Value Functions for Temporal Logic: Optimal Policies and Safety Filters
While Bellman equations for basic reach, avoid, and reach-avoid problems are well studied, the relationship between value optimality and policy optimality becomes subtle in the undiscounted infinite-horizon setting, particularly for more complicated tasks. Greedily maximizing the Q-function can produce policies that indefinitely defer task completion for reach-avoid problems, or equivalently, Until specifications, even when the value function is optimal. Building upon recent results decomposing the value function for temporal logic (TL) into a graph of constituent value functions, we construct non-Markovian policies based on state history that avoid this pathology and prove their optimali...
| Authors | Oswin So, William Sharpless, Sylvia Herbert et al. |
|---|---|
| Primary category | cs.RO |
| Published | 1 May 2026 |
| Last updated at source | 1 May 2026 |
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