Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations

3 Jun 2020 Glen Chou Necmiye Ozay Dmitry Berenson

We present a method for learning multi-stage tasks from demonstrations by learning the logical structure and atomic propositions of a consistent linear temporal logic (LTL) formula. The learner is given successful but potentially suboptimal demonstrations, where the demonstrator is optimizing a cost function while satisfying the LTL formula, and the cost function is uncertain to the learner... (read more)

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