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Policy Architectures for Compositional Generalization in Control
Allan Zhou · Vikash Kumar · Chelsea Finn · Aravind Rajeswaran
Event URL: https://openreview.net/forum?id=3Z12MwPE-Np »

Several tasks in control, robotics, and planning can be specified through desired goal configurations for entities in the environment. Learning goal-conditioned policies is a natural paradigm to solve such tasks. Current approaches, however, struggle to learn and generalize as task complexity increases, such as due to variations in number of entities or compositions of goals. To overcome these challenges, we first introduce the Entity-Factored Markov Decision Process (EFMDP), a formal framework for modeling the entity-based compositional structure in control tasks. Subsequently, we outline policy architecture choices that can successfully leverage the geometric properties of the EFMDP model. Our framework theoretically motivates the use of Self-Attention and Deep Set architectures for control, and results in flexible policies that can be trained end-to-end with standard reinforcement and imitation learning algorithms. On a suite of simulated robot manipulation tasks, we find that these architectures achieve significantly higher success rates with less data, compared to the standard multilayer perceptron. Our structured policies also enable broader and more compositional generalization, producing policies that \textbf{extrapolate} to different numbers of entities than seen in training, and \textbf{stitch} together (i.e. compose) learned skills in novel ways. Video results can be found at https://sites.google.com/view/comp-gen-anon.

Author Information

Allan Zhou (Stanford University)
Vikash Kumar (Univ. Of Washington)
Chelsea Finn (Stanford)

Chelsea Finn is an Assistant Professor in Computer Science and Electrical Engineering at Stanford University. Finn's research interests lie in the capability of robots and other agents to develop broadly intelligent behavior through learning and interaction. To this end, her work has included deep learning algorithms for concurrently learning visual perception and control in robotic manipulation skills, inverse reinforcement methods for learning reward functions underlying behavior, and meta-learning algorithms that can enable fast, few-shot adaptation in both visual perception and deep reinforcement learning. Finn received her Bachelor's degree in Electrical Engineering and Computer Science at MIT and her PhD in Computer Science at UC Berkeley. Her research has been recognized through the ACM doctoral dissertation award, the Microsoft Research Faculty Fellowship, the C.V. Ramamoorthy Distinguished Research Award, and the MIT Technology Review 35 under 35 Award, and her work has been covered by various media outlets, including the New York Times, Wired, and Bloomberg. Throughout her career, she has sought to increase the representation of underrepresented minorities within CS and AI by developing an AI outreach camp at Berkeley for underprivileged high school students, a mentoring program for underrepresented undergraduates across four universities, and leading efforts within the WiML and Berkeley WiCSE communities of women researchers.

Aravind Rajeswaran (Meta AI (FAIR))

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