ResearchBenchmarksSTL Task Control on stlcg 2STL Task Control on stlcg 2Follow3.785Total Computation Time (s)PINSTT-2.4351239.5506981.5365123.52231Jul 8, 2026Evaluation resultsMethodMethodLinksTotal Computation Time (s)Offline Tube Synthesis Time (s)Online Control Synthesis Time (s)PINSTT2026.073.7853.7830.002STT2026.077.5897.5710.018CBF2026.0740.754——MILP2026.07157.959——MPC2026.07159.288——