@article{Cai2021modular,
  title={Modular Deep Reinforcement Learning for Continuous Motion Planning with Temporal Logic},
  author={Cai, Mingyu and Hasanbeig, Mohammadhosein and Xiao, Shaoping and Abate, Alessandro and Kan, Zhen},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={4},
  pages={7973-7980},
  year={2021},
  publisher={IEEE}
}