def get_Model_from_COO(coo_filename,
rs_filename,
filename='Transition_dict',
n_actions=1,
nt=None,
dt=None,
F=None,
startpos=None,
endpos=None):
print("Building Model")
global state_list
global base_path
global save_path
start_time = time.time()
#setup grid
g, xs, ys, X, Y, Vx_rzns, Vy_rzns, num_rzns, path_mat, params, param_str = setup_grid(
num_actions=n_actions)
#name of pickle file containing transtion prob in dictionary format
filename = filename + str(n_actions) + 'a'
base_path = join(getcwd(), 'DP/Trans_matxs/')
save_path = base_path + filename
if exists(save_path):
print("Folder Already Exists !!")
return
#build probability transition dictionary
state_list = g.ac_state_space()
init_transition_dict = initialise_dict(g)
transition_dict = convert_COO_to_dict(init_transition_dict, g,
coo_filename, rs_filename)
build_time = time.time() - start_time
#save dictionary to file
data = params, param_str, g.reward_structure, build_time
write_files(transition_dict, filename, data)
total_time = time.time() - start_time
#command line outputs
print("Dictionary saved !")
print("Build Time = ", build_time / 60, " mins")
print("Total TIme = ", total_time / 60, "mins")
print("In Runner: Executing QL Finished !!")
# # employ argparse to run code from commanline
# parser = argparse.ArgumentParser(description='Take parameters as input args.')
# # parser.add_argument('num_passes', type=int, help='number of passes for learning data from trajectories')
# # parser.add_argument('QL_Iters', type=int, help='number of QL iters in regfiniement phase')
# # parser.add_argument('eps0_list', metavar='eps0_list', type=float, nargs='+',help='eps0_list')
# # parser.add_argument('eps_dec_method', type=int, help='1= dec to 0.05 eps0; 2= dec to 0.5eps0')
# # parser.add_argument('N_inc', type=float, help='increment parameter for Nsa')
# parser.add_argument('dt_size', type=int, help='training data size 0-5000')
# args = parser.parse_args()
# Training_traj_size_list, ALPHA_list, esp0_list, QL_Iters, init_Q, with_guidance = QL_params
setup_grid_params = setup_grid(num_actions=16)
model_file = 'DG_model_2500_train_id_list_1_3D_60nT_a16'
g, xs, ys, X, Y, vel_field_data, nmodes, useful_num_rzns, paths, params, param_str = setup_grid_params
# Paramerers for QL
#Traing data size
Training_traj_size_list = [len(train_id_list)]
# ALPHA_list = [0.05, 0.5, 1]
ALPHA_list = [0.05]
esp0_list = [0.1]
# esp0_list = [0.33, 0.66, 1]
# esp0_list = args.eps0_list
# print("mean= ", summ/cnt)
# print("cnt = ", cnt)
# print("pfail or badcount% = ", cnt/n)
import time
import numpy as np
from utils.custom_functions import picklePolicy, calc_mean_and_std, read_pickled_File, read_pickled_File
import pickle
from utils.plot_functions import plot_exact_trajectory_set, plot_learned_policy, plot_exact_trajectory_set_DP
from definition import ROOT_DIR
import math
from utils.setup_grid import setup_grid
from os.path import join
g, xs, ys, X, Y, vel_field_data, nmodes, useful_num_rzns, paths, params, param_str = setup_grid(num_actions=16)
# rel_path = 'Experiments/106/DP'
rel_path = 'Experiments/26/DP'
exp_num_case_dir = join(ROOT_DIR, rel_path)
output_path = exp_num_case_dir
test_id_list = [i for i in range(2500,2550)]
policy = read_pickled_File(exp_num_case_dir + '/policy')
t_list_all, t_list_reached, G_list, bad_count_tuple= plot_exact_trajectory_set_DP(g, policy, X, Y, vel_field_data, test_id_list, output_path, fname='Test_Traj_set' + '_')
badcount = bad_count_tuple[0]
# Plot Policy
print("plot policy")
def build_sparse_transition_model(filename='Transition_dict',
n_actions=1,
nt=None,
dt=None,
F=None,
startpos=None,
endpos=None,
Test_grid=False):
global state_list
global base_path
global save_path
print("Building Sparse Model")
t1 = time.time()
#setup grid
g, xs, ys, X, Y, Vx_rzns, Vy_rzns, num_rzns, path_mat, setup_params, setup_param_str = setup_grid(
num_actions=n_actions, nt=nt, Test_grid=Test_grid)
"""
# Prepare Data
nT = 1 # total no. of time steps
is_stationary = 1 # 0 is false. any other number is true. is_stationry = 0 (false) means that flow is NOT stationary
# and S2 will be indexed by T+1. if is_stationary = x (true), then S2 is indexed by 0, same as S1.
# list_size = 10 #predefined size of list for each S2
gsize = 100 # size of grid along 1 direction. ASSUMING square grid.
