def __init__(self, locationConfigs, L4Overrides=None, useGaussian=False):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
L4cellCount = 150*16
if useGaussian:
self.L6aModules = [
createRatModule(
anchorInputSize=L4cellCount,
**config)
for config in locationConfigs]
else:
self.L6aModules = [
Superficial2DLocationModule(
anchorInputSize=L4cellCount,
**config)
for config in locationConfigs]
L4Params = {
"columnCount": 150,
"cellsPerColumn": 16,
"basalInputSize": (len(locationConfigs) *
sum(module.numberOfCells()
for module in self.L6aModules))
}
if L4Overrides is not None:
L4Params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**L4Params)
def __init__(self, locationConfigs, L4Overrides=None):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
L4Params = {
"columnCount":
150,
"cellsPerColumn":
16,
"basalInputSize": (len(locationConfigs) * sum(
np.prod(config["cellDimensions"])
for config in locationConfigs))
}
if L4Overrides is not None:
L4Params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**L4Params)
self.L6aModules = [
Superficial2DLocationModule(
anchorInputSize=self.L4.numberOfCells(), **config)
for config in locationConfigs
]
def __init__(self, objects, objectPlacements, featureNames,
locationConfigs, worldDimensions):
self.objects = objects
self.objectPlacements = objectPlacements
self.worldDimensions = worldDimensions
self.features = dict(
(k,
np.array(sorted(random.sample(xrange(150), 15)), dtype="uint32"))
for k in featureNames)
self.locationModules = [
SuperficialLocationModule2D(anchorInputSize=150 * 32, **config)
for config in locationConfigs
]
self.inputLayer = ApicalTiebreakPairMemory(
**{
"columnCount":
150,
"cellsPerColumn":
32,
"basalInputSize":
18 * sum(
np.prod(config["cellDimensions"])
for config in locationConfigs),
"apicalInputSize":
4096
})
self.objectLayer = ColumnPooler(**{"inputWidth": 150 * 32})
# Use these for classifying SDRs and for testing whether they're correct.
self.locationRepresentations = {
# Example:
# (objectName, (top, left)): [0, 26, 54, 77, 101, ...]
}
self.inputRepresentations = {
# Example:
# (objectName, (top, left), featureName): [0, 26, 54, 77, 101, ...]
}
self.objectRepresentations = {
# Example:
# objectName: [14, 19, 54, 107, 201, ...]
}
self.locationInWorld = None
self.maxSettlingTime = 10
self.monitors = {}
self.nextMonitorToken = 1
class ApicalTiebreakTM_ApicalTiebreakTests(ApicalTiebreakTestBase,
unittest.TestCase):
"""
Run the "apical tiebreak" tests on the ApicalTiebreakTemporalMemory.
"""
def constructTM(self, columnCount, basalInputSize, apicalInputSize,
cellsPerColumn, initialPermanence, connectedPermanence,
minThreshold, sampleSize, permanenceIncrement,
permanenceDecrement, predictedSegmentDecrement,
activationThreshold, seed):
params = {
"columnCount": columnCount,
"cellsPerColumn": cellsPerColumn,
"initialPermanence": initialPermanence,
"connectedPermanence": connectedPermanence,
"minThreshold": minThreshold,
"sampleSize": sampleSize,
"permanenceIncrement": permanenceIncrement,
"permanenceDecrement": permanenceDecrement,
"basalPredictedSegmentDecrement": predictedSegmentDecrement,
"apicalPredictedSegmentDecrement": 0.0,
"activationThreshold": activationThreshold,
"seed": seed,
"basalInputSize": basalInputSize,
"apicalInputSize": apicalInputSize,
}
self.tm = ApicalTiebreakPairMemory(**params)
def compute(self, activeColumns, basalInput, apicalInput, learn):
activeColumns = np.array(sorted(activeColumns), dtype="uint32")
basalInput = np.array(sorted(basalInput), dtype="uint32")
apicalInput = np.array(sorted(apicalInput), dtype="uint32")
self.tm.compute(activeColumns,
basalInput=basalInput,
basalGrowthCandidates=basalInput,
apicalInput=apicalInput,
apicalGrowthCandidates=apicalInput,
learn=learn)
def getActiveCells(self):
return self.tm.getActiveCells()
def getPredictedCells(self):
return self.tm.getPredictedCells()
def __init__(self, diameter, objects, featureNames):
self.diameter = diameter
self.objects = objects
# A grid of location SDRs.
self.locations = dict(
((i, j),
np.array(sorted(random.sample(xrange(1000), 30)), dtype="uint32"))
for i in xrange(diameter) for j in xrange(diameter))
# 8 transition SDRs -- one for each straight and diagonal direction.
self.transitions = dict(
((i, j),
np.array(sorted(random.sample(xrange(1000), 30)), dtype="uint32"))
for i in xrange(-1, 2) for j in xrange(-1, 2) if i != 0 or j != 0)
self.features = dict(
(k,
np.array(sorted(random.sample(xrange(150), 15)), dtype="uint32"))
for k in featureNames)
self.locationLayer = SingleLayerLocationMemory(
**{
"cellCount": 1000,
"deltaLocationInputSize": 1000,
"featureLocationInputSize": 150 * 32,
"sampleSize": 15,
"activationThreshold": 10,
"learningThreshold": 8,
})
self.inputLayer = ApicalTiebreakPairMemory(
**{
"columnCount": 150,
"cellsPerColumn": 32,
"basalInputSize": 1000,
"apicalInputSize": 4096,
})
self.objectLayer = ColumnPooler(**{"inputWidth": 150 * 32})
# Use these for classifying SDRs and for testing whether they're correct.
self.inputRepresentations = {}
self.objectRepresentations = {}
self.learnedObjectPlacements = {}
self.monitors = {}
self.nextMonitorToken = 1
def __init__(self, locationConfigs, L4Overrides=None):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
L4Params = {
"columnCount": 150,
"cellsPerColumn": 16,
"basalInputSize": (len(locationConfigs) *
sum(np.prod(config["cellDimensions"])
for config in locationConfigs))
}
if L4Overrides is not None:
L4Params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**L4Params)
self.L6aModules = [
Superficial2DLocationModule(
anchorInputSize=self.L4.numberOfCells(),
**config)
for config in locationConfigs]
class ApicalTiebreakTM_ApicalTiebreakTests(ApicalTiebreakTestBase,
unittest.TestCase):
"""
Run the "apical tiebreak" tests on the ApicalTiebreakTemporalMemory.
"""
def constructTM(self, columnCount, basalInputSize, apicalInputSize,
cellsPerColumn, initialPermanence, connectedPermanence,
minThreshold, sampleSize, permanenceIncrement,
permanenceDecrement, predictedSegmentDecrement,
activationThreshold, seed):
params = {
"columnCount": columnCount,
"cellsPerColumn": cellsPerColumn,
"initialPermanence": initialPermanence,
"connectedPermanence": connectedPermanence,
"minThreshold": minThreshold,
"sampleSize": sampleSize,
"permanenceIncrement": permanenceIncrement,
"permanenceDecrement": permanenceDecrement,
"basalPredictedSegmentDecrement": predictedSegmentDecrement,
"apicalPredictedSegmentDecrement": 0.0,
"activationThreshold": activationThreshold,
"seed": seed,
"basalInputSize": basalInputSize,
"apicalInputSize": apicalInputSize,
}
self.tm = ApicalTiebreakPairMemory(**params)
def compute(self, activeColumns, basalInput, apicalInput, learn):
activeColumns = np.array(sorted(activeColumns), dtype="uint32")
basalInput = np.array(sorted(basalInput), dtype="uint32")
apicalInput = np.array(sorted(apicalInput), dtype="uint32")
self.tm.compute(activeColumns,
basalInput=basalInput,
basalGrowthCandidates=basalInput,
apicalInput=apicalInput,
apicalGrowthCandidates=apicalInput,
learn=learn)
def getActiveCells(self):
return self.tm.getActiveCells()
def getPredictedCells(self):
return self.tm.getPredictedCells()
def __init__(self, locationConfigs, L4Overrides=None, bumpType="gaussian"):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
self.bumpType = bumpType
L4cellCount = 150 * 16
if bumpType == "gaussian":
self.L6aModules = [
createRatModuleFromCellCount(anchorInputSize=L4cellCount,
**config)
for config in locationConfigs
]
elif bumpType == "gaussian2":
self.L6aModules = [
createRatModuleFromReadoutResolution(
anchorInputSize=L4cellCount, **config)
for config in locationConfigs
]
elif bumpType == "square":
self.L6aModules = [
Superficial2DLocationModule(anchorInputSize=L4cellCount,
**config)
for config in locationConfigs
]
else:
raise ValueError("Invalid bumpType", bumpType)
L4Params = {
"columnCount":
150,
"cellsPerColumn":
16,
"basalInputSize":
sum(module.numberOfCells() for module in self.L6aModules)
}
if L4Overrides is not None:
L4Params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**L4Params)
def __init__(self, diameter, objects, featureNames):
self.diameter = diameter
self.objects = objects
# A grid of location SDRs.
self.locations = dict(
((i, j), np.array(sorted(random.sample(xrange(1000), 30)), dtype="uint32"))
for i in xrange(diameter)
for j in xrange(diameter))
# 8 transition SDRs -- one for each straight and diagonal direction.
self.transitions = dict(
((i, j), np.array(sorted(random.sample(xrange(1000), 30)), dtype="uint32"))
for i in xrange(-1, 2)
for j in xrange(-1, 2)
if i != 0 or j != 0)
self.features = dict(
(k, np.array(sorted(random.sample(xrange(150), 15)), dtype="uint32"))
for k in featureNames)
self.locationLayer = SingleLayerLocationMemory(**{
"cellCount": 1000,
"deltaLocationInputSize": 1000,
"featureLocationInputSize": 150*32,
"sampleSize": 15,
"activationThreshold": 10,
"learningThreshold": 8,
})
self.inputLayer = ApicalTiebreakPairMemory(**{
"columnCount": 150,
"cellsPerColumn": 32,
"basalInputSize": 1000,
"apicalInputSize": 4096,
})
self.objectLayer = ColumnPooler(**{
"inputWidth": 150 * 32
})
# Use these for classifying SDRs and for testing whether they're correct.
self.inputRepresentations = {}
self.objectRepresentations = {}
self.learnedObjectPlacements = {}
self.monitors = {}
self.nextMonitorToken = 1
def constructTM(self, columnCount, basalInputSize, apicalInputSize,
cellsPerColumn, initialPermanence, connectedPermanence,
minThreshold, sampleSize, permanenceIncrement,
permanenceDecrement, predictedSegmentDecrement,
activationThreshold, seed):
params = {
"columnCount": columnCount,
"cellsPerColumn": cellsPerColumn,
"initialPermanence": initialPermanence,
"connectedPermanence": connectedPermanence,
"minThreshold": minThreshold,
"sampleSize": sampleSize,
"permanenceIncrement": permanenceIncrement,
"permanenceDecrement": permanenceDecrement,
"basalPredictedSegmentDecrement": predictedSegmentDecrement,
"apicalPredictedSegmentDecrement": 0.0,
"activationThreshold": activationThreshold,
"seed": seed,
"basalInputSize": basalInputSize,
"apicalInputSize": apicalInputSize,
}
self.tm = ApicalTiebreakPairMemory(**params)
def __init__(self, objects, objectPlacements, featureNames, locationConfigs,
worldDimensions):
self.objects = objects
self.objectPlacements = objectPlacements
self.worldDimensions = worldDimensions
self.features = dict(
(k, np.array(sorted(random.sample(xrange(150), 15)), dtype="uint32"))
for k in featureNames)
self.locationModules = [SuperficialLocationModule2D(anchorInputSize=150*32,
**config)
for config in locationConfigs]
self.inputLayer = ApicalTiebreakPairMemory(**{
"columnCount": 150,
"cellsPerColumn": 32,
"basalInputSize": 18 * sum(np.prod(config["cellDimensions"])
for config in locationConfigs),
"apicalInputSize": 4096
})
self.objectLayer = ColumnPooler(**{
"inputWidth": 150 * 32
})
