def testReadWrite(self):
categories = ["ES", "GB", "US"]
# forced: is not recommended, but is used here for readability. see
# scalar.py
original = CategoryEncoder(w=3, categoryList=categories, forced=True)
output = original.encode("US")
target = numpy.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1],
dtype=defaultDtype)
self.assertTrue(numpy.array_equal(output, target))
decoded = original.decode(output)
proto1 = CategoryEncoderProto.new_message()
original.write(proto1)
# Write the proto to a temp file and read it back into a new proto
with tempfile.TemporaryFile() as f:
proto1.write(f)
f.seek(0)
proto2 = CategoryEncoderProto.read(f)
encoder = CategoryEncoder.read(proto2)
self.assertIsInstance(encoder, CategoryEncoder)
self.assertEqual(encoder.verbosity, original.verbosity)
self.assertEqual(encoder.width, original.width)
self.assertEqual(encoder.description, original.description)
self.assertEqual(encoder.name, original.name)
self.assertDictEqual(encoder.categoryToIndex, original.categoryToIndex)
self.assertDictEqual(encoder.indexToCategory, original.indexToCategory)
self.assertTrue(numpy.array_equal(encoder.encode("US"), output))
self.assertEqual(original.decode(encoder.encode("US")),
encoder.decode(original.encode("US")))
self.assertEqual(decoded, encoder.decode(output))
def testReadWrite(self):
categories = ["ES", "GB", "US"]
# forced: is not recommended, but is used here for readability. see
# scalar.py
original = CategoryEncoder(w=3, categoryList=categories, forced=True)
output = original.encode("US")
target = numpy.array([0,0,0,0,0,0,0,0,0,1,1,1], dtype=defaultDtype)
self.assertTrue(numpy.array_equal(output, target))
decoded = original.decode(output)
proto1 = CategoryEncoderProto.new_message()
original.write(proto1)
# Write the proto to a temp file and read it back into a new proto
with tempfile.TemporaryFile() as f:
proto1.write(f)
f.seek(0)
proto2 = CategoryEncoderProto.read(f)
encoder = CategoryEncoder.read(proto2)
self.assertIsInstance(encoder, CategoryEncoder)
self.assertEqual(encoder.verbosity, original.verbosity)
self.assertEqual(encoder.width, original.width)
self.assertEqual(encoder.description, original.description)
self.assertEqual(encoder.name, original.name)
self.assertDictEqual(encoder.categoryToIndex, original.categoryToIndex)
self.assertDictEqual(encoder.indexToCategory, original.indexToCategory)
self.assertTrue(numpy.array_equal(encoder.encode("US"), output))
self.assertEqual(original.decode(encoder.encode("US")),
encoder.decode(original.encode("US")))
self.assertEqual(decoded, encoder.decode(output))
categories = ("cat", "dog", "monkey", "mai")
encoder = CategoryEncoder(w=5, categoryList=categories)
cat = encoder.encode("cat")
dog = encoder.encode("dog")
monkey = encoder.encode("monkey")
mai = encoder.encode("mai")
print "cat =", cat
print "dog =", dog
print "monkey =", monkey
print "mai =", mai
print
print "None =", encoder.encode(None)
print "Unknown =", encoder.encode("unknown")
print
print "Decode cat", encoder.decode(cat)
print "Decode dog", encoder.decode(dog)
print "Decode monkey", encoder.decode(monkey)
print "Decode mai", encoder.decode(mai)
catnoise = numpy.zeros(25, 'int')
catnoise[5:10] = 1
catnoise[[13, 18, 23]] = 1
print "Decode catnoise", encoder.decode(catnoise)
# This representation has all activations of the cat cells turns on, and has one
# cell turn on for each of other classes. It should safely generate 'cat', instead
# it generates 'cat', 'dog', 'monkey', 'mai', making it very susceptible to noise.
# catdog = numpy.array([0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0])
# print encoder.decode(catdog)
from nupic.encoders.category import CategoryEncoder
categories = ("cat", "dog", "monkey", "slow loris")
encoder = CategoryEncoder(w=3, categoryList=categories, forced=True)
cat = encoder.encode("cat")
dog = encoder.encode("dog")
monkey = encoder.encode("monkey")
loris = encoder.encode("slow loris")
print "cat = ", cat
print "dog = ", dog
print "monkey = ", monkey
print "slow loris =", loris
print encoder.decode(cat)
ss=cat+monkey+dog
print encoder.decode(ss)
ss
from nupic.bindings.algorithms import SpatialPooler
sp = SpatialPooler(inputDimensions=(15,),
columnDimensions=(4,),
potentialRadius=15,
numActiveColumnsPerInhArea=1,
globalInhibition=True,
synPermActiveInc=0.03,
potentialPct=1.0)
for column in xrange(4):
connected = np.zeros((15,), dtype="int")
def testCategoryEncoder(self):
categories = ["ES", "GB", "US"]
