def main(args):
new_model = args.new_model
N = int(args.N)
epochs = int(args.epochs)
vae = VAE()
if not new_model:
try:
vae.set_weights('./vae/weights.h5')
except:
print("Either set --new_model or ensure ./vae/weights.h5 exists")
raise
try:
data, N = import_data(N)
except:
print('NO DATA FOUND')
raise
print('DATA SHAPE = {}'.format(data.shape))
for epoch in range(epochs):
print('EPOCH ' + str(epoch))
vae.train(data)
vae.save_weights('./vae/weights.h5')
def train_on_drives_gen(args):
input_dim = (64, 64, 3)
gen = DriveDataGenerator(args.dirs,
image_size=input_dim[0:2],
batch_size=100,
shuffle=True,
max_load=10000,
images_only=True)
val = DriveDataGenerator(args.val,
image_size=input_dim[0:2],
batch_size=100,
shuffle=True,
max_load=10000,
images_only=True)
vae = VAE(input_dim=input_dim)
print("Train: {}".format(gen.count))
print("Val : {}".format(val.count))
if not args.new_model:
try:
vae.set_weights('./vae/weights.h5')
except:
print("Either set --new_model or ensure ./vae/weights.h5 exists")
raise
vae.train_gen(gen, val, epochs=100)
def sample_vae(args):
""" For vae from: https://github.com/AppliedDataSciencePartners/WorldModels.git
"""
vae = VAE(input_dim=(120, 120, 3))
try:
vae.set_weights('./vae/weights.h5')
except:
print(
"./vae/weights.h5 does not exist - ensure you have run 02_train_vae.py first"
)
raise
z = np.random.normal(size=(args.count, vae.z_dim))
samples = vae.decoder.predict(z)
input_dim = samples.shape[1:]
n = args.count
plt.figure(figsize=(20, 4))
plt.title('VAE samples')
for i in range(n):
ax = plt.subplot(3, n, i + 1)
plt.imshow(samples[i].reshape(input_dim[0], input_dim[1],
input_dim[2]))
ax.get_xaxis().set_visible(False)
ax.get_yaxis().set_visible(False)
#plt.savefig( image_path )
plt.show()
def main(args):
N = int(args.N)
vae = VAE()
try:
vae.set_weights('./vae/weights.h5')
except Exception as e:
print(e)
print(
"./vae/weights.h5 does not exist - ensure you have run 02_train_vae.py first"
)
raise
filelist, N = get_filelist(N)
file_count = 0
initial_mus = []
initial_log_vars = []
for file in filelist:
try:
rollout_data = np.load(ROLLOUT_DIR_NAME + file)
mu, log_var, action, reward, done, initial_mu, initial_log_var = encode_episode(
vae, rollout_data)
np.savez_compressed(SERIES_DIR_NAME + file,
mu=mu,
log_var=log_var,
action=action,
reward=reward,
done=done)
initial_mus.append(initial_mu)
initial_log_vars.append(initial_log_var)
file_count += 1
if file_count % 50 == 0:
print('Encoded {} / {} episodes'.format(file_count, N))
except Exception as e:
print(e)
print('Skipped {}...'.format(file))
print('Encoded {} / {} episodes'.format(file_count, N))
initial_mus = np.array(initial_mus)
initial_log_vars = np.array(initial_log_vars)
print('ONE MU SHAPE = {}'.format(mu.shape))
print('INITIAL MU SHAPE = {}'.format(initial_mus.shape))
np.savez_compressed(ROOT_DIR_NAME + 'initial_z.npz',
initial_mu=initial_mus,
initial_log_var=initial_log_vars)
def generate(args):
num_files = args.num_files
validation = args.validation
seq_len = args.seq_len
vae = VAE()
weights = "final.h5"
try:
vae.set_weights("./vae/" + weights)
except:
print("./vae/" + weights + " does not exist")
raise FileNotFoundError
for file_id in range(num_files):
print("Generating file {}...".format(file_id))
obs_data = []
action_data = []
for env_name in config.train_envs:
try:
if validation:
new_obs_data = np.load("./data/obs_valid_" + env_name + ".npz")["arr_0"]
new_action_data = np.load("./data/action_valid_" + env_name + ".npz")["arr_0"]
else:
new_obs_data = np.load("./data/obs_data_" + env_name + "_" + str(file_id) + ".npz")["arr_0"]
new_action_data = np.load("./data/action_data_" + env_name + "_" + str(file_id) + ".npz")["arr_0"]
index = 0
for episode in new_obs_data:
# print(len(episode))
if len(episode) != seq_len:
new_obs_data = np.delete(new_obs_data, index)
new_action_data = np.delete(new_action_data, index)
else:
index += 1
obs_data = np.append(obs_data, new_obs_data)
action_data = np.append(action_data, new_action_data)
print("Found {}...current data size = {} episodes".format(env_name, len(obs_data)))
except Exception as e:
print(e)
