Tractable Reinforcement Learning for Full Class of Signal Temporal Logic Specifications Using Spatiotemporal Tube Reward

arXiv:2609.28396 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Actor — 16× in this paper · explained in 3 episodes
• Robustness — 14× in this paper · explained in 5 episodes
• Signal Temporal Logic — 13× in this paper
• Reinforcement Learning — 11× in this paper · explained in 4 episodes
• Reward Function — 9× in this paper · explained in 2 episodes
• Soft Actor-Critic — 7× in this paper
• Action Space — 4× in this paper · explained in 1 episode
• Soft Actor-Critic (SAC) — 4× in this paper · explained in 2 episodes
• Reward Shaping — 3× in this paper · explained in 2 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Conference on Decision and Control — 2× in this paper
• Curse of Dimensionality — 2× in this paper · explained in 6 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Signal Temporal Logic (STL) — 2× in this paper · explained in 4 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• Linear Temporal Logic (LTL) — 1× in this paper · explained in 4 episodes
• Markov Decision Process — 1× in this paper
• Markov Decision Process (MDP) — 1× in this paper · explained in 11 episodes
• Q-learning — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Steering — 1× in this paper · explained in 2 episodes

Sources

• Control Barrier Functions for the Full Class of Signal Temporal Logic Tasks using Spatiotemporal Tubes
• Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
• Learning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints
• Prescribed Performance Control of Unknown Euler-Lagrange Systems Under Input Constraints

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