# forced: is not recommended, but is used here for readability.
# see scalar.py
e = CategoryEncoder(w=3, categoryList=categories, forced=True)
output = e.encode("US")
expected = numpy.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1],
dtype=defaultDtype)
self.assertTrue(numpy.array_equal(output, expected))
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldNames), 1)
self.assertEqual(len(fieldsDict), 1)
self.assertEqual(fieldNames[0], fieldsDict.keys()[0])
(ranges, desc) = fieldsDict.values()[0]
self.assertEqual(desc, "US")
self.assertEqual(len(ranges), 1)
self.assertTrue(numpy.array_equal(ranges[0], [3, 3]))
# Test topdown compute
for v in categories:
output = e.encode(v)
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, v)
self.assertEqual(topDown.scalar, e.getScalars(v)[0])
bucketIndices = e.getBucketIndices(v)
topDown = e.getBucketInfo(bucketIndices)[0]
self.assertEqual(topDown.value, v)
self.assertEqual(topDown.scalar, e.getScalars(v)[0])
self.assertTrue(numpy.array_equal(topDown.encoding, output))
self.assertEqual(topDown.value,
e.getBucketValues()[bucketIndices[0]])
# ---------------------
# unknown category
output = e.encode("NA")
expected = numpy.array([1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0],
dtype=defaultDtype)
self.assertTrue(numpy.array_equal(output, expected))
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldNames), 1)
self.assertEqual(len(fieldsDict), 1)
self.assertEqual(fieldNames[0], fieldsDict.keys()[0])
(ranges, desc) = fieldsDict.values()[0]
self.assertEqual(len(ranges), 1)
self.assertTrue(numpy.array_equal(ranges[0], [0, 0]))
# Test topdown compute
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, UNKNOWN)
self.assertEqual(topDown.scalar, 0)
# --------------------------------
# ES
output = e.encode("ES")
expected = numpy.array([0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0],
dtype=defaultDtype)
self.assertTrue(numpy.array_equal(output, expected))
# MISSING VALUE
outputForMissing = e.encode(SENTINEL_VALUE_FOR_MISSING_DATA)
self.assertEqual(sum(outputForMissing), 0)
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldNames), 1)
self.assertEqual(len(fieldsDict), 1)
self.assertEqual(fieldNames[0], fieldsDict.keys()[0])
(ranges, desc) = fieldsDict.values()[0]
self.assertEqual(len(ranges), 1)
self.assertTrue(numpy.array_equal(ranges[0], [1, 1]))
# Test topdown compute
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, "ES")
self.assertEqual(topDown.scalar, e.getScalars("ES")[0])
# --------------------------------
# Multiple categories
output.fill(1)
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldNames), 1)
self.assertEqual(len(fieldsDict), 1)
self.assertEqual(fieldNames[0], fieldsDict.keys()[0])
(ranges, desc) = fieldsDict.values()[0]
self.assertEqual(len(ranges), 1)
self.assertTrue(numpy.array_equal(ranges[0], [0, 3]))
# -------------------------------------------------------------
# Test with width = 1
categories = ["cat1", "cat2", "cat3", "cat4", "cat5"]
# forced: is not recommended, but is used here for readability.
# see scalar.py
e = CategoryEncoder(w=1, categoryList=categories, forced=True)
for cat in categories:
output = e.encode(cat)
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# -------------------------------------------------------------
# Test with width = 9, removing some bits end the encoded output
categories = ["cat%d" % (x) for x in range(1, 10)]
