{
  "abstract": "The temporal logic formula generation device 1 X mainly includes a target relation logical formula generation means 331 X and a target relation logical formula integration means 332 X. The target relation logical formula generation means 331 X is configured to generate, based on object-to-object relation information representing a relation between objects in a target state relating to a task of the robot, one or more target relation logical formulas that are temporal logic formulas representing relations, in the target state, between respective pair(s) of objects between which the relation is defined. The target relation logical formula integration means 332 X is configured to generate a temporal logic formula into which the target relation logical formulas are integrated.",
  "assignees": [
    "NEC CORP"
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  "authors": [
    "OYAMA HIROYUKI",
    "TAKANO RIN"
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  "title": "Temporal logic formula generation device, temporal logic formula generation method, and storage medium",
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