def train(obj, optimizer, dataset, xp, args, epoch):
xp.Timer_Train.reset()
stats = {}
for i, x, y in tqdm(optimizer.get_sampler(dataset),
desc='Train Epoch',
leave=False,
total=optimizer.get_sampler_len(dataset)):
oracle_info = obj.oracle(optimizer.variables.w, x, y)
oracle_info['i'] = i
optimizer.step(oracle_info)
# track statistics for monitoring
stats['obj'] = float(oracle_info['obj'])
stats['error'] = float(obj.task_error(optimizer.variables.w, x, y))
stats['size'] = float(x.size(0))
update_metrics(xp, stats)
xp.Timer_Train.update()
print('\nEpoch: [{0}] (Train) \t'
'({timer:.2f}s) \t'
'Obj {obj:.3f}\t'
'Error {error:.2f}\t'.format(
int(xp.Epoch.value),
timer=xp.Timer_Train.value,
error=xp.Error_Train.value,
obj=xp.Obj_Train.value,
))
log_metrics(xp, epoch)
def train(model, loss, optimizer, loader, xp, args):
model.train()
xp.Timer_Train.reset()
stats_dict = {}
for x, y in tqdm(loader, disable=not args.tqdm, desc='Train Epoch',
leave=False, total=len(loader)):
(x, y) = (x.cuda(), y.cuda()) if args.cuda else (x, y)
# forward pass
scores = model(x)
# compute the loss function, possibly using smoothing
with set_smoothing_enabled(args.smooth_svm):
loss_value = loss(scores, y)
# backward pass
optimizer.zero_grad()
loss_value.backward()
# optimization step
optimizer.step(lambda: float(loss_value))
# monitoring
stats_dict['loss'] = float(loss(scores, y))
stats_dict['acc'] = float(accuracy(scores, y))
stats_dict['gamma'] = float(optimizer.gamma)
stats_dict['size'] = float(scores.size(0))
update_metrics(xp, stats_dict)
xp.Eta.update(optimizer.eta)
xp.Reg.update(regularization(model, args.l2))
xp.Obj_Train.update(xp.Reg.value + xp.Loss_Train.value)
xp.Timer_Train.update()
print('\nEpoch: [{0}] (Train) \t'
'({timer:.2f}s) \t'
'Obj {obj:.3f}\t'
'Loss {loss:.3f}\t'
'Acc {acc:.2f}%\t'
.format(int(xp.Epoch.value),
timer=xp.Timer_Train.value,
acc=xp.Acc_Train.value,
obj=xp.Obj_Train.value,
loss=xp.Loss_Train.value))
log_metrics(xp)
def evaluate(model, loss_fn, test_loader, params, dirs, istest=False):
'''Evaluate the model on the test set.
Args:
model: (torch.nn.Module) the Deep AR model
loss_fn: a function that takes outputs and labels per timestep, and then computes the loss for the batch
test_loader: load test data and labels
params: (Params) hyperparameters
'''
logger = logging.getLogger('DeepAR.Eval')
model.eval()
with torch.no_grad():
summary = {}
metrics = utils.init_metrics(params, dirs)
for i, (test_batch, labels) in enumerate(tqdm(test_loader)):
test_batch = test_batch.permute(1, 0, 2).to(torch.float32).to(
dirs.device)
labels = labels.to(torch.float32).to(dirs.device)
batch_size = test_batch.shape[1]
hidden = model.init_hidden(batch_size)
cell = model.init_cell(batch_size)
for t in range(params.pred_start):
_, hidden, cell = model(test_batch[t].unsqueeze(0), hidden,
cell)
#save some params of SQF for plot
if istest and (i == 0):
plot_param, _, _ = model(
test_batch[params.pred_start].unsqueeze(0), hidden, cell)
save_name = os.path.join(dirs.model_dir, 'sqf_param')
with open(save_name, 'wb') as f:
import pickle
pickle.dump(plot_param, f)
pickle.dump(test_batch[params.pred_start], f)
samples, _, _ = model.predict(test_batch,
hidden,
cell,
sampling=True)
metrics = utils.update_metrics(metrics, samples, labels,
params.pred_start)
summary = utils.final_metrics(metrics)
if istest == False:
strings ='\nCRPS: '+str(summary['CRPS'])+\
'\nmre:'+str(summary['mre'].abs().max(dim=1)[0].mean().item())+\
'\nPINAW:'+str(summary['pinaw'].item())
logger.info('- Full test metrics: ' + strings)
else:
logger.info(' - Test Set CRPS: ' +
str(summary['CRPS'].mean().item()))
ss_metric = {}
ss_metric['CRPS_Mean'] = summary['CRPS'].mean()
ss_metric['mre'] = summary['mre'].abs().mean()
ss_metric['pinaw'] = summary['pinaw']
for i, crps in enumerate(summary['CRPS']):
ss_metric[f'CRPS_{i}'] = crps
for i, mre in enumerate(summary['mre'].mean(dim=0)):
ss_metric[f'mre_{i}'] = mre
return ss_metric
def evaluate(model, test_loader, params, plot_num):
'''Evaluate the model on the test set.
