Learning from Demonstrations meets Symbolic Control - A Supervisory Control Architecture for Formal Certification of Learned Motion

Dynamical system (DS)-based learning from demonstration generates flexible robot motions, but existing guarantees rely on certificate generation to obtain formal guarantees of safety and goal convergence. We propose a symbolic supervisory control architecture that automatically generates a fail-safe backup plan, certifying safety, reachability, and actuator feasibility directly from the robot's dynamics, independent of the learned DS.

Aus dem Abstract. Unsere Zusammenfassung folgt.