@article{da1f4517100f4e6392f9cd39f78daeda,
title = "Backpropagation through signal temporal logic specifications: Infusing logical structure into gradient-based methods",
keywords = "backpropagation, computation graphs, gradient-based methods, Signal Temporal Logic",
author = "Karen Leung and Nikos Ar{\'e}chiga and Marco Pavone",
note = "Publisher Copyright: {\textcopyright} The Author(s) 2022.",
year = "2023",
month = may,
doi = "10.1177/02783649221082115",
language = "English",
volume = "42",
pages = "356--370",
journal = "International Journal of Robotics Research",
issn = "0278-3649",
publisher = "SAGE Publications Inc.",
number = "6",
}