Args:
model: (torch.nn.Module) the Deep AR model
loss_fn: a function that takes outputs and labels per timestep, and then computes the loss for the batch
test_loader: load test data and labels
params: (Params) hyperparameters
plot_num: (-1): evaluation from evaluate.py; else (epoch): evaluation on epoch
sample: (boolean) do ancestral sampling or directly use output mu from last time step
'''
model.eval()
with torch.no_grad():
plot_batch = np.random.randint(len(test_loader) - 1)
summary_metric = {}
raw_metrics = utils.init_metrics()
sum_mu = torch.zeros([740, params.predict_steps]).to(params.device)
sum_sigma = torch.zeros([740, params.predict_steps]).to(params.device)
true = torch.zeros([740, params.predict_steps]).to(params.device)
for i, (test_batch, id_batch, v,
labels) in enumerate(tqdm(test_loader)):
test_batch = test_batch.to(torch.float32).to(params.device)
id_batch = id_batch.unsqueeze(-1).to(params.device)
v_batch = v.to(torch.float32).to(params.device)
labels = labels.to(torch.float32).to(params.device)
batch_size = test_batch.shape[0]
sample_mu, sample_q90 = transformer.test(model, params, test_batch,
v_batch, id_batch)
raw_metrics = utils.update_metrics(
raw_metrics,
sample_mu,
labels,
params.test_predict_start,
relative=params.relative_metrics)
if (i == 0):
sum_mu = sample_mu
sum_q90 = sample_q90
true = labels[:, -params.predict_steps:]
else:
sum_mu = torch.cat([sum_mu, sample_mu], 0)
sum_q90 = torch.cat([sum_q90, sample_q90], 0)
true = torch.cat([true, labels[:, -params.predict_steps:]], 0)
summary_metric = utils.final_metrics(raw_metrics)
summary_metric['q50'] = transformer.quantile_loss(0.5, sum_mu, true)
summary_metric['q90'] = transformer.quantile_loss(0.5, sum_q90, true)
summary_metric['MAPE'] = transformer.MAPE(sum_mu, true)
metrics_string = '; '.join('{}: {:05.3f}'.format(k, v)
for k, v in summary_metric.items())
logger.info('- Full test metrics: ' + metrics_string)
return summary_metric
def evaluate_dataset(model, dataloader):
model.eval()
running_metrics = None
for images_lowres, images_fullres, targets in dataloader:
images_lowres, images_fullres, targets = utils.device(
[images_lowres, images_fullres, targets])
with torch.no_grad():
predictions = model(images_lowres, images_fullres)
psnr = compute_psnr(predictions, targets)
running_metrics = utils.update_metrics(running_metrics, {'psnr': psnr},
len(dataloader))
model.train()
return running_metrics
def evaluate(model, loss_fn, test_loader, params, plot_num, sample=True):
'''Evaluate the model on the test set.
