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

• URL: http://arxiv.org/abs/2605.01222v1
• Date: Sat, 02 May 2026 03:32:23 GMT
• Title: Zero-Shot Signal Temporal Logic Planning with Disjunctive Branch Selection in Dynamic Semantic Maps
• Abstract summary: Signal Temporal Logic (STL) offers verifiable task specifications and is crucial for safety-critical control.<n>We propose a zero-shot STL planning solver for variable-map environments that generates feasible trajectories without retraining.
• Score: 5.359659831465926
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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.

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