# forced: is not recommended, but is used here for readability.
# see scalar.py
e = CategoryEncoder(w=9, categoryList=categories, forced=True)
for cat in categories:
output = e.encode(cat)
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 1 bit on the left
outputNZs = output.nonzero()[0]
output[outputNZs[0]] = 0
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 1 bit on the right
output[outputNZs[0]] = 1
output[outputNZs[-1]] = 0
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 4 bits on the left
output.fill(0)
output[outputNZs[-5:]] = 1
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 4 bits on the right
output.fill(0)
output[outputNZs[0:5]] = 1
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# OR together the output of 2 different categories, we should not get
# back the mean, but rather one or the other
output1 = e.encode("cat1")
output2 = e.encode("cat9")
output = output1 + output2
topDown = e.topDownCompute(output)
self.assertTrue(topDown.scalar == e.getScalars("cat1")[0] \
or topDown.scalar == e.getScalars("cat9")[0])
def testCategoryEncoder(self):
verbosity = 0
print "Testing CategoryEncoder...",
categories = ["ES", "GB", "US"]
e = CategoryEncoder(w=3, categoryList=categories)
output = e.encode("US")
self.assertTrue(
(output == numpy.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1],
dtype=defaultDtype)).all())
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldsDict), 1)
(ranges, desc) = fieldsDict.values()[0]
self.assertTrue(
len(ranges) == 1 and numpy.array_equal(ranges[0], [3, 3]))
print "decodedToStr of", ranges, "=>", e.decodedToStr(decoded)
# Test topdown compute
for v in categories:
output = e.encode(v)
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, v)
self.assertEqual(topDown.scalar, e.getScalars(v)[0])
bucketIndices = e.getBucketIndices(v)
print "bucket index =>", bucketIndices[0]
topDown = e.getBucketInfo(bucketIndices)[0]
self.assertEqual(topDown.value, v)
self.assertEqual(topDown.scalar, e.getScalars(v)[0])
self.assertTrue((topDown.encoding == output).all())
self.assertEqual(topDown.value,
e.getBucketValues()[bucketIndices[0]])
# ---------------------
# unknown category
output = e.encode("NA")
self.assertTrue(
(output == numpy.array([1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0],
dtype=defaultDtype)).all())
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldsDict), 1)
(ranges, desc) = fieldsDict.values()[0]
self.assertTrue(
len(ranges) == 1 and numpy.array_equal(ranges[0], [0, 0]))
print "decodedToStr of", ranges, "=>", e.decodedToStr(decoded)
# Test topdown compute
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, "<UNKNOWN>")
self.assertEqual(topDown.scalar, 0)
# --------------------------------
# ES
output = e.encode("ES")
self.assertTrue(
(output == numpy.array([0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0],
dtype=defaultDtype)).all())
# MISSING VALUE
outputForMissing = e.encode(SENTINEL_VALUE_FOR_MISSING_DATA)
self.assertEqual(sum(outputForMissing), 0)
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldsDict), 1)
(ranges, desc) = fieldsDict.values()[0]
self.assertTrue(
len(ranges) == 1 and numpy.array_equal(ranges[0], [1, 1]))
print "decodedToStr of", ranges, "=>", e.decodedToStr(decoded)
# Test topdown compute
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, "ES")
self.assertEqual(topDown.scalar, e.getScalars("ES")[0])
# --------------------------------
# Multiple categories
output.fill(1)
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldsDict), 1)
(ranges, desc) = fieldsDict.values()[0]
self.assertTrue(
len(ranges) == 1 and numpy.array_equal(ranges[0], [0, 3]))
print "decodedToStr of", ranges, "=>", e.decodedToStr(decoded)
# -------------------------------------------------------------
# Test with width = 1
categories = ["cat1", "cat2", "cat3", "cat4", "cat5"]
e = CategoryEncoder(w=1, categoryList=categories)
for cat in categories:
output = e.encode(cat)
topDown = e.topDownCompute(output)
if verbosity >= 1:
print cat, "->", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# -------------------------------------------------------------
# Test with width = 9, removing some bits end the encoded output
categories = ["cat%d" % (x) for x in range(1, 10)]
e = CategoryEncoder(w=9, categoryList=categories)
for cat in categories:
output = e.encode(cat)
topDown = e.topDownCompute(output)
if verbosity >= 1:
print cat, "->", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 1 bit on the left
outputNZs = output.nonzero()[0]
output[outputNZs[0]] = 0
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "missing 1 bit on left:", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 1 bit on the right
output[outputNZs[0]] = 1
output[outputNZs[-1]] = 0
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "missing 1 bit on right:", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 4 bits on the left
output.fill(0)
output[outputNZs[-5:]] = 1
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "missing 4 bits on left:", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 4 bits on the right
output.fill(0)
output[outputNZs[0:5]] = 1
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "missing 4 bits on right:", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# OR together the output of 2 different categories, we should not get
# back the mean, but rather one or the other
output1 = e.encode("cat1")
output2 = e.encode("cat9")
output = output1 + output2
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "cat1 + cat9 ->", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
self.assertTrue(topDown.scalar == e.getScalars("cat1")[0] \
or topDown.scalar == e.getScalars("cat9")[0])
print "passed"
class SMSequences(object):
"""
Class generates sensorimotor sequences
"""
def __init__(
self,
sensoryInputElements,
spatialConfig,
sensoryInputElementsPool=list("ABCDEFGHIJKLMNOPQRSTUVWXYZ" "abcdefghijklmnopqrstuvwxyz0123456789"),
minDisplacement=1,
maxDisplacement=1,
numActiveBitsSensoryInput=9,
numActiveBitsMotorInput=9,
seed=42,
verbosity=False,
useRandomEncoder=False,
):
"""
@param sensoryInputElements (list)
Strings or numbers representing the sensory elements that exist in your
world. Elements can be repeated if multiple of the same exist.
