlsanityData to 14 Oct 2026

Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domains

arXiv 2209.13737 ↗First posted 27 Sep 2022cs.ROcited by 7

On the map: Offline RL and imitation learning from data → Robot learning from demonstration

Abstract (arXiv)

Seamlessly integrating rules in Learning-from-Demonstrations (LfD) policies is a critical requirement to enable the real-world deployment of AI agents. Recently, Signal Temporal Logic (STL) has been shown to be an effective language for encoding rules as spatio-temporal constraints. This work uses Monte Carlo Tree Search (MCTS) as a means of integrating STL specification into a vanilla LfD policy to improve constraint satisfaction. We propose augmenting the MCTS heuristic with STL robustness values to bias the tree search towards branches with higher constraint satisfaction. While the domain-independent method can be applied to integrate STL rules online into any pre-trained LfD algorithm, we choose goal-conditioned Generative Adversarial Imitation Learning as the offline LfD policy. We apply the proposed method to the domain of planning trajectories for General Aviation aircraft around a non-towered airfield. Results using the simulator trained on real-world data showcase 60% improved performance over baseline LfD methods that do not use STL heuristics.

Key facts. Cited by 7 papers in the map (data through 14 Oct 2026). Placed in Robot learning from demonstration, one of 13 directions in Offline RL and imitation learning from data. Builds on 14 of its 27 references that are in the map. First posted on arXiv 27 Sep 2022.

Builds on

14 of 27 references.

Closest ancestors · 2

Same direction, newest first

  1. 2021Learning from Demonstrations using Signal Temporal Logic15 Feb
  2. 2020Elaborating on Learned Demonstrations with Temporal Logic Specifications3 Feb

Other references · 12

  1. 2018An Empirical Evaluation of Generic Convolutional and Recurrent Networks for Sequence Modelingcited by 1,476
  2. 2019Goal-conditioned Imitation Learningcited by 162
  3. 2022Symphony: Learning Realistic and Diverse Agents for Autonomous Driving Simulationcited by 61
  4. 2020Backpropagation through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based Methodscited by 54
  5. 2020RTAMT: Online Robustness Monitors from STLcited by 19
  6. 2020Recurrent Neural Network Controllers for Signal Temporal Logic Specifications Subject to Safety Constraintscited by 18
  7. 2020Model-based Reinforcement Learning from Signal Temporal Logic Specificationscited by 18
  8. 2022Semi-Supervised Trajectory-Feedback Controller Synthesis for Signal Temporal Logic Specificationscited by 11
  9. 2021Model-Free Reinforcement Learning for Optimal Control of MarkovDecision Processes Under Signal Temporal Logic Specificationscited by 10
  10. 2017Model Predictive Control for Signal Temporal Logic Specificationcited by 8
  11. 2021STL2vec: Signal Temporal Logic Embeddings for Control Synthesis With Recurrent Neural Networkscited by 7
  12. 2022Temporal Logic Guided Motion Primitives for Complex Manipulation Tasks with User Preferencescited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 3; 2025: 2; 2026: 1.

7 papers.

  1. 2025Constrained Decoding for Safe Robot Navigation Foundation Modelscited by 5
  2. 2024Logically Constrained Robotics Transformers for Enhanced Perception-Action Planningcited by 4
  3. 2025Pretrained Embeddings as a Behavior Specification Mechanismcited by 3
  4. 2024RuleFuser: An Evidential Bayes Approach for Rule Injection in Imitation Learned Planners and Predictors for Robustness under Distribution Shiftscited by 2
  5. 2026Runtime Monitoring of Perception-Based Autonomous Systems via Embedding Temporal Logiccited by 1
  6. 2023Learned Tree Search for Long-Horizon Social Robot Navigation in Shared Airspacecited by 0
  7. 2024MCTS Based Dispatch of Autonomous Vehicles under Operational Constraints for Continuous Transportationcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024Interpretable Imitation Learning via Generative Adversarial STL Inference and Control
  2. 2024Counter-example guided Imitation Learning of Feedback Controllers from Temporal Logic Specifications
  3. 2022Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations
  4. 2026Conformal Signal Temporal Logic for Robust Reinforcement Learning Control: A Case Study
  5. 2026GraSP-STL: A Graph-Based Framework for Zero-Shot Signal Temporal Logic Planning via Offline Goal-Conditioned Reinforcement Learning
  6. 2026Learning from Imperfect Demonstrations via Temporal Behavior Tree-Guided Trajectory Repair
  7. 2025Zero-Shot Trajectory Planning for Signal Temporal Logic Tasks
  8. 2025TeLoGraF: Temporal Logic Planning via Graph-encoded Flow Matching