def __init__(self, ga):
# ga reference
self.ga = ga
# compressor model
self.vae = ga.compressor
# controller model; trained on the go
self.controller = Controller(ga.input_size, ga.output_size).cuda()
def get_player(current_time,
version,
file_model,
solver_version=None,
sequence=1):
""" Load the models of a specific player """
path = os.path.join(os.path.dirname(os.path.realpath(__file__)), \
'..', 'saved_models', str(current_time))
try:
mod = os.listdir(path)
models = list(filter(lambda model: (model.split('-')[0] == str(version) \
and file_model in model), mod))
models.sort()
if len(models) == 0:
return False, version
except FileNotFoundError:
return False, version
if file_model == "vae":
model = ConvVAE((HEIGHT, WIDTH, 3), LATENT_VEC).to(DEVICE)
elif file_model == "lstm":
model = LSTM(sequence, HIDDEN_UNITS, LATENT_VEC,\
NUM_LAYERS, GAUSSIANS, HIDDEN_DIM).to(DEVICE)
elif file_model == "controller":
model = Controller(PARAMS_CONTROLLER, ACTION_SPACE).to(DEVICE)
checkpoint = load_torch_models(path, model, models[0])
if file_model == "controller":
file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), \
'..', 'saved_models', current_time, "{}-solver.pkl".format(solver_version))
solver = pickle.load(open(file_path, 'rb'))
return checkpoint, model, solver
return model, checkpoint
class RolloutGenerator(object):
def __init__(self, ga):
# ga reference
self.ga = ga
# compressor model
self.vae = ga.compressor
# controller model; trained on the go
self.controller = Controller(ga.input_size, ga.output_size).cuda()
def get_action(self, obs, bodystate, brushstate, pulse):
bodystate_comp = torch.cat(
(bodystate, brushstate,
pulse)) if self.ga.cpg_enabled else torch.cat(
(bodystate, brushstate))
latent_mu, _ = self.vae.cuda().encoder(obs.cuda())
action = self.controller.cuda().forward(
latent_mu.flatten(),
bodystate_comp.cuda().flatten())
return action.squeeze().cpu().numpy()
def do_rollout(self, generation, id, early_termination=True):
with torch.no_grad():
client = Client(ClientType.ROLLOUT, self.ga.obs_size)
client.start(generation, id, rollout=self)
def init_models(current_time, load_vae=False, load_lstm=False, load_controller=True, sequence=SEQUENCE):
vae = lstm = best_controller = solver = None
if load_vae:
vae, checkpoint = load_model(current_time, -1, model="vae")
if not vae:
vae = ConvVAE((HEIGHT, WIDTH, 3), LATENT_VEC).to(DEVICE)
if load_lstm:
lstm, checkpoint = load_model(current_time, -1, model="lstm", sequence=sequence)
if not lstm:
lstm = LSTM(sequence, HIDDEN_UNITS, LATENT_VEC,\
NUM_LAYERS, GAUSSIANS, HIDDEN_DIM).to(DEVICE)
if load_controller:
res = load_model(current_time, -1, model="controller")
checkpoint = res[0]
if len(res) > 2:
best_controller = res[1]
solver = res[2]
current_ctrl_version = checkpoint['version']
else:
best_controller = Controller(LATENT_VEC, PARAMS_FC1, ACTION_SPACE).to(DEVICE)
solver = CMAES(PARAMS_FC1 + LATENT_VEC + 512,
sigma_init=SIGMA_INIT,
popsize=POPULATION)
return vae, lstm, best_controller, solver, checkpoint
def init(self):
# get the models
self.models = {
json_model["name"]: Model(json_data=json_model)
for json_model in self.get_data(self.models_endpoint)
}
log_str = "Loaded " + str(len(self.models)) + " models: " + str(
[model.name for model in self.models.values()])
self.logs.append({
"ts": time.time(),
"date": str(datetime.datetime.now()),
"msg": log_str
})
# get the containers
self.containers = [
Container(json_data=json_container)
for json_container in self.get_data(self.containers_endpoint)
]
# group containers by nodes
self.nodes = set(map(lambda c: c.node, self.containers))
self.containers_on_node = {}
for node in self.nodes:
self.containers_on_node[node] = list(
filter(lambda c: c.node == node, self.containers))
