{"id":"https://openalex.org/W4383109325","doi":"https://doi.org/10.1109/icra48891.2023.10160953","title":"Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domains","display_name":"Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domains","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109325","doi":"https://doi.org/10.1109/icra48891.2023.10160953"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160953","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083352391","display_name":"Jasmine Jerry Aloor","orcid":"https://orcid.org/0000-0003-4257-3870"},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Jasmine Jerry Aloor","raw_affiliation_strings":["Indian Institute of Technology, Carnegie Mellon University,Department of Aerospace Engineering,Kharagpur,WB,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology, Carnegie Mellon University,Department of Aerospace Engineering,Kharagpur,WB,India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109758407","display_name":"Jay Patrikar","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jay Patrikar","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032495743","display_name":"Parv Kapoor","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parv Kapoor","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019807694","display_name":"Jean Oh","orcid":"https://orcid.org/0000-0001-9709-2658"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Oh","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3041,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.84021649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1320","last_page":"1326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7309244871139526},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.564365804195404},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5396705865859985},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5090129375457764},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.46240001916885376},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.43032339215278625},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.35981348156929016},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.34159430861473083}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7309244871139526},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.564365804195404},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5396705865859985},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5090129375457764},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.46240001916885376},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.43032339215278625},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.35981348156929016},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.34159430861473083},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160953","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1547304883","https://openalex.org/W1625390266","https://openalex.org/W2092884371","https://openalex.org/W2101804404","https://openalex.org/W2257979135","https://openalex.org/W2792764867","https://openalex.org/W2892110232","https://openalex.org/W2960590043","https://openalex.org/W2970377754","https://openalex.org/W3028181794","https://openalex.org/W3039865636","https://openalex.org/W3046650501","https://openalex.org/W3095983813","https://openalex.org/W3096990961","https://openalex.org/W3103842254","https://openalex.org/W3120924814","https://openalex.org/W3176233416","https://openalex.org/W3200011036","https://openalex.org/W3201878770","https://openalex.org/W3213468266","https://openalex.org/W4226277223","https://openalex.org/W4229450941","https://openalex.org/W4287327731","https://openalex.org/W4294691739","https://openalex.org/W6637650041","https://openalex.org/W6749825310","https://openalex.org/W6765008394","https://openalex.org/W6781391216","https://openalex.org/W6785439472","https://openalex.org/W6790543905","https://openalex.org/W6801107322","https://openalex.org/W6801465489","https://openalex.org/W6803538631"],"related_works":["https://openalex.org/W2280422768","https://openalex.org/W3143197806","https://openalex.org/W4252555497","https://openalex.org/W3121175838","https://openalex.org/W3016293053","https://openalex.org/W2401723157","https://openalex.org/W2952904874","https://openalex.org/W4389302559","https://openalex.org/W1690653314","https://openalex.org/W2053033682"],"abstract_inverted_index":{"Seamlessly":[0],"integrating":[1,50],"rules":[2,34,93],"in":[3],"Learning-from-Demonstrations":[4],"(LfD)":[5],"policies":[6],"is":[7],"a":[8,47,54,128],"critical":[9],"requirement":[10],"to":[11,27,58,72,90,117],"enable":[12],"the":[13,65,74,84,108,114,118,133],"real-world":[14,137],"deployment":[15],"of":[16,49,120],"AI":[17],"agents.":[18],"Recently,":[19],"Signal":[20],"Temporal":[21],"Logic":[22],"(STL)":[23],"has":[24],"been":[25],"shown":[26],"be":[28,88],"an":[29],"effective":[30],"language":[31],"for":[32,123],"encoding":[33],"as":[35,46,107],"spatio-temporal":[36],"constraints.":[37],"This":[38],"work":[39],"uses":[40],"Monte":[41],"Carlo":[42],"Tree":[43],"Search":[44],"(MCTS)":[45],"means":[48],"STL":[51,69,92,151],"specification":[52],"into":[53,95],"vanilla":[55],"LfD":[56,98,110,145],"policy":[57],"improve":[59],"constraint":[60,81],"satisfaction.":[61,82],"We":[62,112],"propose":[63],"augmenting":[64],"MCTS":[66],"heuristic":[67],"with":[68,79],"robustness":[70],"values":[71],"bias":[73],"tree":[75],"search":[76],"towards":[77],"branches":[78],"higher":[80],"While":[83],"domain-independent":[85],"method":[86,116],"can":[87],"applied":[89],"integrate":[91],"online":[94],"any":[96],"pre-trained":[97],"algorithm,":[99],"we":[100],"choose":[101],"goal-conditioned":[102],"Generative":[103],"Adversarial":[104],"Imitation":[105],"Learning":[106],"offline":[109],"policy.":[111],"apply":[113],"proposed":[115],"domain":[119],"planning":[121],"trajectories":[122],"General":[124],"Aviation":[125],"aircraft":[126],"around":[127],"non-towered":[129],"airfield.":[130],"Results":[131],"using":[132],"simulator":[134],"trained":[135],"on":[136],"data":[138],"showcase":[139],"60%":[140],"improved":[141],"performance":[142],"over":[143],"baseline":[144],"methods":[146],"that":[147],"do":[148],"not":[149],"use":[150],"heuristics.":[152],"[Code]":[153],"<sup":[154,157,163,166],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[155,158,164,167],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[156,159],"Codebase:":[160],"https://github.com/castacks/mcts-stl-planning":[161],"[Video]":[162],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[165,168],"Video:":[169],"https://youtu.be/fiFCwc57MQs":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6}],"updated_date":"2026-06-12T08:23:45.883708","created_date":"2025-10-10T00:00:00"}