Counter-example guided Imitation Learning of Feedback Controllers from Temporal Logic Specifications
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866910381738295296 |
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| author | Dang, Thao Donzé, Alexandre Haque, Inzemamul Kekatos, Nikolaos Saha, Indranil |
| author_facet | Dang, Thao Donzé, Alexandre Haque, Inzemamul Kekatos, Nikolaos Saha, Indranil |
| contents | 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 process is guided by efficient data aggregation based on counter-examples and a coverage measure. Moreover, we introduce a method to evaluate the performance of the learned controller via parameterization and parameter estimation of the STL requirements. We demonstrate our approach with a flying robot case study. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_16593 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Counter-example guided Imitation Learning of Feedback Controllers from Temporal Logic Specifications Dang, Thao Donzé, Alexandre Haque, Inzemamul Kekatos, Nikolaos Saha, Indranil Robotics Systems and Control 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 process is guided by efficient data aggregation based on counter-examples and a coverage measure. Moreover, we introduce a method to evaluate the performance of the learned controller via parameterization and parameter estimation of the STL requirements. We demonstrate our approach with a flying robot case study. |
| title | Counter-example guided Imitation Learning of Feedback Controllers from Temporal Logic Specifications |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2403.16593 |