DAG-STL decomposes long-horizon STL planning into decomposition, timed waypoint allocation, and diffusion-based trajectory generation to enable zero-shot planning under unknown dynamics.
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DAG-STL: A Hierarchical Framework for Zero-Shot Trajectory Planning under Signal Temporal Logic Specifications
DAG-STL decomposes long-horizon STL planning into decomposition, timed waypoint allocation, and diffusion-based trajectory generation to enable zero-shot planning under unknown dynamics.