Probabilistic Specification Learning for Planning with Safety Constraints
Kandai Watanabe,Nicholas Renninger,Sriram Sankaranarayanan,Morteza Lahijanian,Kandai Watanabe,Nicholas Renninger,Sriram Sankaranarayanan,Morteza Lahijanian
This paper proposes a framework for learning task specifications from demonstrations, while ensuring that the learned specifications do not violate safety constraints. Furthermore, we show how these specifications can be used in a planning problem to control the robot under environments that can be different from those encountered during the learning phase. We formulate the specification learning ...
