Bridging Perception and Planning: Towards End-to-End Planning for Signal Temporal Logic Tasks

Abstract: We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world environments. We propose the \emph{Structured-MoE STL Planner} (\textbf{S-MSP}), a differentiable framework that maps synchronized multi-view camera observations and an STL specification directly to a feasible trajectory. S-MSP integrates STL constraints within a unified pipeline, trained with a composite loss that combines trajectory reconstruction and STL robustness. A \emph{structure-aware} Mixture-of-Experts (MoE) model enables horizon-aware specialization by projecting sub-tasks into temporally anchored embeddings. We evaluate S-MSP using a high-fidelity simulation of factory-logistics scenarios with temporally constrained tasks. Experiments show that S-MSP outperforms single-expert baselines in STL satisfaction and trajectory feasibility. A rule-based \emph{safety filter} at inference improves physical executability without compromising logical correctness, showcasing the practicality of the approach.