num_actions = 16
nrzns = 5000
bDimx = 1000
F = 1
dt = 1
r_outbound = -100
r_terminal = 100
T = 0 # time index of vrzns
i_term = 20 # terminal state indices
j_term = 50
"""
#setup_params = [num_actions, nt, dt, F, startpos, endpos] reference from setup grid
nT = setup_params[1] # total no. of time steps TODO: check default value
is_stationary = 1 # 0 is false. any other number is true. is_stationry = 0 (false) means that flow is NOT stationary
# and S2 will be indexed by T+1. if is_stationary = x (true), then S2 is indexed by 0, same as S1.
# list_size = 10 #predefined size of list for each S2
# if nt > 1:
# is_stationary = 0
gsize = g.ni # size of grid along 1 direction. ASSUMING square grid.
num_actions = setup_params[0]
nrzns = num_rzns
bDimx = nrzns # for small test cases
if nrzns >= 1000:
bDimx = 1000 #for large problems
dt = setup_params[2]
F = setup_params[3]
r_outbound = g.r_outbound
r_terminal = g.r_terminal
i_term = g.endpos[0] # terminal state indices
j_term = g.endpos[1]
dummyT = 0
#name of output pickle file containing transtion prob in dictionary format
if nT > 1:
prefix = '3D_' + str(nT) + 'nT_a'
else:
prefix = '2D_a'
filename = filename + prefix + str(n_actions) #TODO: change filename
base_path = join(ROOT_DIR, 'DP/Trans_matxs/')
save_path = base_path + filename
if exists(save_path):
print("Folder Already Exists !!\n")
return
params = np.array([
gsize, num_actions, nrzns, F, dt, r_outbound, r_terminal, dummyT,
i_term, j_term, nT, is_stationary
]).astype(np.float32)
st_sp_size = (gsize**2) * nT # size of total state space
save_file_for_each_a = False
# cpu initialisations.
# dummy intialisations to copy size to gpu
vxrzns = np.zeros((nrzns, gsize, gsize), dtype=np.float32)
vyrzns = np.zeros((nrzns, gsize, gsize), dtype=np.float32)
results = -1 * np.ones(((gsize**2) * nrzns), dtype=np.float32)
sumR_sa = np.zeros(st_sp_size).astype(np.float32)
Tdummy = np.zeros(2, dtype=np.float32)
# informational initialisations
ac_angles = np.linspace(0, 2 * pi, num_actions, dtype=np.float32)
ac_angle = ac_angles[0].astype(np.float32)
# xs = np.arange(gsize, dtype=np.float32)
# ys = np.arange(gsize, dtype=np.float32)
xs = xs.astype(np.float32)
ys = ys.astype(np.float32)
print("params: \n", params, "\n\n")
t1 = time.time()
# allocates memory on gpu. vxrzns and vyrzns nees be allocated just once and will be overwritten for each timestep
vxrzns_gpu = cuda.mem_alloc(vxrzns.nbytes)
vyrzns_gpu = cuda.mem_alloc(vyrzns.nbytes)
ac_angles_gpu = cuda.mem_alloc(ac_angles.nbytes)
ac_angle_gpu = cuda.mem_alloc(ac_angle.nbytes)
xs_gpu = cuda.mem_alloc(xs.nbytes)
ys_gpu = cuda.mem_alloc(ys.nbytes)
params_gpu = cuda.mem_alloc(params.nbytes)
T_gpu = cuda.mem_alloc(Tdummy.nbytes)
# copies contents of a to allocated memory on gpu
cuda.memcpy_htod(ac_angle_gpu, ac_angle)
cuda.memcpy_htod(xs_gpu, xs)
cuda.memcpy_htod(ys_gpu, ys)
cuda.memcpy_htod(params_gpu, params)
for T in range(nT):
print("Computing data for timestep, T = ", T, '\n')
# params[7] = T
# cuda.memcpy_htod(params_gpu, params)
Tdummy[0] = T
# Load Velocities
# vxrzns = np.zeros((nrzns, gsize, gsize), dtype = np.float32)
# #expectinf to see probs of 0.5 in stream area
# for i in range(int(nrzns/2)):
# vxrzns[i,int(gsize/2 -1):int(gsize/2 +1),:] = 1
# vyrzns = np.zeros((nrzns, gsize, gsize), dtype = np.float32)
# vxrzns = np.load('/home/rohit/Documents/Research/ICRA_2020/DDDAS_2D_Highway/Input_data_files/Velx_5K_rlzns.npy')
# vyrzns = np.load('/home/rohit/Documents/Research/ICRA_2020/DDDAS_2D_Highway/Input_data_files/Vely_5K_rlzns.npy')
vxrzns = Vx_rzns