# Use these for classifying SDRs and for testing whether they're correct.
self.locationRepresentations = {
# Example:
# (objectName, (top, left)): [0, 26, 54, 77, 101, ...]
}
self.inputRepresentations = {
# Example:
# (objectName, (top, left), featureName): [0, 26, 54, 77, 101, ...]
}
self.objectRepresentations = {
# Example:
# objectName: [14, 19, 54, 107, 201, ...]
}
self.locationInWorld = None
self.maxSettlingTime = 10
self.monitors = {}
self.nextMonitorToken = 1
def __init__(self, l4N, l4W, numModules, moduleDimensions,
maxActivePerModule, l6ActivationThreshold):
self.numModules = numModules
self.moduleDimensions = moduleDimensions
self._cellsPerModule = np.prod(moduleDimensions)
self.maxActivePerModule = maxActivePerModule
self.l4N = l4N
self.l4W = l4W
self.l6ActivationThreshold = l6ActivationThreshold
self.l4TM = TemporalMemory(
columnCount=l4N,
basalInputSize=numModules * self._cellsPerModule,
cellsPerColumn=4,
#activationThreshold=int(numModules / 2) + 1,
#reducedBasalThreshold=int(numModules / 2) + 1,
activationThreshold=1,
reducedBasalThreshold=1,
initialPermanence=1.0,
connectedPermanence=0.5,
minThreshold=1,
sampleSize=numModules,
permanenceIncrement=1.0,
permanenceDecrement=0.0,
)
self.l6Connections = [
Connections(numCells=self._cellsPerModule)
for _ in xrange(numModules)
]
self.pooler = ColumnPooler(inputWidth=self.numModules *
self._cellsPerModule, )
self.classifier = KNNClassifier(k=1, distanceMethod="rawOverlap")
#self.classifier = KNNClassifier(k=1, distanceMethod="norm")
# Active state
self.activeL6Cells = [[] for _ in xrange(numModules)]
self.activeL5Cells = [[] for _ in xrange(numModules)]
self.predictedL6Cells = [set([]) for _ in xrange(numModules)]
# Debug state
self.activeL6BeforeMotor = [[] for _ in xrange(numModules)]
self.l6ToL4Map = collections.defaultdict(list)
def __init__(self, l4N, l4W, numModules, moduleDimensions,
maxActivePerModule, l6ActivationThreshold):
self.numModules = numModules
self.moduleDimensions = moduleDimensions
self._cellsPerModule = np.prod(moduleDimensions)
self.maxActivePerModule = maxActivePerModule
self.l4N = l4N
self.l4W = l4W
self.l6ActivationThreshold = l6ActivationThreshold
self.l4TM = TemporalMemory(
columnCount=l4N,
basalInputSize=numModules*self._cellsPerModule,
cellsPerColumn=4,
#activationThreshold=int(numModules / 2) + 1,
#reducedBasalThreshold=int(numModules / 2) + 1,
activationThreshold=1,
reducedBasalThreshold=1,
initialPermanence=1.0,
connectedPermanence=0.5,
minThreshold=1,
sampleSize=numModules,
permanenceIncrement=1.0,
permanenceDecrement=0.0,
)
self.l6Connections = [Connections(numCells=self._cellsPerModule)
for _ in xrange(numModules)]
self.pooler = ColumnPooler(
inputWidth=self.numModules*self._cellsPerModule,
)
self.classifier = KNNClassifier(k=1, distanceMethod="rawOverlap")
#self.classifier = KNNClassifier(k=1, distanceMethod="norm")
# Active state
self.activeL6Cells = [[] for _ in xrange(numModules)]
self.activeL5Cells = [[] for _ in xrange(numModules)]
self.predictedL6Cells = [set([]) for _ in xrange(numModules)]
# Debug state
self.activeL6BeforeMotor = [[] for _ in xrange(numModules)]
self.l6ToL4Map = collections.defaultdict(list)
def __init__(self, locationConfigs, L4Overrides=None, bumpType="gaussian"):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
self.bumpType = bumpType
L4cellCount = 150*16
if bumpType == "gaussian":
self.L6aModules = [
createRatModuleFromCellCount(
anchorInputSize=L4cellCount,
**config)
for config in locationConfigs]
elif bumpType == "gaussian2":
self.L6aModules = [
createRatModuleFromReadoutResolution(
anchorInputSize=L4cellCount,
**config)
for config in locationConfigs]
elif bumpType == "square":
self.L6aModules = [
Superficial2DLocationModule(
anchorInputSize=L4cellCount,
**config)
for config in locationConfigs]
else:
raise ValueError("Invalid bumpType", bumpType)
L4Params = {
"columnCount": 150,
"cellsPerColumn": 16,
"basalInputSize": sum(module.numberOfCells()
for module in self.L6aModules)
}
if L4Overrides is not None:
L4Params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**L4Params)
def __init__(
self,
locationConfigs, # noqa: N803
L4Overrides=None,
bumpType="gaussian"):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
self.bumpType = bumpType
l4_cell_count = L4Overrides["columnCount"] * L4Overrides[
"cellsPerColumn"]
if bumpType == "square":
self.L6aModules = [
Superficial2DLocationModule(anchorInputSize=l4_cell_count,
**config)
for config in locationConfigs
]
else:
raise ValueError("Invalid bumpType", bumpType)
l4_params = {
"columnCount":
128, # Note overriding below
"cellsPerColumn":
32,
"basalInputSize":
sum(module.numberOfCells() for module in self.L6aModules)
}
if L4Overrides is not None:
l4_params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**l4_params)
def __init__(self,
minX,
maxX,
minY,
maxY,
bottomUpInputSize,
bottomUpOnBits,
seed
):
self.xEncoder = ScalarEncoder(5, minX, 10*maxX, n=75, forced=True)
self.yEncoder = ScalarEncoder(5, minY, 10*maxY, n=75, forced=True)
self.externalSize = self.xEncoder.getWidth()**2
self.externalOnBits = self.xEncoder.w**2
self.bottomUpInputSize = bottomUpInputSize
self.bottomUpOnBits = bottomUpOnBits
self.seed = seed
self.trainingIterations = 0
self.testIterations = 0
self.maxPredictionError = 0
self.totalPredictionError = 0
self.numMissedPredictions = 0
self.tm = TM(columnCount = self.bottomUpInputSize,
basalInputSize = self.externalSize,
cellsPerColumn=4,
initialPermanence=0.4,
connectedPermanence=0.5,
minThreshold= self.externalOnBits,
sampleSize=40,
permanenceIncrement=0.1,
permanenceDecrement=0.00,
activationThreshold=int(0.75*(self.externalOnBits+self.bottomUpOnBits)),
basalPredictedSegmentDecrement=0.00,
seed = self.seed
)
def constructTM(self, columnCount, basalInputSize, apicalInputSize,
cellsPerColumn, initialPermanence, connectedPermanence,
minThreshold, sampleSize, permanenceIncrement,
permanenceDecrement, predictedSegmentDecrement,
activationThreshold, seed):
params = {
"columnCount": columnCount,
"cellsPerColumn": cellsPerColumn,
"initialPermanence": initialPermanence,
"connectedPermanence": connectedPermanence,
"minThreshold": minThreshold,
"sampleSize": sampleSize,
"permanenceIncrement": permanenceIncrement,
"permanenceDecrement": permanenceDecrement,
"basalPredictedSegmentDecrement": predictedSegmentDecrement,
"apicalPredictedSegmentDecrement": 0.0,
"activationThreshold": activationThreshold,
"seed": seed,
"basalInputSize": basalInputSize,
"apicalInputSize": apicalInputSize,
}
self.tm = ApicalTiebreakPairMemory(**params)
def __init__(self,
numLocations=25,
numMinicolumns=15,
numActiveMinicolumns=10,
poolingThreshold=8,
cellsPerColumn=8,
segmentedProximal=True,
segmentedPooling=True,
minicolumnSDRs=None):
self.numOperandCells = 100
self.numActiveOperandCells = 4
self.numResultCells = 100
self.numActiveResultCells = 4
self.numLocations = numLocations
self.numActiveMinicolumns = numActiveMinicolumns
self.contextOperandSDRs = createEvenlySpreadSDRs(
numLocations, self.numOperandCells, self.numActiveOperandCells)
self.resultSDRs = createEvenlySpreadSDRs(
numLocations, self.numResultCells, self.numActiveResultCells)
self.drivingOperandSDRs = createEvenlySpreadSDRs(
numLocations, self.numOperandCells, self.numActiveOperandCells)
if minicolumnSDRs is None:
self.minicolumnSDRs = createEvenlySpreadSDRs(
self.numLocations, numMinicolumns, numActiveMinicolumns)
else:
assert len(minicolumnSDRs) >= self.numLocations
self.minicolumnSDRs = list(minicolumnSDRs)
random.shuffle(self.minicolumnSDRs)
self.minicolumnParams = {
"cellCount": numMinicolumns,
"inputSize": self.numOperandCells,
"threshold": self.numActiveOperandCells,
}
if segmentedProximal:
self.pairLayerProximalConnections = SegmentedForwardModel(
**self.minicolumnParams)
else:
self.pairLayerProximalConnections = ForwardModel(**self.minicolumnParams)
self.pairParams = {
"columnCount": numMinicolumns,
"initialPermanence": 1.0,
"cellsPerColumn": cellsPerColumn,
"basalInputSize": self.numOperandCells,
"activationThreshold": self.numActiveOperandCells,
"minThreshold": self.numActiveOperandCells,
}
self.pairLayer = ApicalTiebreakPairMemory(**self.pairParams)
self.poolingParams = {
"cellCount": self.numResultCells,
"inputSize": self.pairLayer.numberOfCells(),
"threshold": poolingThreshold,
}
if segmentedPooling:
self.poolingLayer = SegmentedForwardModel(**self.poolingParams)
else:
self.poolingLayer = ForwardModel(**self.poolingParams)
class PoolOfPairsLocation1DExperiment(object):
"""
There are a lot of ways this experiment could choose to associate "operands"
with results -- e.g. we could just do it randomly. This particular experiment
assumes there are an equal number of "operand1", "operand2", and "result"
values. It assigns each operand/result an index, and it relates these via:
result = (operand1 + operand2) % numLocations
Note that this experiment would be fundamentally no different if it used
subtraction:
result = (operand1 - operand2) % numLocations
The resulting network would be identical, it's just our interpretation of the
SDRs that would change.
This experiment intentionally mimics a 1D space with wraparound, with
operands/results representing 1D locations and offsets. You can think of this
as:
location2 = location1 + offset
offset = location2 - location1
"""
def __init__(self,
numLocations=25,
numMinicolumns=15,
numActiveMinicolumns=10,
poolingThreshold=8,
cellsPerColumn=8,
segmentedProximal=True,
segmentedPooling=True,
minicolumnSDRs=None):
self.numOperandCells = 100
self.numActiveOperandCells = 4
self.numResultCells = 100
self.numActiveResultCells = 4
self.numLocations = numLocations
self.numActiveMinicolumns = numActiveMinicolumns
self.contextOperandSDRs = createEvenlySpreadSDRs(
numLocations, self.numOperandCells, self.numActiveOperandCells)
self.resultSDRs = createEvenlySpreadSDRs(
numLocations, self.numResultCells, self.numActiveResultCells)
self.drivingOperandSDRs = createEvenlySpreadSDRs(
numLocations, self.numOperandCells, self.numActiveOperandCells)
if minicolumnSDRs is None:
self.minicolumnSDRs = createEvenlySpreadSDRs(
self.numLocations, numMinicolumns, numActiveMinicolumns)
else:
assert len(minicolumnSDRs) >= self.numLocations
self.minicolumnSDRs = list(minicolumnSDRs)
random.shuffle(self.minicolumnSDRs)
self.minicolumnParams = {
"cellCount": numMinicolumns,
"inputSize": self.numOperandCells,
"threshold": self.numActiveOperandCells,
}
if segmentedProximal:
self.pairLayerProximalConnections = SegmentedForwardModel(
**self.minicolumnParams)
else:
self.pairLayerProximalConnections = ForwardModel(**self.minicolumnParams)
self.pairParams = {
"columnCount": numMinicolumns,
"initialPermanence": 1.0,
"cellsPerColumn": cellsPerColumn,
"basalInputSize": self.numOperandCells,
"activationThreshold": self.numActiveOperandCells,
"minThreshold": self.numActiveOperandCells,
}
self.pairLayer = ApicalTiebreakPairMemory(**self.pairParams)
self.poolingParams = {
"cellCount": self.numResultCells,
"inputSize": self.pairLayer.numberOfCells(),
"threshold": poolingThreshold,
}
if segmentedPooling:
self.poolingLayer = SegmentedForwardModel(**self.poolingParams)
else:
self.poolingLayer = ForwardModel(**self.poolingParams)
def train(self):
"""
Train the pair layer and pooling layer.
"""
for iDriving, cDriving in enumerate(self.drivingOperandSDRs):
minicolumnSDR = self.minicolumnSDRs[iDriving]
self.pairLayerProximalConnections.associate(minicolumnSDR, cDriving)
for iContext, cContext in enumerate(self.contextOperandSDRs):
iResult = (iContext + iDriving) % self.numLocations
cResult = self.resultSDRs[iResult]
self.pairLayer.compute(minicolumnSDR, basalInput=cContext)
cPair = self.pairLayer.getWinnerCells()
self.poolingLayer.associate(cResult, cPair)
def trainWithSpecificPairSDRs(self, pairLayerContexts):
"""
Train the pair layer and pooling layer, manually choosing which contexts
each cell will encode (i.e. the pair layer's distal connections).
@param pairLayerContexts (list of lists of lists of ints)
iContext integers for each cell, grouped by minicolumn. For example,
[[[1, 3], [2,4]],
[[1, 2]]]
would specify that cell 0 connects to location 1 and location 3, while cell
1 connects to locations 2 and 4, and cell 2 (in the second minicolumn)
connects to locations 1 and 2.
"""
# Grow basal segments in the pair layer.
for iMinicolumn, contextsByCell in enumerate(pairLayerContexts):
for iCell, cellContexts in enumerate(contextsByCell):
iCellAbsolute = iMinicolumn*self.pairLayer.getCellsPerColumn() + iCell
for context in cellContexts:
segments = self.pairLayer.basalConnections.createSegments(
[iCellAbsolute])
self.pairLayer.basalConnections.growSynapses(
segments, self.contextOperandSDRs[context], 1.0)
# Associate the pair layer's minicolumn SDRs with offset cell SDRs,
# and associate the pooling layer's location SDRs with a pool of pair SDRs.
for iDriving, cDriving in enumerate(self.drivingOperandSDRs):
minicolumnSDR = self.minicolumnSDRs[iDriving]
self.pairLayerProximalConnections.associate(minicolumnSDR, cDriving)
for iContext, cContext in enumerate(self.contextOperandSDRs):
iResult = (iContext + iDriving) % self.numLocations
cResult = self.resultSDRs[iResult]
cPair = [
iMinicolumn*self.pairLayer.getCellsPerColumn() + iCell
for iMinicolumn in minicolumnSDR
for iCell, cellContexts in enumerate(pairLayerContexts[iMinicolumn])
if iContext in cellContexts]
assert len(cPair) == len(minicolumnSDR)
self.poolingLayer.associate(cResult, cPair)
def testInferenceOnUnions(self, unionSize, numTests=300):
"""
Select a random driving operand and a random union of context operands.