log_str = "Containers by node: " + str([{
node: [c.to_json() for c in self.containers_on_node[node]]
} for node in self.containers_on_node])
self.logs.append({
"ts": time.time(),
"date": str(datetime.datetime.now()),
"msg": log_str
})
# init controllers
self.controllers = []
t = time.time()
for container in list(
filter(lambda c: c.device == Device.CPU and c.active,
self.containers)):
c = Controller(container)
c.next_action = t
self.controllers.append(c)
transforms.Resize((RED_SIZE, RED_SIZE)),
transforms.ToTensor(),
])
trained=0
#model = VAE(3, LSIZE).to(device)
model=VAE(3, LSIZE)
model=torch.nn.DataParallel(model,device_ids=range(8))
model.cuda()
optimizer = optim.Adam(model.parameters(),lr=learning_rate,betas=(0.9,0.999))
model_p=VAE_a(7, LSIZE)
model_p=torch.nn.DataParallel(model_p,device_ids=range(8))
model_p.cuda()
optimizer_p = optim.Adam(model_p.parameters(),lr=learning_rate,betas=(0.9,0.999))
controller=Controller(LSIZE,3)
controller=torch.nn.DataParallel(controller,device_ids=range(8))
controller=controller.cuda()
optimizer_a = optim.SGD(controller.parameters(),lr=learning_rate*10)
# scheduler = ReduceLROnPlateau(optimizer, 'min', factor=0.5, patience=5)
# earlystopping = EarlyStopping('min', patience=30)
vis = visdom.Visdom(env='pa_train')
current_window = vis.image(
np.random.rand(64, 64),
opts=dict(title='current!', caption='current.'),
)
recon_window = vis.image(
np.random.rand(64, 64),
opts=dict(title='Reconstruction!', caption='Reconstruction.'),
A.RGBShift(p=1),
A.RandomBrightness(p=1),
A.RandomContrast(p=1)
],
p=0.5),
A.OneOf([A.ElasticTransform(p=1.0),
A.IAAPiecewiseAffine(p=1.0)],
p=0.5),
A.Normalize(p=1.0),
pytorch.ToTensorV2(),
])
val_transform = A.Compose([
A.Resize(height=512, width=512, p=1.0),
A.Normalize(p=1.0),
pytorch.ToTensorV2(),
])
train_loader, val_loader = generate_train_validation_dataloader(
train_df, val_df, config["train_parameters"]["batch_size"],
"data/data/images/", train_transform, val_transform)
EF_Net = TL_EfficientNet(config["network_parameters"], True).to(device)
Optimizer = optim.Adam(EF_Net.parameters(),
lr=config["train_parameters"]["learning_rate"])
Loss = nn.CrossEntropyLoss()
Control = Controller(model=EF_Net,
optimizer=Optimizer,
loss=Loss,
train_data=train_loader,
val_data=val_loader,
epochs=config["train_parameters"]["epochs"],
device=device)
Control.train()
def main():
global args
np.random.seed(args.seed)
torch.cuda.manual_seed(args.seed)
if args.fixed_arc:
sys.stdout = Logger(filename='logs/' + args.output_filename + '_fixed.log')
else:
sys.stdout = Logger(filename='logs/' + args.output_filename + '.log')
print(args)
data_loaders = load_datasets()
controller = Controller(search_for=args.search_for,
search_whole_channels=True,
num_layers=args.child_num_layers,
num_branches=args.child_num_branches,
out_filters=args.child_out_filters,
lstm_size=args.controller_lstm_size,
lstm_num_layers=args.controller_lstm_num_layers,
tanh_constant=args.controller_tanh_constant,
temperature=None,
skip_target=args.controller_skip_target,
skip_weight=args.controller_skip_weight)
controller = controller.cuda()
shared_cnn = SharedCNN(num_layers=args.child_num_layers,
num_branches=args.child_num_branches,
out_filters=args.child_out_filters,
keep_prob=args.child_keep_prob)
shared_cnn = shared_cnn.cuda()
# https://github.com/melodyguan/enas/blob/master/src/utils.py#L218
controller_optimizer = torch.optim.Adam(params=controller.parameters(),
lr=args.controller_lr,
betas=(0.0, 0.999),
eps=1e-3)
# https://github.com/melodyguan/enas/blob/master/src/utils.py#L213
shared_cnn_optimizer = torch.optim.SGD(params=shared_cnn.parameters(),
lr=args.child_lr_max,
momentum=0.9,
nesterov=True,
