ﻻ يوجد ملخص باللغة العربية
Reinforcement learning (RL) is a promising approach and has limited success towards real-world applications, because ensuring safe exploration or facilitating adequate exploitation is a challenges for controlling robotic systems with unknown models and measurement uncertainties. Such a learning problem becomes even more intractable for complex tasks over continuous space (state-space and action-space). In this paper, we propose a learning-based control framework consisting of several aspects: (1) linear temporal logic (LTL) is leveraged to facilitate complex tasks over an infinite horizons which can be translated to a novel automaton structure; (2) we propose an innovative reward scheme for RL-agent with the formal guarantee such that global optimal policies maximize the probability of satisfying the LTL specifications; (3) based on a reward shaping technique, we develop a modular policy-gradient architecture utilizing the benefits of automaton structures to decompose overall tasks and facilitate the performance of learned controllers; (4) by incorporating Gaussian Processes (GPs) to estimate the uncertain dynamic systems, we synthesize a model-based safeguard using Exponential Control Barrier Functions (ECBFs) to address problems with high-order relative degrees. In addition, we utilize the properties of LTL automatons and ECBFs to construct a guiding process to further improve the efficiency of exploration. Finally, we demonstrate the effectiveness of the framework via several robotic environments. And we show such an ECBF-based modular deep RL algorithm achieves near-perfect success rates and guard safety with a high probability confidence during training.
Multi-Agent Reinforcement Learning (MARL) algorithms show amazing performance in simulation in recent years, but placing MARL in real-world applications may suffer safety problems. MARL with centralized shields was proposed and verified in safety gam
Reinforcement Learning (RL) algorithms have found limited success beyond simulated applications, and one main reason is the absence of safety guarantees during the learning process. Real world systems would realistically fail or break before an optim
Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to guarantee safety
This paper combines episodic learning and control barrier functions in the setting of bipedal locomotion. The safety guarantees that control barrier functions provide are only valid with perfect model knowledge; however, this assumption cannot be met
In recent years, reinforcement learning and learning-based control -- as well as the study of their safety, crucial for deployment in real-world robots -- have gained significant traction. However, to adequately gauge the progress and applicability o