1/1
@HaHoang411
Mind-blowing work by the team at @FLAIR_Ox! They've created Kinetix, a framework for training general-purpose RL agents that can tackle physics-based challenges.
The coolest part? Their agents can solve physical reasoning complex tasks zero-shot!
Congrats @mitrma and team.
[Quoted tweet]
We are very excited to announce Kinetix: an open-ended universe of physics-based tasks for RL!
We use Kinetix to train a general agent on millions of randomly generated physics problems and show that this agent generalises to unseen handmade environments.
1/
https://video.twimg.com/ext_tw_video/1856003600159256576/pu/vid/avc1/1280x720/zJNdBD1Yq0uFl9Nf.mp4
To post tweets in this format, more info here: https://www.thecoli.com/threads/tips-and-tricks-for-posting-the-coli-megathread.984734/post-52211196
@HaHoang411

The coolest part? Their agents can solve physical reasoning complex tasks zero-shot!

[Quoted tweet]
We are very excited to announce Kinetix: an open-ended universe of physics-based tasks for RL!
We use Kinetix to train a general agent on millions of randomly generated physics problems and show that this agent generalises to unseen handmade environments.
1/

https://video.twimg.com/ext_tw_video/1856003600159256576/pu/vid/avc1/1280x720/zJNdBD1Yq0uFl9Nf.mp4
To post tweets in this format, more info here: https://www.thecoli.com/threads/tips-and-tricks-for-posting-the-coli-megathread.984734/post-52211196
1/12
@mitrma
We are very excited to announce Kinetix: an open-ended universe of physics-based tasks for RL!
We use Kinetix to train a general agent on millions of randomly generated physics problems and show that this agent generalises to unseen handmade environments.
1/
https://video.twimg.com/ext_tw_video/1856003600159256576/pu/vid/avc1/1280x720/zJNdBD1Yq0uFl9Nf.mp4
2/12
@mitrma
Kinetix can represent problems ranging from robotic locomotion and grasping, to classic RL environments and video games, all within a unified framework. This opens the door to training a single generalist agent for all these tasks!
2/
https://video.twimg.com/ext_tw_video/1856003839851220992/pu/vid/avc1/640x640/J_w1M8wm8ibiGCAn.mp4
3/12
@mitrma
By procedurally generating random environments, we train an RL agent that can zero-shot solve unseen handmade problems. This includes some where RL from scratch fails!
3/
https://video.twimg.com/ext_tw_video/1856003979878051840/pu/vid/avc1/720x720/JAcE26Hprn1NXPvU.mp4
4/12
@mitrma
Each environment has the same goal: make
touch
while preventing
touching
. The agent controls all motors and thrusters.
In this task the car has to first be flipped with thrusters. The general agent solves it zero-shot, having never seen it before.
4/
https://video.twimg.com/ext_tw_video/1856004286943002624/pu/vid/avc1/720x720/hjhITONkJiDY9tD2.mp4
5/12
@mitrma
Our general agent shows emergent physical reasoning capabilities, for instance being able to zero-shot control unseen morphologies by moving them underneath a goal (
).
5/
https://video.twimg.com/ext_tw_video/1856004409559306241/pu/vid/avc1/994x540/AA6c6MHpWRkFt3OJ.mp4
6/12
@mitrma
We also show that finetuning this general model on target tasks is more sample efficient than training from scratch, providing a step towards a foundation model for RL.
In some cases, training from scratch completely fails, while our finetuned general model succeeds
6/
https://video.twimg.com/ext_tw_video/1856004545525972993/pu/vid/avc1/1280x720/jMqgYcCwx-q4tSpm.mp4
7/12
@mitrma
One big takeaway from this work is the importance of autocurricula. In particular, we found significantly improved results by dynamically prioritising levels with high 'learnability'.
7/
8/12
@mitrma
The core of Kinetix is our new 2D rigid body physics engine: Jax2D. This is a minimal rewrite of the classic Box2D engine made by @erin_catto. Jax2D allows us to run thousands of heterogeneous parallel environments on a single GPU (yes, you can vmap over different tasks!)
8/
9/12
@mitrma
Don't take our word for it, try it out for yourself!
Create your own levels in your browser with Kinetix.js and see how different pretrained agents perform: Redirecting...
9/
https://video.twimg.com/ext_tw_video/1856004915501350912/pu/vid/avc1/1422x720/7wj1y_BcHHUnNtwx.mp4
10/12
@mitrma
This work was co-led with @mcbeukman and done at @FLAIR_Ox with @_chris_lu_ and @j_foerst.
Blog: https://kinetix-env.github.io/
GitHub: GitHub - FLAIROx/Kinetix: Reinforcement learning on general 2D physics environments in JAX
arXiv: [2410.23208] Kinetix: Investigating the Training of General Agents through Open-Ended Physics-Based Control Tasks
end/
11/12
@_k_sridhar
Very cool paper! FYI, we recently pretrained a generalist agent that can generalize to unseen atari/metaworld/mujoco/procgen environments simply via retrieval-augmentation and in-context learning. Our work uses an imitation learning approach. REGENT: A Retrieval-Augmented Generalist Agent That Can Act In-Context In New Environments.
12/12
@mitrma
This is really cool! Let's meet up and chat at ICLR if we both end up going?
To post tweets in this format, more info here: https://www.thecoli.com/threads/tips-and-tricks-for-posting-the-coli-megathread.984734/post-52211196
@mitrma
We are very excited to announce Kinetix: an open-ended universe of physics-based tasks for RL!
We use Kinetix to train a general agent on millions of randomly generated physics problems and show that this agent generalises to unseen handmade environments.
1/

