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| Main Authors: | , , |
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| Format: | Preprint |
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2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.00775 |
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| _version_ | 1866918495152766976 |
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| author | Liu, Ruijia Hou, Ancheng Yin, Xiang |
| author_facet | Liu, Ruijia Hou, Ancheng Yin, Xiang |
| contents | Linear Temporal Logic (LTL) provides a rigorous framework for specifying long-horizon robotic tasks, yet existing approaches face a trade-off: model-based synthesis relies on accurate labeled transition systems, whereas learning-based methods often require online interaction, task-specific rewards, or specification-conditioned training. We study LTL-specified robotic planning and execution in a stricter offline, model-free setting, where the agent is given only fixed, task-agnostic trajectory fragments, with no dynamics model, task demonstrations, or online data collection. To address this setting, we propose SAGAS, a framework that combines the compositionality of symbolic synthesis with the data-driven reachability structure learned from offline trajectories. SAGAS first learns a reusable latent reachability graph and a frozen goal-conditioned executor from fragmented offline data. For each new LTL formula, it performs task-time semantic graph augmentation to ground state-defined propositions on the learned graph, and applies Büchi product search to synthesize a cost-aware accepting prefix--suffix waypoint plan executed by the frozen executor. By shifting formula-specific reasoning from policy learning to test-time graph augmentation and symbolic search, SAGAS enables zero-shot generalization to unseen, data-supported LTL specifications without task-specific reward design, policy retraining, or online interaction. Experiments on LTL task suites constructed from OGBench locomotion domains show that this design produces executable and cost-efficient prefix--suffix behaviors for diverse unseen LTL tasks from fragmented offline data. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_00775 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | SAGAS: Semantic-Aware Graph-Assisted Stitching for Offline Temporal Logic Planning Liu, Ruijia Hou, Ancheng Yin, Xiang Robotics Systems and Control Linear Temporal Logic (LTL) provides a rigorous framework for specifying long-horizon robotic tasks, yet existing approaches face a trade-off: model-based synthesis relies on accurate labeled transition systems, whereas learning-based methods often require online interaction, task-specific rewards, or specification-conditioned training. We study LTL-specified robotic planning and execution in a stricter offline, model-free setting, where the agent is given only fixed, task-agnostic trajectory fragments, with no dynamics model, task demonstrations, or online data collection. To address this setting, we propose SAGAS, a framework that combines the compositionality of symbolic synthesis with the data-driven reachability structure learned from offline trajectories. SAGAS first learns a reusable latent reachability graph and a frozen goal-conditioned executor from fragmented offline data. For each new LTL formula, it performs task-time semantic graph augmentation to ground state-defined propositions on the learned graph, and applies Büchi product search to synthesize a cost-aware accepting prefix--suffix waypoint plan executed by the frozen executor. By shifting formula-specific reasoning from policy learning to test-time graph augmentation and symbolic search, SAGAS enables zero-shot generalization to unseen, data-supported LTL specifications without task-specific reward design, policy retraining, or online interaction. Experiments on LTL task suites constructed from OGBench locomotion domains show that this design produces executable and cost-efficient prefix--suffix behaviors for diverse unseen LTL tasks from fragmented offline data. |
| title | SAGAS: Semantic-Aware Graph-Assisted Stitching for Offline Temporal Logic Planning |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2512.00775 |