A Composable Specification Language for Reinforcement Learning Tasks

Reinforcement learning is a promising approach for learning control policies for robot tasks. However, specifying complex tasks (e. g. , with multiple objectives and safety constraints) can be challenging, since the user must design a reward function that encodes the entire task. Furthermore, the user often needs to manually shape the reward to ensure convergence of the learning algorithm. We propose a language for specifying complex control tasks, along with an algorithm that compiles specifications in our language into a reward function and automatically performs reward shaping. We implement our approach in a tool called SPECTRL, and show that it outperforms several state-of-the-art baselines.

Authors

• Kishor Jothimurugan
• Rajeev Alur
• Osbert Bastani

Keywords

No keywords are indexed for this paper.