Automata-Guided Hierarchical Reinforcement Learning for Skill
  Composition
  Skills learned through (deep) reinforcement learning often generalizes poorly
across domains and re-training is necessary when presented with a new task. We
present a framework that combines techniques in \textit{formal methods} with
\textit{reinforcement learning} (RL). The methods we provide allows for
convenient specification of tasks with logical expressions, learns hierarchical
policies (meta-controller and low-level controllers) with well-defined
intrinsic rewards, and construct new skills from existing ones with little to
no additional exploration. We evaluate the proposed methods in a simple grid
world simulation as well as a more complicated kitchen environment in AI2Thor
