Contrastive Learning of Structured World Models
This repository contains the official PyTorch implementation of:
Contrastive Learning of Structured World Models.
Thomas Kipf, Elise van der Pol, Max Welling.
http://arxiv.org/abs/1911.12247
Abstract: A structured understanding of our world in terms of objects, relations, and hierarchies is an important component of human cognition. Learning such a structured world model from raw sensory data remains a challenge. As a step towards this goal, we introduce Contrastively-trained Structured World Models (C-SWMs). C-SWMs utilize a contrastive approach for representation learning in environments with compositional structure. We structure each state embedding as a set of object representations and their relations, modeled by a graph neural network. This allows objects to be discovered from raw pixel observations without direct supervision as part of the learning process. We evaluate C-SWMs on compositional environments involving multiple interacting objects that can be manipulated independently by an agent, simple Atari games, and a multi-object physics simulation. Our experiments demonstrate that C-SWMs can overcome limitations of models based on pixel reconstruction and outperform typical representatives of this model class in highly structured environments, while learning interpretable object-based representations.
Requirements
- Python 3.6 or 3.7
- PyTorch version 1.2
- OpenAI Gym version: 0.12.0
pip install gym==0.12.0 - OpenAI Atari_py version: 0.1.4:
pip install atari-py==0.1.4 - Scikit-image version 0.15.0
pip install scikit-image==0.15.0 - Matplotlib version 3.0.2
pip install matplotlib==3.0.2
Generate datasets
2D Shapes:
python data_gen/env.py --env_id ShapesTrain-v0 --fname data/shapes_train.h5 --num_episodes 1000 --seed 1
python data_gen/env.py --env_id ShapesEval-v0 --fname data/shapes_eval.h5 --num_episodes 10000 --seed 2
3D Cubes:
python data_gen/env.py --env_id CubesTrain-v0 --fname data/cubes_train.h5 --num_episodes 1000 --seed 3
python data_gen/env.py --env_id CubesEval-v0 --fname data/cubes_eval.h5 --num_episodes 10000 --seed 4
Atari Pong:
python data_gen/env.py --env_id PongDeterministic-v4 --fname data/pong_train.h5 --num_episodes 1000 --atari --seed 1
python data_gen/env.py --env_id PongDeterministic-v4 --fname data/pong_eval.h5 --num_episodes 100 --atari --seed 2
Space Invaders:
python data_gen/env.py --env_id SpaceInvadersDeterministic-v4 --fname data/spaceinvaders_train.h5 --num_episodes 1000 --atari --seed 1
python data_gen/env.py --env_id SpaceInvadersDeterministic-v4 --fname data/spaceinvaders_eval.h5 --num_episodes 100 --atari --seed 2
3-Body Gravitational Physics:
python data_gen/physics.py --num-episodes 5000 --fname data/balls_train.h5 --seed 1
python data_gen/physics.py --num-episodes 1000 --fname data/balls_eval.h5 --eval --seed 2
Run model training and evaluation
2D Shapes:
python train.py --dataset data/shapes_train.h5 --encoder small --name shapes
python eval.py --dataset data/shapes_eval.h5 --save-folder checkpoints/shapes --num-steps 1
3D Cubes:
python train.py --dataset data/cubes_train.h5 --encoder large --name cubes
python eval.py --dataset data/cubes_eval.h5 --save-folder checkpoints/cubes --num-steps 1
Atari Pong:
python train.py --dataset data/pong_train.h5 --encoder medium --embedding-dim 4 --action-dim 6 --num-objects 3 --copy-action --epochs 200 --name pong
python eval.py --dataset data/pong_eval.h5 --save-folder checkpoints/pong --num-steps 1
Space Invaders:
python train.py --dataset data/spaceinvaders_train.h5 --encoder medium --embedding-dim 4 --action-dim 6 --num-objects 3 --copy-action --epochs 200 --name spaceinvaders
python eval.py --dataset data/spaceinvaders_eval.h5 --save-folder checkpoints/spaceinvaders --num-steps 1
3-Body Gravitational Physics:
python train.py --dataset data/balls_train.h5 --encoder medium --embedding-dim 4 --num-objects 3 --ignore-action --name balls
python eval.py --dataset data/balls_eval.h5 --save-folder checkpoints/balls --num-steps 1
Cite
If you make use of this code in your own work, please cite our paper:
@article{kipf2019contrastive,
title={Contrastive Learning of Structured World Models},
author={Kipf, Thomas and van der Pol, Elise and Welling, Max},
journal={arXiv preprint arXiv:1911.12247},
year={2019}
}
3.2k Jan 02, 2023
14 Nov 28, 2022
834 Dec 30, 2022
3 Nov 27, 2022
23 Dec 28, 2022
10 Dec 12, 2022
58 Jan 08, 2023
1.4k Dec 30, 2022
2 Jun 27, 2022
18 Nov 21, 2022
1.2k Jan 07, 2023
16 Nov 26, 2022
19 Dec 19, 2022
16 Nov 10, 2022
15 Nov 11, 2022
83 Jan 01, 2023
4 Apr 28, 2022
1 Jan 08, 2022
12 Sep 17, 2021
9 Jun 17, 2022