Automata Guided Skill CompositionDownload PDF

27 Sept 2018 (modified: 05 May 2023)ICLR 2019 Conference Blind SubmissionReaders: Everyone
Abstract: Skills learned through (deep) reinforcement learning often generalizes poorly across tasks and re-training is necessary when presented with a new task. We present a framework that combines techniques in formal methods with reinforcement learning (RL) that allows for the convenient specification of complex temporal dependent tasks with logical expressions and construction of new skills from existing ones with no additional exploration. We provide theoretical results for our composition technique and evaluate on a simple grid world simulation as well as a robotic manipulation task.
Keywords: Skill composition, temporal logic, finite state automata
TL;DR: A formal method's approach to skill composition in reinforcement learning tasks
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