@param spatialConfig (numpy.array)
Array of size: (1, len(sensoryInputElements), dimension). It has a
coordinate for every element in sensoryInputElements.
@param sensoryInputElementsPool (list)
List of strings representing a readable version of all possible sensory
elements in this world. Elements don't need to be in any order and there
should be no duplicates. By default this contains the set of
alphanumeric characters.
@param maxDisplacement (int)
Maximum `distance` for a motor command. Distance is defined by the
largest difference along any coordinate dimension.
@param minDisplacement (int)
Minimum `distance` for a motor command. Distance is defined by the
largest difference along any coordinate dimension.
@param numActiveBitsSensoryInput (int)
Number of active bits for each sensory input.
@param numActiveBitsMotorInput (int)
Number of active bits for each dimension of the motor input.
@param seed (int)
Random seed for nupic.bindings.Random.
@param verbosity (int)
Verbosity
@param useRandomEncoder (boolean)
if True, use the random encoder SDRCategoryEncoder. If False,
use CategoryEncoder. CategoryEncoder encodes categories using contiguous
non-overlapping bits for each category, which makes it easier to debug.
"""
# ---------------------------------------------------------------------------------
# Store creation parameters
self.sensoryInputElements = sensoryInputElements
self.sensoryInputElementsPool = sensoryInputElementsPool
self.spatialConfig = spatialConfig.astype(int)
self.spatialLength = len(spatialConfig)
self.maxDisplacement = maxDisplacement
self.minDisplacement = minDisplacement
self.numActiveBitsSensoryInput = numActiveBitsSensoryInput
self.numActiveBitsMotorInput = numActiveBitsMotorInput
self.verbosity = verbosity
self.seed = seed
self.initialize(useRandomEncoder)
def initialize(self, useRandomEncoder):
"""
Initialize the various data structures.
"""
self.setRandomSeed(self.seed)
self.dim = numpy.shape(self.spatialConfig)[-1]
self.spatialMap = dict(zip(map(tuple, list(self.spatialConfig)), self.sensoryInputElements))
self.lengthMotorInput1D = (2 * self.maxDisplacement + 1) * self.numActiveBitsMotorInput
uniqueSensoryElements = list(set(self.sensoryInputElementsPool))
if useRandomEncoder:
self.sensoryEncoder = SDRCategoryEncoder(
n=1024, w=self.numActiveBitsSensoryInput, categoryList=uniqueSensoryElements, forced=True
)
self.lengthSensoryInput = self.sensoryEncoder.getWidth()
else:
self.lengthSensoryInput = (len(self.sensoryInputElementsPool) + 1) * self.numActiveBitsSensoryInput
self.sensoryEncoder = CategoryEncoder(
w=self.numActiveBitsSensoryInput, categoryList=uniqueSensoryElements, forced=True
)
motorEncoder1D = ScalarEncoder(
n=self.lengthMotorInput1D,
w=self.numActiveBitsMotorInput,
minval=-self.maxDisplacement,
maxval=self.maxDisplacement,
clipInput=True,
forced=True,
)
self.motorEncoder = VectorEncoder(length=self.dim, encoder=motorEncoder1D)
def generateSensorimotorSequence(self, sequenceLength):
"""
Generate sensorimotor sequences of length sequenceLength.
@param sequenceLength (int)
Length of the sensorimotor sequence.
@return (tuple) Contains:
sensorySequence (list)
Encoded sensory input for whole sequence.
motorSequence (list)
Encoded motor input for whole sequence.
sensorimotorSequence (list)
Encoder sensorimotor input for whole sequence. This is useful
when you want to give external input to temporal memory.
"""
motorSequence = []
sensorySequence = []
sensorimotorSequence = []
currentEyeLoc = self.nupicRandomChoice(self.spatialConfig)
for i in xrange(sequenceLength):
currentSensoryInput = self.spatialMap[tuple(currentEyeLoc)]
nextEyeLoc, currentEyeV = self.getNextEyeLocation(currentEyeLoc)
if self.verbosity:
print "sensory input = ", currentSensoryInput, "eye location = ", currentEyeLoc, " motor command = ", currentEyeV
sensoryInput = self.encodeSensoryInput(currentSensoryInput)
motorInput = self.encodeMotorInput(list(currentEyeV))
sensorimotorInput = numpy.concatenate((sensoryInput, motorInput))
sensorySequence.append(sensoryInput)
motorSequence.append(motorInput)
sensorimotorSequence.append(sensorimotorInput)
currentEyeLoc = nextEyeLoc
return (sensorySequence, motorSequence, sensorimotorSequence)
def encodeSensorimotorSequence(self, eyeLocs):
"""
Encode sensorimotor sequence given the eye movements. Sequence will have
length len(eyeLocs) - 1 because only the differences of eye locations can be
used to encoder motor commands.
