  In many settings (e.g., robotics) demonstrations provide a natural way to
specify tasks; however, most methods for learning from demonstrations either do
not provide guarantees that the artifacts learned for the tasks, such as
rewards or policies, can be safely composed and/or do not explicitly capture
history dependencies. Motivated by this deficit, recent works have proposed
learning Boolean task specifications, a class of Boolean non-Markovian rewards
which admit well-defined composition and explicitly handle historical
dependencies. This work continues this line of research by adapting maximum
causal entropy inverse reinforcement learning to estimate the posteriori
probability of a specification given a multi-set of demonstrations. The key
algorithmic insight is to leverage the extensive literature and tooling on
reduced ordered binary decision diagrams to efficiently encode a time unrolled
Markov Decision Process. This enables transforming a naive exponential time
algorithm into a polynomial time algorithm.
