A liveness-based Bellman operator enables conservative offline policy evaluation for manipulation tasks by encoding task progression and reducing truncation bias from finite horizons.
Hamilton-jacobi reachability: A brief overview and recent advances
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Non-Markovian policies from decomposed temporal logic value functions are proven optimal for nested Until, Globally, and Globally-Until specifications and extend Q-function safety filters to complex tasks.
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Offline Policy Evaluation for Manipulation Policies via Discounted Liveness Formulation
A liveness-based Bellman operator enables conservative offline policy evaluation for manipulation tasks by encoding task progression and reducing truncation bias from finite horizons.
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Value Functions for Temporal Logic: Optimal Policies and Safety Filters
Non-Markovian policies from decomposed temporal logic value functions are proven optimal for nested Until, Globally, and Globally-Until specifications and extend Q-function safety filters to complex tasks.