Temporal Logic Guided Safe Reinforcement Learning Using Control Barrier Functions

J. P. Desai, J. Ostrowski, and V. Kumar, “Controlling formations of multiple mobile robots,” in Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No. 98CH36146) , vol. 4. IEEE, 1998, pp. 2864–2869

1998

Earlier work this paper cites.

P. Jackson and D. Sheridan, “Clause form conversions for boolean circuits,” in International Conference on Theory and Applications of Satisfiability Testing . Springer, 2004, pp. 183–198

2004

Earlier work this paper cites.

C. Belta, V. Isler, and G. J. Pappas, “Discrete abstractions for robot motion planning and control in polygonal environments,” IEEE Transactions on Robotics , vol. 21, no. 5, pp. 864–874, 2005

2005

Earlier work this paper cites.

K. Y. Rozier, “Explicit or symbolic translation of linear temporal logic to automata,” Ph.D. dissertation, Rice University, 2013

2013

Earlier work this paper cites.

A. D. Ames, J. W. Grizzle, and P. Tabuada, “Control barrier function based quadratic programs with application to adaptive cruise control,” in 53rd IEEE Conference on Decision and Control . IEEE, 2014, pp. 6271–6278

2014

Earlier work this paper cites.

D. Sadigh, E. S. Kim, S. Coogan, S. S. Sastry, S. Seshia, and Others, “A learning based approach to control synthesis of markov decision processes for linear temporal logic specifications,” Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on , pp. 1091–1096, 2014

2014

Earlier work this paper cites.

J. García and F. Fernández, “A comprehensive survey on safe reinforcement learning,” Journal of Machine Learning Research , vol. 16, pp. 1437–1480, 2015

2015

Earlier work this paper cites.

T. P. Lillicrap, J. J. Hunt, A. Pritzel, N. Heess, T. Erez, Y. Tassa, D. Silver, and D. Wierstra, “Continuous control with deep reinforcement learning,” CoRR , vol. abs/1509.02971, 2015

Original

2015

Earlier work this paper cites.

X. Xu, P. Tabuada, J. W. Grizzle, and A. D. Ames, “Robustness of control barrier functions for safety critical control,” IFAC-PapersOnLine , vol. 48, no. 27, pp. 54–61, 2015

2015

Earlier work this paper cites.

D. Amodei, C. Olah, J. Steinhardt, P. Christiano, J. Schulman, and D. Mané, “Concrete Problems in AI Safety,” pp. 1–29, 2016. [Online]. Available: http://arxiv.org/abs/1606.06565

Original

2016

Earlier work this paper cites.

D. Aksaray, A. Jones, Z. Kong, M. Schwager, and C. Belta, “Q-learning for robust satisfaction of signal temporal logic specifications,” in Decision and Control (CDC), 2016 IEEE 55th Conference on . IEEE, 2016, pp. 6565–6570

2016

Cited alongside, same era.

X. Li, C.-I. Vasile, and C. Belta, “Reinforcement learning with temporal logic rewards,” arXiv preprint arXiv:1612.03471 , 2016

Original

2016

Cited alongside, same era.

M. Vecerik, T. Hester, J. Scholz, F. Wang, O. Pietquin, B. Piot, N. Heess, T. Rothörl, T. Lampe, and M. A. Riedmiller, “Leveraging demonstrations for deep reinforcement learning on robotics problems with sparse rewards,” CoRR , vol. abs/1707.08817, 2017

Original

2017

Cited alongside, same era.

A. Camacho, O. Chen, S. Sanner, and S. A. McIlraith, “Decision-making with non-markovian rewards: From ltl to automata-based reward shaping,” in Proceedings of the Multi-disciplinary Conference on Reinforcement Learning and Decision Making (RLDM) , 2017, pp. 279–283

2017

Y. Chebotar, A. Handa, D. Khayyat, M. Macklin, J. Issac, N. D. Ratliff, and D. Fox, “Closing the sim-to-real loop: Adapting simulation randomization with real world experience,” CoRR , vol. abs/1810.05687, 2018

Original

2018

Later among the works it cites.

M. Alshiekh, R. Bloem, R. Ehlers, B. Könighofer, S. Niekum, and U. Topcu, “Safe reinforcement learning via shielding,” in AAAI , 2018

2018

Later among the works it cites.

G. Dalal, K. Dvijotham, M. Vecerik, T. Hester, C. Paduraru, and Y. Tassa, “Safe exploration in continuous action spaces,” CoRR , vol. abs/1801.08757, 2018

Original

2018

Later among the works it cites.

X. Li, Y. Ma, and C. Belta, “Automata guided reinforcement learning with demonstrations,” arXiv preprint arXiv:1809.06305 , 2018

Original

2018

Later among the works it cites.

G. D. Giacomo, L. Iocchi, M. Favorito, and F. Patrizi, “Reinforcement learning for ltlf/ldlf goals,” CoRR , vol. abs/1807.06333, 2018