Related papers: Planning With Uncertain Specifications (PUnS)
Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…
We study the problem of reinforcement learning for a task encoded by a reward machine. The task is defined over a set of properties in the environment, called atomic propositions, and represented by Boolean variables. One unrealistic…
Recent work has shown that deep reinforcement-learning agents can learn to follow language-like instructions from infrequent environment rewards. However, this places on environment designers the onus of designing language-conditional…
This paper proposes a mechanism to fine-tune convex approximations of probabilistic reachable sets (PRS) of uncertain dynamic systems. We consider the case of unbounded uncertainties, for which it may be impossible to find a bounded…
Search-augmented large language models (LLMs) trained with reinforcement learning (RL) have achieved strong results on open-domain question answering (QA), but training still remains a significant challenge. The optimization is often…
Linear Temporal Logic over finite traces ($\text{LTL}_f$) is a widely used formalism with applications in AI, process mining, model checking, and more. The primary reasoning task for $\text{LTL}_f$ is satisfiability checking; yet, the…
LLMs have demonstrated remarkable capability for understanding semantics, but they often struggle with understanding pragmatics. To demonstrate this fact, we release a Pragmatics Understanding Benchmark (PUB) dataset consisting of fourteen…
When observing task demonstrations, human apprentices are able to identify whether a given task is executed correctly long before they gain expertise in actually performing that task. Prior research into learning from demonstrations (LfD)…
One of the significant challenges to generating value-aligned behavior is to not only account for the specified user objectives but also any implicit or unspecified user requirements. The existence of such implicit requirements could be…
Linear Temporal Logic (LTL) is widely used to specify high-level objectives for system policies, and it is highly desirable for autonomous systems to learn the optimal policy with respect to such specifications. However, learning the…
Reinforcement Learning (RL) has made significant strides in enabling artificial agents to learn diverse behaviors. However, learning an effective policy often requires a large number of environment interactions. To mitigate sample…
Prospect Theory (PT) models human decision-making behaviour under uncertainty, among which linguistic uncertainty is commonly adopted in real-world scenarios. Although recent studies have developed some frameworks to test PT parameters for…
We propose a novel constrained reinforcement learning method for finding optimal policies in Markov Decision Processes while satisfying temporal logic constraints with a desired probability throughout the learning process. An…
Ensuring AI models align with human values is essential for their safety and functionality. Reinforcement learning from human feedback (RLHF) leverages human preferences to achieve this alignment. However, when preferences are sourced from…
A key problem in structured output prediction is direct optimization of the task reward function that matters for test evaluation. This paper presents a simple and computationally efficient approach to incorporate task reward into a maximum…
This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the control objective is to synthesize a finite-memory policy,…
Due to their architecture and vast pre-training data, large language models (LLMs) demonstrate strong text classification performance. However, LLM output - here, the category assigned to a text - depends heavily on the wording of the…
An impediment to using Large Language Models (LLMs) for reasoning output verification is that LLMs struggle to reliably identify errors in thinking traces, particularly in long outputs, domains requiring expert knowledge, and problems…
Through many recent successes in simulation, model-free reinforcement learning has emerged as a promising approach to solving continuous control robotic tasks. The research community is now able to reproduce, analyze and build quickly on…
A new approach for uncertainty management for fuzzy, rule based decision support systems is proposed: The domain expert's knowledge is expressed by a set of rules that frequently refer to vague and uncertain propositions. The certainty of…