Test how well outputs a union of results.
Perform the test multiple times with different random selections.
"""
additionalSDRCounts = []
for _ in xrange(numTests):
iContexts = random.sample(xrange(self.numLocations), unionSize)
iDriving = random.choice(xrange(self.numLocations))
cDriving = self.drivingOperandSDRs[iDriving]
cContext = np.unique(np.concatenate(
[self.contextOperandSDRs[iContext]
for iContext in iContexts]))
cResultExpected = np.unique(np.concatenate(
[self.resultSDRs[(iContext + iDriving) % self.numLocations]
for iContext in iContexts]))
self.pairLayerProximalConnections.infer(cDriving)
minicolumnSDR = self.pairLayerProximalConnections.activeCells
assert minicolumnSDR.size == self.numActiveMinicolumns
self.pairLayer.compute(minicolumnSDR, basalInput=cContext, learn=False)
self.poolingLayer.infer(self.pairLayer.getActiveCells())
assert np.all(np.in1d(cResultExpected, self.poolingLayer.activeCells))
additionalSDRCounts.append(
np.setdiff1d(self.poolingLayer.activeCells,
cResultExpected).size / self.numActiveResultCells
)
return additionalSDRCounts
class SingleLayerLocation2DExperiment(object):
"""
The experiment code organized into a class.
"""
def __init__(self, diameter, objects, featureNames):
self.diameter = diameter
self.objects = objects
# A grid of location SDRs.
self.locations = dict(
((i, j),
np.array(sorted(random.sample(xrange(1000), 30)), dtype="uint32"))
for i in xrange(diameter) for j in xrange(diameter))
# 8 transition SDRs -- one for each straight and diagonal direction.
self.transitions = dict(
((i, j),
np.array(sorted(random.sample(xrange(1000), 30)), dtype="uint32"))
for i in xrange(-1, 2) for j in xrange(-1, 2) if i != 0 or j != 0)
self.features = dict(
(k,
np.array(sorted(random.sample(xrange(150), 15)), dtype="uint32"))
for k in featureNames)
self.locationLayer = SingleLayerLocationMemory(
**{
"cellCount": 1000,
"deltaLocationInputSize": 1000,
"featureLocationInputSize": 150 * 32,
"sampleSize": 15,
"activationThreshold": 10,
"learningThreshold": 8,
})
self.inputLayer = ApicalTiebreakPairMemory(
**{
"columnCount": 150,
"cellsPerColumn": 32,
"basalInputSize": 1000,
"apicalInputSize": 4096,
})
self.objectLayer = ColumnPooler(**{"inputWidth": 150 * 32})
# Use these for classifying SDRs and for testing whether they're correct.
self.inputRepresentations = {}
self.objectRepresentations = {}
self.learnedObjectPlacements = {}
self.monitors = {}
self.nextMonitorToken = 1
def addMonitor(self, monitor):
"""
Subscribe to SingleLayer2DExperiment events.
@param monitor (SingleLayer2DExperimentMonitor)
An object that implements a set of monitor methods
@return (object)
An opaque object that can be used to refer to this monitor.
"""
token = self.nextMonitorToken
self.nextMonitorToken += 1
self.monitors[token] = monitor
return token
def removeMonitor(self, monitorToken):
"""
Unsubscribe from LocationExperiment events.
@param monitorToken (object)
The return value of addMonitor() from when this monitor was added
"""
del self.monitors[monitorToken]
def doTimestep(self, locationSDR, transitionSDR, featureSDR,
egocentricLocation, learn):
"""
Run one timestep.
"""
for monitor in self.monitors.values():
monitor.beforeTimestep(locationSDR, transitionSDR, featureSDR,
egocentricLocation, learn)
params = {
"newLocation":
locationSDR,
"deltaLocation":
transitionSDR,
"featureLocationInput":
self.inputLayer.getActiveCells(),
"featureLocationGrowthCandidates":
self.inputLayer.getPredictedActiveCells(),
"learn":
learn,
}
self.locationLayer.compute(**params)
for monitor in self.monitors.values():
monitor.afterLocationCompute(**params)
params = {
"activeColumns": featureSDR,
"basalInput": self.locationLayer.getActiveCells(),
"apicalInput": self.objectLayer.getActiveCells(),
}
self.inputLayer.compute(**params)
for monitor in self.monitors.values():
monitor.afterInputCompute(**params)
params = {
"feedforwardInput":
self.inputLayer.getActiveCells(),
"feedforwardGrowthCandidates":
self.inputLayer.getPredictedActiveCells(),
"learn":
learn,
}
self.objectLayer.compute(**params)
for monitor in self.monitors.values():
monitor.afterObjectCompute(**params)
def learnTransitions(self):
"""
Train the location layer to do path integration. For every location, teach
it each previous-location + motor command pair.
"""
print "Learning transitions"
for (i, j), locationSDR in self.locations.iteritems():
print "i, j", (i, j)
for (di, dj), transitionSDR in self.transitions.iteritems():
i2 = i + di
j2 = j + dj
if (0 <= i2 < self.diameter and 0 <= j2 < self.diameter):
for _ in xrange(5):
self.locationLayer.reset()
self.locationLayer.compute(
newLocation=self.locations[(i, j)])
self.locationLayer.compute(
deltaLocation=transitionSDR,
newLocation=self.locations[(i2, j2)])
self.locationLayer.reset()
def learnObjects(self, objectPlacements):
"""
Learn each provided object in egocentric space. Touch every location on each
object.
This method doesn't try move the sensor along a path. Instead it just leaps
the sensor to each object location, resetting the location layer with each
leap.
This method simultaneously learns 4 sets of synapses:
- location -> input
- input -> location
- input -> object
- object -> input
"""
for monitor in self.monitors.values():
monitor.afterPlaceObjects(objectPlacements)
for objectName, objectDict in self.objects.iteritems():
self.reset()
objectPlacement = objectPlacements[objectName]
for locationName, featureName in objectDict.iteritems():
egocentricLocation = (locationName[0] + objectPlacement[0],
locationName[1] + objectPlacement[1])
locationSDR = self.locations[egocentricLocation]
featureSDR = self.features[featureName]
transitionSDR = np.empty(0)
self.locationLayer.reset()
self.inputLayer.reset()
for _ in xrange(10):
self.doTimestep(locationSDR,
transitionSDR,
featureSDR,
egocentricLocation,
learn=True)
self.inputRepresentations[(
featureName,
egocentricLocation)] = (self.inputLayer.getActiveCells())
self.objectRepresentations[
objectName] = self.objectLayer.getActiveCells()
self.learnedObjectPlacements[objectName] = objectPlacement
def _selectTransition(self, allocentricLocation, objectDict, visitCounts):
"""
Choose the transition that lands us in the location we've touched the least
often. Break ties randomly, i.e. choose the first candidate in a shuffled
list.
"""
candidates = list(
transition for transition in self.transitions.keys()
if (allocentricLocation[0] + transition[0],
allocentricLocation[1] + transition[1]) in objectDict)
random.shuffle(candidates)
selectedVisitCount = None
selectedTransition = None
selectedAllocentricLocation = None
for transition in candidates:
candidateLocation = (allocentricLocation[0] + transition[0],
allocentricLocation[1] + transition[1])
if (selectedVisitCount is None
or visitCounts[candidateLocation] < selectedVisitCount):
selectedVisitCount = visitCounts[candidateLocation]
selectedTransition = transition
selectedAllocentricLocation = candidateLocation
return selectedAllocentricLocation, selectedTransition
def inferObject(self,
objectPlacements,
objectName,
startPoint,
transitionSequence,
settlingTime=2):
for monitor in self.monitors.values():
monitor.afterPlaceObjects(objectPlacements)
objectDict = self.objects[objectName]
self.reset()
allocentricLocation = startPoint
nextTransitionSDR = np.empty(0, dtype="uint32")
transitionIterator = iter(transitionSequence)
try:
while True:
featureName = objectDict[allocentricLocation]
egocentricLocation = (allocentricLocation[0] +
objectPlacements[objectName][0],
allocentricLocation[1] +
objectPlacements[objectName][1])
featureSDR = self.features[featureName]
steps = ([nextTransitionSDR] + [np.empty(0)] * settlingTime)
for transitionSDR in steps:
self.doTimestep(np.empty(0),
transitionSDR,
featureSDR,
egocentricLocation,
learn=False)
transitionName = transitionIterator.next()
allocentricLocation = (allocentricLocation[0] +
transitionName[0],
allocentricLocation[1] +
transitionName[1])
nextTransitionSDR = self.transitions[transitionName]
except StopIteration:
pass
def inferObjectsWithRandomMovements(self,
objectPlacements,
maxTouches=20,
settlingTime=2):
"""
Infer each object without any location input.
"""
for monitor in self.monitors.values():
monitor.afterPlaceObjects(objectPlacements)
for objectName, objectDict in self.objects.iteritems():
self.reset()
visitCounts = defaultdict(int)
learnedObjectPlacement = self.learnedObjectPlacements[objectName]
allocentricLocation = random.choice(objectDict.keys())
nextTransitionSDR = np.empty(0, dtype="uint32")
# Traverse the object until it is inferred.
success = False
for _ in xrange(maxTouches):
featureName = objectDict[allocentricLocation]
egocentricLocation = (allocentricLocation[0] +
objectPlacements[objectName][0],
allocentricLocation[1] +
objectPlacements[objectName][1])
featureSDR = self.features[featureName]
steps = ([nextTransitionSDR] + [np.empty(0)] * settlingTime)
for transitionSDR in steps:
self.doTimestep(np.empty(0),
transitionSDR,
featureSDR,
egocentricLocation,
learn=False)
visitCounts[allocentricLocation] += 1
# We should eventually infer the egocentric location where we originally
# learned this location on the object.
learnedEgocentricLocation = (allocentricLocation[0] +
learnedObjectPlacement[0],
allocentricLocation[1] +
learnedObjectPlacement[1])
if (set(self.objectLayer.getActiveCells()) == set(
self.objectRepresentations[objectName])
and set(self.inputLayer.getActiveCells()) == set(
self.inputRepresentations[(
featureName, learnedEgocentricLocation)])
and set(self.locationLayer.getActiveCells()) == set(
self.locations[learnedEgocentricLocation])):
success = True
break
else:
allocentricLocation, transitionName = self._selectTransition(
allocentricLocation, objectDict, visitCounts)
nextTransitionSDR = self.transitions[transitionName]
def reset(self):
self.locationLayer.reset()
self.objectLayer.reset()
self.inputLayer.reset()
for monitor in self.monitors.values():
monitor.afterReset()
class PIUNCorticalColumn(object):
"""
A L4 + L6a network. Sensory input causes minicolumns in L4 to activate,
which drives activity in L6a. Motor input causes L6a to perform path
integration, updating its activity, which then depolarizes cells in L4.
Whenever the sensor moves, call movementCompute. Whenever a sensory input
arrives, call sensoryCompute.
"""
def __init__(self, locationConfigs, L4Overrides=None, bumpType="gaussian"):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
self.bumpType = bumpType
L4cellCount = 150*16
if bumpType == "gaussian":
self.L6aModules = [
createRatModuleFromCellCount(
anchorInputSize=L4cellCount,
**config)
for config in locationConfigs]
elif bumpType == "gaussian2":
self.L6aModules = [
createRatModuleFromReadoutResolution(
anchorInputSize=L4cellCount,
**config)
for config in locationConfigs]
elif bumpType == "square":
self.L6aModules = [
Superficial2DLocationModule(
anchorInputSize=L4cellCount,
**config)
for config in locationConfigs]
else:
raise ValueError("Invalid bumpType", bumpType)
L4Params = {
"columnCount": 150,
"cellsPerColumn": 16,
"basalInputSize": sum(module.numberOfCells()
for module in self.L6aModules)
}
if L4Overrides is not None:
L4Params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**L4Params)
def movementCompute(self, displacement, noiseFactor = 0, moduleNoiseFactor = 0):
"""
@param displacement (dict)
The change in location. Example: {"top": 10, "left", 10}
@return (dict)
Data for logging/tracing.
"""
if noiseFactor != 0:
xdisp = np.random.normal(0, noiseFactor)
ydisp = np.random.normal(0, noiseFactor)
else:
xdisp = 0
ydisp = 0
locationParams = {
"displacement": [displacement["top"] + ydisp,
displacement["left"] + xdisp],
"noiseFactor": moduleNoiseFactor
}
for module in self.L6aModules:
module.movementCompute(**locationParams)
return locationParams
def sensoryCompute(self, activeMinicolumns, learn):
"""
@param activeMinicolumns (numpy array)
List of indices of minicolumns to activate.
@param learn (bool)
If True, the two layers should learn this association.
@return (tuple of dicts)
Data for logging/tracing.
"""
inputParams = {
"activeColumns": activeMinicolumns,
"basalInput": self.getLocationRepresentation(),
"basalGrowthCandidates": self.getLearnableLocationRepresentation(),
"learn": learn
}
self.L4.compute(**inputParams)
locationParams = {
"anchorInput": self.L4.getActiveCells(),
"anchorGrowthCandidates": self.L4.getWinnerCells(),
"learn": learn,
}
for module in self.L6aModules:
module.sensoryCompute(**locationParams)
return (inputParams, locationParams)
def reset(self):
"""
Clear all cell activity.