https://video.twimg.com/ext_tw_video/1856003600159256576/pu/vid/avc1/1280x720/zJNdBD1Yq0uFl9Nf.mp4
2/12
@mitrma

2/
https://video.twimg.com/ext_tw_video/1856003839851220992/pu/vid/avc1/640x640/J_w1M8wm8ibiGCAn.mp4
3/12
@mitrma

3/
https://video.twimg.com/ext_tw_video/1856003979878051840/pu/vid/avc1/720x720/JAcE26Hprn1NXPvU.mp4
4/12
@mitrma







In this task the car has to first be flipped with thrusters. The general agent solves it zero-shot, having never seen it before.
4/
https://video.twimg.com/ext_tw_video/1856004286943002624/pu/vid/avc1/720x720/hjhITONkJiDY9tD2.mp4
5/12
@mitrma


5/
https://video.twimg.com/ext_tw_video/1856004409559306241/pu/vid/avc1/994x540/AA6c6MHpWRkFt3OJ.mp4
6/12
@mitrma

In some cases, training from scratch completely fails, while our finetuned general model succeeds

6/
https://video.twimg.com/ext_tw_video/1856004545525972993/pu/vid/avc1/1280x720/jMqgYcCwx-q4tSpm.mp4
7/12
@mitrma

7/

8/12
@mitrma

8/
9/12
@mitrma

Create your own levels in your browser with Kinetix.js and see how different pretrained agents perform: Redirecting...
9/
https://video.twimg.com/ext_tw_video/1856004915501350912/pu/vid/avc1/1422x720/7wj1y_BcHHUnNtwx.mp4
10/12
@mitrma
This work was co-led with @mcbeukman and done at @FLAIR_Ox with @_chris_lu_ and @j_foerst.
Blog: https://kinetix-env.github.io/
GitHub: GitHub - FLAIROx/Kinetix: Reinforcement learning on general 2D physics environments in JAX
arXiv: [2410.23208] Kinetix: Investigating the Training of General Agents through Open-Ended Physics-Based Control Tasks
end/
11/12
@_k_sridhar
Very cool paper! FYI, we recently pretrained a generalist agent that can generalize to unseen atari/metaworld/mujoco/procgen environments simply via retrieval-augmentation and in-context learning. Our work uses an imitation learning approach. REGENT: A Retrieval-Augmented Generalist Agent That Can Act In-Context In New Environments.
12/12
@mitrma
This is really cool! Let's meet up and chat at ICLR if we both end up going?
To post tweets in this format, more info here: https://www.thecoli.com/threads/tips-and-tricks-for-posting-the-coli-megathread.984734/post-52211196