STLnet: Signal Temporal Logic Enforced
      Multivariate Recurrent Neural Networks

             Meiyi Ma, Ji Gao, Lu Feng, John Stankovic
                   University of Virginia
           {meiyi,jg6yd,lu.feng,stankovic}@virginia.edu

                       Abstract
     Recurrent Neural Networks (RNNs) have made great achievements for sequential
     prediction tasks. In practice, the target sequence often follows certain model
     properties or patterns (e.g., reasonable ranges, consecuti ...