"""
self.L4.reset()
for module in self.L6aModules:
module.reset()
def activateRandomLocation(self):
"""
Activate a random location in the location layer.
"""
for module in self.L6aModules:
module.activateRandomLocation()
def getSensoryRepresentation(self):
"""
Gets the active cells in the sensory layer.
"""
return self.L4.getActiveCells()
def getLocationRepresentation(self):
"""
Get the full population representation of the location layer.
"""
activeCells = np.array([], dtype="uint32")
totalPrevCells = 0
for module in self.L6aModules:
activeCells = np.append(activeCells,
module.getActiveCells() + totalPrevCells)
totalPrevCells += module.numberOfCells()
return activeCells
def getLearnableLocationRepresentation(self):
"""
Get the cells in the location layer that should be associated with the
sensory input layer representation. In some models, this is identical to the
active cells. In others, it's a subset.
"""
learnableCells = np.array([], dtype="uint32")
totalPrevCells = 0
for module in self.L6aModules:
learnableCells = np.append(learnableCells,
module.getLearnableCells() + totalPrevCells)
totalPrevCells += module.numberOfCells()
return learnableCells
def getSensoryAssociatedLocationRepresentation(self):
"""
Get the location cells in the location layer that were driven by the input
layer (or, during learning, were associated with this input.)
"""
cells = np.array([], dtype="uint32")
totalPrevCells = 0
for module in self.L6aModules:
cells = np.append(cells,
module.sensoryAssociatedCells + totalPrevCells)
totalPrevCells += module.numberOfCells()
return cells
for c in range(len(x)):
if c > 0 and c % 10 == 0:
s += ' '
s += str(x[c])
s += ' '
return s
# Step 1: create Temporal Pooler instance with appropriate parameters
tm = TM(
columnCount=10,
basalInputSize=4,
cellsPerColumn=4,
initialPermanence=0.21,
connectedPermanence=0.0,
minThreshold=1,
reducedBasalThreshold=1,
permanenceIncrement=0.1,
permanenceDecrement=0.0,
activationThreshold=2,
apicalInputSize=4,
)
# Step 2: create input vectors to feed to the temporal memory.
D = [[1, 0, 0, 0, 1, 0, 0, 0, 0, 1], [0, 1, 0, 1, 0, 0, 0, 0, 1, 0],
[1, 1, 0, 0, 0, 0, 1, 0, 0, 0]]
x = [[1, 0, 1, 0], [0, 1, 0, 1], [1, 1, 0, 0]]
Din0 = np.nonzero(D[0])[0]
Din1 = np.nonzero(D[1])[0]
Din2 = np.nonzero(D[2])[0]
class SingleLayerLocation2DExperiment(object):
"""
The experiment code organized into a class.
"""
def __init__(self, diameter, objects, featureNames):
self.diameter = diameter
self.objects = objects
# A grid of location SDRs.
self.locations = dict(
((i, j), np.array(sorted(random.sample(xrange(1000), 30)), dtype="uint32"))
for i in xrange(diameter)
for j in xrange(diameter))
# 8 transition SDRs -- one for each straight and diagonal direction.
self.transitions = dict(
((i, j), np.array(sorted(random.sample(xrange(1000), 30)), dtype="uint32"))
for i in xrange(-1, 2)
for j in xrange(-1, 2)
if i != 0 or j != 0)
self.features = dict(
(k, np.array(sorted(random.sample(xrange(150), 15)), dtype="uint32"))
for k in featureNames)
self.locationLayer = SingleLayerLocationMemory(**{
"cellCount": 1000,
"deltaLocationInputSize": 1000,
"featureLocationInputSize": 150*32,
"sampleSize": 15,
"activationThreshold": 10,
"learningThreshold": 8,
})
self.inputLayer = ApicalTiebreakPairMemory(**{
"columnCount": 150,
"cellsPerColumn": 32,
"basalInputSize": 1000,
"apicalInputSize": 4096,
})
self.objectLayer = ColumnPooler(**{
"inputWidth": 150 * 32
})
# Use these for classifying SDRs and for testing whether they're correct.
self.inputRepresentations = {}
self.objectRepresentations = {}
self.learnedObjectPlacements = {}
self.monitors = {}
self.nextMonitorToken = 1
def addMonitor(self, monitor):
"""
Subscribe to SingleLayer2DExperiment events.
@param monitor (SingleLayer2DExperimentMonitor)
An object that implements a set of monitor methods
@return (object)
An opaque object that can be used to refer to this monitor.
"""
token = self.nextMonitorToken
self.nextMonitorToken += 1
self.monitors[token] = monitor
return token
def removeMonitor(self, monitorToken):
"""
Unsubscribe from LocationExperiment events.
@param monitorToken (object)
The return value of addMonitor() from when this monitor was added
"""
del self.monitors[monitorToken]
def doTimestep(self, locationSDR, transitionSDR, featureSDR,
egocentricLocation, learn):
"""
Run one timestep.
"""
for monitor in self.monitors.values():
monitor.beforeTimestep(locationSDR, transitionSDR, featureSDR,
egocentricLocation, learn)
params = {
"newLocation": locationSDR,
"deltaLocation": transitionSDR,
"featureLocationInput": self.inputLayer.getActiveCells(),
"featureLocationGrowthCandidates": self.inputLayer.getPredictedActiveCells(),
"learn": learn,
}
self.locationLayer.compute(**params)
for monitor in self.monitors.values():
monitor.afterLocationCompute(**params)
params = {
"activeColumns": featureSDR,
"basalInput": self.locationLayer.getActiveCells(),
"apicalInput": self.objectLayer.getActiveCells(),
}
self.inputLayer.compute(**params)
for monitor in self.monitors.values():
monitor.afterInputCompute(**params)
params = {
"feedforwardInput": self.inputLayer.getActiveCells(),
"feedforwardGrowthCandidates": self.inputLayer.getPredictedActiveCells(),
"learn": learn,
}
self.objectLayer.compute(**params)
for monitor in self.monitors.values():
monitor.afterObjectCompute(**params)
def learnTransitions(self):
"""
Train the location layer to do path integration. For every location, teach
it each previous-location + motor command pair.
"""
print "Learning transitions"
for (i, j), locationSDR in self.locations.iteritems():
print "i, j", (i, j)
for (di, dj), transitionSDR in self.transitions.iteritems():
i2 = i + di
j2 = j + dj
if (0 <= i2 < self.diameter and
0 <= j2 < self.diameter):
for _ in xrange(5):
self.locationLayer.reset()
self.locationLayer.compute(newLocation=self.locations[(i,j)])
self.locationLayer.compute(deltaLocation=transitionSDR,
newLocation=self.locations[(i2, j2)])
self.locationLayer.reset()
def learnObjects(self, objectPlacements):
"""
Learn each provided object in egocentric space. Touch every location on each
object.
This method doesn't try move the sensor along a path. Instead it just leaps
the sensor to each object location, resetting the location layer with each
leap.
This method simultaneously learns 4 sets of synapses:
- location -> input
- input -> location
- input -> object
- object -> input
"""
for monitor in self.monitors.values():
monitor.afterPlaceObjects(objectPlacements)
for objectName, objectDict in self.objects.iteritems():
self.reset()
objectPlacement = objectPlacements[objectName]
for locationName, featureName in objectDict.iteritems():
egocentricLocation = (locationName[0] + objectPlacement[0],
locationName[1] + objectPlacement[1])
locationSDR = self.locations[egocentricLocation]
featureSDR = self.features[featureName]
transitionSDR = np.empty(0)
self.locationLayer.reset()
self.inputLayer.reset()
for _ in xrange(10):
self.doTimestep(locationSDR, transitionSDR, featureSDR,
egocentricLocation, learn=True)
self.inputRepresentations[(featureName, egocentricLocation)] = (
self.inputLayer.getActiveCells())
self.objectRepresentations[objectName] = self.objectLayer.getActiveCells()
self.learnedObjectPlacements[objectName] = objectPlacement
def _selectTransition(self, allocentricLocation, objectDict, visitCounts):
"""
Choose the transition that lands us in the location we've touched the least
often. Break ties randomly, i.e. choose the first candidate in a shuffled
list.
"""
candidates = list(transition
for transition in self.transitions.keys()
if (allocentricLocation[0] + transition[0],
allocentricLocation[1] + transition[1]) in objectDict)
random.shuffle(candidates)
selectedVisitCount = None
selectedTransition = None
selectedAllocentricLocation = None
for transition in candidates:
candidateLocation = (allocentricLocation[0] + transition[0],
allocentricLocation[1] + transition[1])
if (selectedVisitCount is None or
visitCounts[candidateLocation] < selectedVisitCount):
selectedVisitCount = visitCounts[candidateLocation]
selectedTransition = transition
selectedAllocentricLocation = candidateLocation
return selectedAllocentricLocation, selectedTransition
def inferObject(self, objectPlacements, objectName, startPoint,
transitionSequence, settlingTime=2):
for monitor in self.monitors.values():
monitor.afterPlaceObjects(objectPlacements)
objectDict = self.objects[objectName]
self.reset()
allocentricLocation = startPoint
nextTransitionSDR = np.empty(0, dtype="uint32")
transitionIterator = iter(transitionSequence)
try:
while True:
featureName = objectDict[allocentricLocation]
egocentricLocation = (allocentricLocation[0] +
objectPlacements[objectName][0],
allocentricLocation[1] +
objectPlacements[objectName][1])
featureSDR = self.features[featureName]
steps = ([nextTransitionSDR] +
[np.empty(0)]*settlingTime)
for transitionSDR in steps:
self.doTimestep(np.empty(0), transitionSDR, featureSDR,
egocentricLocation, learn=False)
transitionName = transitionIterator.next()
allocentricLocation = (allocentricLocation[0] + transitionName[0],
allocentricLocation[1] + transitionName[1])
nextTransitionSDR = self.transitions[transitionName]
except StopIteration:
pass
def inferObjectsWithRandomMovements(self, objectPlacements, maxTouches=20,
settlingTime=2):
"""
Infer each object without any location input.
"""
for monitor in self.monitors.values():
monitor.afterPlaceObjects(objectPlacements)
for objectName, objectDict in self.objects.iteritems():
self.reset()
visitCounts = defaultdict(int)
learnedObjectPlacement = self.learnedObjectPlacements[objectName]
allocentricLocation = random.choice(objectDict.keys())
nextTransitionSDR = np.empty(0, dtype="uint32")
# Traverse the object until it is inferred.
success = False
for _ in xrange(maxTouches):
featureName = objectDict[allocentricLocation]
egocentricLocation = (allocentricLocation[0] +
objectPlacements[objectName][0],
allocentricLocation[1] +
objectPlacements[objectName][1])
featureSDR = self.features[featureName]
steps = ([nextTransitionSDR] +
[np.empty(0)]*settlingTime)
for transitionSDR in steps:
self.doTimestep(np.empty(0), transitionSDR, featureSDR,
egocentricLocation, learn=False)
visitCounts[allocentricLocation] += 1
# We should eventually infer the egocentric location where we originally
# learned this location on the object.
learnedEgocentricLocation = (
allocentricLocation[0] + learnedObjectPlacement[0],
allocentricLocation[1] + learnedObjectPlacement[1])
if (set(self.objectLayer.getActiveCells()) ==
set(self.objectRepresentations[objectName]) and
set(self.inputLayer.getActiveCells()) ==
set(self.inputRepresentations[(featureName,
learnedEgocentricLocation)]) and
set(self.locationLayer.getActiveCells()) ==
set(self.locations[learnedEgocentricLocation])):
success = True
break
else:
allocentricLocation, transitionName = self._selectTransition(
allocentricLocation, objectDict, visitCounts)
nextTransitionSDR = self.transitions[transitionName]
def reset(self):
self.locationLayer.reset()
self.objectLayer.reset()
self.inputLayer.reset()
for monitor in self.monitors.values():
monitor.afterReset()
class RelationalMemory(object):
def __init__(self, l4N, l4W, numModules, moduleDimensions,
maxActivePerModule, l6ActivationThreshold):
self.numModules = numModules
self.moduleDimensions = moduleDimensions
self._cellsPerModule = np.prod(moduleDimensions)
self.maxActivePerModule = maxActivePerModule
self.l4N = l4N
self.l4W = l4W
self.l6ActivationThreshold = l6ActivationThreshold
self.l4TM = TemporalMemory(
columnCount=l4N,
basalInputSize=numModules * self._cellsPerModule,
cellsPerColumn=4,
#activationThreshold=int(numModules / 2) + 1,
#reducedBasalThreshold=int(numModules / 2) + 1,
activationThreshold=1,
reducedBasalThreshold=1,
initialPermanence=1.0,
connectedPermanence=0.5,
minThreshold=1,
sampleSize=numModules,
permanenceIncrement=1.0,
permanenceDecrement=0.0,
)
self.l6Connections = [
Connections(numCells=self._cellsPerModule)
for _ in xrange(numModules)
]
#self.classifier = KNNClassifier(k=1, distanceMethod="rawOverlap")
self.classifier = KNNClassifier(k=1, distanceMethod="norm")
# Active state
self.activeL6Cells = [[] for _ in xrange(numModules)]
self.activeL5Cells = [[] for _ in xrange(numModules)]
self.predictedL6Cells = [set([]) for _ in xrange(numModules)]
# Debug state
self.activeL6BeforeMotor = [[] for _ in xrange(numModules)]
self.l6ToL4Map = collections.defaultdict(list)
def reset(self):
self.activeL6Cells = [[] for _ in xrange(self.numModules)]
self.activeL5Cells = [[] for _ in xrange(self.numModules)]
self.predictedL6Cells = [set([]) for _ in xrange(self.numModules)]
def trainFeatures(self, sensoryInputs):
# Randomly assign bilateral connections and zero others
for sense in sensoryInputs:
# Choose L6 cells randomly
activeL6Cells = [[np.random.randint(self._cellsPerModule)]
for _ in xrange(self.numModules)]
l4BasalInput = getGlobalIndices(activeL6Cells,
self._cellsPerModule)
# Learn L6->L4 connections
self.l4TM.compute(activeColumns=sense,
basalInput=l4BasalInput,
learn=True)
self.l4TM.compute(activeColumns=sense,
basalInput=l4BasalInput,
learn=True)
self.l4TM.compute(activeColumns=sense,
basalInput=l4BasalInput,
learn=True)
self.l4TM.compute(activeColumns=sense,
basalInput=l4BasalInput,
learn=True)
activeL4Cells = self.l4TM.getActiveCells()
# Debug: store the map
for l6Cell in itertools.chain(*activeL6Cells):
self.l6ToL4Map[l6Cell].extend(activeL4Cells)
# Learn L4->L6 connections
for l6Cells, connections in zip(activeL6Cells, self.l6Connections):
# Assumes one cell active per L6 module when training features
segment = connections.createSegment(l6Cells[0])
for l4Cell in activeL4Cells:
connections.createSynapse(segment, l4Cell, 1.0)
def compute(self, ff, motor, objClass, outputFile):
"""Run one iteration of the online sensorimotor algorithm.
