{"paper":{"title":"Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"Non-uniform quantization and bit-shifting turn lexicographic STL optimization into a single scalar problem.","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hannes Homburger, Johannes Reuter, Lothar Kiltz, Matthias Althoff, Patrick Halder","submitted_at":"2026-04-22T10:49:09Z","abstract_excerpt":"Motion planning for autonomous vehicles often requires satisfying multiple conditionally conflicting specifications. In situations where not all specifications can be met simultaneously, minimum-violation motion planning maintains system operation by minimizing violations of specifications in accordance with their priorities. Signal temporal logic (STL) provides a formal language for rigorously defining these specifications and enables the quantitative evaluation of their violations. However, a total ordering of specifications yields a lexicographic optimization problem, which is typically com"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"We address this problem by transforming the multi-objective lexicographic optimization problem into a single-objective scalar optimization problem using non-uniform quantization and bit-shifting.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"That the non-uniform quantization and bit-shifting accurately preserve the lexicographic ordering without significant loss of optimality or introduction of artifacts in the optimization landscape.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"Transforms lexicographic minimum-violation STL motion planning into scalar optimization using non-uniform quantization and bit-shifting for efficient MPPI solving.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"Non-uniform quantization and bit-shifting turn lexicographic STL optimization into a single scalar problem.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"c5813cc84b7433e6fb4284c69a56876788061a131906ad824714f6cac715734e"},"source":{"id":"2604.20428","kind":"arxiv","version":2},"verdict":{"id":"cfe6307a-3731-453d-b958-adf186a7efd2","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-10T00:08:03.841540Z","strongest_claim":"We address this problem by transforming the multi-objective lexicographic optimization problem into a single-objective scalar optimization problem using non-uniform quantization and bit-shifting.","one_line_summary":"Transforms lexicographic minimum-violation STL motion planning into scalar optimization using non-uniform quantization and bit-shifting for efficient MPPI solving.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"That the non-uniform quantization and bit-shifting accurately preserve the lexicographic ordering without significant loss of optimality or introduction of artifacts in the optimization landscape.","pith_extraction_headline":"Non-uniform quantization and bit-shifting turn lexicographic STL optimization into a single scalar problem."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2604.20428/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-21T14:41:09.711582Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"doi_compliance","ran_at":"2026-05-20T01:57:49.510662Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"80e6ec1bfbce27690517b8256d7e1f9428f4289046c6b06e996e37e242d71a56"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}