weight_decay=args.child_l2_reg)
# https://github.com/melodyguan/enas/blob/master/src/utils.py#L154
shared_cnn_scheduler = CosineAnnealingLR(optimizer=shared_cnn_optimizer,
T_max=args.child_lr_T,
eta_min=args.child_lr_min)
if args.resume:
if os.path.isfile(args.resume):
print("Loading checkpoint '{}'".format(args.resume))
checkpoint = torch.load(args.resume)
start_epoch = checkpoint['epoch']
# args = checkpoint['args']
shared_cnn.load_state_dict(checkpoint['shared_cnn_state_dict'])
controller.load_state_dict(checkpoint['controller_state_dict'])
shared_cnn_optimizer.load_state_dict(checkpoint['shared_cnn_optimizer'])
controller_optimizer.load_state_dict(checkpoint['controller_optimizer'])
shared_cnn_scheduler.optimizer = shared_cnn_optimizer # Not sure if this actually works
print("Loaded checkpoint '{}' (epoch {})"
.format(args.resume, checkpoint['epoch']))
else:
raise ValueError("No checkpoint found at '{}'".format(args.resume))
else:
start_epoch = 0
if not args.fixed_arc:
train_enas(start_epoch,
controller,
shared_cnn,
data_loaders,
shared_cnn_optimizer,
controller_optimizer,
shared_cnn_scheduler)
else:
assert args.resume != '', 'A pretrained model should be used when training a fixed architecture.'
train_fixed(start_epoch,
controller,
shared_cnn,
data_loaders)
import numpy as np
from models.model import TL_ResNet50
from utils.utils import get_device, read_parameters, separate_train_val
from models.controller import Controller
from PIL import Image
def load_image(image_name, transformer=None):
image = Image.open(image_name)
if transformer == None:
image = np.array(image).transpose(2, 0, 1)/255
image = image.astype(np.float32)
else:
image = transformer(image)
return image
def evaluate(model, data):
out = model(data)
return out
if __name__ == "__main__":
configs = read_parameters()
device = get_device
ResNet50 = TL_ResNet50(configs["network_parameters"], pretrained = True).to(device)
Control = Controller(ResNet50)
Control.load()
ResNet50.eval()
trained = 0
#model = VAE(3, LSIZE).to(device)
model = VAE(3, LSIZE)
model = torch.nn.DataParallel(model, device_ids=range(8))
model.cuda()
optimizer = optim.Adam(model.parameters(),
lr=learning_rate,
betas=(0.9, 0.999))
model_p = VAE_a(7, LSIZE)
model_p = torch.nn.DataParallel(model_p, device_ids=range(8))
model_p.cuda()
optimizer_p = optim.Adam(model_p.parameters(),
lr=learning_rate,
betas=(0.9, 0.999))
controller = Controller(LSIZE, 4)
controller = torch.nn.DataParallel(controller, device_ids=range(8))
controller = controller.cuda()
optimizer_a = optim.Adam(controller.parameters(),
lr=learning_rate,
betas=(0.9, 0.999))
# scheduler = ReduceLROnPlateau(optimizer, 'min', factor=0.5, patience=5)
# earlystopping = EarlyStopping('min', patience=30)
vis = visdom.Visdom(env='pa_train')
current_window = vis.image(
np.random.rand(64, 64),
opts=dict(title='current!', caption='current.'),
)
recon_window = vis.image(
validation_split = 0.1
shuffle_dataset = True
test_split = 0.1
random_seed = 42
class_num = 10
# LOSS = FocalLoss()
DEVICE = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
controller = Controller(search_for=args.search_for,
search_whole_channels=True,
num_layers=args.child_num_layers,
num_branches=args.child_num_branches,
out_filters=args.child_out_filters,
lstm_size=args.controller_lstm_size,
lstm_num_layers=args.controller_lstm_num_layers,
tanh_constant=args.controller_tanh_constant,
temperature=None,
skip_target=args.controller_skip_target,
skip_weight=args.controller_skip_weight)
controller = controller.cuda()
shared_cnn = SharedCNN(num_layers=args.child_num_layers,
num_branches=args.child_num_branches,
out_filters=args.child_out_filters,
keep_prob=args.child_keep_prob)
shared_cnn = shared_cnn.cuda()