@param eyeLocs (list)
Numpy coordinates describing where the eye is looking.
@return (tuple) Contains:
sensorySequence (list)
Encoded sensory input for whole sequence.
motorSequence (list)
Encoded motor input for whole sequence.
sensorimotorSequence (list)
Encoder sensorimotor input for whole sequence. This is useful
when you want to give external input to temporal memory.
"""
sequenceLength = len(eyeLocs) - 1
motorSequence = []
sensorySequence = []
sensorimotorSequence = []
for i in xrange(sequenceLength):
currentEyeLoc = eyeLocs[i]
nextEyeLoc = eyeLocs[i + 1]
currentSensoryInput = self.spatialMap[currentEyeLoc]
currentEyeV = nextEyeLoc - currentEyeLoc
if self.verbosity:
print "sensory input = ", currentSensoryInput, "eye location = ", currentEyeLoc, " motor command = ", currentEyeV
sensoryInput = self.encodeSensoryInput(currentSensoryInput)
motorInput = self.encodeMotorInput(list(currentEyeV))
sensorimotorInput = numpy.concatenate((sensoryInput, motorInput))
sensorySequence.append(sensoryInput)
motorSequence.append(motorInput)
sensorimotorSequence.append(sensorimotorInput)
return (sensorySequence, motorSequence, sensorimotorSequence)
def getNextEyeLocation(self, currentEyeLoc):
"""
Generate next eye location based on current eye location.
@param currentEyeLoc (numpy.array)
Current coordinate describing the eye location in the world.
@return (tuple) Contains:
nextEyeLoc (numpy.array)
Coordinate of the next eye location.
eyeDiff (numpy.array)
Vector describing change from currentEyeLoc to nextEyeLoc.
"""
possibleEyeLocs = []
for loc in self.spatialConfig:
shift = abs(max(loc - currentEyeLoc))
if self.minDisplacement <= shift <= self.maxDisplacement:
possibleEyeLocs.append(loc)
nextEyeLoc = self.nupicRandomChoice(possibleEyeLocs)
eyeDiff = nextEyeLoc - currentEyeLoc
return nextEyeLoc, eyeDiff
def setRandomSeed(self, seed):
"""
Reset the nupic random generator. This is necessary to reset random seed to
generate new sequences.
@param seed (int)
Seed for nupic.bindings.Random.
"""
self.seed = seed
self._random = Random()
self._random.setSeed(seed)
def nupicRandomChoice(self, array):
"""
Chooses a random element from an array using the nupic random number
generator.
@param array (list or numpy.array)
Array to choose random element from.
@return (element)
Element chosen at random.
"""
return array[self._random.getUInt32(len(array))]
def encodeMotorInput(self, motorInput):
"""
Encode motor command to bit vector.
@param motorInput (1D numpy.array)
Motor command to be encoded.
@return (1D numpy.array)
Encoded motor command.
"""
if not hasattr(motorInput, "__iter__"):
motorInput = list([motorInput])
return self.motorEncoder.encode(motorInput)
def decodeMotorInput(self, motorInputPattern):
"""
Decode motor command from bit vector.
@param motorInputPattern (1D numpy.array)
Encoded motor command.
@return (1D numpy.array)
Decoded motor command.
"""
key = self.motorEncoder.decode(motorInputPattern)[0].keys()[0]
motorCommand = self.motorEncoder.decode(motorInputPattern)[0][key][1][0]
return motorCommand
def encodeSensoryInput(self, sensoryInputElement):
"""
Encode sensory input to bit vector
@param sensoryElement (1D numpy.array)
Sensory element to be encoded.
@return (1D numpy.array)
Encoded sensory element.
"""
return self.sensoryEncoder.encode(sensoryInputElement)
def decodeSensoryInput(self, sensoryInputPattern):
"""
Decode sensory input from bit vector.
@param sensoryInputPattern (1D numpy.array)
Encoded sensory element.
@return (1D numpy.array)
Decoded sensory element.
"""
return self.sensoryEncoder.decode(sensoryInputPattern)[0]["category"][1]
def printSensoryCodingScheme(self):
"""
Print sensory inputs along with their encoded versions.
"""
print "\nsensory coding scheme: "
for loc in self.spatialConfig:
sensoryElement = self.spatialMap[tuple(loc)]
print sensoryElement, "%s : " % loc,
printSequence(self.encodeSensoryInput(sensoryElement))
def printMotorCodingScheme(self):
"""
Print motor commands (displacement vector) along with their encoded
versions.
"""
print "\nmotor coding scheme: "
self.build(self.dim, [])
def build(self, n, vec):
"""
Recursive function to help print motor coding scheme.
