Model-Free Learning of Safe yet Effective Controllers
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2021
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| _version_ | 1866913002342580224 |
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| author | Bozkurt, Alper Kamil Wang, Yu Pajic, Miroslav |
| author_facet | Bozkurt, Alper Kamil Wang, Yu Pajic, Miroslav |
| contents | 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 performance. We consider unknown environments modeled as Markov decision processes. We propose a model-free reinforcement learning algorithm that learns a policy that first maximizes the probability of ensuring safety, then the probability of satisfying the given LTL specification and lastly, the sum of discounted Quality of Control rewards. Finally, we illustrate applicability of our RL-based approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2103_14600 |
| institution | arXiv |
| publishDate | 2021 |
| record_format | arxiv |
| spellingShingle | Model-Free Learning of Safe yet Effective Controllers Bozkurt, Alper Kamil Wang, Yu Pajic, Miroslav Robotics Formal Languages and Automata Theory Machine Learning Logic in Computer Science 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 performance. We consider unknown environments modeled as Markov decision processes. We propose a model-free reinforcement learning algorithm that learns a policy that first maximizes the probability of ensuring safety, then the probability of satisfying the given LTL specification and lastly, the sum of discounted Quality of Control rewards. Finally, we illustrate applicability of our RL-based approach. |
| title | Model-Free Learning of Safe yet Effective Controllers |
| topic | Robotics Formal Languages and Automata Theory Machine Learning Logic in Computer Science |
| url | https://arxiv.org/abs/2103.14600 |