Related papers: A Framework for Following Temporal Logic Instructi…

Recently deep reinforcement learning has achieved tremendous success in wide ranges of applications. However, it notoriously lacks data-efficiency and interpretability. Data-efficiency is important as interacting with the environment is…

We address the problem of teaching a deep reinforcement learning (RL) agent to follow instructions in multi-task environments. Instructions are expressed in a well-known formal language -- linear temporal logic (LTL) -- and can specify a…

Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration phase, especially for long-horizon manipulation tasks, and…

Linear temporal logic (LTL) is a compelling framework for specifying complex, structured tasks for reinforcement learning (RL) agents. Recent work has shown that interpreting LTL instructions as finite automata, which can be seen as…

Reinforcement learning and symbolic planning have both been used to build intelligent autonomous agents. Reinforcement learning relies on learning from interactions with real world, which often requires an unfeasibly large amount of…

Multi-agent hierarchical reinforcement learning (MAHRL) has been studied as an effective means to solve intelligent decision problems in complex and large-scale environments. However, most current MAHRL algorithms follow the traditional way…

Reinforcement learning (RL) depends critically on the choice of reward functions used to capture the de- sired behavior and constraints of a robot. Usually, these are handcrafted by a expert designer and represent heuristics for relatively…

Despite of achieving great success in real-world applications, Deep Reinforcement Learning (DRL) is still suffering from three critical issues, i.e., data efficiency, lack of the interpretability and transferability. Recent research shows…

Learning policies for complex tasks that require multiple different skills is a major challenge in reinforcement learning (RL). It is also a requirement for its deployment in real-world scenarios. This paper proposes a novel framework for…

Traditionally, reinforcement learning (RL) agents learn to solve new tasks by updating their neural network parameters through interactions with the task environment. However, recent works demonstrate that some RL agents, after certain…

Reinforcement learning (RL) with linear temporal logic (LTL) objectives can allow robots to carry out symbolic event plans in unknown environments. Most existing methods assume that the event detector can accurately map environmental states…

We propose a Reinforcement Learning (RL) based control design framework for handling complex tasks. The approach extends the concept of Reward Machines (RM) with Signal Temporal Logic (STL) formulas that can be used for event generation.…

Deep reinforcement learning (DRL) has gained great success by learning directly from high-dimensional sensory inputs, yet is notorious for the lack of interpretability. Interpretability of the subtasks is critical in hierarchical…

Deep reinforcement learning agents are often misaligned, as they over-exploit early reward signals. Recently, several symbolic approaches have addressed these challenges by encoding sparse objectives along with aligned plans. However,…

Reinforcement learning (RL) is a popular approach for robotic path planning in uncertain environments. However, the control policies trained for an RL agent crucially depend on user-defined, state-based reward functions. Poorly designed…

We study instruction following in multi-task reinforcement learning, where an agent must zero-shot execute novel tasks not seen during training. In this setting, linear temporal logic (LTL) has recently been adopted as a powerful framework…

Hierarchical reinforcement learning (HRL) learns to make decisions on multiple levels of temporal abstraction. A key challenge in HRL is that the low-level policy changes over time, making it difficult for the high-level policy to generate…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

Recent progress in deep reinforcement learning (DRL) can be largely attributed to the use of neural networks. However, this black-box approach fails to explain the learned policy in a human understandable way. To address this challenge and…

In this work we address the problem of training a Reinforcement Learning agent to follow multiple temporally-extended instructions expressed in Linear Temporal Logic in sub-symbolic environments. Previous multi-task work has mostly relied…