• Corpus ID: 226289821

Model-based Reinforcement Learning from Signal Temporal Logic Specifications

  title={Model-based Reinforcement Learning from Signal Temporal Logic Specifications},
  author={Parv Kapoor and Anand Balakrishnan and Jyotirmoy V. Deshmukh},
Techniques based on Reinforcement Learning (RL) are increasingly being used to design control policies for robotic systems. RL fundamentally relies on state-based reward functions to encode desired behavior of the robot and bad reward functions are prone to exploitation by the learning agent, leading to behavior that is undesirable in the best case and critically dangerous in the worst. On the other hand, designing good reward functions for complex tasks is a challenging problem. In this paper… 

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