{"id":"https://openalex.org/W4401607627","doi":"https://doi.org/10.1109/lra.2024.3443501","title":"LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-Based Planning","display_name":"LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-Based Planning","publication_year":2024,"publication_date":"2024-08-15","ids":{"openalex":"https://openalex.org/W4401607627","doi":"https://doi.org/10.1109/lra.2024.3443501"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3443501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3443501","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5085089494","display_name":"Zeyu Feng","orcid":"https://orcid.org/0000-0002-6069-7060"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Zeyu Feng","raw_affiliation_strings":["Department of Computer Science, School of Computing, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-6069-7060","affiliations":[{"raw_affiliation_string":"Department of Computer Science, School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045726084","display_name":"Hao Luan","orcid":"https://orcid.org/0000-0001-6885-1504"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hao Luan","raw_affiliation_strings":["Department of Computer Science, School of Computing, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6885-1504","affiliations":[{"raw_affiliation_string":"Department of Computer Science, School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108970233","display_name":"Pranav Goyal","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Pranav Goyal","raw_affiliation_strings":["Department of Computer Science, School of Computing, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066073375","display_name":"Harold Soh","orcid":"https://orcid.org/0000-0002-3278-0035"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Harold Soh","raw_affiliation_strings":["Department of Computer Science, School of Computing, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-3278-0035","affiliations":[{"raw_affiliation_string":"Department of Computer Science, School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085089494"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.9934,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.79941293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"9","issue":"10","first_page":"8571","last_page":"8578"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9991000294685364,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9991000294685364,"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":0.9976999759674072,"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"}},{"id":"https://openalex.org/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9907000064849854,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.5911222100257874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5421292781829834},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09984046220779419}],"concepts":[{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.5911222100257874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5421292781829834},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09984046220779419},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3443501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3443501","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.41999998688697815}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320696","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09"},{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1498432697","https://openalex.org/W1501856433","https://openalex.org/W2013035813","https://openalex.org/W2015810892","https://openalex.org/W2023808162","https://openalex.org/W2116341502","https://openalex.org/W2124623089","https://openalex.org/W2141088850","https://openalex.org/W2549200707","https://openalex.org/W2594675090","https://openalex.org/W2604314403","https://openalex.org/W2604825101","https://openalex.org/W2810178509","https://openalex.org/W2963149920","https://openalex.org/W3046650501","https://openalex.org/W3205027972","https://openalex.org/W3205399766","https://openalex.org/W3213843225","https://openalex.org/W4312293341","https://openalex.org/W4379251942","https://openalex.org/W4385063004","https://openalex.org/W4385403811","https://openalex.org/W6604128582","https://openalex.org/W6679045638","https://openalex.org/W6752155926","https://openalex.org/W6779823529","https://openalex.org/W6786375611","https://openalex.org/W6790722625","https://openalex.org/W6795288823","https://openalex.org/W6799926150","https://openalex.org/W6838483015","https://openalex.org/W6838810323","https://openalex.org/W6839052650","https://openalex.org/W6840815571","https://openalex.org/W6844364769","https://openalex.org/W6847081674","https://openalex.org/W6853034412","https://openalex.org/W6854603712","https://openalex.org/W6862505574"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032"],"abstract_inverted_index":{"Operating":[0],"effectively":[1],"in":[2,122],"complex":[3],"environments":[4],"while":[5],"complying":[6],"with":[7,22],"specified":[8,67],"constraints":[9],"is":[10,131],"crucial":[11],"for":[12],"the":[13,57,61,94,129],"safe":[14],"and":[15,23,40,92,125,143],"successful":[16],"deployment":[17],"of":[18,60],"robots":[19],"that":[20,36,55,128,136,139],"interact":[21],"operate":[24],"around":[25],"people.":[26],"In":[27],"this":[28],"letter,":[29],"we":[30],"focus":[31],"on":[32,86],"generating":[33],"long-horizon":[34],"trajectories":[35,135],"adhere":[37],"to":[38,108,110,133],"static":[39],"temporally-extended":[41],"constraints/instructions":[42],"at":[43],"test":[44],"time.":[45],"We":[46],"propose":[47],"a":[48,82],"data-driven":[49],"diffusion-based":[50],"framework,":[51],"<sc":[52,78],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[53,74,79,88],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">LTLDoG</small>,":[54],"modifies":[56],"inference":[58],"steps":[59,96],"reverse":[62],"process":[63],"given":[64],"an":[65],"instruction":[66],"using":[68,97],"finite":[69],"linear":[70],"temporal":[71],"logic":[72],"(<inline-formula":[73],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[75,89],"notation=\"LaTeX\">$\\text":[76,90],"{LTL}_{f}$</tex-math></inline-formula>).":[77],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">LTLDoG</small>":[80],"leverages":[81],"satisfaction":[83],"value":[84,102],"function":[85,103],"<inline-formula":[87],"{LTL}_{f}$</tex-math></inline-formula>":[91],"guides":[93],"sampling":[95],"its":[98],"gradient":[99],"field.":[100],"This":[101],"can":[104],"also":[105],"be":[106],"trained":[107],"generalize":[109],"new":[111],"instructions":[112],"not":[113],"observed":[114],"during":[115],"training,":[116],"enabling":[117],"flexible":[118],"test-time":[119],"adaptability.":[120],"Experiments":[121],"robot":[123],"navigation":[124],"manipulation":[126],"illustrate":[127],"method":[130],"able":[132],"generate":[134],"satisfy":[137],"formulae":[138],"specify":[140],"obstacle":[141],"avoidance":[142],"visitation":[144],"sequences.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2024-08-16T00:00:00"}