vyrzns = Vy_rzns
vxrzns = vxrzns.astype(np.float32)
vyrzns = vyrzns.astype(np.float32)
Tdummy = Tdummy.astype(np.float32)
# TODO: sanity check on dimensions: compare loaded matrix shape with gsize, numrzns
# copy loaded velocities to gpu
cuda.memcpy_htod(vxrzns_gpu, vxrzns)
cuda.memcpy_htod(vyrzns_gpu, vyrzns)
cuda.memcpy_htod(T_gpu, Tdummy)
coo_list_a, Rs_list_a = build_sparse_transition_model_at_T(
T,
T_gpu,
vxrzns_gpu,
vyrzns_gpu,
params,
bDimx,
params_gpu,
xs_gpu,
ys_gpu,
ac_angles,
results,
sumR_sa,
save_file_for_each_a=False)
# print("R_s_a0 \n", Rs_list_a[0][0:200])
# TODO: end loop over timesteps here and comcatenate COOs and R_sas over timesteps for each action
# full_coo_list and full_Rs_list are lists with each element containing coo and R_s for an action of the same index
if T > 0:
full_coo_list_a, full_Rs_list_a = concatenate_results_across_time(
coo_list_a, Rs_list_a, full_coo_list_a, full_Rs_list_a)
# TODO: finish concatenate...() function
else:
full_coo_list_a = coo_list_a
full_Rs_list_a = Rs_list_a
t2 = time.time()
build_time = t2 - t1
#save data to file
# data = setup_params, setup_param_str, g.reward_structure, build_time
# write_files(full_coo_list_a, filename + '_COO', data)
# pickleFile(full_coo_list_a, save_path + '/' + filename + '_COO')
# pickleFile(full_Rs_list_a, save_path + '/' + filename + '_Rsa')
# print("Pickled sparse files !")
#build probability transition dictionary
state_list = g.ac_state_space()
init_transition_dict = initialise_dict(g)
transition_dict = convert_COO_to_dict(init_transition_dict, g,
full_coo_list_a, full_Rs_list_a)
#save dictionary to file
data = setup_params, setup_param_str, g.reward_structure, build_time
write_files(transition_dict, filename, data)
# t1 = time.time()
# build_sparse_transition_model(filename = 'Highway_', n_actions = 16, nt = 1)
# t2 = time.time()
# print("Time for 1 timestep = ", t2 - t1, " secs")
def build_sparse_transition_model(filename='Transition_dict',
n_actions=16,
all_Yi=None,
wanted_nrzns=5000,
nt=None):
global state_list
global base_path
global save_path
print("Building Sparse Model")
t1 = time.time()
#setup grid
print("input to build_sparse_trans_model:\n")
print("n_actions", n_actions)
# print("nt, dt", nt, dt)
g, xs, ys, X, Y, vel_field_data, nmodes, num_rzns, path_mat, setup_params, setup_param_str = setup_grid(
num_actions=n_actions)
print("xs: ", xs)
print("ys", ys)
# ------- IMPORTANT ----------
# REMOVING all_Yi FROM ROLLING OUT vel_field_data BECAUSE WE WILL USE A REPLACEMENT
all_u_mat, all_v_mat, all_ui_mat, all_vi_mat, _ = vel_field_data
check_nt, check_nrzns, nmodes = all_Yi.shape
all_u_mat = all_u_mat.astype(np.float32)
all_v_mat = all_v_mat.astype(np.float32)
all_ui_mat = all_ui_mat.astype(np.float32)
all_vi_mat = all_vi_mat.astype(np.float32)
all_Yi = all_Yi.astype(np.float32)
#setup_params = [num_actions, nt, dt, F, startpos, endpos] reference from setup grid
nT = setup_params[1] # total no. of time steps TODO: check default value
print("****CHECK: ", nt, nT, check_nt)
# assert (nt == nT), "nt and nT are not the same!"
#if nt specified in runner is within nT from param file, then use nt. i.e. model will be built for nt timesteps.
