A runtime monitoring framework to enforce invariants on reinforcement learning agents exploring complex environments

Piergiuseppe Mallozzi, Ezequiel Castellano, Patrizio Pelliccione, Gerardo Schneider, Kenji Tei

研究成果: Conference contribution

抄録

Without prior knowledge of the environment, a software agent can learn to achieve a goal using machine learning. Model-free Reinforcement Learning (RL) can be used to make the agent explore the environment and learn to achieve its goal by trial and error. Discovering effective policies to achieve the goal in a complex environment is a major challenge for RL. Furthermore, in safety-critical applications, such as robotics, an unsafe action may cause catastrophic consequences in the agent or in the environment. In this paper, we present an approach that uses runtime monitoring to prevent the reinforcement learning agent to perform 'wrong' actions and to exploit prior knowledge to smartly explore the environment. Each monitor is de?ned by a property that we want to enforce to the agent and a context. The monitors are orchestrated by a meta-monitor that activates and deactivates them dynamically according to the context in which the agent is learning. We have evaluated our approach by training the agent in randomly generated learning environments. Our results show that our approach blocks the agent from performing dangerous and safety-critical actions in all the generated environments. Besides, our approach helps the agent to achieve its goal faster by providing feedback and shaping its reward during learning.

本文言語English
ホスト出版物のタイトルProceedings - 2019 IEEE/ACM 2nd International Workshop on Robotics Software Engineering, RoSE 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ5-12
ページ数8
ISBN(電子版)9781728122496
DOI
出版ステータスPublished - 2019 5
イベント2nd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2019 - Montreal, Canada
継続期間: 2019 5 27 → …

出版物シリーズ

名前Proceedings - 2019 IEEE/ACM 2nd International Workshop on Robotics Software Engineering, RoSE 2019

Conference

Conference2nd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2019
CountryCanada
CityMontreal
Period19/5/27 → …

ASJC Scopus subject areas

  • Software
  • Control and Optimization

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