controller.eval()
controller()
if (seed >= 0):
env.seed(seed)
return env
transform = transforms.Compose([
transforms.ToPILImage(),
transforms.Resize((64, 64)),
# transforms.RandomHorizontalFlip(),
transforms.ToTensor(),
])
# from https://github.com/openai/gym/blob/master/gym/envs/box2d/car_racing.py
if __name__=="__main__":
model=VAE(3, 64)
model=torch.nn.DataParallel(model,device_ids=range(1))
model.cuda()
controller=Controller(64,3)
controller=torch.nn.DataParallel(controller,device_ids=range(1))
controller=controller.cuda()
state = torch.load('/home/ld/gym-car/log/vae/contorl_checkpoint_52.pkl')
controller.load_state_dict(state['state_dict'])
print('contorller load success')
state = torch.load('/home/ld/gym-car/log/vae/vae_checkpoint_52.pkl')
model.load_state_dict(state['state_dict'])
print('vae load success')
model_p=VAE_a(7, 64)
model_p=torch.nn.DataParallel(model_p,device_ids=range(1))
model_p.cuda()
state = torch.load('/home/ld/gym-car/log/vae/pre_checkpoint_52.pkl')
model_p.load_state_dict(state['state_dict'])
print('prediction load success')
def train_controller(current_time):
"""
Train the controllers by using the CMA-ES algorithm to improve candidature solutions
by testing them in parallel using multiprocessing
"""
current_time = str(current_time)
number_generations = 1
games = GAMES
levels = LEVELS
current_game = False
result_queue = Queue()
vae, lstm, best_controller, solver, checkpoint = init_models(
current_time,
sequence=1,
load_vae=True,
load_controller=True,
load_lstm=True)
if checkpoint:
current_ctrl_version = checkpoint["version"]
current_solver_version = checkpoint["solver_version"]
new_results = solver.result()
current_best = new_results[1]
else:
current_ctrl_version = 1
current_solver_version = 1
current_best = 0
while True:
solutions = solver.ask()
fitlist = np.zeros(POPULATION)
eval_left = 0
## Once a level is beaten, remove it from the training set of levels
if current_best > SCORE_CAP or not current_game:
if not current_game or len(levels[current_game]) == 0:
current_game = games[0]
games.remove(current_game)
current_best = 0
current_level = np.random.choice(levels[current_game])
levels[current_game].remove(current_level)
print("[CONTROLLER] Current game: %s and level is: %s" %
(current_game, current_level))
while eval_left < POPULATION:
jobs = []
todo = PARALLEL if eval_left + PARALLEL <= POPULATION else (
eval_left + PARALLEL) % POPULATION
## Create the child processes to evaluate in parallel
print("[CONTROLLER] Starting new batch")
for job in range(todo):
process_id = eval_left + job
## Assign new weights to the controller, given by the CMA
controller = Controller(LATENT_VEC, PARAMS_FC1,
ACTION_SPACE).to(DEVICE)
init_controller(controller, solutions[process_id])
## Start the evaluation
new_game = VAECGame(process_id, vae, lstm, controller,
current_game, current_level, result_queue)
new_game.start()
jobs.append(new_game)
## Wait for the evaluation to be completed
for p in jobs:
p.join()
eval_left = eval_left + todo
print("[CONTROLLER] Done with batch")
## Get the results back from the processes
times = create_results(result_queue, fitlist)
## For display
current_score = np.max(fitlist)
average_score = np.mean(fitlist)
## Update solver with results
max_idx = np.argmax(fitlist)
fitlist = rankmin(fitlist)
solver.tell(fitlist)
new_results = solver.result()
## Display
print("[CONTROLLER] Total duration for generation: %.3f seconds, average duration:"
" %.3f seconds per process, %.3f seconds per run" % ((np.sum(times), \
np.mean(times), np.mean(times) / REPEAT_ROLLOUT)))
print("[CONTROLLER] Creating generation: {} ...".format(
number_generations + 1))
print("[CONTROLLER] Current best score: {}, new run best score: {}".
