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Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations

2022-06-09 17:25:22
Yanwei Wang, Nadia Figueroa, Shen Li, Ankit Shah, Julie Shah
arXiv_AI
   
Abstract

Learning from demonstration (LfD) methods have shown promise for solving multi-step tasks; however, these approaches do not guarantee successful reproduction of the task given disturbances. In this work, we identify the roots of such a challenge as the failure of the learned continuous policy to satisfy the discrete plan implicit in the demonstration. By utilizing modes (rather than subgoals) as the discrete abstraction and motion policies with both mode invariance and goal reachability properties, we prove our learned continuous policy can simulate any discrete plan specified by a Linear Temporal Logic (LTL) formula. Consequently, the imitator is robust to both task- and motion-level disturbances and guaranteed to achieve task success. Project page: this https URL

Abstract (translated)

URL

https://arxiv.org/abs/2206.04632

PDF

https://arxiv.org/pdf/2206.04632.pdf

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