def init(self, boot_spec):
# TODO: do the 1D version
shape = boot_spec.get_observations().shape()
if len(shape) > 2:
msg = 'BGDSagent only work with 2D or 1D signals.'
raise UnsupportedSpec(msg)
min_width = np.min(shape)
if min_width <= 5:
msg = ('BGDSagent thinks this shape is too'
'small to compute gradients: %s' % str(shape))
raise UnsupportedSpec(msg)
self.is2D = len(boot_spec.get_observations().shape()) == 2
self.is1D = len(boot_spec.get_observations().shape()) == 1
ExpSwitcher.init(self, boot_spec)
self.count = 0
self.y_deriv = DerivativeBox()
self.bgds_estimator = BGDSEstimator()
self.model = None
self.y_disag = Expectation()
self.y_disag_s = Expectation()
self.u_stats = []
self.last_y0 = None
self.last_y = None
self.rd = RemoveDoubles(0.5)
def __init__(self, importance, explorer):
""" importance: spec to instantiate """
self.importance = instantiate_spec(importance)
self.explorer = explorer
self.y_deriv = DerivativeBox()
self.rd = RemoveDoubles(0.5) # XXX
self.count = 0
def init(self, boot_spec):
self.boot_spec = boot_spec
if len(boot_spec.get_observations().shape()) != 1:
raise UnsupportedSpec('This agent can only work with 1D signals.')
self.count = 0
self.rd = RemoveDoubles(self.change_fraction)
self.y_deriv = DerivativeBox()
self.bdse_estimator = instantiate_spec(self.estimator_spec)
if not isinstance(self.bdse_estimator, BDSEEstimatorInterface):
msg = ('Expected a BDSEEstimatorInterface, got %s'
% describe_type(self.estimator))
raise ValueError(msg)
self.y_stats = MeanCovariance()
self.explorer.init(boot_spec)
self.commands_spec = boot_spec.get_commands()
# All the rest are only statistics
self.stats = MiscStatistics()
def remove_doubles_test_2():
rd = RemoveDoubles(0)
z1 = np.random.rand(5)
z2 = np.random.rand(5)
assert not rd.ready()
rd.update(z1)
assert rd.ready()
rd.update(z1)
assert not rd.ready()
rd.update(z2)
assert rd.ready()
def remove_doubles_test_1():
rd = RemoveDoubles(0.5)
print rd
assert not rd.ready()
def remove_doubles_test_3():
rd_0_1 = RemoveDoubles(0.1)
rd_0_5 = RemoveDoubles(0.5)
z1 = np.random.rand(5)
z2 = z1.copy()
z2[3] = 0 # real fraction 0.2
rd_0_1.update(z1)
rd_0_1.update(z2)
assert rd_0_1.ready()
rd_0_5.update(z1)
rd_0_5.update(z2)
assert not rd_0_5.ready()
z2[4] = 0
z2[2] = 0
rd_0_5.update(z2)
assert rd_0_5.ready()
class BGDSAgent(ExpSwitcher):
'''
Skip: only consider every $skip observations.
scales: list of floats, represents the scales at which the
sensels are analyzed. 0=raw data, 1= convolved with sigma=1.
'''
@contract(scales='list[>=1](number,>=0)')
def __init__(self, beta, skip=1, scales=[0], fixed_dt=0):
ExpSwitcher.__init__(self, beta)
self.skip = skip
self.scales = scales
self.fixed_dt = fixed_dt
def init(self, boot_spec):
# TODO: do the 1D version
shape = boot_spec.get_observations().shape()
if len(shape) > 2:
msg = 'BGDSagent only work with 2D or 1D signals.'
raise UnsupportedSpec(msg)
min_width = np.min(shape)
if min_width <= 5:
msg = ('BGDSagent thinks this shape is too'
'small to compute gradients: %s' % str(shape))
raise UnsupportedSpec(msg)
self.is2D = len(boot_spec.get_observations().shape()) == 2
self.is1D = len(boot_spec.get_observations().shape()) == 1
ExpSwitcher.init(self, boot_spec)
self.count = 0
self.y_deriv = DerivativeBox()
self.bgds_estimator = BGDSEstimator()
self.model = None
self.y_disag = Expectation()
self.y_disag_s = Expectation()
self.u_stats = []
self.last_y0 = None
self.last_y = None
self.rd = RemoveDoubles(0.5)
def process_observations(self, obs):
dt = float(obs['dt'])
u = obs['commands']
y0 = obs['observations']
episode_start = obs['episode_start']
self.count += 1
if self.count % self.skip != 0:
return
if self.fixed_dt:
# dt is not reliable sometime
# you don't want to give high weight to higher dt samples.
dt = 1 # XXX: add in constants
self.rd.update(y0)
if not self.rd.ready():
return
if self.is2D:
y = create_scales(y0, self.scales)
else:
y = y0
if episode_start:
self.y_deriv.reset()
return
self.y_deriv.update(y, dt)
if not self.y_deriv.ready():
return
y_sync, y_dot_sync = self.y_deriv.get_value()
self.bgds_estimator.update(u=u.astype('float32'),
y=y_sync.astype('float32'),
y_dot=y_dot_sync.astype('float32'),
dt=dt)
self.last_y0 = y0
self.last_y = y
# TODO: implement this separately
if False and self.is2D and self.count > MINIMUM_FOR_PREDICTION:
# TODO: do for 1D
if self.count % 200 == 0 or self.model is None:
self.info('Updating BGDS model.')
