4 papers
Robustness-Based Synthesis for Time Window Temporal Logic Specifications via Mixed-Integer Linear Programming
Philip Smith, Ahmad Ahmad, Kevin Leahy
Time Window Temporal Logic (TWTL) is a rich specification language for cyber-physical systems that can compactly express sequential tasks with explicit timing constraints. In this…
Accelerating Proximal Policy Optimization Learning Using Task Prediction for Solving Environments with Delayed Rewards
Ahmad Ahmad, Mehdi Kermanshah, Kevin Leahy +6
In this paper, we tackle the challenging problem of delayed rewards in reinforcement learning (RL). While Proximal Policy Optimization (PPO) has emerged as a leading Policy Gradien…
Comp-LTL: Temporal Logic Planning via Zero-Shot Policy Composition
Taylor Bergeron, Zachary Serlin, Kevin Leahy
This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement lea…
Tell Me What You Want (What You Really, Really Want): Addressing the Expectation Gap for Goal Conveyance from Humans to Robots
Kevin Leahy, Ho Chit Siu
Conveying human goals to autonomous systems (AS) occurs both when the system is being designed and when it is being operated. The design-step conveyance is typically mediated by ro…