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In reinforcement learning for safety-critical settings, it is often desirable for the agent to obey safety constraints at all points in time, including during training. We present a novel neurosymbolic approach called SPICE to solve this safe exploration problem. SPICE uses an online shielding layer based on symbolic weakest preconditions to achieve a more precise safety analysis than existing tools without unduly impacting the training process. We evaluate the approach on a suite of continuous control benchmarks and show that it can achieve comparable performance to existing safe learning techniques while incurring fewer safety violations. Additionally, we present theoretical results showing that SPICE converges to the optimal safe policy under reasonable assumptions. 

A growing body of work studies how to answer a question or verify a claim by generating a natural language “proof:” a chain of deductive inferences yielding the answer based on a set of premises. However, these methods can only make sound deductions when they follow from evidence that is given. We propose a new system that can handle the underspecified setting where not all premises are stated at the outset; that is, additional assumptions need to be materialized to prove a claim. By using a natural language generation model to abductively infer a premise given another premise and a conclusion, we can impute missing pieces of evidence needed for the conclusion to be true. Our system searches over two fringes in a bidirectional fashion, interleaving deductive (forward-chaining) and abductive (backward-chaining) generation steps. We sample multiple possible outputs for each step to achieve coverage of the search space, at the same time ensuring correctness by filtering low-quality generations with a round-trip validation procedure. Results on a modified version of the EntailmentBank dataset and a new dataset called Everyday Norms: Why Not? Show that abductive generation with validation can recover premises across in- and out-of-domain settings. 

In settings from fact-checking to question answering, we frequently want to know whether a collection of evidence (premises) entails a hypothesis. Existing methods primarily focus on the end-to-end discriminative version of this task, but less work has treated the generative version in which a model searches over the space of statements entailed by the premises to constructively derive the hypothesis. We propose a system for doing this kind of deductive reasoning in natural language by decomposing the task into separate steps coordinated by a search procedure, producing a tree of intermediate conclusions that faithfully reflects the system’s reasoning process. Our experiments on the EntailmentBank dataset (Dalvi et al., 2021) demonstrate that the proposed system can successfully prove true statements while rejecting false ones. Moreover, it produces natural language explanations with a 17% absolute higher step validity than those produced by an end-to-end T5 model. 

We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to handling communication latency for specific robotic applications, our algorithm uses an arbitrary centralized controller as the specification and automatically generates distributed controllers with communication management and delay compensation. We formulate our goal as nonlinear optimal control— using a regret minimizing objective that measures how much the distributed agents behave differently from the delay-free centralized response—and solve for optimal actions w.r.t. local estimations of this objective using gradient-based optimization. We analyze our proposed algorithm’s behavior under a linear time-invariant special case and prove that the closed-loop dynamics satisfy a form of input-to-state stability w.r.t. unexpected disturbances and observations. Our experimental results on both simulated and real-world robotic tasks demonstrate the practical usefulness of our approach and show significant improvement over several baseline approaches. 

We present Revel, a partially neural reinforcement learning (RL) framework for provably safe exploration in continuous state and action spaces. A key challenge for provably safe deep RL is that repeatedly verifying neural networks within a learning loop is computationally infeasible. We address this challenge using two policy classes: a general, neurosymbolic class with approximate gradients and a more restricted class of symbolic policies that allows efficient verification. Our learning algorithm is a mirror descent over policies: in each iteration, it safely lifts a symbolic policy into the neurosymbolic space, performs safe gradient updates to the resulting policy, and projects the updated policy into the safe symbolic subset, all without requiring explicit verification of neural networks. Our empirical results show that Revel enforces safe exploration in many scenarios in which Constrained Policy Optimization does not, and that it can discover policies that outperform those learned through prior approaches to verified exploration.