Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Semi-Supervised Trajectory-Feedback Controller Synthesis for Signal
  Temporal Logic Specifications   There are spatio-temporal rules that dictate how robots should operate in
complex environments, e.g., road rules govern how (self-driving) vehicles
should behave on the road. However, seamlessly incorporating such rules into a
robot control policy remains challenging especially for real-time applications.
In this work, given a desired spatio-temporal specification expressed in the
Signal Temporal Logic (STL) language, we propose a semi-supervised controller
synthesis technique that is attuned to human-like behaviors while satisfying
desired STL specifications. Offline, we synthesize a trajectory-feedback neural
network controller via an adversarial training scheme that summarizes past
spatio-temporal behaviors when computing controls, and then online, we perform
gradient steps to improve specification satisfaction. Central to the offline
phase is an imitation-based regularization component that fosters better policy
exploration and helps induce naturalistic human behaviors. Our experiments
demonstrate that having imitation-based regularization leads to higher
qualitative and quantitative performance compared to optimizing an STL
objective only as done in prior work. We demonstrate the efficacy of our
approach with an illustrative case study and show that our proposed controller
outperforms a state-of-the-art shooting method in both performance and
computation time.

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The categories of this paper are: comp-gas
6
The categories of this paper are: astro-ph
11
The categories of this paper are: hep-lat
33
The categories of this paper are: plasm-ph
10
The categories of this paper are: q-bio
16
The categories of this paper are: stat
0
The categories of this paper are: hep-ph
23
The categories of this paper are: solv-int
31
The categories of this paper are: ao-sci
14
The categories of this paper are: math-ph
34
The categories of this paper are: chem-ph
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The categories of this paper are: q-fin
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The categories of this paper are: adap-org
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The categories of this paper are: gr-qc
15
The categories of this paper are: nucl-ex
3
The categories of this paper are: physics