This function has three stages:
- The FEEDFORWARD pass drives
Prerequisites: `trainFeatures` must have been run already
:param ff: feedforward sensory input
:param motor: the motor command for next move, in the form of delta
coordinates
:param objClass: the object class to train the classifier, or None
if not learning
"""
delta = motor
# FEEDFORWARD
# Determine active feature representation in l4, using lateral input
# from l6 previous step feedback
l4BasalInput = getGlobalIndices(self.predictedL6Cells,
self._cellsPerModule)
self.l4TM.compute(activeColumns=ff,
basalInput=l4BasalInput,
learn=False)
predictedL4Cells = self.l4TM.getPredictedCells()
activeL4Cells = self.l4TM.getActiveCells()
# Drive L6 activation from l4
for m, connections in enumerate(self.l6Connections):
newCells = []
activeConnectedPerSegment = connections.computeActivity(
activeL4Cells, 0.5)[0]
for flatIdx, activeConnected in enumerate(
activeConnectedPerSegment):
if activeConnected >= self.l6ActivationThreshold:
cellIdx = connections.segmentForFlatIdx(flatIdx).cell
newCells.append(cellIdx)
#for cell in newCells:
# print connections.segmentsForCell(cell)
#print newCells
#assert len(newCells) <= 1
self.activeL6Cells[m].insert(0, newCells)
# TODO: This is the number of steps, not necessarily the number of cells
lenBefore = len(self.activeL6Cells[m])
del self.activeL6Cells[m][self.maxActivePerModule:]
lenAfter = len(self.activeL6Cells[m])
#assert lenBefore == lenAfter, "Debug assert to check that we aren't hitting limit on L6 activity. Can remove when we set max active low enough relative to object size (times number of train/test iterations)"
self.activeL6BeforeMotor = [
list(itertools.chain(*l6Module)) for l6Module in self.activeL6Cells
]
# Replace l5 activity with new transforms
self.activeL5Cells = []
for activeL6Module in self.activeL6Cells:
transforms = set()
for newCell in activeL6Module[0]:
for prevCell in itertools.chain(*activeL6Module[1:]):
if newCell == prevCell:
continue
# Transform from prev to new
t1 = bind(prevCell, newCell, self.moduleDimensions)
transforms.add(t1)
# Transform from new to prev
t2 = bind(newCell, prevCell, self.moduleDimensions)
transforms.add(t2)
self.activeL5Cells.append(list(transforms))
# Pool into object representation
globalL5ActiveCells = getGlobalIndices(self.activeL5Cells,
self._cellsPerModule)
denseL5 = np.zeros(self._cellsPerModule * self.numModules,
dtype="bool")
denseL5[globalL5ActiveCells] = 1
self.prediction = self.classifier.infer(denseL5)
if objClass is not None:
self.classifier.learn(denseL5, objClass)
#print globalL5ActiveCells
# MOTOR
# Update L6 based on motor command
numActivePerModuleBefore = [
sum([len(cells) for cells in active])
for active in self.activeL6Cells
]
self.activeL6Cells = [[[
pathIntegrate(c, self.moduleDimensions, delta) for c in steps
] for steps in prevActiveCells]
for prevActiveCells in self.activeL6Cells]
numActivePerModuleAfter = [
sum([len(cells) for cells in active])
for active in self.activeL6Cells
]
assert numActivePerModuleAfter == numActivePerModuleBefore
# FEEDBACK
# Get all transforms associated with object
# TODO: Get transforms from object in addition to current activity
predictiveTransforms = [l5Active for l5Active in self.activeL5Cells]
# Get set of predicted l6 representations (including already active)
# and store them for next step l4 compute
self.predictedL6Cells = []
for l6, l5 in itertools.izip(self.activeL6Cells, predictiveTransforms):
predictedCells = []
for activeL6Cell in set(itertools.chain(*l6)):
for activeL5Cell in l5:
predictedCell = unbind(activeL6Cell, activeL5Cell,
self.moduleDimensions)
predictedCells.append(predictedCell)
self.predictedL6Cells.append(
set(list(itertools.chain(*l6)) + predictedCells))
# Log this step
if outputFile:
log = RelationalMemoryLog.new_message()
log.ts = time.time()
sensationProto = log.init("sensation", len(ff))
for i in xrange(len(ff)):
sensationProto[i] = int(ff[i])
predictedL4Proto = log.init("predictedL4", len(predictedL4Cells))
for i in xrange(len(predictedL4Cells)):
predictedL4Proto[i] = int(predictedL4Cells[i])
activeL4Proto = log.init("activeL4", len(activeL4Cells))
for i in xrange(len(activeL4Cells)):
activeL4Proto[i] = int(activeL4Cells[i])
activeL6HistoryProto = log.init("activeL6History",
len(self.activeL6Cells))
for i in xrange(len(self.activeL6Cells)):
activeL6ModuleProto = activeL6HistoryProto.init(
i, len(self.activeL6Cells[i]))
for j in xrange(len(self.activeL6Cells[i])):
activeL6ModuleStepProto = activeL6ModuleProto.init(
j, len(self.activeL6Cells[i][j]))
for k in xrange(len(self.activeL6Cells[i][j])):
activeL6ModuleStepProto[k] = int(
self.activeL6Cells[i][j][k])
activeL5Proto = log.init("activeL5", len(self.activeL5Cells))
for i in xrange(len(self.activeL5Cells)):
activeL5ModuleProto = activeL5Proto.init(
i, len(self.activeL5Cells[i]))
for j in xrange(len(self.activeL5Cells[i])):
activeL5ModuleProto[j] = int(self.activeL5Cells[i][j])
classifierResults = [
(i, distance) for i, distance in enumerate(self.prediction[2])
if distance is not None
]
classifierResultsProto = log.init("classifierResults",
len(classifierResults))
for i in xrange(len(classifierResults)):
classifierResultProto = classifierResultsProto[i]
classifierResultProto.label = classifierResults[i][0]
classifierResultProto.distance = float(classifierResults[i][1])
motorDeltaProto = log.init("motorDelta", len(delta))
for i in xrange(len(delta)):
motorDeltaProto[i] = int(delta[i])
predictedL6Proto = log.init("predictedL6",
len(self.predictedL6Cells))
for i in xrange(len(self.predictedL6Cells)):
predictedL6ModuleProto = predictedL6Proto.init(
i, len(self.predictedL6Cells[i]))
for j, c in enumerate(self.predictedL6Cells[i]):
predictedL6ModuleProto[j] = int(c)
json.dump(log.to_dict(), outputFile)
outputFile.write("\n")
class PIUNCorticalColumn(object):
"""
A L4 + L6a network. Sensory input causes minicolumns in L4 to activate,
which drives activity in L6a. Motor input causes L6a to perform path
integration, updating its activity, which then depolarizes cells in L4.
Whenever the sensor moves, call movementCompute. Whenever a sensory input
arrives, call sensoryCompute.
"""
def __init__(self, locationConfigs, L4Overrides=None, bumpType="gaussian"):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
self.bumpType = bumpType
L4cellCount = 150 * 16
if bumpType == "gaussian":
self.L6aModules = [
createRatModuleFromCellCount(anchorInputSize=L4cellCount,
**config)
for config in locationConfigs
]
elif bumpType == "gaussian2":
self.L6aModules = [
createRatModuleFromReadoutResolution(
anchorInputSize=L4cellCount, **config)
for config in locationConfigs
]
elif bumpType == "square":
self.L6aModules = [
Superficial2DLocationModule(anchorInputSize=L4cellCount,
**config)
for config in locationConfigs
]
else:
raise ValueError("Invalid bumpType", bumpType)
L4Params = {
"columnCount":
150,
"cellsPerColumn":
16,
"basalInputSize":
sum(module.numberOfCells() for module in self.L6aModules)
}
if L4Overrides is not None:
L4Params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**L4Params)
def movementCompute(self,
displacement,
noiseFactor=0,
moduleNoiseFactor=0):
"""
@param displacement (dict)
The change in location. Example: {"top": 10, "left", 10}
@return (dict)
Data for logging/tracing.
"""
if noiseFactor != 0:
xdisp = np.random.normal(0, noiseFactor)
ydisp = np.random.normal(0, noiseFactor)
else:
xdisp = 0
ydisp = 0
locationParams = {
"displacement":
[displacement["top"] + ydisp, displacement["left"] + xdisp],
"noiseFactor":
moduleNoiseFactor
}
for module in self.L6aModules:
module.movementCompute(**locationParams)
return locationParams
def sensoryCompute(self, activeMinicolumns, learn):
"""
@param activeMinicolumns (numpy array)
List of indices of minicolumns to activate.
@param learn (bool)
If True, the two layers should learn this association.
@return (tuple of dicts)
Data for logging/tracing.
"""
inputParams = {
"activeColumns": activeMinicolumns,
"basalInput": self.getLocationRepresentation(),
"basalGrowthCandidates": self.getLearnableLocationRepresentation(),
"learn": learn
}
self.L4.compute(**inputParams)
locationParams = {
"anchorInput": self.L4.getActiveCells(),
"anchorGrowthCandidates": self.L4.getWinnerCells(),
"learn": learn,
}
for module in self.L6aModules:
module.sensoryCompute(**locationParams)
return (inputParams, locationParams)
def reset(self):
"""
Clear all cell activity.
"""
self.L4.reset()
for module in self.L6aModules:
module.reset()
def activateRandomLocation(self):
"""
Activate a random location in the location layer.
"""
for module in self.L6aModules:
module.activateRandomLocation()
def getSensoryRepresentation(self):
"""
Gets the active cells in the sensory layer.
"""
return self.L4.getActiveCells()
def getLocationRepresentation(self):
"""
Get the full population representation of the location layer.
"""
activeCells = np.array([], dtype="uint32")
totalPrevCells = 0
for module in self.L6aModules:
activeCells = np.append(activeCells,
module.getActiveCells() + totalPrevCells)
totalPrevCells += module.numberOfCells()
return activeCells
def getLearnableLocationRepresentation(self):
"""
Get the cells in the location layer that should be associated with the
sensory input layer representation. In some models, this is identical to the
active cells. In others, it's a subset.
"""
learnableCells = np.array([], dtype="uint32")
totalPrevCells = 0
for module in self.L6aModules:
learnableCells = np.append(
learnableCells,
module.getLearnableCells() + totalPrevCells)
totalPrevCells += module.numberOfCells()
return learnableCells
def getSensoryAssociatedLocationRepresentation(self):
"""
Get the location cells in the location layer that were driven by the input
layer (or, during learning, were associated with this input.)
"""
cells = np.array([], dtype="uint32")
totalPrevCells = 0
for module in self.L6aModules:
cells = np.append(cells,
module.sensoryAssociatedCells + totalPrevCells)
totalPrevCells += module.numberOfCells()
return cells
class Grid2DLocationExperiment(object):
"""
The experiment code organized into a class.
"""
def __init__(self, objects, objectPlacements, featureNames, locationConfigs,
worldDimensions):
self.objects = objects
self.objectPlacements = objectPlacements
self.worldDimensions = worldDimensions
self.features = dict(
(k, np.array(sorted(random.sample(xrange(150), 15)), dtype="uint32"))
for k in featureNames)
self.locationModules = [SuperficialLocationModule2D(anchorInputSize=150*32,
**config)
for config in locationConfigs]
self.inputLayer = ApicalTiebreakPairMemory(**{
"columnCount": 150,
"cellsPerColumn": 32,
"basalInputSize": 18 * sum(np.prod(config["cellDimensions"])
for config in locationConfigs),
"apicalInputSize": 4096
})
self.objectLayer = ColumnPooler(**{
"inputWidth": 150 * 32
})
# Use these for classifying SDRs and for testing whether they're correct.
self.locationRepresentations = {
# Example:
# (objectName, (top, left)): [0, 26, 54, 77, 101, ...]
}
self.inputRepresentations = {
# Example:
# (objectName, (top, left), featureName): [0, 26, 54, 77, 101, ...]
}
self.objectRepresentations = {
# Example:
# objectName: [14, 19, 54, 107, 201, ...]
}
self.locationInWorld = None
self.maxSettlingTime = 10
self.monitors = {}
self.nextMonitorToken = 1
def addMonitor(self, monitor):
"""
Subscribe to Grid2DLocationExperimentMonitor events.