pass
if validation:
rnn_input, rnn_output = vae.generate_rnn_data(obs_data, action_data)
np.savez_compressed("./data/rnn_input_" + env_name + "_valid", rnn_input)
np.savez_compressed("./data/rnn_output_" + env_name + "_valid", rnn_output)
else:
rnn_input, rnn_output = vae.generate_rnn_data(obs_data, action_data)
np.savez_compressed("./data/rnn_input_" + env_name + "_" + str(file_id), rnn_input)
np.savez_compressed("./data/rnn_output_" + env_name + "_" + str(file_id), rnn_output)
if validation:
break
def main(args):
new_model = args.new_model
S = int(args.S)
N = int(args.N)
batch = int(args.batch)
model_name = str(args.model_name)
print(args.alpha)
alpha = float(args.alpha)
vae = VAE()
if not new_model:
try:
vae.set_weights('./vae/' + model_name + '/' + model_name +
'_weights.h5')
except:
print("Either set --new_model or ensure ./vae/weights.h5 exists")
raise
else:
if os.path.isdir('./vae/' + model_name):
print("A model with this name already exists")
else:
os.mkdir('./vae/' + model_name)
os.mkdir('./vae/' + model_name + '/log/')
filelist = os.listdir(DIR_NAME)
filelist = [x for x in filelist if x != '.DS_Store' and x != '.gitignore']
filelist.sort()
for i in range(round(float(N - S) / batch)):
data = import_data(S + i * batch, S + (i + 1) * batch, filelist)
dataS = []
dataB = []
for d in data:
beta = alpha + np.random.rand() * (1 - alpha)
dataS.append(
cv2.resize(crop(d, alpha * beta),
dsize=(SCREEN_SIZE_X, SCREEN_SIZE_Y),
interpolation=cv2.INTER_CUBIC))
dataB.append(
cv2.resize(crop(d, beta),
dsize=(SCREEN_SIZE_X, SCREEN_SIZE_Y),
interpolation=cv2.INTER_CUBIC))
dataS = np.asarray(dataS)
dataB = np.asarray(dataB)
vae.train(dataS, dataB, model_name
) # uncomment this to train augmenting VAE, simple RNN (2)
#vae.train(np.vstack([dataS, dataB]), np.vstack([dataS, dataB]), model_name) # uncomment this to train simple VAE, RNN (1)
vae.save_weights('./vae/' + model_name + '/' + model_name +
'_weights.h5')
print('Imported {} / {}'.format(S + (i + 1) * batch, N))
def make_model():
vae = VAE()
vae.set_weights('./vae/weights.h5')
rnn = RNN()
rnn.set_weights('./rnn/weights.h5')
controller = Controller()
model = Model(controller, vae, rnn)
return model
def make_model():
vae = VAE()
vae.set_weights('./vae/weights.h5')
rnn = RNN()
rnn.set_weights('./rnn/weights.h5')
controller = Controller()
model = Model(controller, vae, rnn)
return model
def main(args):
num_files = args.num_files
load_model = args.load_model
vae = VAE()
if not load_model=="None":
try:
print("Loading model " + load_model)
vae.set_weights(load_model)
except:
print("Either don't set --load_model or ensure " + load_model + " exists")
raise
vae.train(num_files)
def main(args):
start_batch = args.start_batch
max_batch = args.max_batch
vae = VAE()
try:
vae.set_weights('./vae/weights.h5')
except:
print(
"./vae/weights.h5 does not exist - ensure you have run 02_train_vae.py first"
)
raise
for i in range(start_batch, max_batch + 1):
print('Generating batch {}...'.format(i))
vae.generate_rnn_data(i)
def main(args):
start_batch = args.start_batch
max_batch = args.max_batch
vae = VAE()
try:
vae.set_weights('./vae/weights.h5')
except:
print(
"./vae/weights.h5 does not exist - ensure you have run 02_train_vae.py first"
)
raise
for batch_num in range(start_batch, max_batch + 1):
first_item = True
print('Generating batch {}...'.format(batch_num))
for env_name in config.train_envs:
try:
new_obs_data = np.load('./data/obs_data_' + env_name + '_' +
str(batch_num) + '.npy')
new_action_data = np.load('./data/action_data_' + env_name +
'_' + str(batch_num) + '.npy')
if first_item:
obs_data = new_obs_data
action_data = new_action_data
first_item = False
else:
obs_data = np.concatenate([obs_data, new_obs_data])
action_data = np.concatenate(
[action_data, new_action_data])
print('Found {}...current data size = {} episodes'.format(
env_name, len(obs_data)))
except:
pass
if first_item == False:
rnn_input, rnn_output = vae.generate_rnn_data(
obs_data, action_data)
np.save('./data/rnn_input_' + str(batch_num), rnn_input)
np.save('./data/rnn_output_' + str(batch_num), rnn_output)
else:
