25,182 research outputs found
Learning Task Specifications from Demonstrations
Real world applications often naturally decompose into several sub-tasks. In
many settings (e.g., robotics) demonstrations provide a natural way to specify
the sub-tasks. However, most methods for learning from demonstrations either do
not provide guarantees that the artifacts learned for the sub-tasks can be
safely recombined or limit the types of composition available. Motivated by
this deficit, we consider the problem of inferring Boolean non-Markovian
rewards (also known as logical trace properties or specifications) from
demonstrations provided by an agent operating in an uncertain, stochastic
environment. Crucially, specifications admit well-defined composition rules
that are typically easy to interpret. In this paper, we formulate the
specification inference task as a maximum a posteriori (MAP) probability
inference problem, apply the principle of maximum entropy to derive an analytic
demonstration likelihood model and give an efficient approach to search for the
most likely specification in a large candidate pool of specifications. In our
experiments, we demonstrate how learning specifications can help avoid common
problems that often arise due to ad-hoc reward composition.Comment: NIPS 201
SAT-Based Synthesis Methods for Safety Specs
Automatic synthesis of hardware components from declarative specifications is
an ambitious endeavor in computer aided design. Existing synthesis algorithms
are often implemented with Binary Decision Diagrams (BDDs), inheriting their
scalability limitations. Instead of BDDs, we propose several new methods to
synthesize finite-state systems from safety specifications using decision
procedures for the satisfiability of quantified and unquantified Boolean
formulas (SAT-, QBF- and EPR-solvers). The presented approaches are based on
computational learning, templates, or reduction to first-order logic. We also
present an efficient parallelization, and optimizations to utilize reachability
information and incremental solving. Finally, we compare all methods in an
extensive case study. Our new methods outperform BDDs and other existing work
on some classes of benchmarks, and our parallelization achieves a super-linear
speedup. This is an extended version of [5], featuring an additional appendix.Comment: Extended version of a paper at VMCAI'1
Invariant Synthesis for Incomplete Verification Engines
We propose a framework for synthesizing inductive invariants for incomplete
verification engines, which soundly reduce logical problems in undecidable
theories to decidable theories. Our framework is based on the counter-example
guided inductive synthesis principle (CEGIS) and allows verification engines to
communicate non-provability information to guide invariant synthesis. We show
precisely how the verification engine can compute such non-provability
information and how to build effective learning algorithms when invariants are
expressed as Boolean combinations of a fixed set of predicates. Moreover, we
evaluate our framework in two verification settings, one in which verification
engines need to handle quantified formulas and one in which verification
engines have to reason about heap properties expressed in an expressive but
undecidable separation logic. Our experiments show that our invariant synthesis
framework based on non-provability information can both effectively synthesize
inductive invariants and adequately strengthen contracts across a large suite
of programs
Barrier Functions for Multiagent-POMDPs with DTL Specifications
Multi-agent partially observable Markov decision processes (MPOMDPs) provide a framework to represent heterogeneous autonomous agents subject to uncertainty and partial observation. In this paper, given a nominal policy provided by a human operator or a conventional planning method, we propose a technique based on barrier functions to design a minimally interfering safety-shield ensuring satisfaction of high-level specifications in terms of linear distribution temporal logic (LDTL). To this end, we use sufficient and necessary conditions for the invariance of a given set based on discrete-time barrier functions (DTBFs) and formulate sufficient conditions for finite time DTBF to study finite time convergence to a set. We then show that different LDTL mission/safety specifications can be cast as a set of invariance or finite time reachability problems. We demonstrate that the proposed method for safety-shield synthesis can be implemented online by a sequence of one-step greedy algorithms. We demonstrate the efficacy of the proposed method using experiments involving a team of robots
- …