相关论文: Demonstration Informed Specification Search

Specifying tasks for robotic systems traditionally requires coding expertise, deep domain knowledge, and significant time investment. While learning from demonstration offers a promising alternative, existing methods often struggle with…

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)…

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…

We introduce Dynamic Information Sub-Selection (DISS), a novel framework of AI assistance designed to enhance the performance of black-box decision-makers by tailoring their information processing on a per-instance basis. Blackbox…

There have been numerous studies on mining temporal specifications from execution traces. These approaches learn finite-state automata (FSA) from execution traces when running tests. To learn accurate specifications of a software system,…

Real world applications often naturally decompose into several sub-tasks. In many settings (e.g., robotics) demonstrations provide a natural way to specify the sub-tasks. However, most methods for learning from demonstrations either do not…

We present a new algorithm IDS for incremental learning of deterministic finite automata (DFA). This algorithm is based on the concept of distinguishing sequences introduced in (Angluin81). We give a rigorous proof that two versions of this…

The identification of a deterministic finite automaton (DFA) from labeled examples is a well-studied problem in the literature; however, prior work focuses on the identification of monolithic DFAs. Although monolithic DFAs provide accurate…

Linear temporal logic (LTL) has recently been adopted as a powerful formalism for specifying complex, temporally extended tasks in multi-task reinforcement learning (RL). However, learning policies that efficiently satisfy arbitrary…

For performing robotic manipulation tasks, the core problem is determining suitable trajectories that fulfill the task requirements. Various approaches to compute such trajectories exist, being learning and optimization the main driving…

Temporal logic specifications play an important role in a wide range of software analysis tasks, such as model checking, automated synthesis, program comprehension, and runtime monitoring. Given a set of positive and negative examples,…

Most current methods for learning from demonstrations assume that those demonstrations alone are sufficient to learn the underlying task. This is often untrue, especially if extra safety specifications exist which were not present in the…

This work studies constrained blackbox optimization problems that cannot be solved in reasonable time due to prohibitive computational costs. This challenge is especially prevalent in industrial applications, where blackbox evaluations are…

We consider the problem of explaining the temporal behavior of black-box systems using human-interpretable models. To this end, based on recent research trends, we rely on the fundamental yet interpretable models of deterministic finite…

In many settings (e.g., robotics) demonstrations provide a natural way to specify tasks; however, most methods for learning from demonstrations either do not provide guarantees that the artifacts learned for the tasks, such as rewards or…

Robot-assisted surgeries rely on accurate and real-time scene understanding to safely guide surgical instruments. However, segmentation models trained on static datasets face key limitations when deployed in these dynamic and evolving…

We aim to enable an autonomous robot to learn new skills from demo videos and use these newly learned skills to accomplish non-trivial high-level tasks. The goal of developing such autonomous robot involves knowledge representation,…

We present DEPS, an end-to-end algorithm for discovering parameterized skills from expert demonstrations. Our method learns parameterized skill policies jointly with a meta-policy that selects the appropriate discrete skill and continuous…

Reward engineering is an important aspect of reinforcement learning. Whether or not the user's intentions can be correctly encapsulated in the reward function can significantly impact the learning outcome. Current methods rely on manually…

Missing data in time series is a pervasive problem that puts obstacles in the way of advanced analysis. A popular solution is imputation, where the fundamental challenge is to determine what values should be filled in. This paper proposes…