format(current_best, current_score))
print(
"[CONTROLLER] Best score ever: {}, current number of improvements: {}"
.format(current_best, current_ctrl_version))
print(
"[CONTROLLER] Average score on all of the processes: {}\n".format(
average_score))
## Save the new best controller
if current_score > current_best:
init_controller(best_controller, solutions[max_idx])
state = {
'version': current_ctrl_version,
'solver_version': current_solver_version,
'score': current_score,
'level': current_level,
'game': current_game,
'generation': number_generations
}
save_checkpoint(best_controller, "controller", state, current_time)
current_ctrl_version += 1
current_best = current_score
## Save solver and change level to a random one
if number_generations % SAVE_SOLVER_TICK == 0:
dir_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), \
'saved_models', current_time, "{}-solver.pkl".format(current_solver_version))
pickle.dump(solver, open(dir_path, 'wb'))
current_solver_version += 1
current_level = np.random.choice(levels[current_game])
number_generations += 1
trained = 0
#model = VAE(3, LSIZE).to(device)
model = VAE(3, LSIZE)
model = torch.nn.DataParallel(model, device_ids=range(7))
model.cuda()
optimizer = optim.Adam(model.parameters(),
lr=learning_rate,
betas=(0.9, 0.999))
model_p = VAE_a(7, LSIZE)
model_p = torch.nn.DataParallel(model_p, device_ids=range(7))
model_p.cuda()
optimizer_p = optim.Adam(model_p.parameters(),
lr=learning_rate,
betas=(0.9, 0.999))
controller = Controller(LSIZE, 3)
controller = torch.nn.DataParallel(controller, device_ids=range(7))
controller = controller.cuda()
optimizer_a = optim.Adam(controller.parameters(),
lr=learning_rate,
betas=(0.9, 0.999))
# scheduler = ReduceLROnPlateau(optimizer, 'min', factor=0.5, patience=5)
# earlystopping = EarlyStopping('min', patience=30)
vis = visdom.Visdom(env='pa_train')
current_window = vis.image(
np.random.rand(64, 64),
opts=dict(title='current!', caption='current.'),
)
recon_window = vis.image(
A.Normalize(p = 1.0),
pytorch.ToTensorV2(),
])
KF = StratifiedKFold()
for train, val in KF.split(df["labels"].values, df["classes"].values):
x_train, x_val = np.array(df["labels"].values)[train], np.array(df["labels"].values)[val]
y_train, y_val = np.array(df["classes"].values)[train], np.array(df["classes"].values)[val],
train_loader, val_loader = generate_train_validation_dataloader(x_train,
y_train,
transform,
x_val,
y_val,
transform_val_test
configs["train_parameters"]["batch_size"],
"data/images/")
EFNet = EF_Net().to(device)
Loss = nn.CrossEntropyLoss()
Optimizer = optim.Adam(EFNet.parameters(),
lr = configs["train_parameters"]["learning_rate"])
Stepper = optim.lr_scheduler.ReduceLROnPlateau(Optimizer, patience = configs["train_parameters"]["patience"])
Metrics = Accuracy_Metric()
Control = Controller(model = EFNet,
optimizer = Optimizer,
loss = Loss,
metric = Metrics,
train_data = train_gen,
validation_data = val_gen,
epochs = configs["train_parameters"]["epochs"],
device = device,
lr_scheduler = Stepper)
Control.train()
def run(self, max_generations, folder, ga_id='', init_solution_id=''):
if (ga_id == ''):
ga_id = self.init_time
# disk
results_dir = os.path.join(folder, ga_id)
if not os.path.exists(results_dir):
os.makedirs(results_dir)
fitness_path = os.path.join(
results_dir, 'fitness.txt'
) # most important fitness results per run (for plotting)
ind_fitness_path = os.path.join(
results_dir,
'ind_fitness.txt') # more detailed fitness results per individual
solver_path = os.path.join(
results_dir, "solver.pkl") # contains the current population
best_solver_path = os.path.join(
results_dir, "best_solver.pkl") # contains the current population
init_solution_path = os.path.join(
os.path.join(folder, init_solution_id),
"solver.pkl") # path to initial solution solver
