5 papers · 1 filter
GraSP-STL: A Graph-Based Framework for Zero-Shot Signal Temporal Logic Planning via Offline Goal-Conditioned Reinforcement Learning
Ancheng Hou, Ruijia Liu, Xiang Yin
This paper studies offline, zero-shot planning under Signal Temporal Logic (STL) specifications. We assume access only to an offline dataset of state-action-state transitions colle…
SAGAS: Semantic-Aware Graph-Assisted Stitching for Offline Temporal Logic Planning
Ruijia Liu, Ancheng Hou, Xiang Yin
Linear Temporal Logic (LTL) provides a rigorous framework for specifying long-horizon robotic tasks, yet existing approaches face a trade-off: model-based synthesis relies on accur…
VH-Diffuser: Variable Horizon Diffusion Planner for Time-Aware Goal-Conditioned Trajectory Planning
Ruijia Liu, Ancheng Hou, Shaoyuan Li +1
Diffusion-based planners have gained significant recent attention for their robustness and performance in long-horizon tasks. However, most existing planners rely on a fixed, pre-s…
Bridging Perception and Planning: Towards End-to-End Planning for Signal Temporal Logic Tasks
Bowen Ye, Junyue Huang, Yang Liu +2
We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representa…
Zero-Shot Trajectory Planning for Signal Temporal Logic Tasks
Ruijia Liu, Ancheng Hou, Xiao Yu +1
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…