Multi-Task Learning for Few-Shot Online Adaptation under Signal Temporal Logic Specifications

원문 초록

Multi-task learning (MTL) seeks to improve the generalized performance of learning specific tasks, exploiting useful information incorporated in related tasks. As a promising area, this paper studies an MTL-based control approach considering Signal Temporal Logic (STL). Task compliance is measured via the Robustness Degree (RD) which is computed by using the STL semantics. A suitable methodology is provided to solve the learning and testing stages, with an appropriate treatment of the non-convex terms in the quadratic objective function and using Sequential Convex Programming based on trust region update. In the learning stage, an ensemble of tasks is generated from deterministic goals to obtain a strong initializer for the testing stage, where related tasks are solved with a larger impact of perturbation. The methodology demonstrates to be robust in two dynamical systems showing results that meet the task specifications in a few shots for the testing stage, even for highly perturbed tasks.