class LWPRFA(FA):
parametric = False
def __init__(self, indim, outdim):
FA.__init__(self, indim, outdim)
self.filename = None
def reset(self):
FA.reset(self)
# initialize the LWPR function
self.lwpr = LWPR(self.indim, self.outdim)
self.lwpr.init_D = 10.*np.eye(self.indim)
self.lwpr.init_alpha = 0.1*np.ones([self.indim, self.indim])
self.lwpr.meta = True
def predict(self, inp):
""" predict the output for the given input. """
# the next 3 lines fix a bug when lwpr models are pickled and unpickled again
# without it, a TypeError is thrown "Expected a double precision numpy array."
# even though the numpy array is double precision.
inp = self._asFlatArray(inp)
inp_tmp = np.zeros(inp.shape)
inp_tmp[:] = inp
return self.lwpr.predict(inp_tmp)
def train(self):
for i, t in self.dataset:
i = self._asFlatArray(i)
t = self._asFlatArray(t)
self.lwpr.update(i, t)
def _cleanup(self):
if self.filename and os.path.exists(self.filename):
os.remove(self.filename)
def __getstate__(self):
""" required for pickle. removes the lwpr model from the dictionary
and saves it to file explicitly.
"""
# create unique hash key for filename and write lwpr to file
hashkey = hashlib.sha1(str(self.lwpr) + time.ctime() + str(np.random.random())).hexdigest()[:8]
if not os.path.exists('.lwprmodels'):
os.makedirs('.lwprmodels')
# remove any old files if existing
if self.filename:
os.remove(self.filename)
self.filename = '.lwprmodels/lwpr_%s.binary'%hashkey
self.lwpr.write_binary(self.filename)
# remove lwpr from dictionary and return state
state = self.__dict__.copy()
del state['lwpr']
return state
def __setstate__(self, state):
""" required for pickle. loads the stored lwpr model explicitly.
"""
self.__dict__.update(state)
self.lwpr = LWPR(self.filename)
def train_lwpr(datafile, resultfolder, max_num_train, patience_list, improvement_threshold, init_lwpr_setting, hist_window, start_epoch=0, cmd_scaler=1.0, modelfile='lwpr_model'):
curr_path = os.getcwd()
if resultfolder in os.listdir(curr_path):
print "subfolder exists"
else:
print "Not Exist, so make subfolder"
os.mkdir(resultfolder)
# Load Data
dataset = loadmat(datafile)
train_data_x, train_data_y = dataset['train_data_x'], dataset['train_data_y']
valid_data_x, valid_data_y = dataset['valid_data_x'], dataset['valid_data_y']
num_data, num_valid = train_data_x.shape[0], valid_data_x.shape[0]
speed_hw, cmd_hw = hist_window[0], hist_window[1]
input_dim = 2*(speed_hw+cmd_hw)
# normalize command part
train_data_x[:, 2*speed_hw:] = train_data_x[:, 2*speed_hw:] * cmd_scaler
valid_data_x[:, 2*speed_hw:] = valid_data_x[:, 2*speed_hw:] * cmd_scaler
# Set-up Parameters/Model for Training Procedure
max_num_trials = max_num_train
improvement_threshold = improvement_threshold
error_hist, best_model_error, prev_train_time = [], np.inf, 0
initD, initA, penalty = init_lwpr_setting[0], init_lwpr_setting[1], init_lwpr_setting[2]
w_gen, w_prune = init_lwpr_setting[3], init_lwpr_setting[4]
best_model_epoch = 0
if start_epoch < 1:
# Initialize Two 1-Dimensional Models
LWPR_model_left = LWPR(input_dim, 1)
#LWPR_model_left.init_D = initD * np.eye(input_dim)
tmp_arr = np.ones(input_dim)
tmp_arr[input_dim-2*cmd_hw:input_dim] = init_lwpr_setting[5]
LWPR_model_left.init_D = initD * np.diag(tmp_arr)
LWPR_model_left.update_D = False # True
#LWPR_model_left.init_alpha = initA * np.eye(input_dim)
tmp_arr = np.ones(input_dim)
tmp_arr[input_dim-2*cmd_hw:input_dim] = init_lwpr_setting[5]
LWPR_model_left.init_alpha = initA * np.diag(tmp_arr)
LWPR_model_left.penalty = penalty
LWPR_model_left.meta = True
LWPR_model_left.meta_rate = 20
LWPR_model_left.w_gen = w_gen
LWPR_model_left.w_prune = w_prune
LWPR_model_right = LWPR(input_dim, 1)
#LWPR_model_right.init_D = initD * np.eye(input_dim)
tmp_arr = np.ones(input_dim)
tmp_arr[input_dim-2*cmd_hw:input_dim] = init_lwpr_setting[5]
LWPR_model_right.init_D = initD * np.diag(tmp_arr)
LWPR_model_right.update_D = False # True
#LWPR_model_right.init_alpha = initA * np.eye(input_dim)
tmp_arr = np.ones(input_dim)
tmp_arr[input_dim-2*cmd_hw:input_dim] = init_lwpr_setting[5]
