Related papers: Reinforcement Learning with Temporal-Logic-Based C…
As a pivotal component to attaining generalizable solutions in human intelligence, reasoning provides great potential for reinforcement learning (RL) agents' generalization towards varied goals by summarizing part-to-whole arguments and…
In this paper, we propose a model-free reinforcement learning method to synthesize control policies for motion planning problems with continuous states and actions. The robot is modelled as a labeled discrete-time Markov decision process…
Reinforcement learning (RL) is a promising approach. However, success is limited to real-world applications, because ensuring safe exploration and facilitating adequate exploitation is a challenge for controlling robotic systems with…
This paper studies satisfaction of temporal properties on unknown stochastic processes that have continuous state spaces. We show how reinforcement learning (RL) can be applied for computing policies that are finite-memory and deterministic…
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…
This paper addresses the problem of learning control policies for mobile robots, modeled as unknown Markov Decision Processes (MDPs), that are tasked with temporal logic missions, such as sequencing, coverage, or surveillance. The MDP…
This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to the probabilistic labeled Markov decision process (PL-MDP). A…
Reinforcement Learning (RL) has achieved significant success in solving single-goal tasks. However, uniform goal selection often results in sample inefficiency in multi-goal settings where agents must learn a universal goal-conditioned…
Reinforcement learning (RL) and causal modelling naturally complement each other. The goal of causal modelling is to predict the effects of interventions in an environment, while the goal of reinforcement learning is to select interventions…
Since the advent of autonomous driving technology, it has experienced remarkable progress over the last decade. However, most existing research still struggles to address the challenges posed by environments where multiple vehicles have to…
Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…
Linear temporal logic (LTL) is a powerful language for task specification in reinforcement learning, as it allows describing objectives beyond the expressivity of conventional discounted return formulations. Nonetheless, recent works have…
Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the…
Reinforcement learning (RL) algorithms allow artificial agents to improve their selection of actions to increase rewarding experiences in their environments. Temporal Difference (TD) Learning -- a model-free RL method -- is a leading…
Signal Temporal Logic (STL) is a powerful framework for describing the complex temporal and logical behaviour of the dynamical system. Numerous studies have attempted to employ reinforcement learning to learn a controller that enforces STL…
Reinforcement Learning (RL) enables an intelligent agent to optimise its performance in a task by continuously taking action from an observed state and receiving a feedback from the environment in form of rewards. RL typically uses tables…
Autonomous operations of robots in unknown environments are challenging due to the lack of knowledge of the dynamics of the interactions, such as the objects' movability. This work introduces a novel Causal Reinforcement Learning approach…
We study multi-task reinforcement learning (RL), a setting in which an agent learns a single, universal policy capable of generalising to arbitrary, possibly unseen tasks. We consider tasks specified as linear temporal logic (LTL) formulae,…
In this paper, a new reinforcement learning (RL) method known as the method of temporal differential is introduced. Compared to the traditional temporal-difference learning method, it plays a crucial role in developing novel RL techniques…
Continuously learning new tasks using high-level ideas or knowledge is a key capability of humans. In this paper, we propose Lifelong reinforcement learning with Sequential linear temporal logic formulas and Reward Machines (LSRM), which…