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A gradient-based solver that enforces a Signal Temporal Logic (STL) specification uses a smooth approximation of its quantitative semantics, the robustness. In safety-critical trajectory optimization, this approximation must have two properties. First, it must be sound, that is, nonnegative only on trajectories that satisfy the specification. Second, at each temporal operator, the weight of its gradient on the violating samples must stay bounded away from zero, however long the horizon. The approximations in use, including the log-sum-exp, its sound variant, and the generalized-mean…
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| Age | -12.3 |
| Primary source | 20 |
| Total | 7.7 |
These components add up to 7.699999999999999, not 7.7. The total is what ordered your brief; the difference means a component was not recorded, so treat this breakdown as incomplete rather than as the whole reason.