@param monitor (Grid2DLocationExperimentMonitor)
An object that implements a set of monitor methods
@return (object)
An opaque object that can be used to refer to this monitor.
"""
token = self.nextMonitorToken
self.nextMonitorToken += 1
self.monitors[token] = monitor
return token
def removeMonitor(self, monitorToken):
"""
Unsubscribe from LocationExperiment events.
@param monitorToken (object)
The return value of addMonitor() from when this monitor was added
"""
del self.monitors[monitorToken]
def getActiveLocationCells(self):
activeCells = np.array([], dtype="uint32")
totalPrevCells = 0
for i, module in enumerate(self.locationModules):
activeCells = np.append(activeCells,
module.getActiveCells() + totalPrevCells)
totalPrevCells += module.numberOfCells()
return activeCells
def move(self, objectName, locationOnObject):
objectPlacement = self.objectPlacements[objectName]
locationInWorld = (objectPlacement[0] + locationOnObject[0],
objectPlacement[1] + locationOnObject[1])
if self.locationInWorld is not None:
deltaLocation = (locationInWorld[0] - self.locationInWorld[0],
locationInWorld[1] - self.locationInWorld[1])
for monitor in self.monitors.values():
monitor.beforeMove(deltaLocation)
params = {
"deltaLocation": deltaLocation
}
for module in self.locationModules:
module.shift(**params)
for monitor in self.monitors.values():
monitor.afterLocationShift(**params)
self.locationInWorld = locationInWorld
for monitor in self.monitors.values():
monitor.afterWorldLocationChanged(locationInWorld)
def _senseInferenceMode(self, featureSDR):
prevCellActivity = None
for i in xrange(self.maxSettlingTime):
inputParams = {
"activeColumns": featureSDR,
"basalInput": self.getActiveLocationCells(),
"apicalInput": self.objectLayer.getActiveCells(),
"learn": False
}
self.inputLayer.compute(**inputParams)
objectParams = {
"feedforwardInput": self.inputLayer.getActiveCells(),
"feedforwardGrowthCandidates": self.inputLayer.getPredictedActiveCells(),
"learn": False,
}
self.objectLayer.compute(**objectParams)
locationParams = {
"anchorInput": self.inputLayer.getActiveCells()
}
for module in self.locationModules:
module.anchor(**locationParams)
cellActivity = (set(self.objectLayer.getActiveCells()),
set(self.inputLayer.getActiveCells()),
set(self.getActiveLocationCells()))
if cellActivity == prevCellActivity:
# It settled. Don't even log this timestep.
break
else:
prevCellActivity = cellActivity
for monitor in self.monitors.values():
if i > 0:
monitor.markSensoryRepetition()
monitor.afterInputCompute(**inputParams)
monitor.afterObjectCompute(**objectParams)
monitor.afterLocationAnchor(**locationParams)
def _senseLearningMode(self, featureSDR):
inputParams = {
"activeColumns": featureSDR,
"basalInput": self.getActiveLocationCells(),
"apicalInput": self.objectLayer.getActiveCells(),
"learn": True
}
self.inputLayer.compute(**inputParams)
objectParams = {
"feedforwardInput": self.inputLayer.getActiveCells(),
"feedforwardGrowthCandidates": self.inputLayer.getPredictedActiveCells(),
"learn": True,
}
self.objectLayer.compute(**objectParams)
locationParams = {
"anchorInput": self.inputLayer.getWinnerCells()
}
for module in self.locationModules:
module.learn(**locationParams)
for monitor in self.monitors.values():
monitor.afterInputCompute(**inputParams)
monitor.afterObjectCompute(**objectParams)
def sense(self, featureSDR, learn):
for monitor in self.monitors.values():
monitor.beforeSense(featureSDR)
if learn:
self._senseLearningMode(featureSDR)
else:
self._senseInferenceMode(featureSDR)
def learnObjects(self):
"""
Learn each provided object.
This method simultaneously learns 4 sets of synapses:
- location -> input
- input -> location
- input -> object
- object -> input
"""
for objectName, objectFeatures in self.objects.iteritems():
self.reset()
for module in self.locationModules:
module.activateRandomLocation()
for feature in objectFeatures:
locationOnObject = (feature["top"] + feature["height"]/2,
feature["left"] + feature["width"]/2)
self.move(objectName, locationOnObject)
featureName = feature["name"]
featureSDR = self.features[featureName]
for _ in xrange(10):
self.sense(featureSDR, learn=True)
self.locationRepresentations[(objectName, locationOnObject)] = (
self.getActiveLocationCells())
self.inputRepresentations[(objectName, locationOnObject, featureName)] = (
self.inputLayer.getActiveCells())
self.objectRepresentations[objectName] = self.objectLayer.getActiveCells()
def inferObjectsWithRandomMovements(self):
"""
Infer each object without any location input.
"""
for objectName, objectFeatures in self.objects.iteritems():
self.reset()
inferred = False
prevTouchSequence = None
for _ in xrange(4):
while True:
touchSequence = list(objectFeatures)
random.shuffle(touchSequence)
if prevTouchSequence is not None:
if touchSequence[0] == prevTouchSequence[-1]:
continue
break
for i, feature in enumerate(touchSequence):
locationOnObject = (feature["top"] + feature["height"]/2,
feature["left"] + feature["width"]/2)
self.move(objectName, locationOnObject)
featureName = feature["name"]
featureSDR = self.features[featureName]
self.sense(featureSDR, learn=False)
inferred = (
set(self.objectLayer.getActiveCells()) ==
set(self.objectRepresentations[objectName]) and
set(self.inputLayer.getActiveCells()) ==
set(self.inputRepresentations[(objectName,
locationOnObject,
featureName)]) and
set(self.getActiveLocationCells()) ==
set(self.locationRepresentations[(objectName, locationOnObject)]))
if inferred:
break
prevTouchSequence = touchSequence
if inferred:
break
def reset(self):
for module in self.locationModules:
module.reset()
self.objectLayer.reset()
self.inputLayer.reset()
self.locationInWorld = None
for monitor in self.monitors.values():
monitor.afterReset()
class PIUNCorticalColumn(object):
"""
A L4 + L6a network. Sensory input causes minicolumns in L4 to activate,
which drives activity in L6a. Motor input causes L6a to perform path
integration, updating its activity, which then depolarizes cells in L4.
Whenever the sensor moves, call movementCompute. Whenever a sensory input
arrives, call sensoryCompute.
"""
def __init__(self, locationConfigs, L4Overrides=None):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
L4Params = {
"columnCount": 150,
"cellsPerColumn": 16,
"basalInputSize": (len(locationConfigs) *
sum(np.prod(config["cellDimensions"])
for config in locationConfigs))
}
if L4Overrides is not None:
L4Params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**L4Params)
self.L6aModules = [
Superficial2DLocationModule(
anchorInputSize=self.L4.numberOfCells(),
**config)
for config in locationConfigs]
def movementCompute(self, displacement, noiseFactor = 0, moduleNoiseFactor = 0):
"""
@param displacement (dict)
The change in location. Example: {"top": 10, "left", 10}
@return (dict)
Data for logging/tracing.
"""
if noiseFactor != 0:
xdisp = np.random.normal(0, noiseFactor)
ydisp = np.random.normal(0, noiseFactor)
else:
xdisp = 0
ydisp = 0
locationParams = {
"displacement": [displacement["top"] + ydisp,
displacement["left"] + xdisp],
"noiseFactor": moduleNoiseFactor
}
for module in self.L6aModules:
module.movementCompute(**locationParams)
return locationParams
def sensoryCompute(self, activeMinicolumns, learn):
"""
@param activeMinicolumns (numpy array)
List of indices of minicolumns to activate.
@param learn (bool)
If True, the two layers should learn this association.
@return (tuple of dicts)
Data for logging/tracing.
"""
inputParams = {
"activeColumns": activeMinicolumns,
"basalInput": self.getLocationRepresentation(),
"learn": learn
}
self.L4.compute(**inputParams)
locationParams = {
"anchorInput": self.L4.getActiveCells(),
"anchorGrowthCandidates": self.L4.getWinnerCells(),
"learn": learn,
}
for module in self.L6aModules:
module.sensoryCompute(**locationParams)
return (inputParams, locationParams)
def reset(self):
"""
Clear all cell activity.
"""
self.L4.reset()
for module in self.L6aModules:
module.reset()
def activateRandomLocation(self):
"""
Activate a random location in the location layer.
"""
for module in self.L6aModules:
module.activateRandomLocation()
def getSensoryRepresentation(self):
"""
Gets the active cells in the sensory layer.
"""
return self.L4.getActiveCells()
def getLocationRepresentation(self):
"""
Get the full population representation of the location layer.
"""
activeCells = np.array([], dtype="uint32")
totalPrevCells = 0
for module in self.L6aModules:
activeCells = np.append(activeCells,
module.getActiveCells() + totalPrevCells)
totalPrevCells += module.numberOfCells()
return activeCells
class LVF(object):
"""Class implementing Localization with Vision Features"""
def __init__(
self,
minX,
maxX,
minY,
maxY,
bottomUpInputSize,
bottomUpOnBits,
):
self.xEncoder = ScalarEncoder(5, minX, 10 * maxX, n=75, forced=True)
self.yEncoder = ScalarEncoder(5, minY, 10 * maxY, n=75, forced=True)
self.externalSize = self.xEncoder.getWidth()**2
self.externalOnBits = self.xEncoder.w**2
self.bottomUpInputSize = bottomUpInputSize
self.bottomUpOnBits = bottomUpOnBits
self.trainingIterations = 0
self.testIterations = 0
self.maxPredictionError = 0
self.totalPredictionError = 0
self.numMissedPredictions = 0
self.tm = TM(columnCount=self.bottomUpInputSize,
basalInputSize=self.externalSize,
cellsPerColumn=4,
initialPermanence=0.4,
connectedPermanence=0.5,
minThreshold=self.externalOnBits,
sampleSize=40,
permanenceIncrement=0.1,
permanenceDecrement=0.00,
activationThreshold=int(
0.75 * (self.externalOnBits + self.bottomUpOnBits)),
basalPredictedSegmentDecrement=0.00,
seed=42)
def compute(self, x, y, bottomUpSDR, learn):
# Encode the inputs appropriately and train the HTM
externalSDR = self.encodePosition(x, y)
if learn:
# During learning we provide the current pose angle as bottom up input
self.trainTM(bottomUpSDR, externalSDR)
self.trainingIterations += 1
else:
print >> sys.stderr, "Learn: ", learn
def encodePosition(self, x, y):
"""Return the SDR for x,y"""
xe = self.xEncoder.encode(x)
ye = self.yEncoder.encode(y)
ex = np.outer(xe, ye)
return ex.flatten().nonzero()[0]
def trainTM(self, bottomUp, externalInput):
#print >> sys.stderr, "Bottom up: ", bottomUp
#print >> sys.stderr, "ExternalInput: ",externalInput
self.tm.compute(bottomUp, basalInput=externalInput, learn=True)
class PIUNCorticalColumn(object):
"""
A L4 + L6a network. Sensory input causes minicolumns in L4 to activate,
which drives activity in L6a. Motor input causes L6a to perform path
integration, updating its activity, which then depolarizes cells in L4.
Whenever the sensor moves, call movementCompute. Whenever a sensory input
arrives, call sensoryCompute.
"""
def __init__(self, locationConfigs, L4Overrides=None):
"""
@param L4Overrides (dict)
Custom parameters for L4
@param locationConfigs (sequence of dicts)
Parameters for the location modules
"""
L4Params = {
"columnCount":
150,
"cellsPerColumn":
16,
"basalInputSize": (len(locationConfigs) * sum(
np.prod(config["cellDimensions"])
for config in locationConfigs))
}
if L4Overrides is not None:
L4Params.update(L4Overrides)
self.L4 = ApicalTiebreakPairMemory(**L4Params)
self.L6aModules = [
Superficial2DLocationModule(
anchorInputSize=self.L4.numberOfCells(), **config)
for config in locationConfigs
]
def movementCompute(self,
displacement,
noiseFactor=0,
moduleNoiseFactor=0):
"""
@param displacement (dict)
The change in location. Example: {"top": 10, "left", 10}
@return (dict)
Data for logging/tracing.
"""
if noiseFactor != 0:
xdisp = np.random.normal(0, noiseFactor)
ydisp = np.random.normal(0, noiseFactor)
else:
xdisp = 0
ydisp = 0
locationParams = {
"displacement":
[displacement["top"] + ydisp, displacement["left"] + xdisp],
"noiseFactor":
moduleNoiseFactor
}
for module in self.L6aModules:
module.movementCompute(**locationParams)
return locationParams
def sensoryCompute(self, activeMinicolumns, learn):
"""
@param activeMinicolumns (numpy array)
List of indices of minicolumns to activate.
@param learn (bool)
If True, the two layers should learn this association.
@return (tuple of dicts)
Data for logging/tracing.
"""
inputParams = {
"activeColumns": activeMinicolumns,
"basalInput": self.getLocationRepresentation(),
"learn": learn
}
self.L4.compute(**inputParams)
locationParams = {
"anchorInput": self.L4.getActiveCells(),
"anchorGrowthCandidates": self.L4.getWinnerCells(),
"learn": learn,
}
for module in self.L6aModules:
module.sensoryCompute(**locationParams)
return (inputParams, locationParams)
def reset(self):
"""
Clear all cell activity.
