相关论文: Stratifying Reinforcement Learning with Signal Tem…
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…
Deep Reinforcement Learning (DRL) has the potential to be used for synthesizing feedback controllers (agents) for various complex systems with unknown dynamics. These systems are expected to satisfy diverse safety and liveness properties…
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…
Techniques based on Reinforcement Learning (RL) are increasingly being used to design control policies for robotic systems. RL fundamentally relies on state-based reward functions to encode desired behavior of the robot and bad reward…
Reward design is a key component of deep reinforcement learning, yet some tasks and designer's objectives may be unnatural to define as a scalar cost function. Among the various techniques, formal methods integrated with DRL have garnered…
Continuous representations of logic formulae allow us to integrate symbolic knowledge into data-driven learning algorithms. If such embeddings are semantically consistent, i.e. if similar specifications are mapped into nearby vectors, they…
Signal Temporal Logic (STL) is a powerful formal language for specifying real-time specifications of Cyber-Physical Systems (CPS). Transforming specifications written in natural language into STL formulas automatically has attracted…
Integrating symbolic knowledge and data-driven learning algorithms is a longstanding challenge in Artificial Intelligence. Despite the recognized importance of this task, a notable gap exists due to the discreteness of symbolic…
Reinforcement learning has been applied to many interesting problems such as the famous TD-gammon and the inverted helicopter flight. However, little effort has been put into developing methods to learn policies for complex persistent tasks…
Signal temporal logic (STL) is an expressive language to specify time-bound real-world robotic tasks and safety specifications. Recently, there has been an interest in learning optimal policies to satisfy STL specifications via…
Offline safe reinforcement learning (RL) aims to train a constraint satisfaction policy from a fixed dataset. Current state-of-the-art approaches are based on supervised learning with a conditioned policy. However, these approaches fall…
We apply deep reinforcement learning (DRL) to design of a networked controller with network delays to complete a temporal control task that is described by a signal temporal logic (STL) formula. STL is useful to deal with a specification…
Signal Temporal Logic (STL) has emerged as an expressive language for reasoning intricate planning objectives. However, existing STL-based methods often assume full observation and known dynamics, which imposes constraints on real-world…
We propose a Reinforcement Learning (RL) based control design framework for handling complex tasks. The approach extends the concept of Reward Machines (RM) with Signal Temporal Logic (STL) formulas that can be used for event generation.…
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,…
We present Stratified Metric Temporal Logic (SMTL), a novel formalism for specifying and verifying properties of complex cyber-physical systems that exhibit behaviors across multiple temporal and abstraction scales. SMTL extends existing…
Machine learning techniques using neural networks have achieved promising success for time-series data classification. However, the models that they produce are challenging to verify and interpret. In this paper, we propose an explainable…
We present a computational framework for synthesis of distributed control strategies for a heterogeneous team of robots in a partially observable environment. The goal is to cooperatively satisfy specifications given as Truncated Linear…
The function approximators employed by traditional image-based Deep Reinforcement Learning (DRL) algorithms usually lack a temporal learning component and instead focus on learning the spatial component. We propose a technique, Temporal…
Test-time reinforcement learning (TTRL) always adapts models at inference time via pseudo-labeling, leaving it vulnerable to spurious optimization signals from label noise. Through an empirical study, we observe that responses with medium…