mlsanityData to 7 Oct 2026

Zero-Shot Signal Temporal Logic Planning with Disjunctive Branch Selection in Dynamic Semantic Maps

arXiv 2605.01222 ↗First posted 2 May 2026cs.AIcited by 0

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Abstract (arXiv)

Signal Temporal Logic (STL) offers verifiable task specifications and is crucial for safety-critical control. Yet STL planning remains challenging: exact optimization-based methods are often too slow, and learning-based methods struggle to generalize across varying environments. We propose a zero-shot STL planning solver for variable-map environments that generates feasible trajectories without retraining. By integrating a map-conditioned Transformer architecture with a lightweight heuristic, our approach effectively handles complex disjunctive (OR) subformulas. Furthermore, we leverage Transitive Reinforcement Learning (TRL) to ensure consistent temporal grounding and logical coherence across decomposed sub-tasks. Experiments on dynamic semantic maps with diverse obstacle layouts demonstrate consistent gains, highlighting the framework's superior zero-shot generalization to changing environments and broad STL coverage.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 18 of its 22 references that are in the map. First posted on arXiv 2 May 2026.

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References · 18

  1. 2017Attention Is All You Needcited by 59,932
  2. 2020Conservative Q-Learning for Offline Reinforcement Learningcited by 1,777
  3. 2021Decision Transformer: Reinforcement Learning via Sequence Modelingcited by 1,528
  4. 2021Offline Reinforcement Learning as One Big Sequence Modeling Problemcited by 636
  5. 2022Wayformer: Motion Forecasting via Simple & Efficient Attention Networkscited by 279
  6. 2016Q-Learning for Robust Satisfaction of Signal Temporal Logic Specificationscited by 65
  7. 2020Backpropagation through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based Methodscited by 51
  8. 2015Robust Temporal Logic Model Predictive Controlcited by 21
  9. 2020A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Controlcited by 21
  10. 2025Offline Goal-conditioned Reinforcement Learning with Quasimetric Representationscited by 20
  11. 2022Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variablescited by 15
  12. 2023Signal Temporal Logic Neural Predictive Controlcited by 12
6 more
  1. 2025Transitive RL: Value Learning via Divide and Conquercited by 12
  2. 2021Model-Free Reinforcement Learning for Optimal Control of MarkovDecision Processes Under Signal Temporal Logic Specificationscited by 10
  3. 2025TeLoGraF: Temporal Logic Planning via Graph-encoded Flow Matchingcited by 9
  4. 2025Zero-Shot Trajectory Planning for Signal Temporal Logic Taskscited by 6
  5. 2025TGPO: Temporal Grounded Policy Optimization for Signal Temporal Logic Taskscited by 5
  6. 2023Continuous-time control synthesis under nested signal temporal logic specificationscited by 3

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