Publications

Preprints

• Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications

  Merve Atasever, Cagan Bakirci, Alfredo Reina Corona, Keyan Azbijari, Jyotirmoy V. Deshmukh

  arXiv preprint, 2026

  Introduces an STL-guided reward-shaping framework for learning gait-aware quadruped locomotion policies with PPO, using temporal-logic specifications for safety, gait synchronization, command tracking, and actuation constraints.

  arXiv:2607.00442PDF