相关论文: Learning Probabilistic Temporal Safety Properties …

This paper considers the problem of learning safe policies in the context of reinforcement learning (RL). In particular, we consider the notion of probabilistic safety. This is, we aim to design policies that maintain the state of the…

This paper targets the efficient construction of a safety shield for decision making in scenarios that incorporate uncertainty. Markov decision processes (MDPs) are prominent models to capture such planning problems. Reinforcement learning…

Humans can flexibly generalize knowledge across domains by leveraging structured relational representations. While prior research has shown how such representations support analogical reasoning, less is known about how they are recruited to…

Many complex cyber-physical systems can be modeled as heterogeneous components interacting with each other in real-time. We assume that the correctness of each component can be specified as a requirement satisfied by the output signals…

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) methods have demonstrated their efficiency in simulation environments. However, many applications for which RL offers great potential, such as autonomous driving, are also safety critical and require a certified…

We present a method to generate a robot control strategy that maximizes the probability to accomplish a task. The task is given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied at the regions of a…

Powerful domain-independent planners have been developed to solve various types of planning problems. These planners often require a model of the acting agent's actions, given in some planning domain description language. Manually designing…

Ensuring safety under unknown and stochastic dynamics remains a significant challenge in reinforcement learning (RL). In this paper, we propose a model predictive control (MPC)-based safe RL framework, called Probabilistic Ensembles with…

We consider the synthesis of control policies for probabilistic systems, modeled by Markov decision processes, operating in partially known environments with temporal logic specifications. The environment is modeled by a set of Markov…

Safely exploring an unknown dynamical system is critical to the deployment of reinforcement learning (RL) in physical systems where failures may have catastrophic consequences. In scenarios where one knows little about the dynamics, diverse…

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,…

We propose a policy search approach to learn controllers from specifications given as Signal Temporal Logic (STL) formulae. The system model, which is unknown but assumed to be an affine control system, is learned together with the control…

This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…

Many systems contain latent variables that make their dynamics partially unidentifiable or cause distribution shifts in the observed statistics between offline and online data. However, existing control techniques often assume access to…

We consider the problem of learning temporal logic formulas from examples of system behavior. Learning temporal properties has crystallized as an effective mean to explain complex temporal behaviors. Several efficient algorithms have been…

Recent work has addressed using formulas in linear temporal logic (LTL) as specifications for agents planning in Markov Decision Processes (MDPs). We consider the inverse problem: inferring an LTL specification from demonstrated behavior…

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…

We address the problem of learning human-interpretable descriptions of a complex system from a finite set of positive and negative examples of its behavior. In contrast to most of the recent work in this area, which focuses on descriptions…

Ensuring that reinforcement learning (RL) controllers satisfy safety and reliability constraints in real-world settings remains challenging: state-avoidance and constrained Markov decision processes often fail to capture trajectory-level…