Args:
model: (torch.nn.Module) the Deep AR model
loss_fn: a function that takes outputs and labels per timestep, and then computes the loss for the batch
test_loader: load test data and labels
params: (Params) hyperparameters
plot_num: (-1): evaluation from evaluate.py; else (epoch): evaluation on epoch
sample: (boolean) do ancestral sampling or directly use output mu from last time step
'''
model.eval()
with torch.no_grad():
plot_batch = np.random.randint(len(test_loader)-1)
summary_metric = {}
raw_metrics = utils.init_metrics(sample=sample)
# Test_loader:
# test_batch ([batch_size, train_window, 1+cov_dim]): z_{0:T-1} + x_{1:T}, note that z_0 = 0;
# id_batch ([batch_size]): one integer denoting the time series id;
# v ([batch_size, 2]): scaling factor for each window;
# labels ([batch_size, train_window]): z_{1:T}.
for i, (test_batch, id_batch, v, labels) in enumerate(tqdm(test_loader)):
test_batch = test_batch.permute(1, 0, 2).to(torch.float32).to(params.device)
id_batch = id_batch.unsqueeze(0).to(params.device)
v_batch = v.to(torch.float32).to(params.device)
labels = labels.to(torch.float32).to(params.device)
batch_size = test_batch.shape[1]
input_mu = torch.zeros(batch_size, params.test_predict_start, device=params.device) # scaled
input_sigma = torch.zeros(batch_size, params.test_predict_start, device=params.device) # scaled
hidden = model.init_hidden(batch_size)
cell = model.init_cell(batch_size)
for t in range(params.test_predict_start):
# if z_t is missing, replace it by output mu from the last time step
zero_index = (test_batch[t,:,0] == 0)
if t > 0 and torch.sum(zero_index) > 0:
test_batch[t,zero_index,0] = mu[zero_index]
mu, sigma, hidden, cell = model(test_batch[t].unsqueeze(0), id_batch, hidden, cell)
input_mu[:,t] = v_batch[:, 0] * mu + v_batch[:, 1]
input_sigma[:,t] = v_batch[:, 0] * sigma
if sample:
samples, sample_mu, sample_sigma = model.test(test_batch, v_batch, id_batch, hidden, cell, sampling=True)
raw_metrics = utils.update_metrics(raw_metrics, input_mu, input_sigma, sample_mu, labels, params.test_predict_start, samples, relative = params.relative_metrics)
else:
sample_mu, sample_sigma = model.test(test_batch, v_batch, id_batch, hidden, cell)
raw_metrics = utils.update_metrics(raw_metrics, input_mu, input_sigma, sample_mu, labels, params.test_predict_start, relative = params.relative_metrics)
if i == plot_batch:
if sample:
sample_metrics = utils.get_metrics(sample_mu, labels, params.test_predict_start, samples, relative = params.relative_metrics)
else:
sample_metrics = utils.get_metrics(sample_mu, labels, params.test_predict_start, relative = params.relative_metrics)
# select 10 from samples with highest error and 10 from the rest
top_10_nd_sample = (-sample_metrics['ND']).argsort()[:batch_size // 10] # hard coded to be 10
chosen = set(top_10_nd_sample.tolist())
all_samples = set(range(batch_size))
not_chosen = np.asarray(list(all_samples - chosen))
if batch_size < 100: # make sure there are enough unique samples to choose top 10 from
random_sample_10 = np.random.choice(top_10_nd_sample, size=10, replace=True)
else:
random_sample_10 = np.random.choice(top_10_nd_sample, size=10, replace=False)
if batch_size < 12: # make sure there are enough unique samples to choose bottom 90 from
random_sample_90 = np.random.choice(not_chosen, size=10, replace=True)
else:
random_sample_90 = np.random.choice(not_chosen, size=10, replace=False)
combined_sample = np.concatenate((random_sample_10, random_sample_90))
label_plot = labels[combined_sample].data.cpu().numpy()
predict_mu = sample_mu[combined_sample].data.cpu().numpy()
predict_sigma = sample_sigma[combined_sample].data.cpu().numpy()
plot_mu = np.concatenate((input_mu[combined_sample].data.cpu().numpy(), predict_mu), axis=1)
plot_sigma = np.concatenate((input_sigma[combined_sample].data.cpu().numpy(), predict_sigma), axis=1)
plot_metrics = {_k: _v[combined_sample] for _k, _v in sample_metrics.items()}