LWPR_model_right.init_alpha = initA * np.diag(tmp_arr)
LWPR_model_right.penalty = penalty
LWPR_model_right.meta = True
LWPR_model_right.meta_rate = 20
LWPR_model_right.w_gen = w_gen
LWPR_model_right.w_prune = w_prune
patience = patience_list[0]
else:
modelfile_name = './' + resultfolder + '/' + modelfile + '_left_epoch' + str(start_epoch-1) + '.bin'
LWPR_model_left = LWPR(modelfile_name)
print '\tRead LWPR model for left wheel(%d)' % (LWPR_model_left.num_rfs[0])
modelfile_name = './' + resultfolder + '/' + modelfile + '_right_epoch' + str(start_epoch-1) + '.bin'
LWPR_model_right = LWPR(modelfile_name)
print '\tRead LWPR model for right wheel(%d)' % (LWPR_model_right.num_rfs[0])
result_file_name = './' + resultfolder + '/Result_of_training_epoch' + str(start_epoch-1) + '.mat'
result_file = loadmat(result_file_name)
prev_train_time = result_file['train_time']
patience = result_file['patience']
best_model_error = result_file['best_model_error']
for cnt in range(start_epoch):
error_hist.append([result_file['history_validation_error'][cnt][0], result_file['history_validation_error'][cnt][1], result_file['history_validation_error'][cnt][2]])
# Training Part
model_prediction = np.zeros(valid_data_y.shape)
tmp_x, tmp_y = np.zeros((input_dim, 1)), np.zeros((1,1))
print 'start training'
start_train_time = timeit.default_timer()
for train_cnt in range(start_epoch, max_num_trials):
if patience < train_cnt:
break
rand_ind = np.random.permutation(num_data)
for data_cnt in range(num_data):
tmp_x[:,0] = train_data_x[rand_ind[data_cnt], 0:input_dim]
tmp_y[0,0] = train_data_y[rand_ind[data_cnt], 0]
_ = LWPR_model_left.update(tmp_x, tmp_y)
tmp_y[0,0] = train_data_y[rand_ind[data_cnt], 1]
_ = LWPR_model_right.update(tmp_x, tmp_y)
if data_cnt % 5000 == 0:
print '\ttrain epoch %d, data index %d, #rfs=%d/%d' % (train_cnt, data_cnt, LWPR_model_left.num_rfs, LWPR_model_right.num_rfs)
for data_cnt in range(num_valid):
tmp_x[:,0] = valid_data_x[data_cnt, 0:input_dim]
model_prediction[data_cnt, 0], _ = LWPR_model_left.predict_conf(tmp_x)
model_prediction[data_cnt, 1], _ = LWPR_model_right.predict_conf(tmp_x)
diff = abs(valid_data_y - model_prediction)
new_error = np.asarray([np.sum(diff)/float(num_valid), np.sqrt(np.sum(diff**2)/float(num_valid)), np.max(diff)])
error_hist.append([new_error[0], new_error[1], new_error[2]])
# save result of one training epoch
modelfile_name = './' + resultfolder + '/' + modelfile + '_left_epoch' + str(train_cnt) + '.bin'
LWPR_model_left.write_binary(modelfile_name)
modelfile_name = './' + resultfolder + '/' + modelfile + '_right_epoch' + str(train_cnt) + '.bin'
LWPR_model_right.write_binary(modelfile_name)
if new_error[1] < best_model_error * improvement_threshold:
best_model_epoch = train_cnt
best_model_error = new_error[1]
patience = max(patience, min(train_cnt+10, int(train_cnt * patience_list[1])) )
modelfile_name = './' + resultfolder + '/' + modelfile + '_best_left_epoch' + str(train_cnt) + '.bin'
LWPR_model_left.write_binary(modelfile_name)
modelfile_name = './' + resultfolder + '/' + modelfile + '_best_right_epoch' + str(train_cnt) + '.bin'
LWPR_model_right.write_binary(modelfile_name)
result_file_name = './' + resultfolder + '/Result_of_training_epoch' + str(train_cnt) + '.mat'
result = {}
result['train_time'] = timeit.default_timer() - start_train_time + prev_train_time
result['best_model_error'] = best_model_error
result['history_validation_error'] = error_hist
result['patience'] = patience
result['improvement_threshold'] = improvement_threshold
result['init_D'] = initD
result['init_alpha'] = initA
result['penalty'] = penalty
result['w_generate_criterion'] = w_gen
result['w_prune_criterion'] = w_prune
result['number_speed_in_input'] = 2*speed_hw
result['number_cmd_in_input'] = 2*cmd_hw
savemat(result_file_name, result)
print '\n\tSave Intermediate Result Successfully'
print '\t%d-th learning : #Data=%d/%d, #rfs=%d/%d, error=%f\n' %(train_cnt, LWPR_model_left.n_data, LWPR_model_right.n_data, LWPR_model_left.num_rfs, LWPR_model_right.num_rfs, error_hist[train_cnt][1])
print 'end training'
return best_model_epoch
