Learning constraints from demonstrations with grid and parametric representations. (September 2021)

• Record Type: Journal Article
• Authors: Chou, Glen; Berenson, Dmitry; Ozay, Necmiye
• Other Names: Morales Marco guest-editor.; Tapia Lydia guest-editor.; Sánchez-Ante Gildardo guest-editor.; Hutchinson Seth guest-editor.
• Is Part Of: International journal of robotics research. Volume 40:Number 10/11(2021)
• Page Start: 1255
• Page End: 1283
• Publication Date: 2021-09
• Subjects: learning from demonstration -- machine learning -- motion and path planning; Robots -- Periodicals; Robots, Industrial -- Periodicals; 629.89205
• DOI: 10.1177/02783649211035177
• Languages: English
• ISSNs: 0278-3649

Abstract

We extend the learning from demonstration paradigm by providing a method for learning unknown constraints shared across tasks, using demonstrations of the tasks, their cost functions, and knowledge of the system dynamics and control constraints. Given safe demonstrations, our method uses hit-and-run sampling to obtain lower cost, and thus unsafe, trajectories. Both safe and unsafe trajectories are used to obtain a consistent representation of the unsafe set via solving an integer program. Our method generalizes across system dynamics and learns a guaranteed subset of the constraint. In addition, by leveraging a known parameterization of the constraint, we modify our method to learn parametric constraints in high dimensions. We also provide theoretical analysis on what subset of the constraint and safe set can be learnable from safe demonstrations. We demonstrate our method on linear and nonlinear system dynamics, show that it can be modified to work with suboptimal demonstrations, and that it can also be used to learn constraints in a feature space.