Junyue Huang

Bridging Perception and Planning: Towards End-To-End Planning for Signal Temporal Logic Tasks

We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstruc- tured real-world environments. We propose the Structured- MoE STL Planner (S-MS…