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Register a new userDifferentiable Physics: A Position Piece
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Differentiable physics provides a new approach for modeling and understanding the physical systems by pairing the new technology of differentiable programming with classical numerical methods for physical simulation. We survey the rapidly growing literature of differentiable physics techniques and highlight methods for parameter estimation, learning representations, solving differential equations, and developing what we call scientific foundation models using data and inductive priors. We argue that differentiable physics offers a new paradigm for modeling physical phenomena by combining classical analytic solutions with numerical methodology using the bridge of differentiable programming.
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While physics conveys knowledge of nature built from an interplay between observations and theory, it has been considered less importantly in deep neural networks. Especially, there are few works leveraging physics behaviors when the knowledge is given less explicitly. In this work, we propose a novel architecture called Differentiable Physics-informed Graph Networks (DPGN) to incorporate implicit physics knowledge which is given from domain experts by informing it in latent space. Using the concept of DPGN, we demonstrate that climate prediction tasks are significantly improved. Besides the experiment results, we validate the effectiveness of the proposed module and provide further applications of DPGN, such as inductive learning and multistep predictions.
Simulated virtual environments serve as one of the main driving forces behind developing and evaluating skill learning algorithms. However, existing environments typically only simulate rigid body physics. Additionally, the simulation process usually does not provide gradients that might be useful for planning and control optimizations. We introduce a new differentiable physics benchmark called PasticineLab, which includes a diverse collection of soft body manipulation tasks. In each task, the agent uses manipulators to deform the plasticine into the desired configuration. The underlying physics engine supports differentiable elastic and plastic deformation using the DiffTaichi system, posing many under-explored challenges to robotic agents. We evaluate several existing reinforcement learning (RL) methods and gradient-based methods on this benchmark. Experimental results suggest that 1) RL-based approaches struggle to solve most of the tasks efficiently; 2) gradient-based approaches, by optimizing open-loop control sequences with the built-in differentiable physics engine, can rapidly find a solution within tens of iterations, but still fall short on multi-stage tasks that require long-term planning. We expect that PlasticineLab will encourage the development of novel algorithms that combine differentiable physics and RL for more complex physics-based skill learning tasks.
Graph neural networks (GNN) have been successful in many fields, and derived various researches and applications in real industries. However, in some privacy sensitive scenarios (like finance, healthcare), training a GNN model centrally faces challenges due to the distributed data silos. Federated learning (FL) is a an emerging technique that can collaboratively train a shared model while keeping the data decentralized, which is a rational solution for distributed GNN training. We term it as federated graph learning (FGL). Although FGL has received increasing attention recently, the definition and challenges of FGL is still up in the air. In this position paper, we present a categorization to clarify it. Considering how graph data are distributed among clients, we propose four types of FGL: inter-graph FL, intra-graph FL and graph-structured FL, where intra-graph is further divided into horizontal and vertical FGL. For each type of FGL, we make a detailed discussion about the formulation and applications, and propose some potential challenges.
Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have contributed to significant improvements in sample efficiency compared to model-free reinforcement learning algorithms, they typically fail to generalize to system states beyond the training data, while often grounding their predictions on non-interpretable latent variables. We introduce Interactive Differentiable Simulation (IDS), a differentiable physics engine, that allows for efficient, accurate inference of physical properties of rigid-body systems. Integrated into deep learning architectures, our model is able to accomplish system identification using visual input, leading to an interpretable model of the world whose parameters have physical meaning. We present experiments showing automatic task-based robot design and parameter estimation for nonlinear dynamical systems by automatically calculating gradients in IDS. When integrated into an adaptive model-predictive control algorithm, our approach exhibits orders of magnitude improvements in sample efficiency over model-free reinforcement learning algorithms on challenging nonlinear control domains.
Resampling is a key component of sample-based recursive state estimation in particle filters. Recent work explores differentiable particle filters for end-to-end learning. However, resampling remains a challenge in these works, as it is inherently non-differentiable. We address this challenge by replacing traditional resampling with a learned neural network resampler. We present a novel network architecture, the particle transformer, and train it for particle resampling using a likelihood-based loss function over sets of particles. Incorporated into a differentiable particle filter, our model can be end-to-end optimized jointly with the other particle filter components via gradient descent. Our results show that our learned resampler outperforms traditional resampling techniques on synthetic data and in a simulated robot localization task.
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