# SparseMax-dSTL: Sparse-Projection Robust Approximation for Temporal-Logic Trajectory Optimization

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/urorj9ziyjodshtdu6s2x2j9o
- Original: https://arxiv.org/abs/2610.23837

## Summary

SparseMax-dSTL proposes a smooth approximation of Signal Temporal Logic (STL) robustness based on sparse projection; its value always lies below the exact robustness and is therefore sound, and its error bound is independent of the number of samples and can be determined before optimization.