Object-Oriented Architecture
Object-Oriented Dynamics Predictor
Zhu, Guangxiang, Zhang, Chongjie
Generalization has been one of the major challenges for learning dynamics models in model-based reinforcement learning. However, previous work on action-conditioned dynamics prediction focuses on learning the pixel-level motion and thus does not generalize well to novel environments with different object layouts. In this paper, we present a novel object-oriented framework, called object-oriented dynamics predictor (OODP), which decomposes the environment into objects and predicts the dynamics of objects conditioned on both actions and object-to-object relations. It is an end-to-end neural network and can be trained in an unsupervised manner. To enable the generalization ability of dynamics learning, we design a novel CNN-based relation mechanism that is class-specific (rather than object-specific) and exploits the locality principle. Empirical results show that OODP significantly outperforms previous methods in terms of generalization over novel environments with various object layouts. OODP is able to learn from very few environments and accurately predict dynamics in a large number of unseen environments. In addition, OODP learns semantically and visually interpretable dynamics models.
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tensorflow/swift
The core graph program extraction algorithm, automatic differentiation, and Python language interoperability features of Swift for TensorFlow can be implemented for other programming languages, and we are occasionally asked why we didn't use some other one for this project. The engineers on the project were previously familiar with Swift (and several other languages), but the choice was guided by the goals of our project, which imposed specific technical requirements (explained below). This choice was also discussed extensively, debated with coworkers and other interested engineers, and we concluded that Swift was the best direction. In this document we're sharing our deliberation process with the community to help explain our decisions. That said, while our choice of language was guided by our specific project goals, we would love to see wider application of these techniques and ideas in the context of other programming languages! If you are interested in pursuing a similar project, please reach out to us and we will happily share our expertise. As discussed in the design overview document our project goal is to improve usability of TensorFlow. We quickly realized that our core static analysis-based Graph Program Extraction algorithm would not work well for Python given its highly dynamic nature. This led us down the path of having to pick another language to work with, and we wanted to approach this methodically. As such, we defined goals for the project, explored which properties of a programming language are important to achieve those goals, and then evaluated a lot of languages against these properties. You already know the outcome--we eventually settled on Swift.
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