if nt != None and nt <= nT:
nT = nt
is_stationary = 0 # 0 is false. any other number is true. is_stationry = 0 (false) means that flow is NOT stationary
# and S2 will be indexed by T+1. if is_stationary = x (true), then S2 is indexed by 0, same as S1.
# list_size = 10 #predefined size of list for each S2
# if nt > 1:
# is_stationary = 0
gsize = g.ni # size of grid along 1 direction. ASSUMING square grid.
num_actions = setup_params[0]
# nrzns = num_rzns
nrzns = wanted_nrzns
bDimx = nrzns # for small test cases
if nrzns >= 1000:
bDimx = 1000 #for large problems
dt = setup_params[2]
F = setup_params[3]
r_outbound = g.r_outbound
r_terminal = g.r_terminal
i_term = g.endpos[0] # terminal state indices
j_term = g.endpos[1]
#name of output pickle file containing transtion prob in dictionary format
if nT > 1:
prefix = '3D_' + str(nT) + 'nT_a'
else:
prefix = '2D_a'
filename = filename + prefix + str(n_actions) #TODO: change filename
base_path = join(ROOT_DIR, 'DP/Trans_matxs_3D/')
save_path = base_path + filename
if exists(save_path):
print("Folder Already Exists !!\n")
return
# TODO: remove z from params. it is only for chekcs
z = -9999
params = np.array([
gsize, num_actions, nrzns, F, dt, r_outbound, r_terminal, nmodes,
i_term, j_term, nT, is_stationary, z, z, z, z, z, z, z, z, z, z, z, z,
z, z, z, z, z, z, z, z
]).astype(np.float32)
st_sp_size = (gsize**2) # size of spatial state space
print("check stsp_size", gsize, nT, st_sp_size)
save_file_for_each_a = False
print("params")
print("gsize ", params[0], "\n", "num_actions ", params[1], "\n", "nrzns ",
params[2], "\n", "F ", params[3], "\n", "dt ", params[4], "\n",
"r_outbound ", params[5], "\n", "r_terminal ", params[6], "\n",
"nmodes ", params[7], "\n", "i_term ", params[8], "\n", "j_term ",
params[9], "\n", "nT", params[10], "\n", "is_stationary ",
params[11], "")
# cpu initialisations.
# dummy intialisations to copy size to gpu
# vxrzns = np.zeros((nrzns, gsize, gsize), dtype=np.float32)
# vyrzns = np.zeros((nrzns, gsize, gsize), dtype=np.float32)
results = -1 * np.ones(((gsize**2) * nrzns), dtype=np.float32)
sumR_sa = np.zeros(st_sp_size).astype(np.float32)
Tdummy = np.zeros(2, dtype=np.float32)
# informational initialisations
ac_angles = np.linspace(0,
2 * pi,
num_actions,
endpoint=False,
dtype=np.float32)
print("action angles:\n", ac_angles)
ac_angle = ac_angles[0].astype(np.float32) # just for allocating memory
# xs = np.arange(gsize, dtype=np.float32)
# ys = np.arange(gsize, dtype=np.float32)
xs = xs.astype(np.float32)
ys = ys.astype(np.float32)
print("params: \n", params, "\n\n")
t1 = time.time()
# allocates memory on gpu. vxrzns and vyrzns nees be allocated just once and will be overwritten for each timestep
# vxrzns_gpu = cuda.mem_alloc(vxrzns.nbytes)
# vyrzns_gpu = cuda.mem_alloc(vyrzns.nbytes)
all_u_mat_gpu = cuda.mem_alloc(all_u_mat.nbytes)
all_v_mat_gpu = cuda.mem_alloc(all_v_mat.nbytes)
all_ui_mat_gpu = cuda.mem_alloc(all_ui_mat.nbytes)
all_vi_mat_gpu = cuda.mem_alloc(all_vi_mat.nbytes)
all_Yi_gpu = cuda.mem_alloc(all_Yi.nbytes)
vel_data_gpu = [
all_u_mat_gpu, all_v_mat_gpu, all_ui_mat_gpu, all_vi_mat_gpu,
all_Yi_gpu
]
ac_angles_gpu = cuda.mem_alloc(ac_angles.nbytes)
ac_angle_gpu = cuda.mem_alloc(ac_angle.nbytes)
