ENTITY-CENTRIC REINFORCEMENT LEARNING FOR OBJECT MANIPULATION FROM PIXELS

Dan Haramati, Tal Daniel, Aviv Tamar

Research output: Contribution to conferencePaperpeer-review

Abstract

Manipulating objects is a hallmark of human intelligence, and an important task in domains such as robotics. In principle, Reinforcement Learning (RL) offers a general approach to learn object manipulation. In practice, however, domains with more than a few objects are difficult for RL agents due to the curse of dimensionality, especially when learning from raw image observations. In this work we propose a structured approach for visual RL that is suitable for representing multiple objects and their interaction, and use it to learn goal-conditioned manipulation of several objects. Key to our method is the ability to handle goals with dependencies between the objects (e.g., moving objects in a certain order). We further relate our architecture to the generalization capability of the trained agent, based on a theoretical result for compositional generalization, and demonstrate agents that learn with 3 objects but generalize to similar tasks with over 10 objects. Videos and code are available on the project website: https://sites.google.com/view/entity-centric-rl.

Original languageEnglish
StatePublished - 2024
Event12th International Conference on Learning Representations, ICLR 2024 - Hybrid, Vienna, Austria
Duration: 7 May 202411 May 2024

Conference

Conference12th International Conference on Learning Representations, ICLR 2024
Country/TerritoryAustria
CityHybrid, Vienna
Period7/05/2411/05/24

All Science Journal Classification (ASJC) codes

  • Language and Linguistics
  • Computer Science Applications
  • Education
  • Linguistics and Language

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