Speckle filtering is an unavoidable step when dealing with applications that involve amplitude or intensity images acquired by coherent systems, such as Synthetic Aperture Radar (SAR). Speckle is a target-dependent phenomenon; thus, its estimation and reduction require the individuation of specific properties of the image features. Speckle filtering is one of the most prominent topics in the SAR image processing research community, who has first tackled this issue using handcrafted feature-based filters. Even if classical algorithms have slowly and progressively achieved better and better performance, the more recent Convolutional-Neural-Networks (CNNs) have proven to be a promising alternative, in the light of the outstanding capabilities in efficiently learning task-specific filters. Currently, only simplistic CNN architectures have been exploited for the speckle filtering task. While these architectures outperform classical algorithms, they still show some weakness in the texture preservation. In this work, a deep encoder–decoder CNN architecture, focused in the specific context of SAR images, is proposed in order to enhance speckle filtering capabilities alongside texture preservation. This objective has been addressed through the adaptation of the U-Net CNN, which has been modified and optimized accordingly. This architecture allows for the extraction of features at different scales, and it is capable of producing detailed reconstructions through its system of skip connections. In this work, a two-phase learning strategy is adopted, by first pre-training the model on a synthetic dataset and by adapting the learned network to the real SAR image domain through a fast fine-tuning procedure. During the fine-tuning phase, a modified version of the total variation (TV) regularization was introduced to improve the network performance when dealing with real SAR data. Finally, experiments were carried out on simulated and real data to compare the performance of the proposed method with respect to the state-of-the-art methodologies.

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Multi-agent reinforcement learning (RL) often struggles to ensure the safe behaviours of the learning agents, and therefore it is generally not adapted to safety-critical applications. To address this issue, we present a methodology that combines formal verification with (deep) RL algorithms to guarantee the satisfaction of formally-specified safety constraints both in training and testing. The approach we propose expresses the constraints to verify in Probabilistic Computation Tree Logic (PCTL) and builds an abstract representation of the system to reduce the complexity of the verification step. This abstract model allows for model checking techniques to identify a set of abstract policies that meet the safety constraints expressed in PCTL. Then, the agents' behaviours are restricted according to these safe abstract policies. We provide formal guarantees that by using this method, the actions of the agents always meet the safety constraints, and provide a procedure to generate an abstract model automatically. We empirically evaluate and show the effectiveness of our method in a multi-agent environment.

We address the problem of building agents whose goal is to satisfy out-of distribution (OOD) multi-task instructions expressed in temporal logic (TL) by using deep reinforcement learning (DRL). Recent works provided evidence that the deep learning architecture is a key feature when teaching a DRL agent to solve OOD tasks in TL. Yet, the studies on their performance are still limited. In this work, we analyse various state-of-the-art (SOTA) architectures that include generalisation mechanisms such as relational layers, the soft-attention mechanism, or hierarchical configurations when generalising safety-aware tasks expressed in TL. Most importantly, we present a novel deep learning architecture that induces agents to generate latent representations of their current goal given both the human instruction and the current observation from the environment. We find that applying our proposed configuration to SOTA architectures yields significantly stronger performance when executing new tasks in OOD environments.

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Markovian systems are widely used in reinforcement learning (RL), when the successful completion of a task depends exclusively on the last interaction between an autonomous agent and its environment. Unfortunately, real-world instructions are typically complex and often better described as non-Markovian. In this paper we present an extension method that allows solving partially-observable non-Markovian reward decision processes (PONMRDPs) by solving equivalent Markovian models. This potentially facilitates Markovian-based state-of-the-art techniques, including RL, to find optimal behaviours for problems best described as PON-MRDP. We provide formal optimality guarantees of our extension methods together with a counterexample illustrating that naive extensions from existing techniques in fully-observable environments cannot provide such guarantees.