mlsanityData to 14 Oct 2026

Zero-Shot Trajectory Planning for Signal Temporal Logic Tasks

arXiv 2501.13457 ↗First posted 23 Jan 2025cs.RO cs.AI cs.LGcited by 6

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Abstract (arXiv)

Signal Temporal Logic (STL) is a powerful specification language for describing complex temporal behaviors of continuous signals, making it well-suited for high-level robotic task descriptions. However, generating executable plans for STL tasks is challenging, as it requires consideration of the coupling between the task specification and the system dynamics. Existing approaches either follow a model-based setting that explicitly requires knowledge of the system dynamics or adopt a task-oriented data-driven approach to learn plans for specific tasks. In this work, we address the problem of generating executable STL plans for systems with unknown dynamics. We propose a hierarchical planning framework that enables zero-shot generalization to new STL tasks by leveraging only task-agnostic trajectory data during offline training. The framework consists of three key components: (i) decomposing the STL specification into several progresses and time constraints, (ii) searching for timed waypoints that satisfy all progresses under time constraints, and (iii) generating trajectory segments using a pre-trained diffusion model and stitching them into complete trajectories. We formally prove that our method guarantees STL satisfaction, and simulation results demonstrate its effectiveness in generating dynamically feasible trajectories across diverse long-horizon STL tasks.

Key facts. Cited by 6 papers in the map (data through 14 Oct 2026). Builds on 44 of its 60 references that are in the map. First posted on arXiv 23 Jan 2025.

Builds on

44 of 60 references.

References · 44

  1. 2020Denoising Diffusion Probabilistic Modelscited by 21,076
  2. 2020Denoising Diffusion Implicit Modelscited by 9,781
  3. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  4. 2020D4RL: Datasets for Deep Data-Driven Reinforcement Learningcited by 1,427
  5. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,061
  6. 2021Tackling the Generative Learning Trilemma with Denoising Diffusion GANscited by 516
  7. 2022Is Conditional Generative Modeling all you need for Decision-Making?cited by 516
  8. 2024OGBench: Benchmarking Offline Goal-Conditioned RLcited by 238
  9. 2022Guided Conditional Diffusion for Controllable Traffic Simulationcited by 190
  10. 2023Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Modelscited by 161
  11. 2016Learning to Poke by Poking: Experiential Learning of Intuitive Physicscited by 154
  12. 2024Derivative-Free Guidance in Continuous and Discrete Diffusion Models with Soft Value-Based Decodingcited by 136
32 more
  1. 2023Optimal Goal-Reaching Reinforcement Learning via Quasimetric Learningcited by 121
  2. 2023EMDM: Efficient Motion Diffusion Model for Fast and High-Quality Motion Generationcited by 89
  3. 2024Constrained Synthesis with Projected Diffusion Modelscited by 89
  4. 2023SafeDiffuser: Safe Planning with Diffusion Probabilistic Modelscited by 75
  5. 2016Q-Learning for Robust Satisfaction of Signal Temporal Logic Specificationscited by 67
  6. 2024Safe Offline Reinforcement Learning with Feasibility-Guided Diffusion Modelcited by 64
  7. 2020Backpropagation through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based Methodscited by 54
  8. 2024DiffStitch: Boosting Offline Reinforcement Learning with Diffusion-based Trajectory Stitchingcited by 36
  9. 2024Diffusion Model Predictive Controlcited by 36
  10. 2023Adaptive Online Replanning with Diffusion Modelscited by 34
  11. 2024CoBL-Diffusion: Diffusion-Based Conditional Robot Planning in Dynamic Environments Using Control Barrier and Lyapunov Functionscited by 33
  12. 2020Tractable Reinforcement Learning of Signal Temporal Logic Objectivescited by 22
  13. 2015Robust Temporal Logic Model Predictive Controlcited by 21
  14. 2020A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Controlcited by 21
  15. 2022Multi-agent Motion Planning from Signal Temporal Logic Specificationscited by 21
  16. 2024Stitching Sub-Trajectories with Conditional Diffusion Model for Goal-Conditioned Offline RLcited by 21
  17. 2020Model-based Reinforcement Learning from Signal Temporal Logic Specificationscited by 18
  18. 2022Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variablescited by 16
  19. 2024LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-based Planningcited by 16
  20. 2023Trajectory Generation, Control, and Safety with Denoising Diffusion Probabilistic Modelscited by 13
  21. 2021Model-Free Reinforcement Learning for Optimal Control of MarkovDecision Processes Under Signal Temporal Logic Specificationscited by 10
  22. 2022Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logiccited by 9
  23. 2022Deep reinforcement learning under signal temporal logic constraints using Lagrangian relaxationcited by 8
  24. 2024Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Controlcited by 8
  25. 2024Diffusion Models as Optimizers for Efficient Planning in Offline RLcited by 8
  26. 2024Diffusion Meets Options: Hierarchical Generative Skill Composition for Temporally-Extended Taskscited by 7
  27. 2024Safe Planning through Incremental Decomposition of Signal Temporal Logic Specificationscited by 6
  28. 2022Model Predictive Control for Signal Temporal Logic Specifications with Time Interval Decompositioncited by 3
  29. 2023Continuous-time control synthesis under nested signal temporal logic specificationscited by 3
  30. 2023Synthesis of Temporally-Robust Policies for Signal Temporal Logic Tasks using Reinforcement Learningcited by 3
  31. 2021Online Control Synthesis for Uncertain Systems under Signal Temporal Logic Specificationscited by 1
  32. 2022Stochastic Robustness Interval for Motion Planning with Signal Temporal Logiccited by 1

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 2; 2026: 4.

6 papers.

  1. 2025TGPO: Temporal Grounded Policy Optimization for Signal Temporal Logic Taskscited by 6
  2. 2026ReasonSTL: Bridging Natural Language and Signal Temporal Logic via Tool-Augmented Process-Rewarded Learningcited by 1
  3. 2025RRT*former: Environment-Aware Sampling-Based Motion Planning using Transformercited by 0
  4. 2026GraSP-STL: A Graph-Based Framework for Zero-Shot Signal Temporal Logic Planning via Offline Goal-Conditioned Reinforcement Learningcited by 0
  5. 2026Zero-Shot Signal Temporal Logic Planning with Disjunctive Branch Selection in Dynamic Semantic Mapscited by 0
  6. 2026Generalizable Multi-Agent Planning from Signal Temporal Logic Specifications via Diffusioncited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026DAG-STL: A Hierarchical Framework for Zero-Shot Trajectory Planning under Signal Temporal Logic Specifications ↗
  2. 2025Signal Temporal Logic Compliant Co-design of Planning and Control ↗
  3. 2025TeLoGraF: Temporal Logic Planning via Graph-encoded Flow Matching
  4. 2026Shielded Reinforcement Learning Under Dynamic Temporal Logic Constraints
  5. 2026STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
  6. 2024Comp-LTL: Temporal Logic Planning via Zero-Shot Policy Composition
  7. 2026Temporal Logic Guidance for Action-Only Diffusion Policies with World Models
  8. 2025BT-TL-DMPs: A Novel Robot TAMP Framework Combining Behavior Tree, Temporal Logic and Dynamical Movement Primitives