self.model = self.bgds_estimator.get_model()
gy = self.bgds_estimator.last_gy
y_dot_est = self.model.estimate_y_dot(y, u, gy=gy)
y_dot_corr = y_dot_est * y_dot_sync
self.y_disag.update(np.maximum(-y_dot_corr, 0))
self.y_disag_s.update(np.sign(y_dot_corr))
u_est = self.model.estimate_u(y, y_dot_sync, gy=gy)
data = {'u': u,
'u_est': u_est,
'timestamp': obs.time,
'id_episode': obs.id_episode
}
self.u_stats.append(data)
# u_est = self.model.estimate_u(y, y_dot_sync, gy=self.bgds_estimator)
# self.u_stats.append()
#
def publish(self, pub):
if self.count < 10:
self.info('Skipping publishing as count=%d' % self.count)
return
self.bgds_estimator.publish(pub.section('model'))
if False and self.is2D: # TODO: implement separately
sec = pub.section('preprocessing')
sec.array_as_image('last_y0', self.last_y0, filter='scale')
sec.array_as_image('last_y', self.last_y, filter='scale')
example = np.zeros(self.last_y.shape)
example.flat[150] = 1
example_smooth = create_scales(example, self.scales)
sec.array_as_image('example_smooth', example_smooth)
if self.count > MINIMUM_FOR_PREDICTION:
sec = pub.section('reliability')
sec.array_as_image('y_disag',
self.y_disag.get_value(), filter='posneg')
sec.array_as_image('y_disag_s',
self.y_disag_s.get_value(), filter='posneg')
if False: # XXX
self.publish_u_stats(pub.section('u_stats'))
def publish_u_stats(self, pub):
T = len(self.u_stats)
print('Obtained %d obs' % T)
K = 2 # FIXME: change this
u_act = np.zeros((T, K))
u_est = np.zeros((T, K))
u_mis = np.zeros((T, K))
u_suc = np.zeros((T, K))
time = np.zeros(T)
num_episode = np.zeros(T, 'int')
id_episode2num = {}
num2id_episode = {}
id_episode2start = {}
# cmd2faults = {}
for t, stats in enumerate(self.u_stats):
u_act[t, :] = stats['u']
u_est[t, :] = stats['u_est']
time[t] = stats['timestamp']
id_ep = stats['id_episode']
if not id_ep in id_episode2num:
id_episode2num[id_ep] = len(id_episode2num)
id_episode2start[id_ep] = time[t]
num2id_episode[id_episode2num[id_ep]] = id_ep
num_episode[t] = id_episode2num[id_ep]
s = ""
for k, v in id_episode2num.items():
s += '%s: %s\n' % (k, v)
pub.text('episodes', s)
with pub.plot('num_episode') as pylab:
pylab.plot(num_episode, '-')
pylab.xlabel('index')
pylab.ylabel('num\_episode')
for id_episode, num in id_episode2num.items():
print id_episode
S = pub.section('Episode:%s' % id_episode)
# times for this episode
et = num_episode == num
# normalize from 0
e_timestamps = time[et]
log_start = e_timestamps[0]
e_timestamps -= log_start
cmd2color = {0: 'g', 1: 'b'}
episode_bounds = (18, 60)
markersize = 2
with S.plot('mis', figsize=(8, 2), mime=MIME_PDF) as pylab:
for k in range(K):
# scale = 7
# u_mis_smooth = scipy.signal.convolve(u_mis[et, k],
# np.ones(scale) / scale,
# mode='same')
pylab.plot(e_timestamps, u_mis[et, k], # u_mis_smooth,
'%s-' % cmd2color[k], label='u[%d]' % k,
markersize=markersize)
x_axis_set(pylab, episode_bounds[0], episode_bounds[1])
with S.plot('success', figsize=(8, 2), mime=MIME_PDF) as pylab:
pylab.plot(e_timestamps, e_timestamps * 0, 'k--')
pylab.plot(e_timestamps, np.ones(len(e_timestamps)), 'k--')
for k in range(K):
pylab.plot(e_timestamps, u_suc[et, k],
'%s-' % cmd2color[k], label='cmd #%d' % k)
y_axis_set(pylab, -0.05, 1.05)
x_axis_set(pylab, episode_bounds[0], episode_bounds[1])
pylab.legend(loc='lower right')
for k in range(K):
with S.plot('commands_%d' % k, figsize=(8, 2),
mime=MIME_PDF) as pylab:
pylab.plot(e_timestamps, u_act[et, k], 'y.',
label='actual', markersize=3)
plot_with_colors(pylab, e_timestamps,
u_est[et, k], u_act[et, k],
markersize=markersize)
y_axis_set(pylab, -2, 2)
x_axis_set(pylab, episode_bounds[0], episode_bounds[1])
def get_predictor(self):
model = self.bgds_estimator.get_model()
return BGDSPredictor(model)
class DerivAgentRobust(AgentInterface):
"""
Generic agent that looks at the derivative,
and knows how to compute the importance
"""
def __init__(self, importance, explorer):
