Co-learning Planning and Control Policies Constrained by Differentiable Logic Specifications

• URL: http://arxiv.org/abs/2303.01346v3
• Date: Mon, 2 Oct 2023 03:45:15 GMT
• Title: Co-learning Planning and Control Policies Constrained by Differentiable Logic Specifications
• Authors: Zikang Xiong, Daniel Lawson, Joe Eappen, Ahmed H. Qureshi, Suresh Jagannathan
• Abstract summary: This paper presents a novel reinforcement learning approach to solving high-dimensional robot navigation tasks. We train high-quality policies with much fewer samples compared to existing reinforcement learning algorithms. Our approach also demonstrates capabilities for high-dimensional control and avoiding suboptimal policies via policy alignment.
• Score: 4.12484724941528
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning approach to solving high-dimensional robot navigation tasks with complex logic specifications by co-learning planning and control policies. Notably, this approach significantly reduces the sample complexity in training, allowing us to train high-quality policies with much fewer samples compared to existing reinforcement learning algorithms. In addition, our methodology streamlines complex specification extraction from map images and enables the efficient generation of long-horizon robot motion paths across different map layouts. Moreover, our approach also demonstrates capabilities for high-dimensional control and avoiding suboptimal policies via policy alignment. The efficacy of our approach is demonstrated through experiments involving simulated high-dimensional quadruped robot dynamics and a real-world differential drive robot (TurtleBot3) under different types of task specifications.

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