def step_down(self, chain_goals):
""" Propogate goals down through the transition model """
# Reshape chain_goals back into a square array
chain_goals = np.reshape(chain_goals, (self.post.size, -1))
# Weight chain goals by the current cable activities
upstream_goals = tools.bounded_sum(self.post * chain_goals.T)
cable_goals = tools.bounded_sum([upstream_goals, self.reaction])
return cable_goals[:self.num_cables]
def step_down(self, chain_goals):
""" Propogate goals down through the transition model """
# Reshape chain_goals back into a square array
chain_goals = np.reshape(chain_goals, (self.post.size, -1))
# Weight chain goals by the current cable activities
upstream_goals = tools.bounded_sum(self.post * chain_goals.T)
cable_goals = tools.bounded_sum([upstream_goals, self.reaction])
return cable_goals[:self.num_cables]
def deliberate(self, goal_value_by_chain):
""" Choose goals deliberatively, based on deliberation_vote i
and reward value """
# Maintain the internal deliberation_vote set
deliberation_vote_fulfillment = 1 - self.post
deliberation_vote_decay = 1 - self.VOTE_DECAY_RATE
self.deliberation_vote *= (deliberation_vote_fulfillment *
deliberation_vote_decay)
similarity = np.tile(self.post, (1,self.post.size))
reward_noise = (np.random.random_sample(
self.reward_uncertainty.shape)* 2 - 1)
estimated_reward_value = (self.reward_value - self.current_reward +
self.reward_uncertainty * reward_noise)
estimated_reward_value = np.maximum(estimated_reward_value, 0)
estimated_reward_value = np.minimum(estimated_reward_value, 1)
reward_value_by_cable = tools.weighted_average(
estimated_reward_value,
similarity / (self.reward_uncertainty + tools.EPSILON))
reward_value_by_cable[self.num_cables:] = 0.
# Reshape goal_value_by_chain back into a square array
goal_value_by_chain = np.reshape(goal_value_by_chain,
(self.deliberation_vote.size, -1))
# Bounded sum of the deliberation_vote values from above over all chains
goal_value_by_cable = tools.bounded_sum(goal_value_by_chain.T *
similarity)
count_by_cable = tools.weighted_average(self.count, similarity)
exploration_vote = ((1 - self.current_reward) /
(self.num_cables * (count_by_cable + 1) *
np.random.random_sample(count_by_cable.shape) + tools.EPSILON))
exploration_vote = np.minimum(exploration_vote, 1.)
exploration_vote[self.num_cables:] = 0.
#exploration_vote = np.zeros(reward_value_by_cable.shape)
# debug
include_goals = True
if include_goals:
#total_vote = (reward_value_by_cable + goal_value_by_cable +
# exploration_vote)
cable_goals = tools.bounded_sum([reward_value_by_cable,
goal_value_by_cable, exploration_vote])
else:
#total_vote = reward_value_by_cable + exploration_vote
cable_goals = tools.bounded_sum([reward_value_by_cable, exploration_vote])
self.deliberation_vote = np.maximum(cable_goals, self.deliberation_vote)
# TODO perform deliberation centrally at the guru and
# modify cable goals accordingly. In this case cable_goals
# will be all reactive, except for the deliberative component
# from the guru.
return cable_goals[:self.num_cables]
def step_down(self, bundle_goals):
"""
Project the bundle goal values to the appropriate cables
Multiply the bundle goals across the cables that contribute
to them, and perform a bounded sum over all bundles to get
the estimated activity associated with each cable.
"""
if bundle_goals.size > 0:
bundle_goals = tools.pad(bundle_goals, (self.max_num_bundles, 0))
cable_activity_goals = tools.bounded_sum(self.bundle_map *
bundle_goals, axis=0)
else:
cable_activity_goals = np.zeros((self.max_num_cables, 1))
return cable_activity_goals
def step_down(self, bundle_goals):
"""
Project the bundle goal values to the appropriate cables
Multiply the bundle goals across the cables that contribute
to them, and perform a bounded sum over all bundles to get
the estimated activity associated with each cable.