"""
for i in range(-self.maxDisplacement, self.maxDisplacement + 1):
next = vec + [i]
if n == 1:
print "{:>5}\t".format(next), " = ",
printSequence(self.encodeMotorInput(next))
else:
self.build(n - 1, next)
def testCategoryEncoder(self):
categories = ["ES", "GB", "US"]
# forced: is not recommended, but is used here for readability.
# see scalar.py
e = CategoryEncoder(w=3, categoryList=categories, forced=True)
output = e.encode("US")
expected = numpy.array([0,0,0,0,0,0,0,0,0,1,1,1], dtype=defaultDtype)
self.assertTrue(numpy.array_equal(output, expected))
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldNames), 1)
self.assertEqual(len(fieldsDict), 1)
self.assertEqual(fieldNames[0], fieldsDict.keys()[0])
(ranges, desc) = fieldsDict.values()[0]
self.assertEqual(desc, "US")
self.assertEqual(len(ranges), 1)
self.assertTrue(numpy.array_equal(ranges[0], [3, 3]))
# Test topdown compute
for v in categories:
output = e.encode(v)
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, v)
self.assertEqual(topDown.scalar, e.getScalars(v)[0])
bucketIndices = e.getBucketIndices(v)
topDown = e.getBucketInfo(bucketIndices)[0]
self.assertEqual(topDown.value, v)
self.assertEqual(topDown.scalar, e.getScalars(v)[0])
self.assertTrue(numpy.array_equal(topDown.encoding, output))
self.assertEqual(topDown.value, e.getBucketValues()[bucketIndices[0]])
# ---------------------
# unknown category
output = e.encode("NA")
expected = numpy.array([1,1,1,0,0,0,0,0,0,0,0,0], dtype=defaultDtype)
self.assertTrue(numpy.array_equal(output, expected))
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldNames), 1)
self.assertEqual(len(fieldsDict), 1)
self.assertEqual(fieldNames[0], fieldsDict.keys()[0])
(ranges, desc) = fieldsDict.values()[0]
self.assertEqual(len(ranges), 1)
self.assertTrue(numpy.array_equal(ranges[0], [0, 0]))
# Test topdown compute
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, UNKNOWN)
self.assertEqual(topDown.scalar, 0)
# --------------------------------
# ES
output = e.encode("ES")
expected = numpy.array([0,0,0,1,1,1,0,0,0,0,0,0], dtype=defaultDtype)
self.assertTrue(numpy.array_equal(output, expected))
# MISSING VALUE
outputForMissing = e.encode(SENTINEL_VALUE_FOR_MISSING_DATA)
self.assertEqual(sum(outputForMissing), 0)
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldNames), 1)
self.assertEqual(len(fieldsDict), 1)
self.assertEqual(fieldNames[0], fieldsDict.keys()[0])
(ranges, desc) = fieldsDict.values()[0]
self.assertEqual(len(ranges), 1)
self.assertTrue(numpy.array_equal(ranges[0], [1, 1]))
# Test topdown compute
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, "ES")
self.assertEqual(topDown.scalar, e.getScalars("ES")[0])
# --------------------------------
# Multiple categories
output.fill(1)
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
self.assertEqual(len(fieldNames), 1)
self.assertEqual(len(fieldsDict), 1)
self.assertEqual(fieldNames[0], fieldsDict.keys()[0])
(ranges, desc) = fieldsDict.values()[0]
self.assertEqual(len(ranges), 1)
self.assertTrue(numpy.array_equal(ranges[0], [0, 3]))
# -------------------------------------------------------------
# Test with width = 1
categories = ["cat1", "cat2", "cat3", "cat4", "cat5"]
# forced: is not recommended, but is used here for readability.
# see scalar.py
e = CategoryEncoder(w=1, categoryList=categories, forced=True)
for cat in categories:
output = e.encode(cat)
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# -------------------------------------------------------------
# Test with width = 9, removing some bits end the encoded output
categories = ["cat%d" % (x) for x in range(1, 10)]
