Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logic
Charles Dawson,Chuchu Fan,Charles Dawson,Chuchu Fan
Signal temporal logic (STL) provides a powerful, flexible framework for specifying complex autonomy tasks; however, existing methods for planning based on STL specifications have difficulty scaling to long-horizon tasks and are not robust to external disturbances. In this paper, we present an algorithm for finding robust plans that satisfy STL specifications. Our method alternates between local op...
