相关论文: Zero-Shot Instruction Following in RL via Structur…

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…

A central challenge in multi-task reinforcement learning (RL) is to train generalist policies capable of performing tasks not seen during training. To facilitate such generalization, linear temporal logic (LTL) has emerged as a powerful…

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…

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…

In many real-world applications of control system and robotics, linear temporal logic (LTL) is a widely-used task specification language which has a compositional grammar that naturally induces temporally extended behaviours across tasks,…

We demonstrate a reinforcement learning agent which uses a compositional recurrent neural network that takes as input an LTL formula and determines satisfying actions. The input LTL formulas have never been seen before, yet the network…

This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement learning (RL). Autonomous robots often need to satisfy spatial…

This work introduces a neuro-symbolic agent that combines deep reinforcement learning (DRL) with temporal logic (TL) to achieve systematic zero-shot, i.e., never-seen-before, generalisation of formally specified instructions. In particular,…

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…

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,…

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…

Humans are capable of abstracting various tasks as different combinations of multiple attributes. This perspective of compositionality is vital for human rapid learning and adaption since previous experiences from related tasks can be…

As a step towards developing zero-shot task generalization capabilities in reinforcement learning (RL), we introduce a new RL problem where the agent should learn to execute sequences of instructions after learning useful skills that solve…

Teaching a deep reinforcement learning (RL) agent to follow instructions in multi-task environments is a challenging problem. We consider that user defines every task by a linear temporal logic (LTL) formula. However, some causal…

Reinforcement Learning (RL) is a widely employed machine learning architecture that has been applied to a variety of control problems. However, applications in safety-critical domains require a systematic and formal approach to specifying…

While traditional methods for instruction-following typically assume prior linguistic and perceptual knowledge, many recent works in reinforcement learning (RL) have proposed learning policies end-to-end, typically by training neural…

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…

Text-based games present a unique class of sequential decision making problem in which agents interact with a partially observable, simulated environment via actions and observations conveyed through natural language. Such observations…

Signal Temporal Logic (STL) is a powerful specification language for describing complex temporal behaviors of continuous signals, making it well-suited for high-level robotic task descriptions. However, generating executable plans for STL…

Reinforcement Learning (RL) has shown promise in various robotics applications, yet its deployment on real systems is still limited due to safety and operational constraints. The safe RL field has gained considerable attention in recent…