print('no data found for batch number {}'.format(batch_num))
def train_on_drives(args):
vae = None
for data, y, cat in loadDataBatches(args.dirs,
skip_actions=True,
max_batch=10000):
if vae is None:
input_dim = data[0].shape
print("Data shape: {}".format(data.shape))
vae = VAE(input_dim=input_dim)
if not args.new_model:
try:
vae.set_weights('./vae/weights.h5')
except:
print(
"Either set --new_model or ensure ./vae/weights.h5 exists"
)
raise
vae.train(data, epochs=100)
def main(args):
start_batch = args.start_batch
max_batch = args.max_batch
new_model = args.new_model
# epochs = args.epochs
vae = VAE()
if not new_model:
try:
vae.set_weights('./vae/weights.h5')
except:
print("Either set --new_model or ensure ./vae/weights.h5 exists")
raise
for batch_num in range(start_batch, max_batch + 1):
print('Building batch {}...'.format(batch_num))
data = np.load('./data/obs_data_' + str(batch_num) + '.npy')
data = np.array([item for obs in data for item in obs])
vae.train(data)
def main(args):
start_batch = args.start_batch
max_batch = args.max_batch
new_model = args.new_model
epochs = args.epochs
vae = VAE()
if not new_model:
try:
vae.set_weights('./vae/weights.h5')
except:
print("Either set --new_model or ensure ./vae/weights.h5 exists")
raise
for i in range(epochs):
for batch_num in range(start_batch, max_batch + 1):
print('Building batch {}...'.format(batch_num))
first_item = True
for env_name in config.train_envs:
try:
new_data = np.load('./data/obs_data_' + env_name + '_' +
str(batch_num) + '.npy')
if first_item:
data = new_data
first_item = False
else:
data = np.concatenate([data, new_data])
print('Found {}...current data size = {} episodes'.format(
env_name, len(data)))
except:
pass
if first_item == False: # i.e. data has been found for this batch number
data = np.array([item for obs in data for item in obs])
vae.train(data)
else:
print('no data found for batch number {}'.format(batch_num))
def main(args):
new_model = args.new_model
S = int(args.S)
N = int(args.N)
batch = int(args.batch)
epochs = int(args.epochs)
model_name = str(args.model_name)
vae = VAE()
if not new_model:
try:
vae.set_weights('./vae/' + model_name + '_weights.h5')
except:
print("Either set --new_model or ensure ./vae/" + model_name +
"_weights.h5 exists")
raise
elif not os.path.isdir('./vae/' + model_name):
os.mkdir('./vae/' + model_name)
os.mkdir('./vae/' + model_name + '/log/')
filelist = os.listdir(DIR_NAME + model_name)
filelist = [x for x in filelist if x != '.DS_Store' and x != '.gitignore']
filelist.sort()
N = max(N, len(filelist))
for i in range(int(round(float(N - S) / batch) + 1)):
dataS, dataB = import_data(S + i * batch, S + (i + 1) * batch,
filelist, model_name)
for epoch in range(epochs):
vae.train(
dataS, dataB, model_name
) # uncomment this to train augmenting VAE, simple RNN (2)
#vae.train(np.vstack([dataS, dataB]), np.vstack([dataS, dataB]), model_name) # uncomment this to train simple VAE, RNN (1)
vae.save_weights('./vae/' + model_name + '/' + model_name +
'_weights.h5')
print('Imported {} / {}'.format(S + (i + 1) * batch, N))
def main(args):
start_batch = args.start_batch
max_batch = args.max_batch
new_model = args.new_model
vae = VAE()
if not new_model:
try:
vae.set_weights('./vae/weights.h5')
except:
print("Either set --new_model or ensure ./vae/weights.h5 exists")
raise
for batch_num in range(start_batch, max_batch + 1):
print('Building batch {}...'.format(batch_num))
first_item = True
for env_name in config.train_envs:
try:
new_data = np.load('./data/obs_data_' + env_name + '_' + str(batch_num) + '.npy')
if first_item:
data = new_data
first_item = False
else:
data = np.concatenate([data, new_data])
print('Found {}...current data size = {} episodes'.format(env_name, len(data)))
except:
pass
if first_item == False: # i.e. data has been found for this batch number
data = np.array([item for obs in data for item in obs])
vae.train(data)
else:
print('no data found for batch number {}'.format(batch_num))
def main(args):
start_batch = args.start_batch
max_batch = args.max_batch
vae = VAE()
try:
vae.set_weights('./vae/weights.h5')
except:
