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

Zero-shot reinforcement learning (RL) has emerged as a setting for developing general agents, capable of solving downstream tasks without additional training or planning at test-time. While conventional RL optimizes policies for fixed…

Finite linear temporal logic ($\mathsf{LTL}_f$) is a powerful formal representation for modeling temporal sequences. We address the problem of learning a compact $\mathsf{LTL}_f$ formula from labeled traces of system behavior. We propose a…

Unsupervised and self-supervised objectives, such as next token prediction, have enabled pre-training generalist models from large amounts of unlabeled data. In reinforcement learning (RL), however, finding a truly general and scalable…

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…

Deploying robots in real-world environments, such as households and manufacturing lines, requires generalization across novel task specifications without violating safety constraints. Linear temporal logic (LTL) is a widely used task…

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…

Linear temporal logic (LTL) is a specification language for finite sequences (called traces) widely used in program verification, motion planning in robotics, process mining, and many other areas. We consider the problem of learning LTL…

Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…

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…

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…

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 the problem of learning safe control policies that are also effective; i.e., maximizing the probability of satisfying a linear temporal logic (LTL) specification of a task, and the discounted reward capturing the (classic) control…

Learning formulas in Linear Temporal Logic (LTLf) from finite traces is a fundamental research problem which has found applications in artificial intelligence, software engineering, programming languages, formal methods, control of…

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…

Natural Language-conditioned reinforcement learning (RL) enables the agents to follow human instructions. Previous approaches generally implemented language-conditioned RL by providing human instructions in natural language (NL) and…

Reinforcement learning (RL) has emerged as an effective paradigm for enhancing model reasoning. However, existing RL methods like GRPO typically rely on unstructured self-sampling to fit scalar rewards, often producing inefficient rollouts…

Symbolic task representation is a powerful tool for encoding human instructions and domain knowledge. Such instructions guide robots to accomplish diverse objectives and meet constraints through reinforcement learning (RL). Most existing…

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…

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…

There is a surge of interest in using formal languages such as Linear Temporal Logic (LTL) to precisely and succinctly specify complex tasks and derive reward functions for Reinforcement Learning (RL). However, existing methods often assign…