Non-Markovian policies from decomposed temporal logic value functions are proven optimal for nested Until, Globally, and Globally-Until specifications and extend Q-function safety filters to complex tasks.
Bellman value decomposition for task logic in safe optimal control
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Value Functions for Temporal Logic: Optimal Policies and Safety Filters
Non-Markovian policies from decomposed temporal logic value functions are proven optimal for nested Until, Globally, and Globally-Until specifications and extend Q-function safety filters to complex tasks.