xs_gpu = cuda.mem_alloc(xs.nbytes)
ys_gpu = cuda.mem_alloc(ys.nbytes)
params_gpu = cuda.mem_alloc(params.nbytes)
T_gpu = cuda.mem_alloc(Tdummy.nbytes)
# copies contents of a to allocated memory on gpu
cuda.memcpy_htod(all_u_mat_gpu, all_u_mat)
cuda.memcpy_htod(all_v_mat_gpu, all_v_mat)
cuda.memcpy_htod(all_ui_mat_gpu, all_ui_mat)
cuda.memcpy_htod(all_vi_mat_gpu, all_vi_mat)
cuda.memcpy_htod(all_Yi_gpu, all_Yi)
cuda.memcpy_htod(ac_angle_gpu, ac_angle)
cuda.memcpy_htod(xs_gpu, xs)
cuda.memcpy_htod(ys_gpu, ys)
cuda.memcpy_htod(params_gpu, params)
for T in range(nT):
print("*** Computing data for timestep, T = ", T, '\n')
# params[7] = T
# cuda.memcpy_htod(params_gpu, params)
Tdummy[0] = T
# Load Velocities
# vxrzns = np.zeros((nrzns, gsize, gsize), dtype = np.float32)
# #expectinf to see probs of 0.5 in stream area
# for i in range(int(nrzns/2)):
# vxrzns[i,int(gsize/2 -1):int(gsize/2 +1),:] = 1
# vyrzns = np.zeros((nrzns, gsize, gsize), dtype = np.float32)
# vxrzns = np.load('/home/rohit/Documents/Research/ICRA_2020/DDDAS_2D_Highway/Input_data_files/Velx_5K_rlzns.npy')
# vyrzns = np.load('/home/rohit/Documents/Research/ICRA_2020/DDDAS_2D_Highway/Input_data_files/Vely_5K_rlzns.npy')
# vxrzns = Vx_rzns
# vyrzns = Vy_rzns
# vxrzns = vxrzns.astype(np.float32)
# vyrzns = vyrzns.astype(np.float32)
Tdummy = Tdummy.astype(np.float32)
# TODO: sanity check on dimensions: compare loaded matrix shape with gsize, numrzns
# copy loaded velocities to gpu
# cuda.memcpy_htod(vxrzns_gpu, vxrzns)
# cuda.memcpy_htod(vyrzns_gpu, vyrzns)
cuda.memcpy_htod(T_gpu, Tdummy)
print("pre func")
coo_list_a, Rs_list_a = build_sparse_transition_model_at_T(
T,
T_gpu,
vel_data_gpu,
params,
bDimx,
params_gpu,
xs_gpu,
ys_gpu,
ac_angles,
results,
sumR_sa,
save_file_for_each_a=False)
# print("R_s_a0 \n", Rs_list_a[0][0:200])
print("post func")
# TODO: end loop over timesteps here and comcatenate COOs and R_sas over timesteps for each action
# full_coo_list and full_Rs_list are lists with each element containing coo and R_s for an action of the same index
if T > 0:
full_coo_list_a, full_Rs_list_a = concatenate_results_across_time(
coo_list_a, Rs_list_a, full_coo_list_a, full_Rs_list_a)
# TODO: finish concatenate...() function
else:
full_coo_list_a = coo_list_a
full_Rs_list_a = Rs_list_a
t2 = time.time()
build_time = t2 - t1
print("build_time ", build_time)
#save data to file
# data = setup_params, setup_param_str, g.reward_structure, build_time
# write_files(full_coo_list_a, filename + '_COO', data)
# print("Pickled sparse files !")
#build probability transition dictionary
state_list = g.ac_state_space()
init_transition_dict = initialise_dict(g)
transition_dict = convert_COO_to_dict(init_transition_dict, g,
full_coo_list_a, full_Rs_list_a)
print("conversion COO to dict done")
#save dictionary to file
data = setup_params, setup_param_str, g.reward_structure, build_time
write_files(transition_dict, filename, data)
pickleFile(full_coo_list_a, save_path + '/' + filename + '_COO')
pickleFile(full_Rs_list_a, save_path + '/' + filename + '_Rsa')
from utils.setup_grid import setup_grid g, xs, ys, X, Y, vel_field_data, nmodes, nrzns, paths, params, param_str = setup_grid( ) print(X) print(Y) print(paths[0, 0].shape)