plot_eight_windows(params.plot_dir, plot_mu, plot_sigma, label_plot, params.test_window, params.test_predict_start, plot_num, plot_metrics, sample)
summary_metric = utils.final_metrics(raw_metrics, sampling=sample)
metrics_string = '; '.join('{}: {:05.3f}'.format(k, v) for k, v in summary_metric.items())
logger.info('- Full test metrics: ' + metrics_string)
return summary_metric
def set_df(df, settings, metrics, db):
machine_type = __name__.split('.')[-1]
S, MIN_D, MAX_X, MAX_Y, USE_BIGCHAINDB = (settings[k] for k in
('S', 'MIN_D', 'MAX_X', 'MAX_Y', 'USE_BIGCHAINDB'))
s = (df['machine_type']==machine_type)
speed, reward, penalty = (settings['machines'][machine_type][k] for k in ('speed', 'reward', 'penalty'))
# print('********************************', speed, reward, penalty)
col_x_trg, col_y_trg = 'x_trg', 'y_trg'
# df.loc[s,'x_near'] = df.loc[s,'x_trg']
# df.loc[s,'y_near'] = df.loc[s,'y_trg']
for ix, row in df.loc[s].iterrows():
#print(i,r)
neighbour_ix = dist(row.x,row.y,df[df.index!=ix].x,df[df.index!=ix].y).idxmin()
# if I am not the nearest set nearest as target
# if ix!=neighbour_ix:
df.loc[ix,'ix_near'] = int(neighbour_ix)
df.loc[ix,'x_near'] = df.loc[neighbour_ix,'x']
df.loc[ix,'y_near'] = df.loc[neighbour_ix,'y']
# reward
#reward = 1.0
df.loc[s,'ds'] = dist(df.loc[s,'x'], df.loc[s,'y'], df.loc[s,col_x_trg], df.loc[s,col_y_trg])
df.loc[s,'dx'] = df.loc[s,col_x_trg] - df.loc[s,'x']
df.loc[s,'dy'] = df.loc[s,col_y_trg] - df.loc[s,'y']
# penalty
#penalty = 1.0#1.0
df.loc[s,'ds1'] = dist(df.loc[s,'x'], df.loc[s,'y'], df.loc[s,'x_near'], df.loc[s,'y_near'])
df.loc[s,'dx1'] = -(df.loc[s,'x_near'] - df.loc[s,'x'])
df.loc[s,'dy1'] = -(df.loc[s,'y_near'] - df.loc[s,'y'])
# speed is max(the remaining dist, S) ds is always positive
selection = s & (df['ds']>=MIN_D)
#if not selection.empty:
fr = df.loc[selection]
df.loc[selection,'u'] = fr.ds.clip_upper(reward*speed) * fr['dx']/fr['ds']
df.loc[selection,'v'] = fr.ds.clip_upper(reward*speed) * fr['dy']/fr['ds']
#df.loc[selection,'u1'] = fr.ds1.clip_upper(penalty*speed) * fr['dx1']/(fr['ds1']**3)
#df.loc[selection,'v1'] = fr.ds1.clip_upper(penalty*speed) * fr['dy1']/(fr['ds1']**3)
df.loc[selection,'u1'] = (1.0/ (fr['dx1']**2)).clip_upper(penalty*speed)
df.loc[selection,'v1'] = (1.0/ (fr['dy1']**2)).clip_upper(penalty*speed)
# TODO: doesn't really work
#selection = s & (df['ds']<MIN_Dspeed)
df.loc[selection,'u'] += df.loc[selection,'u1']
df.loc[selection,'v'] += df.loc[selection,'v1']
# on collision turn left
selection = s & (df['collision'])
# fr = df.loc[selection]
# choose random vector, noise evolution
# df.loc[selection, 'u']=rnd_vec(len(df.loc[selection]),2.0)-1.0
# df.loc[selection, 'v']=rnd_vec(len(df.loc[selection]),2.0)-1.0
# df.loc[selection, 'ds']=(df.loc[selection, 'u']**2 + df.loc[selection, 'v']**2)**0.5
# df.loc[selection,'u'] = fr.ds.clip_upper(speed) * fr['u']/fr['ds']
# df.loc[selection,'v'] = fr.ds.clip_upper(speed) * fr['v']/fr['ds']
# df.loc[selection,'u'] = fr.ds.clip_upper(speed) * fr['u']/fr['ds']
# df.loc[selection,'v'] = fr.ds.clip_upper(speed) * fr['v']/fr['ds']
u = df.loc[selection, 'v']
v = -df.loc[selection, 'u']
df.loc[selection, 'u'] = u
df.loc[selection, 'v'] = v
update_metrics(db, metrics, 'collisions', machine_type, len(df.loc[selection]))
# determine if target is reached and set new target
# new target should come from blockchain
selection = s & (df['ds'].abs()<MIN_D)
#if not selection.empty:
l = len(df.loc[selection])
if l>0:
print('targets reached', l)
df.loc[selection,'x_trg'] = rnd_vec(l,MAX_X)
df.loc[selection, 'y_trg'] = rnd_vec(l,MAX_Y)
# alex
# this code uses simple binary state change to describe whether the robot is carrying
# an asset (for example energy or a parcel or whatever)
update_metrics(db, metrics, 'pickups', machine_type, len(df[selection & (df['state']=='empty')]))
update_metrics(db, metrics, 'dropoffs', machine_type, len(df[selection & (df['state']=='carry')]))
