Zero-Shot Signal Temporal Logic Planning with Disjunctive Branch Selection in Dynamic Semantic Maps
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 a...
| Authors | Bowen Ye, Ancheng Hou, Junyue Huang et al. |
|---|---|
| Primary category | cs.AI |
| Published | 2 May 2026 |
| Last updated at source | 2 May 2026 |
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