Automata Guided Skill Composition

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.

Tasks

Reproductions