for ix, row in df.loc[selection].iterrows(): # for each bot that reached a new waypoint change its behaviour
if df.loc[ix,'state'] == 'empty':
print('empty bot changed to carry')
# alex adjusted
currentBot = df.loc[ix]
if USE_BIGCHAINDB:
createAsset(master_sender_private_key,master_sender_public_key) # mockup sender initialization, creation of paackage to take for bot
transferAsset(master_sender_public_key,master_sender_private_key,currentBot.public_key,currentBot.private_key) # transfer parcel from master_sender to current robot
df.loc[ix,'state'] = 'carry'
elif df.loc[ix,'state'] == 'carry':
print('carry bot changed to empty')
# alex adjusted
currentBot = df.loc[ix]
if USE_BIGCHAINDB:
transferAsset(currentBot.public_key,currentBot.private_key, master_receiver_public_key,master_receiver_private_key) # transfer parcel from current robot to master receiver
df.loc[ix,'state'] = 'empty'
# alex end
targets) in enumerate(train_loader):
step_num = utils.step_num(epoch, batch, train_loader)
images_lowres, images_fullres, targets = utils.device(
[images_lowres, images_fullres, targets])
predictions = model(images_lowres, images_fullres)
loss = F.mse_loss(predictions, targets)
optimizer.zero_grad()
loss.backward()
optimizer.step()
running_metrics = utils.update_metrics(
running_metrics, {
'mse': loss.item(),
'psnr': compute_psnr_from_mse(loss)
}, print_freq)
if (step_num + 1) % print_freq == 0:
utils.log_to_tensorboard(writer, running_metrics, step_num)
utils.print_metrics(running_metrics, step_num,
n_epochs * len(train_loader))
running_metrics = {l: 0 for l in running_metrics}
print('Finished epoch %d\n' % epoch)
print('Evaluation')
eval_metrics = evaluate_dataset(model, test_loader)
utils.log_to_tensorboard(writer, eval_metrics, step_num, log_prefix='test')
utils.print_metrics(eval_metrics, step_num, n_epochs * len(train_loader))
def trainepoch(epoch):
xp.Epoch.update(1).log()
print('\nTRAINING : Epoch ' + str(epoch))
nli_net.train()
# shuffle the data
permutation = np.random.permutation(len(train['s1']))
s1 = train['s1'][permutation]
s2 = train['s2'][permutation]
target = train['label'][permutation]
if epoch > 1 and params.opt == 'sgd':
optimizer.param_groups[0]['lr'] *= params.decay
optimizer.eta = optimizer.param_groups[0]['lr']
xp.Timer_Train.reset()
stats = {}
for stidx in tqdm(range(0, len(s1), params.batch_size),
disable=not params.tqdm,
desc='Train Epoch',
leave=False):
# prepare batch
s1_batch, s1_len = get_batch(s1[stidx:stidx + params.batch_size],
word_vec)
s2_batch, s2_len = get_batch(s2[stidx:stidx + params.batch_size],
word_vec)
s1_batch, s2_batch = s1_batch.cuda(), s2_batch.cuda()
tgt_batch = torch.LongTensor(target[stidx:stidx +
params.batch_size]).cuda()
# model forward
scores = nli_net((s1_batch, s1_len), (s2_batch, s2_len))
with set_smoothing_enabled(params.smooth_svm):
loss = loss_fn(scores, tgt_batch)
# backward
optimizer.zero_grad()
loss.backward()
if params.opt != 'dfw':
adapt_grad_norm(nli_net, params.max_norm)
# necessary information for the step-size of some optimizers -> provide closure
optimizer.step(lambda: float(loss))
# track statistics for monitoring
stats['loss'] = float(loss_fn(scores, tgt_batch))
stats['acc'] = float(accuracy(scores, tgt_batch))
stats['gamma'] = float(optimizer.gamma)
stats['size'] = float(tgt_batch.size(0))
update_metrics(xp, stats)
xp.Eta.update(optimizer.eta)
xp.Reg.update(regularization(nli_net, params.l2))
xp.Obj_Train.update(xp.Reg.value + xp.Loss_Train.value)
xp.Timer_Train.update()
print('results : epoch {0} ; mean accuracy train : {1}'.format(
epoch, xp.acc_train))
print('\nEpoch: [{0}] (Train) \t'
'({timer:.2f}s) \t'
'Obj {obj:.3f}\t'
'Loss {loss:.3f}\t'
'Acc {acc:.2f}%\t'.format(int(xp.Epoch.value),
timer=xp.Timer_Train.value,
acc=xp.Acc_Train.value,
obj=xp.Obj_Train.value,
loss=xp.Loss_Train.value))
log_metrics(xp)
def evaluate(model, loss_fn, test_loader, params, sample=True):
'''
Evaluate the model on the test set.