""" importance: spec to instantiate """
self.importance = instantiate_spec(importance)
self.explorer = explorer
self.y_deriv = DerivativeBox()
self.rd = RemoveDoubles(0.5) # XXX
self.count = 0
def init(self, boot_spec):
warnings.warn('Must do this properly')
# self.explorer.init(boot_spec)
self.boot_spec = boot_spec
self.commands_spec = boot_spec.get_commands()
def process_observations(self, obs):
dt = float(obs['dt'])
u = obs['commands']
y0 = obs['observations']
episode_start = obs['episode_start']
self.count += 1
self.rd.update(y0)
if not self.rd.ready():
return
if episode_start:
self.y_deriv.reset()
return
self.y_deriv.update(y0, dt)
if not self.y_deriv.ready():
return
y_sync, y_dot_sync = self.y_deriv.get_value()
y_dot = y_dot_sync.astype('float32')
y = y_sync.astype('float32')
u = u.astype('float32')
w = self.importance.get_importance(y, y_dot).astype('float32')
self.process_observations_robust(y=y, y_dot=y_dot, u=u, w=w)
self.last_y = y_sync
@abstractmethod
def process_observations_robust(self, y, y_dot, u, w):
pass
def publish(self, pub):
self.importance.publish(pub.section('importance'))
def choose_commands(self):
return self.explorer.choose_commands()
class BDSEAgent(AgentInterface):
'''
An agent that uses a BDS model.
'''
@contract(servo='code_spec', estimator='code_spec')
def __init__(self, explorer, servo, estimator, skip=1,
change_fraction=0.0):
"""
:param explorer: ID of the explorer agent.
:param servo: extra parameters for servo; if string, the ID of an agent.
:param skip: only used one every skip observations.
"""
boot_config = get_boot_config()
_, self.explorer = boot_config.agents.instance_smarter(explorer) # @UndefinedVariable
self.skip = skip
self.change_fraction = change_fraction
self.servo = servo
self.estimator_spec = estimator
def init(self, boot_spec):
self.boot_spec = boot_spec
if len(boot_spec.get_observations().shape()) != 1:
raise UnsupportedSpec('This agent can only work with 1D signals.')
self.count = 0
self.rd = RemoveDoubles(self.change_fraction)
self.y_deriv = DerivativeBox()
self.bdse_estimator = instantiate_spec(self.estimator_spec)
if not isinstance(self.bdse_estimator, BDSEEstimatorInterface):
msg = ('Expected a BDSEEstimatorInterface, got %s'
% describe_type(self.estimator))
raise ValueError(msg)
self.y_stats = MeanCovariance()
self.explorer.init(boot_spec)
self.commands_spec = boot_spec.get_commands()
# All the rest are only statistics
self.stats = MiscStatistics()
def choose_commands(self):
return self.explorer.choose_commands()
def process_observations(self, obs):
self.explorer.process_observations(obs)
self.count += 1
if self.count % self.skip != 0:
return
dt = float(obs['dt'])
y = obs['observations']
u = obs['commands']
# TODO: abstract away
self.rd.update(y)
if not self.rd.ready():
return
# XXX: this is not `dt` anymore FiXME:
self.y_stats.update(y, dt)
if obs['episode_start']:
# self.info('episode_changed: %s' % obs['id_episode'])
self.y_deriv.reset()
return
self.y_deriv.update(y, dt)
if not self.y_deriv.ready():
return
y_sync, y_dot_sync = self.y_deriv.get_value()
self.bdse_estimator.update(u=u.astype('float32'),
y=y_sync.astype('float32'),
y_dot=y_dot_sync.astype('float32'),
w=dt)
# Just other statistics
self.stats.update(y_sync, y_dot_sync, u, dt)
def publish(self, pub):
if self.count < 10:
self.info('Skipping publishing as count=%d' % self.count)
return
with pub.subsection('estimator') as sub:
self.bdse_estimator.publish(sub)
with pub.subsection('stats') as sub:
self.stats.publish(sub)
def get_predictor(self):
model = self.bdse_estimator.get_model()
return BDSEPredictor(model)
def get_servo(self):
servo_agent = instantiate_spec(self.servo)
servo_agent.init(self.boot_spec)
assert isinstance(servo_agent, BDSEServoInterface)
model = self.bdse_estimator.get_model()
servo_agent.set_model(model)
return servo_agent
def merge(self, agent2):
assert isinstance(agent2, BDSEAgent)
self.bdse_estimator.merge(agent2.bdse_estimator)
