Entropy-Guided Control Improv

Marcell Vazquez-Chanlatte
UC Berkeley
Sebastian Junges
UC Berkeley
Daniel Fremont
UC Santa Cruz
Sanjit Seshia
UC Berkeley

Control Improv as Declarative Synthesis

Control Improv as Declarative Synthesis

Control Improv as Declarative Synthesis

Control Improv as Declarative Synthesis

Applications of Control Improv

Applications of Control Improv

Applications of Control Improv

Applications of Control Improv

Applications of Control Improv

Applications of Control Improv

Applications of Control Improv

Applications of Control Improv

Control Improvisation

Fremont, et al, "Control Improvisation." FSTTCS 15'

Prior work

Baier, et al. "Controller synthesis for probabilistic systems." 04'

Prior work

Fremont, et al, "Reactive Control Improvisation." CAV 18'

Contribution

Four parts to the specification

Synthesis Process

Preprocessing

Preprocessing

Preprocessing

Vazquez-Chanlatte, et al. Maximum Causal Entropy Specification Inference from Demonstrations, CAV 20'
Vazquez-Chanlatte, et al. Maximum Causal Entropy Specification Inference from Demonstrations, CAV 20'
Vazquez-Chanlatte, et al. Maximum Causal Entropy Specification Inference from Demonstrations, CAV 20'

Memoizing Pareto Fronts

Memoizing Pareto Fronts

Memoizing Pareto Fronts

Memoizing Pareto Fronts

Memoizing Pareto Fronts

Empirical Validation

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Entropy-Guided Control Improvisation

Marcell Vazquez-Chanlatte
UC Berkeley
Sebastian Junges
UC Berkeley
Daniel Fremont
UC Santa Cruz
Sanjit Seshia
UC Berkeley

Code: github.com/mvcisback/improvisers

Slides: mjvc.me/RSS21