print("./vae/weights.h5 does not exist - ensure you have run 02_train_vae.py first")
raise
for batch_num in range(start_batch, max_batch + 1):
first_item = True
print('Generating batch {}...'.format(batch_num))
for env_name in config.train_envs:
try:
new_obs_data = np.load('./data/obs_data_' + env_name + '_' + str(batch_num) + '.npy')
new_action_data = np.load('./data/action_data_' + env_name + '_' + str(batch_num) + '.npy')
if first_item:
obs_data = new_obs_data
action_data = new_action_data
first_item = False
else:
obs_data = np.concatenate([obs_data, new_obs_data])
action_data = np.concatenate([action_data, new_action_data])
print('Found {}...current data size = {} episodes'.format(env_name, len(obs_data)))
except:
pass
if first_item == False:
rnn_input, rnn_output = vae.generate_rnn_data(obs_data, action_data)
np.save('./data/rnn_input_' + str(batch_num), rnn_input)
np.save('./data/rnn_output_' + str(batch_num), rnn_output)
else:
print('no data found for batch number {}'.format(batch_num))
def main(args):
N = int(args.N)
S = int(args.S)
model_name = str(args.model_name)
vae = VAE()
try:
vae.set_weights('./vae/'+model_name+'/'+model_name+'_weights.h5')
except:
print("./vae/"+model_name+"_weights.h5 does not exist - ensure you have run 02_train_vae.py first")
raise
filelist, N = get_filelist(S, N, model_name)
file_count = 0
initial_musS = []
initial_log_varsS = []
initial_musB = []
initial_log_varsB = []
for file in filelist:
try:
rollout_data = np.load(ROLLOUT_DIR_NAME + model_name + '/' + file)
muS, log_varS, action, reward, done, initial_muS, initial_log_varS = \
encode_episode(vae, rollout_data['obsS'], rollout_data['action'], rollout_data['reward'], rollout_data['done'])
muB, log_varB, action, reward, done, initial_muB, initial_log_varB = \
encode_episode(vae, rollout_data['obsB'], rollout_data['action'], rollout_data['reward'], rollout_data['done'])
if not os.path.isdir(SERIES_DIR_NAME + model_name):
os.mkdir(SERIES_DIR_NAME + model_name)
np.savez_compressed(SERIES_DIR_NAME + model_name + "/" + file, muS=muS, log_varS=log_varS, muB=muB, log_varB=log_varB, action = action, reward = reward, done = done)
initial_musS.append(initial_muS)
initial_log_varsS.append(initial_log_varS)
initial_musB.append(initial_muB)
initial_log_varsB.append(initial_log_varB)
file_count += 1
if file_count%50==0:
print('Encoded {} / {} episodes'.format(S+file_count, N))
except:
print('Skipped {}...'.format(file))
print('Encoded {} / {} episodes'.format(S+file_count, N))
initial_musS = np.array(initial_musS)
initial_log_varsS = np.array(initial_log_varsS)
initial_musB = np.array(initial_musB)
initial_log_varsB = np.array(initial_log_varsB)
print('ONE MU SHAPE = {}'.format(initial_musS.shape))
print('INITIAL MU SHAPE = {}'.format(initial_musS.shape))
np.savez_compressed(ROOT_DIR_NAME + 'initial_zS.npz', initial_muS=initial_musS, initial_log_varS=initial_log_varsS)
np.savez_compressed(ROOT_DIR_NAME + 'initial_zB.npz', initial_muB=initial_musB, initial_log_varB=initial_log_varsB)
img_cols=64,
img_channels=3):
# Visualize model by running the P-model forward from a grid of points in the latent space
# ranging from -3 to +3.
num_grid = 15
grid_pts = np.linspace(-3, 3, num_grid)
# Create a keras function that takes latent (x, y) as input and produces images as output
renderer = K.function([sample_var], [reconstruction_var])
latent_input = np.zeros((1, ndim)) # must have shape (1, ndim) not (ndim,)
# Allocate space for the final (num_grid * rows, num_grid * cols) image
final_image = np.zeros(
(num_grid * img_rows, num_grid * img_cols, img_channels))
# Populate each sub-image one at a time
for i in range(num_grid):
for j in range(num_grid):
latent_input[0, :2] = (grid_pts[i], grid_pts[j])
img = renderer([latent_input])[0]
final_image[j * img_rows:(j + 1) * img_rows, i * img_cols:(i + 1) * img_cols, :] = \
np.reshape(img, (img_rows, img_cols, img_channels))
plt.imshow(final_image.squeeze(), cmap='gray', extent=(-3, 3, -3, 3))
plt.show()
# Visualize results
vae = VAE()
vae.set_weights('./vae/weights.h5')
render_grid(vae.latent.sample, vae.reconstruction)