@article{dagstlahierarchicalframeworkforzeroshott,
  title = {DAG-STL: A Hierarchical Framework for Zero-Shot Trajectory Planning under Signal Temporal Logic Specifications},
  author = {Ruijia Liu and Ancheng Hou and Xiao Yu and Xiang Yin},
  year = {2026},
  eprint = {2604.18343},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.18343},
}