"""
if bundle_goals.size > 0:
bundle_goals = tools.pad(bundle_goals, (self.max_num_bundles, 0))
cable_activity_goals = tools.bounded_sum(self.bundle_map *
bundle_goals,
axis=0)
else:
cable_activity_goals = np.zeros((self.max_num_cables, 1))
return cable_activity_goals
def step_up(self, new_cable_activities):
""" Find bundle_activities that result from new_cable_activities """
# Condition the cable activities to fall between 0 and 1
if new_cable_activities.size < self.max_cables:
new_cable_activities = tools.pad(new_cable_activities,
(self.max_cables, 1))
self.min_vals = np.minimum(new_cable_activities, self.min_vals)
self.max_vals = np.maximum(new_cable_activities, self.max_vals)
spread = self.max_vals - self.min_vals
new_cable_activities = (
(new_cable_activities - self.min_vals) /
(self.max_vals - self.min_vals + tools.EPSILON))
self.min_vals += spread * self.RANGE_DECAY_RATE
self.max_vals -= spread * self.RANGE_DECAY_RATE
# Update cable_activities, incorporating sensing dynamics
self.cable_activities = tools.bounded_sum([
new_cable_activities,
self.cable_activities * (1. - self.ACTIVITY_DECAY_RATE)
])
# Update the map from self.cable_activities to cogs
self.ziptie.step_up(self.cable_activities)
# Process the upward pass of each of the cogs in the block
self.bundle_activities = np.zeros((0, 1))
for cog_index in range(len(self.cogs)):
# Pick out the cog's cable_activities, process them,
# and assign the results to block's bundle_activities
cog_cable_activities = self.cable_activities[
self.ziptie.get_index_projection(cog_index).ravel().astype(
bool)]
# Cogs are only allowed to start forming bundles once
# the number of cables exceeds the fill_fraction_threshold
enough_cables = (self.ziptie.cable_fraction_in_bundle(cog_index) >
self.fill_fraction_threshold)
cog_bundle_activities = self.cogs[cog_index].step_up(
cog_cable_activities, enough_cables)
self.bundle_activities = np.concatenate(
(self.bundle_activities, cog_bundle_activities))
# Goal fulfillment and decay
self.hub_cable_goals -= self.cable_activities
self.hub_cable_goals *= self.ACTIVITY_DECAY_RATE
self.hub_cable_goals = np.maximum(self.hub_cable_goals, 0.)
return self.bundle_activities
def step_up(self, new_cable_activities):
""" Find bundle_activities that result from new_cable_activities """
# Condition the cable activities to fall between 0 and 1
if new_cable_activities.size < self.max_cables:
new_cable_activities = tools.pad(new_cable_activities,
(self.max_cables, 1))
self.min_vals = np.minimum(new_cable_activities, self.min_vals)
self.max_vals = np.maximum(new_cable_activities, self.max_vals)
spread = self.max_vals - self.min_vals
new_cable_activities = ((new_cable_activities - self.min_vals) /
(self.max_vals - self.min_vals + tools.EPSILON))
self.min_vals += spread * self.RANGE_DECAY_RATE
self.max_vals -= spread * self.RANGE_DECAY_RATE
# Update cable_activities, incorporating sensing dynamics
self.cable_activities = tools.bounded_sum([
new_cable_activities,
self.cable_activities * (1. - self.ACTIVITY_DECAY_RATE)])
# Update the map from self.cable_activities to cogs
self.ziptie.step_up(self.cable_activities)
# Process the upward pass of each of the cogs in the block
self.bundle_activities = np.zeros((0, 1))
for cog_index in range(len(self.cogs)):
# Pick out the cog's cable_activities, process them,
# and assign the results to block's bundle_activities
cog_cable_activities = self.cable_activities[
self.ziptie.get_index_projection(
cog_index).ravel().astype(bool)]
# Cogs are only allowed to start forming bundles once
# the number of cables exceeds the fill_fraction_threshold
enough_cables = (self.ziptie.cable_fraction_in_bundle(cog_index)
> self.fill_fraction_threshold)
cog_bundle_activities = self.cogs[cog_index].step_up(
cog_cable_activities, enough_cables)
self.bundle_activities = np.concatenate((self.bundle_activities,
cog_bundle_activities))
# Goal fulfillment and decay
self.hub_cable_goals -= self.cable_activities
self.hub_cable_goals *= self.ACTIVITY_DECAY_RATE
self.hub_cable_goals = np.maximum(self.hub_cable_goals, 0.)