"""
self.L4.reset()
for module in self.L6aModules:
module.reset()
def activateRandomLocation(self):
"""
Activate a random location in the location layer.
"""
for module in self.L6aModules:
module.activateRandomLocation()
def getSensoryRepresentation(self):
"""
Gets the active cells in the sensory layer.
"""
return self.L4.getActiveCells()
def getLocationRepresentation(self):
"""
Get the full population representation of the location layer.
"""
activeCells = np.array([], dtype="uint32")
totalPrevCells = 0
for module in self.L6aModules:
activeCells = np.append(activeCells,
module.getActiveCells() + totalPrevCells)
totalPrevCells += module.numberOfCells()
return activeCells
def main():
DIR = "./sim_data"
# Odom Encoder
xSDR = ScalarEncoder(w=21,minval=0,maxval=20,n=256)
ySDR = ScalarEncoder(w=21,minval=0,maxval=20,n=256)
xyWidth = xSDR.getWidth() + ySDR.getWidth()
# Visual input
D = np.loadtxt(DIR + '/seq_multi_loop_noise05_al5.txt', dtype='i', delimiter=',')
numberImages = D[:,0].size
nColumns = D[0,:].size
#time.sleep(10)
# Odom input
odom = np.loadtxt(DIR + '/seq_multi_loop_noise05_al5_gt.txt', dtype='f', delimiter=',')
x = odom[:,0]
y = odom[:,1]
# Encoder Odom input
odomSDR = np.zeros((numberImages,xyWidth), dtype=int)
for i in range(1):
_xSDR = np.zeros(xSDR.getWidth(), dtype=int)
xSDR.encodeIntoArray(x[i], _xSDR)
_ySDR = np.zeros(ySDR.getWidth(), dtype=int)
ySDR.encodeIntoArray(y[i], _ySDR)
odomSDR[i,:] = np.concatenate([_xSDR, _ySDR])
tm0 = TM(
columnCount=nColumns,
cellsPerColumn=4,
initialPermanence=0.21,
connectedPermanence=0.5,
permanenceIncrement=0.1,
permanenceDecrement=0.1,
minThreshold=15,
basalInputSize= 512,
reducedBasalThreshold=1000,
activationThreshold=1000,
apicalInputSize=0,
maxSynapsesPerSegment=-1,
sampleSize=1,
seed = 42
)
tm = TemporalMemory(
# Must be the same dimensions as the SP
columnDimensions=(2048,),
# How many cells in each mini-column.
cellsPerColumn=4,
# A segment is active if it has >= activationThreshold connected synapses
# that are active due to infActiveState
activationThreshold=13,
initialPermanence=0.21,
connectedPermanence=0.5,
# Minimum number of active synapses for a segment to be considered during
# search for the best-matching segments.
minThreshold=1,
# The max number of synapses added to a segment during learning
maxNewSynapseCount=3,
#permanenceIncrement=0.01,
#permanenceDecrement=0.01,
predictedSegmentDecrement=0.0005,
maxSegmentsPerCell=3,
maxSynapsesPerSegment=3,
seed=42
)
#time.sleep(10)
# Simple HTM parameters
params = Params()
params.maxPredDepth = 0
params.probAdditionalCon = 0.05 # probability for random connection
params.nCellPerCol = 32 # number of cells per minicolumn
params.nInConPerCol = int(round(np.count_nonzero(D) / D.shape[0]))
#print params.nInConPerCol
params.minColumnActivity = int(round(0.25*params.nInConPerCol))
params.nColsPerPattern = 10 # minimum number of active minicolumns k_min
params.kActiveColumn = 100 # maximum number of active minicolumns k_max
params.kMin = 1
# run HTM
t = time.time()
print ('Simple HTM')
htm = MCN('htm',params)
outputSDR = []
max_index = []
for i in range (min(numberImages,D.shape[0])):
loop = 0
#print('\n-------- ITERATION %d ---------' %i)
# skip empty vectors
if np.count_nonzero(D[i,:]) == 0:
print('empty vector, skip\n')
continue
loop += 1
#print D[i,:]
htm.compute(D[i,:])
max_index.append(max(htm.winnerCells))
outputSDR.append(htm.winnerCells)
elapsed = time.time() - t
print("Elapsed time: %f seconds\n" %elapsed)
# create output SDR matrix from HTM winner cell output
M = np.zeros((len(outputSDR),max(max_index)+1), dtype=int)
for i in range(len(outputSDR)):
for j in range(len(outputSDR[i])):
winner = outputSDR[i][j]
M[i][winner] = 1
# Temporal Pooler descriptors
print 'Temporal Pooler descriptors'
D1_tm=[]
id_max1=[]
t = time.time()
for i in range(min(numberImages,D.shape[0])):
D1_sp = np.nonzero(D[i,:])[0]
tm.compute(D1_sp, learn=True)
activeCells = tm.getWinnerCells()
D1_tm.append(activeCells)
id_max1.append(max(activeCells))
elapsed = time.time() - t
print( "Elapsed time: %f seconds\n" %elapsed)
# create output SDR matrix from HTM winner cell output
T = np.zeros((len(D1_tm),max(id_max1)+1), dtype=int)
for i in range(len(D1_tm)):
for j in range(len(D1_tm[i])):
winner = D1_tm[i][j]
T[i][winner] = 1
# Temporal Pooler - Distal connections
print 'Temporal Pooler - Distal connections'
D2_tm=[]
id_max2=[]
t = time.time()
for i in range(min(numberImages,D.shape[0])):
D2_sp = np.nonzero(D[i,:])[0]
basalInputs = np.nonzero(odomSDR[i,:])[0]
tm0.compute(sorted(D2_sp), sorted(basalInputs), apicalInput=(), basalGrowthCandidates=None, apicalGrowthCandidates=None, learn=True)
activeCells2 = tm0.getWinnerCells()
D2_tm.append(activeCells2)
id_max2.append(max(activeCells2))
elapsed = time.time() - t
print( "Elapsed time: %f seconds\n" %elapsed)
# create output SDR matrix from HTM winner cell output
T2 = np.zeros((len(D2_tm),max(id_max2)+1), dtype=int)
for i in range(len(D2_tm)):
for j in range(len(D2_tm[i])):
winner = D2_tm[i][j]
T2[i][winner] = 1
# Create ground truth and show precision-recall curves
GT_data = np.loadtxt(DIR + '/seq_multi_loop_noNoise_gt.txt', dtype='i', delimiter=',',skiprows=1)
GT = np.zeros((numberImages,numberImages), dtype=int)
for i in range(GT.shape[0]):
for j in range(i,GT.shape[1]):
GT[i,j] = (np.any(GT_data[i,:] != GT_data[j,:])==False)
# Results
print ('Results')
fig, ax = plt.subplots()
S0 = evaluateSimilarity(D)
P, R = createPR(S0,GT)
ax.plot(R, P, label='InputSDR: (avgP=%f)' %np.trapz(P,R))
S1 = evaluateSimilarity(M)
P, R = createPR(S1,GT)
ax.plot(R, P, label='MCN (avgP=%f)' %np.trapz(P,R))
S2 = evaluateSimilarity(T)
P, R = createPR(S2,GT)
ax.plot(R, P, label='HTM (avgP=%f)' %np.trapz(P,R))
S3 = evaluateSimilarity(T2)
P, R = createPR(S3,GT)
ax.plot(R, P, label='HTM Distal (avgP=%f)' %np.trapz(P,R))
ax.legend()
ax.grid(True)
plt.xlabel("Recall")
plt.ylabel("Precision")
plt.show()
'''
def __init__(self, objects, objectPlacements, featureNames, locationConfigs,
numCorticalColumns, worldDimensions, featureW=15,
cellsPerColumn=32):
self.objects = objects
self.objectPlacements = objectPlacements
self.numCorticalColumns = numCorticalColumns
self.worldDimensions = worldDimensions
self.locationConfigs = locationConfigs
self.features = dict(
((iCol, k), np.array(sorted(random.sample(xrange(150), featureW)), dtype="uint32"))
for k in featureNames
for iCol in xrange(numCorticalColumns))
self.corticalColumns = []
for _ in xrange(numCorticalColumns):
inputLayer = ApicalTiebreakPairMemory(**{
"columnCount": 150,
"cellsPerColumn": cellsPerColumn,
"initialPermanence": 1.0,
"basalInputSize": sum(
np.prod(config["cellDimensions"])
for config in locationConfigs),
"apicalInputSize": 4096,
"seed": random.randint(0,2048)})
objectLayer = ColumnPooler(**{
"inputWidth": 150 * cellsPerColumn,
"initialProximalPermanence": 1.0,
"initialProximalPermanence": 1.0,
"lateralInputWidths": [4096] * (numCorticalColumns - 1),
"seed": random.randint(0,2048)})
sensorToBodyModules = [SensorToBodyModule2D(**config)
for config in locationConfigs]
sensorToSpecificObjectModules = [
SensorToSpecificObjectModule(**{
"cellDimensions": config["cellDimensions"],
"anchorInputSize": inputLayer.numberOfCells(),
"initialPermanence": 1.0,
"seed": random.randint(0,2048)})
for config in locationConfigs]
self.corticalColumns.append(
CorticalColumn(inputLayer, objectLayer, sensorToBodyModules,
sensorToSpecificObjectModules))
self.bodyToSpecificObjectModules = []
for iModule, config in enumerate(locationConfigs):
module = BodyToSpecificObjectModule2D(config["cellDimensions"])
pairedSensorModules = [c.sensorToSpecificObjectModules[iModule]
for c in self.corticalColumns]
module.formReciprocalSynapses(pairedSensorModules)
self.bodyToSpecificObjectModules.append(module)
self.maxSettlingTime = 10
self.monitors = {}
self.nextMonitorToken = 1
class Grid2DLocationExperiment(object):
"""
The experiment code organized into a class.
"""
def __init__(self, objects, objectPlacements, featureNames,
locationConfigs, worldDimensions):
self.objects = objects
self.objectPlacements = objectPlacements
self.worldDimensions = worldDimensions
self.features = dict(
(k,
np.array(sorted(random.sample(xrange(150), 15)), dtype="uint32"))
for k in featureNames)
self.locationModules = [
SuperficialLocationModule2D(anchorInputSize=150 * 32, **config)
for config in locationConfigs
]
self.inputLayer = ApicalTiebreakPairMemory(
**{
"columnCount":
150,
"cellsPerColumn":
32,
"basalInputSize":
18 * sum(
np.prod(config["cellDimensions"])
for config in locationConfigs),
"apicalInputSize":
4096
})
self.objectLayer = ColumnPooler(**{"inputWidth": 150 * 32})
# Use these for classifying SDRs and for testing whether they're correct.
self.locationRepresentations = {
# Example:
# (objectName, (top, left)): [0, 26, 54, 77, 101, ...]
}
self.inputRepresentations = {
# Example:
# (objectName, (top, left), featureName): [0, 26, 54, 77, 101, ...]
}
self.objectRepresentations = {
# Example:
# objectName: [14, 19, 54, 107, 201, ...]
}
self.locationInWorld = None
self.maxSettlingTime = 10
self.monitors = {}
self.nextMonitorToken = 1
def addMonitor(self, monitor):
"""
Subscribe to Grid2DLocationExperimentMonitor events.
@param monitor (Grid2DLocationExperimentMonitor)
An object that implements a set of monitor methods
@return (object)
An opaque object that can be used to refer to this monitor.
"""
token = self.nextMonitorToken
self.nextMonitorToken += 1
self.monitors[token] = monitor
return token
def removeMonitor(self, monitorToken):
"""
Unsubscribe from LocationExperiment events.
@param monitorToken (object)
The return value of addMonitor() from when this monitor was added
"""
del self.monitors[monitorToken]
def getActiveLocationCells(self):
activeCells = np.array([], dtype="uint32")
totalPrevCells = 0
for i, module in enumerate(self.locationModules):
activeCells = np.append(activeCells,
module.getActiveCells() + totalPrevCells)
totalPrevCells += module.numberOfCells()
return activeCells
def move(self, objectName, locationOnObject):
objectPlacement = self.objectPlacements[objectName]
locationInWorld = (objectPlacement[0] + locationOnObject[0],
objectPlacement[1] + locationOnObject[1])
if self.locationInWorld is not None:
deltaLocation = (locationInWorld[0] - self.locationInWorld[0],
locationInWorld[1] - self.locationInWorld[1])
for monitor in self.monitors.values():
monitor.beforeMove(deltaLocation)
params = {"deltaLocation": deltaLocation}
for module in self.locationModules:
module.shift(**params)
for monitor in self.monitors.values():
monitor.afterLocationShift(**params)
self.locationInWorld = locationInWorld
for monitor in self.monitors.values():
monitor.afterWorldLocationChanged(locationInWorld)
def _senseInferenceMode(self, featureSDR):
prevCellActivity = None
for i in xrange(self.maxSettlingTime):
inputParams = {
"activeColumns": featureSDR,
"basalInput": self.getActiveLocationCells(),
"apicalInput": self.objectLayer.getActiveCells(),
"learn": False
}
self.inputLayer.compute(**inputParams)
objectParams = {
"feedforwardInput":
self.inputLayer.getActiveCells(),
"feedforwardGrowthCandidates":
self.inputLayer.getPredictedActiveCells(),
"learn":
False,
}
self.objectLayer.compute(**objectParams)
locationParams = {"anchorInput": self.inputLayer.getActiveCells()}
for module in self.locationModules:
module.anchor(**locationParams)
cellActivity = (set(self.objectLayer.getActiveCells()),
set(self.inputLayer.getActiveCells()),
set(self.getActiveLocationCells()))
if cellActivity == prevCellActivity:
# It settled. Don't even log this timestep.
break
else:
prevCellActivity = cellActivity
for monitor in self.monitors.values():
if i > 0:
monitor.markSensoryRepetition()
monitor.afterInputCompute(**inputParams)
monitor.afterObjectCompute(**objectParams)
monitor.afterLocationAnchor(**locationParams)
def _senseLearningMode(self, featureSDR):
inputParams = {
"activeColumns": featureSDR,
"basalInput": self.getActiveLocationCells(),
"apicalInput": self.objectLayer.getActiveCells(),
"learn": True
}
self.inputLayer.compute(**inputParams)
objectParams = {
"feedforwardInput":
self.inputLayer.getActiveCells(),
"feedforwardGrowthCandidates":
self.inputLayer.getPredictedActiveCells(),
"learn":
True,
}
self.objectLayer.compute(**objectParams)
locationParams = {"anchorInput": self.inputLayer.getWinnerCells()}
for module in self.locationModules:
module.learn(**locationParams)
for monitor in self.monitors.values():
monitor.afterInputCompute(**inputParams)
monitor.afterObjectCompute(**objectParams)
def sense(self, featureSDR, learn):
for monitor in self.monitors.values():
monitor.beforeSense(featureSDR)
if learn:
self._senseLearningMode(featureSDR)
else:
self._senseInferenceMode(featureSDR)
def learnObjects(self):
"""
Learn each provided object.
