3,632 research outputs found
Certified Reinforcement Learning with Logic Guidance
This paper proposes the first model-free Reinforcement Learning (RL)
framework to synthesise policies for unknown, and continuous-state Markov
Decision Processes (MDPs), such that a given linear temporal property is
satisfied. We convert the given property into a Limit Deterministic Buchi
Automaton (LDBA), namely a finite-state machine expressing the property.
Exploiting the structure of the LDBA, we shape a synchronous reward function
on-the-fly, so that an RL algorithm can synthesise a policy resulting in traces
that probabilistically satisfy the linear temporal property. This probability
(certificate) is also calculated in parallel with policy learning when the
state space of the MDP is finite: as such, the RL algorithm produces a policy
that is certified with respect to the property. Under the assumption of finite
state space, theoretical guarantees are provided on the convergence of the RL
algorithm to an optimal policy, maximising the above probability. We also show
that our method produces ''best available'' control policies when the logical
property cannot be satisfied. In the general case of a continuous state space,
we propose a neural network architecture for RL and we empirically show that
the algorithm finds satisfying policies, if there exist such policies. The
performance of the proposed framework is evaluated via a set of numerical
examples and benchmarks, where we observe an improvement of one order of
magnitude in the number of iterations required for the policy synthesis,
compared to existing approaches whenever available.Comment: This article draws from arXiv:1801.08099, arXiv:1809.0782
Conversion and verification procedure for goal-based control programs
Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System, developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper, a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task is developed and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems
Computing Probabilistic Bisimilarity Distances for Probabilistic Automata
The probabilistic bisimilarity distance of Deng et al. has been proposed as a
robust quantitative generalization of Segala and Lynch's probabilistic
bisimilarity for probabilistic automata. In this paper, we present a
characterization of the bisimilarity distance as the solution of a simple
stochastic game. The characterization gives us an algorithm to compute the
distances by applying Condon's simple policy iteration on these games. The
correctness of Condon's approach, however, relies on the assumption that the
games are stopping. Our games may be non-stopping in general, yet we are able
to prove termination for this extended class of games. Already other algorithms
have been proposed in the literature to compute these distances, with
complexity in and \textbf{PPAD}. Despite the
theoretical relevance, these algorithms are inefficient in practice. To the
best of our knowledge, our algorithm is the first practical solution.
The characterization of the probabilistic bisimilarity distance mentioned
above crucially uses a dual presentation of the Hausdorff distance due to
M\'emoli. As an additional contribution, in this paper we show that M\'emoli's
result can be used also to prove that the bisimilarity distance bounds the
difference in the maximal (or minimal) probability of two states to satisfying
arbitrary -regular properties, expressed, eg., as LTL formulas
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