return self.bundle_activities
def step_up(self, new_cable_activities, reward):
""" Find bundle_activities that result from new_cable_activities """
new_cable_activities = tools.pad(new_cable_activities,
(self.max_cables, 1))
'''
# Condition the new_cable_activities to fall between 0 and 1
self.min_vals = np.minimum(new_cable_activities, self.min_vals)
self.max_vals = np.maximum(new_cable_activities, self.max_vals)
spread = self.max_vals - self.min_vals
new_cable_activities = ((new_cable_activities - self.min_vals) /
(self.max_vals - self.min_vals + tools.EPSILON))
self.min_vals += spread * self.RANGE_DECAY_RATE
self.max_vals -= spread * self.RANGE_DECAY_RATE
'''
# Update cable_activities, incorporating sensing dynamics
self.cable_activities = tools.bounded_sum([
new_cable_activities,
self.cable_activities * (1. - self.ACTIVITY_DECAY_RATE)])
# debug
#print self.name, 'ca', self.cable_activities.shape
#print self.cable_activities.ravel()
# Update the map from self.cable_activities to cogs
self.ziptie.update(self.cable_activities)
# Process the upward pass of each of the cogs in the block
self.bundle_activities = np.zeros((0, 1))
for cog_index in range(len(self.cogs)):
# Pick out the cog's cable_activities, process them,
# and assign the results to block's bundle_activities
cog_cable_activities = self.cable_activities[
self.ziptie.get_projection(cog_index).ravel().astype(bool)]
enough_cables = (self.ziptie.cable_fraction_in_bundle(cog_index)
> 0.7)
cog_bundle_activities = self.cogs[cog_index].step_up(
cog_cable_activities, reward, enough_cables)
self.bundle_activities = np.concatenate((self.bundle_activities,
cog_bundle_activities))
return self.bundle_activities
def learn(self, features, actions):
"""
Update the cerebellar model of the world and its dynamics.
Parameters
----------
features : array of floats
The current set of feature activities.
actions : array of floats
The set of actions chosen in response to ``features``.
"""
if self.skip:
return
new_combo = np.concatenate((actions, features))
(num_combos, num_hypos, _) = self.hypos.shape
#total_diff = np.sum(np.abs(new_combo - self.next_combo))
for i_combo, new_val in enumerate(new_combo):
# Increment tries and wins for every hypo.
for i_hypo in np.arange(num_hypos):
similarity = self.guess[i_combo, i_hypo]
error = np.abs(similarity - new_val)
self.tries[i_combo, i_hypo] += similarity
self.wins[i_combo, i_hypo] += np.minimum(similarity, new_val)
# Check whether the error is big enough to merit
# refining the model.
if np.abs(error) > np.random.random_sample():
"""
Add a new hypothesis.
There are lots of possible schemes for forming new
hypotheses. Each one introduces its own bias. For now
I'm randomly choosing either to use a randomly selected
sample or to use the intersection
of two randomly selected hypotheses.
"""
# Pick whether to combine samples or hypotheses.
if np.random.random_sample() < .5:
# Try to combine two samples.
# Check whether there are enough samples.
if self.samples_filled[i_combo]:
# Pick the sample.
i_hypo = np.random.randint(self.num_samples)
self._add_hypothesis(i_combo,
self.samples[i_combo,i_hypo,:],
tries=10., wins=1.)
else:
# Try to combine two hypotheses.
# Check whether there are enough hypotheses.
if self.hypos_filled[i_combo]:
# Pick the first hypothesis.
i_hypo_a = np.random.randint(self.num_samples)
# Pick the second hypothesis.
# Make sure it's distinct.
i_hypo_b = i_hypo_a
while i_hypo_a == i_hypo_b:
i_hypo_b = np.random.randint(self.num_samples)
intersection = np.minimum(
self.hypos[i_combo,i_hypo_a,:],
self.hypos[i_combo,i_hypo_b,:])
total_tries = (self.tries[i_combo,i_hypo_a] +
self.tries[i_combo,i_hypo_b])
total_wins = (self.wins[i_combo,i_hypo_a] +
self.wins[i_combo,i_hypo_b])
self._add_hypothesis(i_combo, intersection,
tries=total_tries,
wins=total_wins)
# Add a new sample.
self._add_sample(i_combo, self.recent_combo)
# Handle the effects of time
self.age += 1.
self.recent_combo *= 1. - self.decay_rate
self.recent_combo = tools.bounded_sum([self.recent_combo, new_combo])