论文标题
解构哈密顿神经网络的归纳偏见
Deconstructing the Inductive Biases of Hamiltonian Neural Networks
论文作者
论文摘要
物理启发的神经网络(NNS),例如哈密顿或拉格朗日式NNS,通过利用强烈的感应性偏见,极大地超过了其他学习的动力学模型。但是,这些模型要挑战于许多现实世界系统,例如不节省能量或包含联系的人,这是机器人技术和强化学习的共同环境。在本文中,我们研究了使物理启发模型在实践中成功的归纳偏见。我们表明,与传统的智慧相反,HNNS的概括是直接建模加速度并避免了坐标系的人为复杂性的结果,而不是互合结构或能量保存。我们表明,通过放松这些模型的感应偏见,我们可以在能源持续系统上匹配或超过性能,同时显着提高实用,非保守系统的性能。我们将这种方法扩展到为常见的Mujoco环境构建过渡模型,这表明我们的模型可以适当地平衡电感偏见与基于模型控制所需的灵活性。
Physics-inspired neural networks (NNs), such as Hamiltonian or Lagrangian NNs, dramatically outperform other learned dynamics models by leveraging strong inductive biases. These models, however, are challenging to apply to many real world systems, such as those that don't conserve energy or contain contacts, a common setting for robotics and reinforcement learning. In this paper, we examine the inductive biases that make physics-inspired models successful in practice. We show that, contrary to conventional wisdom, the improved generalization of HNNs is the result of modeling acceleration directly and avoiding artificial complexity from the coordinate system, rather than symplectic structure or energy conservation. We show that by relaxing the inductive biases of these models, we can match or exceed performance on energy-conserving systems while dramatically improving performance on practical, non-conservative systems. We extend this approach to constructing transition models for common Mujoco environments, showing that our model can appropriately balance inductive biases with the flexibility required for model-based control.