# forced: is not recommended, but is used here for readability.
# see scalar.py
e = CategoryEncoder(w=9, categoryList=categories, forced=True)
for cat in categories:
output = e.encode(cat)
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 1 bit on the left
outputNZs = output.nonzero()[0]
output[outputNZs[0]] = 0
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 1 bit on the right
output[outputNZs[0]] = 1
output[outputNZs[-1]] = 0
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 4 bits on the left
output.fill(0)
output[outputNZs[-5:]] = 1
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# Get rid of 4 bits on the right
output.fill(0)
output[outputNZs[0:5]] = 1
topDown = e.topDownCompute(output)
self.assertEqual(topDown.value, cat)
self.assertEqual(topDown.scalar, e.getScalars(cat)[0])
# OR together the output of 2 different categories, we should not get
# back the mean, but rather one or the other
output1 = e.encode("cat1")
output2 = e.encode("cat9")
output = output1 + output2
topDown = e.topDownCompute(output)
self.assertTrue(topDown.scalar == e.getScalars("cat1")[0] \
or topDown.scalar == e.getScalars("cat9")[0])
def testCategoryEncoder(self):
verbosity = 0
print "Testing CategoryEncoder...",
categories = ["ES", "GB", "US"]
e = CategoryEncoder(w=3, categoryList=categories)
output = e.encode("US")
assert (output == numpy.array([0,0,0,0,0,0,0,0,0,1,1,1], dtype=defaultDtype)).all()
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
assert len(fieldsDict) == 1
(ranges, desc) = fieldsDict.values()[0]
assert len(ranges) == 1 and numpy.array_equal(ranges[0], [3,3])
print "decodedToStr of", ranges, "=>", e.decodedToStr(decoded)
# Test topdown compute
for v in categories:
output = e.encode(v)
topDown = e.topDownCompute(output)
assert topDown.value == v
assert topDown.scalar == e.getScalars(v)[0]
bucketIndices = e.getBucketIndices(v)
print "bucket index =>", bucketIndices[0]
topDown = e.getBucketInfo(bucketIndices)[0]
assert topDown.value == v
assert topDown.scalar == e.getScalars(v)[0]
assert (topDown.encoding == output).all()
assert topDown.value == e.getBucketValues()[bucketIndices[0]]
# ---------------------
# unknown category
output = e.encode("NA")
assert (output == numpy.array([1,1,1,0,0,0,0,0,0,0,0,0], dtype=defaultDtype)).all()
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
assert len(fieldsDict) == 1
(ranges, desc) = fieldsDict.values()[0]
assert len(ranges) == 1 and numpy.array_equal(ranges[0], [0,0])
print "decodedToStr of", ranges, "=>", e.decodedToStr(decoded)
# Test topdown compute
topDown = e.topDownCompute(output)
assert topDown.value == "<UNKNOWN>"
assert topDown.scalar == 0
# --------------------------------
# ES
output = e.encode("ES")
assert (output == numpy.array([0,0,0,1,1,1,0,0,0,0,0,0], dtype=defaultDtype)).all()
# MISSING VALUE
outputForMissing = e.encode(SENTINEL_VALUE_FOR_MISSING_DATA)
assert sum(outputForMissing) == 0
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
assert len(fieldsDict) == 1
(ranges, desc) = fieldsDict.values()[0]
assert len(ranges) == 1 and numpy.array_equal(ranges[0], [1,1])
print "decodedToStr of", ranges, "=>", e.decodedToStr(decoded)
# Test topdown compute
topDown = e.topDownCompute(output)
assert topDown.value == "ES"
assert topDown.scalar == e.getScalars("ES")[0]
# --------------------------------
# Multiple categories
output.fill(1)
# Test reverse lookup
decoded = e.decode(output)
(fieldsDict, fieldNames) = decoded
assert len(fieldsDict) == 1
(ranges, desc) = fieldsDict.values()[0]
assert len(ranges) == 1 and numpy.array_equal(ranges[0], [0,3])
print "decodedToStr of", ranges, "=>", e.decodedToStr(decoded)
# -------------------------------------------------------------
# Test with width = 1
categories = ["cat1", "cat2", "cat3", "cat4", "cat5"]
e = CategoryEncoder(w=1, categoryList=categories)
for cat in categories:
output = e.encode(cat)
topDown = e.topDownCompute(output)
if verbosity >= 1:
print cat, "->", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
assert topDown.value == cat
assert topDown.scalar == e.getScalars(cat)[0]
# -------------------------------------------------------------
# Test with width = 9, removing some bits end the encoded output
categories = ["cat%d" % (x) for x in range(1, 10)]
e = CategoryEncoder(w=9, categoryList=categories)
for cat in categories:
output = e.encode(cat)
topDown = e.topDownCompute(output)
if verbosity >= 1:
print cat, "->", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
assert topDown.value == cat
assert topDown.scalar == e.getScalars(cat)[0]
# Get rid of 1 bit on the left
outputNZs = output.nonzero()[0]
output[outputNZs[0]] = 0
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "missing 1 bit on left:", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
assert topDown.value == cat
assert topDown.scalar == e.getScalars(cat)[0]
# Get rid of 1 bit on the right
output[outputNZs[0]] = 1
output[outputNZs[-1]] = 0
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "missing 1 bit on right:", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
