相关论文: Learning from Imperfect Demonstrations via Tempora…

We present a novel method for imitation learning for control requirements expressed using Signal Temporal Logic (STL). More concretely we focus on the problem of training a neural network to imitate a complex controller. The learning…

In this paper, we develop safe reinforcement-learning-based controllers for systems tasked with accomplishing complex missions that can be expressed as linear temporal logic specifications, similar to those required by search-and-rescue…

Robots executing tasks following human instructions in domestic or industrial environments essentially require both adaptability and reliability. Behavior Tree (BT) emerges as an appropriate control architecture for these scenarios due to…

Tasks with complex temporal structures and long horizons pose a challenge for reinforcement learning agents due to the difficulty in specifying the tasks in terms of reward functions as well as large variances in the learning signals. We…

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…

Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…

In previous research, we developed methods to train decision trees (DT) as agents for reinforcement learning tasks, based on deep reinforcement learning (DRL) networks. The samples from which the DTs are built, use the environment's state…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Social goods, such as healthcare, smart city, and information networks, often produce ordered event data in continuous time. The generative processes of these event data can be very complex, requiring flexible models to capture their…

Modern manufacturing demands robotic assembly systems with enhanced flexibility and reliability. However, traditional approaches often rely on programming tailored to each product by experts for fixed settings, which are inherently…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

We present a method for learning multi-stage tasks from demonstrations by learning the logical structure and atomic propositions of a consistent linear temporal logic (LTL) formula. The learner is given successful but potentially suboptimal…

Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…

Training robotic policies in simulation suffers from the sim-to-real gap, as simulated dynamics can be different from real-world dynamics. Past works tackled this problem through domain randomization and online system-identification. The…

In the learning from demonstration (LfD) paradigm, understanding and evaluating the demonstrated behaviors plays a critical role in extracting control policies for robots. Without this knowledge, a robot may infer incorrect reward functions…

Apprenticeship learning crucially depends on effectively learning rewards, and hence control policies from user demonstrations. Of particular difficulty is the setting where the desired task consists of a number of sub-goals with temporal…

In this paper we study the problem of synthesizing optimal control policies for uncertain continuous-time nonlinear systems from syntactically co-safe linear temporal logic (scLTL) formulas. We formulate this problem as a sequence of…

Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

Imitation learning enables robots to learn from demonstrations. Previous imitation learning algorithms usually assume access to optimal expert demonstrations. However, in many real-world applications, this assumption is limiting. Most…