current_generation = 0
P = self.P
best_f = -sys.maxsize
# initialize controller instance to be saved
from models.controller import Controller
best_controller = Controller(P[0].input_size, P[0].output_size)
# initialize cma es (start from scratch or load previously saved solver/population)
resume = False
if os.path.exists(solver_path):
resume = True
self.solver = pickle.load(open(solver_path, 'rb'))
new_results = self.solver.result()
best_f = new_results[1]
if os.path.exists(fitness_path):
with open(fitness_path, 'r') as f:
lines = f.read().splitlines()
last_line = lines[-1]
current_generation = int(last_line.split('/')[0])
# start from scratch but with an initial solution param
elif os.path.exists(init_solution_path):
tmp_solver = pickle.load(open(init_solution_path, 'rb'))
self.solver = CMAES(num_params=self.num_controller_params,
solution_init=tmp_solver.best_param(),
sigma_init=0.1,
popsize=self.pop_size)
# completely start from scratch
else:
self.solver = CMAES(num_params=self.num_controller_params,
sigma_init=0.1,
popsize=self.pop_size)
if not resume:
with open(fitness_path, 'a') as file:
file.write('gen/avg/cur/best\n')
with open(ind_fitness_path, 'a') as file:
file.write(
'gen/id/fitness/coverage/coverageReward/IC/PC/PCt0/PCt1\n')
while current_generation < max_generations:
fitness = np.zeros(self.pop_size)
results_full = np.zeros(self.pop_size)
print(f'Generation {current_generation}')
print(f'Evaluating individuals: {len(P)}')
# ask the ES to give us a set of candidate solutions
solutions = self.solver.ask()
# evaluate all candidates
for i, s in enumerate(P):
set_controller_weights(s.controller, solutions[i])
s.run_solution(generation=current_generation, local_id=i)
# request fitness from simulator
results_full = Client(ClientType.REQUEST).start()
fitness = results_full[:, 0]
for i, s in enumerate(P):
s.fitness = fitness[i]
current_f = np.max(fitness)
average_f = np.mean(fitness)
print(
f'Current best: {current_f}\nCurrent average: {average_f}\nAll-time best: {best_f}'
)
# return rewards to ES for param update
self.solver.tell(fitness)
max_index = np.argmax(fitness)
new_results = self.solver.result()
# process results
pickle.dump(self.solver, open(solver_path, 'wb'))
if current_f > best_f:
set_controller_weights(best_controller, solutions[max_index])
torch.save(best_controller,
os.path.join(results_dir, 'best_controller.pth'))
# Save solver and change level to a random one
pickle.dump(self.solver, open(best_solver_path, 'wb'))
best_f = current_f
for i, s in enumerate(P):
# fitness/coverage/coverageReward/IC/PC/PCt0/PCt1
res = results_full[i, :]
res_str = ('/'.join(['%.6f'] * len(res))) % tuple(res)
with open(ind_fitness_path, 'a') as file:
file.write('%d/%d/%s\n' % (current_generation, i, res_str))
res_str = '%d/%f/%f/%f' % (current_generation, average_f,
current_f, best_f)
print(f'gen/avg/cur/best : {res_str}')
with open(fitness_path, 'a') as file:
file.write(f'{res_str}\n')
if (i > max_generations):
break
gc.collect()
current_generation += 1
print('Finished')
m_optimizer = torch.optim.RMSprop(m_model.parameters(), lr=1e-3,
alpha=.9) # pipaek : hardmaru 는 lr=1e-4 이다.
m_scheduler = ReduceLROnPlateau(m_optimizer, 'min', factor=0.5, patience=5)
m_earlystopping = EarlyStopping('min', patience=30) # patience 30 -> 5
# 3-3. MDN-RNN 모델(M) 훈련
m_model_train_proc(rnn_dir,
m_model,
v_model,
m_dataset_train,
m_dataset_test,
m_optimizer,
m_scheduler,
m_earlystopping,
skip_train=True,
max_train_epochs=30)
m_model_cell = get_mdrnn_cell(rnn_dir).to(device)
# 4-1. Controller 모델(C) 생성
controller = Controller(LSIZE, RSIZE, ASIZE).to(device)
# 4-2. Controller 모델(C) 훈련
controller_train_proc(ctrl_dir,
controller,
v_model,
m_model_cell,
skip_train=False)
# 4-3. Controller 모델(C) 시연 (optional)
controller_test_proc(controller, v_model, m_model_cell)