This method simultaneously learns 4 sets of synapses:
- location -> input
- input -> location
- input -> object
- object -> input
"""
for objectName, objectFeatures in self.objects.iteritems():
self.reset()
for module in self.locationModules:
module.activateRandomLocation()
for feature in objectFeatures:
locationOnObject = (feature["top"] + feature["height"] / 2,
feature["left"] + feature["width"] / 2)
self.move(objectName, locationOnObject)
featureName = feature["name"]
featureSDR = self.features[featureName]
for _ in xrange(10):
self.sense(featureSDR, learn=True)
self.locationRepresentations[(
objectName,
locationOnObject)] = (self.getActiveLocationCells())
self.inputRepresentations[(
objectName, locationOnObject,
featureName)] = (self.inputLayer.getActiveCells())
self.objectRepresentations[
objectName] = self.objectLayer.getActiveCells()
def inferObjectsWithRandomMovements(self):
"""
Infer each object without any location input.
"""
for objectName, objectFeatures in self.objects.iteritems():
self.reset()
inferred = False
prevTouchSequence = None
for _ in xrange(4):
while True:
touchSequence = list(objectFeatures)
random.shuffle(touchSequence)
if prevTouchSequence is not None:
if touchSequence[0] == prevTouchSequence[-1]:
continue
break
for i, feature in enumerate(touchSequence):
locationOnObject = (feature["top"] + feature["height"] / 2,
feature["left"] + feature["width"] / 2)
self.move(objectName, locationOnObject)
featureName = feature["name"]
featureSDR = self.features[featureName]
self.sense(featureSDR, learn=False)
inferred = (
set(self.objectLayer.getActiveCells()) == set(
self.objectRepresentations[objectName])
and set(self.inputLayer.getActiveCells()) == set(
self.inputRepresentations[(objectName,
locationOnObject,
featureName)])
and set(self.getActiveLocationCells()) == set(
self.locationRepresentations[(objectName,
locationOnObject)]))
if inferred:
break
prevTouchSequence = touchSequence
if inferred:
break
def reset(self):
for module in self.locationModules:
module.reset()
self.objectLayer.reset()
self.inputLayer.reset()
self.locationInWorld = None
for monitor in self.monitors.values():
monitor.afterReset()
class RelationalMemory(object):
def __init__(self, l4N, l4W, numModules, moduleDimensions,
maxActivePerModule, l6ActivationThreshold):
self.numModules = numModules
self.moduleDimensions = moduleDimensions
self._cellsPerModule = np.prod(moduleDimensions)
self.maxActivePerModule = maxActivePerModule
self.l4N = l4N
self.l4W = l4W
self.l6ActivationThreshold = l6ActivationThreshold
self.l4TM = TemporalMemory(
columnCount=l4N,
basalInputSize=numModules*self._cellsPerModule,
cellsPerColumn=4,
#activationThreshold=int(numModules / 2) + 1,
#reducedBasalThreshold=int(numModules / 2) + 1,
activationThreshold=1,
reducedBasalThreshold=1,
initialPermanence=1.0,
connectedPermanence=0.5,
minThreshold=1,
sampleSize=numModules,
permanenceIncrement=1.0,
permanenceDecrement=0.0,
)
self.l6Connections = [Connections(numCells=self._cellsPerModule)
for _ in xrange(numModules)]
self.pooler = ColumnPooler(
inputWidth=self.numModules*self._cellsPerModule,
)
self.classifier = KNNClassifier(k=1, distanceMethod="rawOverlap")
#self.classifier = KNNClassifier(k=1, distanceMethod="norm")
# Active state
self.activeL6Cells = [[] for _ in xrange(numModules)]
self.activeL5Cells = [[] for _ in xrange(numModules)]
self.predictedL6Cells = [set([]) for _ in xrange(numModules)]
# Debug state
self.activeL6BeforeMotor = [[] for _ in xrange(numModules)]
self.l6ToL4Map = collections.defaultdict(list)
def reset(self):
self.activeL6Cells = [[] for _ in xrange(self.numModules)]
self.activeL5Cells = [[] for _ in xrange(self.numModules)]
self.predictedL6Cells = [set([]) for _ in xrange(self.numModules)]
self.l4TM.reset()
self.pooler.reset()
def trainFeatures(self, sensoryInputs):
# Randomly assign bilateral connections and zero others
for sense in sensoryInputs:
# Choose L6 cells randomly
activeL6Cells = [[np.random.randint(self._cellsPerModule)]
for _ in xrange(self.numModules)]
l4BasalInput = getGlobalIndices(activeL6Cells, self._cellsPerModule)
# Learn L6->L4 connections
self.l4TM.compute(activeColumns=sense, basalInput=l4BasalInput, learn=True)
self.l4TM.compute(activeColumns=sense, basalInput=l4BasalInput, learn=True)
self.l4TM.compute(activeColumns=sense, basalInput=l4BasalInput, learn=True)
self.l4TM.compute(activeColumns=sense, basalInput=l4BasalInput, learn=True)
activeL4Cells = self.l4TM.getActiveCells()
# Debug: store the map
for l6Cell in itertools.chain(*activeL6Cells):
self.l6ToL4Map[l6Cell].extend(activeL4Cells)
# Learn L4->L6 connections
for l6Cells, connections in zip(activeL6Cells, self.l6Connections):
# Assumes one cell active per L6 module when training features
segment = connections.createSegment(l6Cells[0])
for l4Cell in activeL4Cells:
connections.createSynapse(segment, l4Cell, 1.0)
def compute(self, ff, motor, objClass, outputFile):
"""Run one iteration of the online sensorimotor algorithm.
This function has three stages:
- The FEEDFORWARD pass drives
Prerequisites: `trainFeatures` must have been run already
:param ff: feedforward sensory input
:param motor: the motor command for next move, in the form of delta
coordinates
:param objClass: the object class to train the classifier, or None
if not learning
"""
delta = motor
# FEEDFORWARD
# Determine active feature representation in l4, using lateral input
# from l6 previous step feedback
l4BasalInput = getGlobalIndices(self.predictedL6Cells, self._cellsPerModule)
self.l4TM.compute(activeColumns=ff, basalInput=l4BasalInput,
learn=False)
predictedL4Cells = self.l4TM.getPredictedCells()
activeL4Cells = self.l4TM.getActiveCells()
# Drive L6 activation from l4
for m, connections in enumerate(self.l6Connections):
newCells = []
activeConnectedPerSegment = connections.computeActivity(activeL4Cells, 0.5)[0]
for flatIdx, activeConnected in enumerate(activeConnectedPerSegment):
if activeConnected >= self.l6ActivationThreshold:
cellIdx = connections.segmentForFlatIdx(flatIdx).cell
newCells.append(cellIdx)
#for cell in newCells:
# print connections.segmentsForCell(cell)
#print newCells
#assert len(newCells) <= 1
self.activeL6Cells[m].insert(0, newCells)
# TODO: This is the number of steps, not necessarily the number of cells
lenBefore = len(self.activeL6Cells[m])
del self.activeL6Cells[m][self.maxActivePerModule:]
lenAfter = len(self.activeL6Cells[m])
#assert lenBefore == lenAfter, "Debug assert to check that we aren't hitting limit on L6 activity. Can remove when we set max active low enough relative to object size (times number of train/test iterations)"
self.activeL6BeforeMotor = [list(itertools.chain(*l6Module))
for l6Module in self.activeL6Cells]
# Replace l5 activity with new transforms
self.activeL5Cells = []
for activeL6Module in self.activeL6Cells:
transforms = set()
for newCell in activeL6Module[0]:
for prevCell in itertools.chain(*activeL6Module[1:]):
if newCell == prevCell:
continue
# Transform from prev to new
t1 = bind(prevCell, newCell, self.moduleDimensions)
transforms.add(t1)
# Transform from new to prev
t2 = bind(newCell, prevCell, self.moduleDimensions)
transforms.add(t2)
self.activeL5Cells.append(list(transforms))
# Pool into object representation
classifierLearn = True if objClass is not None else False
globalL5ActiveCells = sorted(getGlobalIndices(self.activeL5Cells, self._cellsPerModule))
self.pooler.compute(feedforwardInput=globalL5ActiveCells,
learn=classifierLearn,
predictedInput=globalL5ActiveCells)
# Classifier
classifierInput = np.zeros((self.pooler.numberOfCells(),), dtype=np.uint32)
classifierInput[self.pooler.getActiveCells()] = 1
#print classifierInput.nonzero()
#print self.pooler.getActiveCells()
#print
self.prediction = self.classifier.infer(classifierInput)
if objClass is not None:
self.classifier.learn(classifierInput, objClass)
# MOTOR
# Update L6 based on motor command
numActivePerModuleBefore = [sum([len(cells) for cells in active]) for active in self.activeL6Cells]
self.activeL6Cells = [
[[pathIntegrate(c, self.moduleDimensions, delta)
for c in steps]
for steps in prevActiveCells]
for prevActiveCells in self.activeL6Cells]
numActivePerModuleAfter = [sum([len(cells) for cells in active]) for active in self.activeL6Cells]
assert numActivePerModuleAfter == numActivePerModuleBefore
# FEEDBACK
# Get all transforms associated with object
# TODO: Get transforms from object in addition to current activity
predictiveTransforms = [l5Active for l5Active in self.activeL5Cells]
# Get set of predicted l6 representations (including already active)
# and store them for next step l4 compute
self.predictedL6Cells = []
for l6, l5 in itertools.izip(self.activeL6Cells, predictiveTransforms):
predictedCells = []
for activeL6Cell in set(itertools.chain(*l6)):
for activeL5Cell in l5:
predictedCell = unbind(activeL6Cell, activeL5Cell, self.moduleDimensions)
predictedCells.append(predictedCell)
self.predictedL6Cells.append(set(
list(itertools.chain(*l6)) + predictedCells))
# Log this step
if outputFile:
log = RelationalMemoryLog.new_message()
log.ts = time.time()
sensationProto = log.init("sensation", len(ff))
for i in xrange(len(ff)):
sensationProto[i] = int(ff[i])
predictedL4Proto = log.init("predictedL4", len(predictedL4Cells))
for i in xrange(len(predictedL4Cells)):
predictedL4Proto[i] = int(predictedL4Cells[i])
activeL4Proto = log.init("activeL4", len(activeL4Cells))
for i in xrange(len(activeL4Cells)):
activeL4Proto[i] = int(activeL4Cells[i])
activeL6HistoryProto = log.init("activeL6History", len(self.activeL6Cells))
for i in xrange(len(self.activeL6Cells)):
activeL6ModuleProto = activeL6HistoryProto.init(i, len(self.activeL6Cells[i]))
for j in xrange(len(self.activeL6Cells[i])):
activeL6ModuleStepProto = activeL6ModuleProto.init(j, len(self.activeL6Cells[i][j]))
for k in xrange(len(self.activeL6Cells[i][j])):
activeL6ModuleStepProto[k] = int(self.activeL6Cells[i][j][k])
activeL5Proto = log.init("activeL5", len(self.activeL5Cells))
for i in xrange(len(self.activeL5Cells)):
activeL5ModuleProto = activeL5Proto.init(i, len(self.activeL5Cells[i]))
for j in xrange(len(self.activeL5Cells[i])):
activeL5ModuleProto[j] = int(self.activeL5Cells[i][j])
classifierResults = [(i, distance)
for i, distance in enumerate(self.prediction[2])
if distance is not None]
classifierResultsProto = log.init("classifierResults",
len(classifierResults))
for i in xrange(len(classifierResults)):
classifierResultProto = classifierResultsProto[i]
classifierResultProto.label = classifierResults[i][0]
classifierResultProto.distance = float(classifierResults[i][1])
motorDeltaProto = log.init("motorDelta", len(delta))
for i in xrange(len(delta)):
motorDeltaProto[i] = int(delta[i])
predictedL6Proto = log.init("predictedL6", len(self.predictedL6Cells))
for i in xrange(len(self.predictedL6Cells)):
predictedL6ModuleProto = predictedL6Proto.init(i, len(self.predictedL6Cells[i]))
for j, c in enumerate(self.predictedL6Cells[i]):
predictedL6ModuleProto[j] = int(c)
json.dump(log.to_dict(), outputFile)
outputFile.write("\n")