Args:
model: (torch.nn.Module) the Deep AR model
loss_fn: a function that takes outputs and labels per timestep, and then computes the loss for the batch
test_loader: load test data and labels
params: (Params) hyperparameters
sample: (boolean) do ancestral sampling or directly use output mu from last time step
'''
model.eval()
with torch.no_grad():
summary_metric = {}
raw_metrics = utils.init_metrics(sample=sample)
# Test_loader:
# test_batch ([batch_size, train_window, 1+cov_dim]): z_{0:T-1} + x_{1:T}, note that z_0 = 0;
# id_batch ([batch_size]): one integer denoting the time series id;
# v ([batch_size, 2]): scaling factor for each window;
# labels ([batch_size, train_window]): z_{1:T}.
result_mu = []
result_sigma = []
for i, (test_batch, id_batch, v, labels) in enumerate(test_loader):
test_batch = test_batch.permute(1, 0, 2).to(torch.float32).to(params.device)
id_batch = id_batch.unsqueeze(0).to(params.device)
v_batch = v.to(torch.float32).to(params.device)
labels = labels.to(torch.float32).to(params.device)
batch_size = test_batch.shape[1]
input_mu = torch.zeros(batch_size, params.test_predict_start, device=params.device) # scaled
input_sigma = torch.zeros(batch_size, params.test_predict_start, device=params.device) # scaled
hidden = model.init_hidden(batch_size)
cell = model.init_cell(batch_size)
for t in range(params.test_predict_start): # 先计算encoder部分
# if z_t is missing, replace it by output mu from the last time step
# 如果z_t缺失，用前一步预测值代替真实值作为输入
zero_index = (test_batch[t, :, 0] == 0)
if t > 0 and torch.sum(zero_index) > 0:
test_batch[t, zero_index, 0] = mu[zero_index]
mu, sigma, hidden, cell = model(test_batch[t].unsqueeze(0), id_batch, hidden, cell)
input_mu[:, t] = v_batch[:, 0] * mu + v_batch[:, 1] # v_batch[:, 1] == 0, useless
input_sigma[:, t] = v_batch[:, 0] * sigma
if not params.one_step:
test_batch[params.test_predict_start, :, 0] = mu
# 计算decoder部分
if sample:
samples, sample_mu, sample_sigma = model.test(test_batch, v_batch, id_batch, hidden, cell, sampling=True, one_step=params.one_step)
raw_metrics = utils.update_metrics(raw_metrics, input_mu, input_sigma, sample_mu, labels, params.test_predict_start, samples, relative = params.relative_metrics)
else:
sample_mu, sample_sigma = model.test(test_batch, v_batch, id_batch, hidden, cell, one_step=params.one_step)
raw_metrics = utils.update_metrics(raw_metrics, input_mu, input_sigma, sample_mu, labels, params.test_predict_start, relative = params.relative_metrics)
result_mu.append(sample_mu)
result_sigma.append(sample_sigma)
summary_metric = utils.final_metrics(raw_metrics, sampling=sample)
metrics_string = '; '.join('{}: {:05.3f}'.format(k, v) for k, v in summary_metric.items())
# print('test metrics: ' + metrics_string)
return summary_metric, result_mu, result_sigma
