Zero-Shot Signal Temporal Logic Planning with Disjunctive Branch Selection in Dynamic Semantic Maps

ArXi:2605.01222v1 Announce Type: new Signal Temporal Logic (STL) offers verifiable task specifications and is crucial for safety-critical control. Yet STL planning remains challenging: exact optimization-based methods are often too slow, and learning-based methods struggle to generalize across varying environments. We propose a zero-shot STL planning solver for variable-map environments that generates feasible trajectories without re