assert topDown.value == cat
assert topDown.scalar == e.getScalars(cat)[0]
# Get rid of 4 bits on the left
output.fill(0)
output[outputNZs[-5:]] = 1
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "missing 4 bits on left:", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
assert topDown.value == cat
assert topDown.scalar == e.getScalars(cat)[0]
# Get rid of 4 bits on the right
output.fill(0)
output[outputNZs[0:5]] = 1
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "missing 4 bits on right:", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
assert topDown.value == cat
assert topDown.scalar == e.getScalars(cat)[0]
# OR together the output of 2 different categories, we should not get
# back the mean, but rather one or the other
output1 = e.encode("cat1")
output2 = e.encode("cat9")
output = output1 + output2
topDown = e.topDownCompute(output)
if verbosity >= 1:
print "cat1 + cat9 ->", output, output.nonzero()[0]
print " scalarTopDown:", e.encoder.topDownCompute(output)
print " topdown:", topDown
assert topDown.scalar == e.getScalars("cat1")[0] \
or topDown.scalar == e.getScalars("cat9")[0]
print "passed"
# print "now =", de.encode(now)
# nextMonth = datetime.datetime.strptime("2014-06-02 13:08:58", "%Y-%m-%d %H:%M:%S")
# print "next month =", de.encode(nextMonth)
# xmas = datetime.datetime.strptime("2014-12-25 13:08:58", "%Y-%m-%d %H:%M:%S")
# print "xmas =", de.encode(xmas)
# Cateogry Encoding
from nupic.encoders.category import CategoryEncoder
categories = ("cat", "dog", "monkey", "mai")
encoder = CategoryEncoder(w=3, categoryList=categories)
cat = encoder.encode("cat")
dog = encoder.encode("dog")
monkey = encoder.encode("monkey")
mai = encoder.encode("mai")
print "cat =", cat
print "dog =", dog
print "monkey =", monkey
print "mai =", mai
print
print "None =", encoder.encode(None)
print "Unknown =", encoder.encode("unknown")
print
print "Decode cat", encoder.decode(cat)
print "Decode dog", encoder.decode(dog)
print "Decode monkey", encoder.decode(monkey)
print "Decode mai", encoder.decode(mai)
catdog = numpy.array([0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0])
print encoder.decode(catdog)
class SMSequences(object):
"""
Class generates sensorimotor sequences
"""
def __init__(self,
sensoryInputElements,
spatialConfig,
sensoryInputElementsPool=list(
"ABCDEFGHIJKLMNOPQRSTUVWXYZ"
"abcdefghijklmnopqrstuvwxyz0123456789"),
minDisplacement=1,
maxDisplacement=1,
numActiveBitsSensoryInput=9,
numActiveBitsMotorInput=9,
seed=42,
verbosity=False,
useRandomEncoder=False):
"""
@param sensoryInputElements (list)
Strings or numbers representing the sensory elements that exist in your
world. Elements can be repeated if multiple of the same exist.
@param spatialConfig (numpy.array)
Array of size: (1, len(sensoryInputElements), dimension). It has a
coordinate for every element in sensoryInputElements.
@param sensoryInputElementsPool (list)
List of strings representing a readable version of all possible sensory
elements in this world. Elements don't need to be in any order and there
should be no duplicates. By default this contains the set of
alphanumeric characters.
@param maxDisplacement (int)
Maximum `distance` for a motor command. Distance is defined by the
largest difference along any coordinate dimension.
@param minDisplacement (int)
Minimum `distance` for a motor command. Distance is defined by the
largest difference along any coordinate dimension.
@param numActiveBitsSensoryInput (int)
Number of active bits for each sensory input.
@param numActiveBitsMotorInput (int)
Number of active bits for each dimension of the motor input.
@param seed (int)
Random seed for nupic.bindings.Random.
@param verbosity (int)
Verbosity
@param useRandomEncoder (boolean)
if True, use the random encoder SDRCategoryEncoder. If False,
use CategoryEncoder. CategoryEncoder encodes categories using contiguous
non-overlapping bits for each category, which makes it easier to debug.
"""
#---------------------------------------------------------------------------------
# Store creation parameters
self.sensoryInputElements = sensoryInputElements
self.sensoryInputElementsPool = sensoryInputElementsPool
self.spatialConfig = spatialConfig.astype(int)
self.spatialLength = len(spatialConfig)
self.maxDisplacement = maxDisplacement
self.minDisplacement = minDisplacement
self.numActiveBitsSensoryInput = numActiveBitsSensoryInput
self.numActiveBitsMotorInput = numActiveBitsMotorInput
self.verbosity = verbosity
self.seed = seed
self.initialize(useRandomEncoder)
def initialize(self, useRandomEncoder):
"""
Initialize the various data structures.
"""
self.setRandomSeed(self.seed)
self.dim = numpy.shape(self.spatialConfig)[-1]
self.spatialMap = dict(
zip(map(tuple, list(self.spatialConfig)),
self.sensoryInputElements))
self.lengthMotorInput1D = (2*self.maxDisplacement + 1) * \
self.numActiveBitsMotorInput
uniqueSensoryElements = list(set(self.sensoryInputElementsPool))
if useRandomEncoder:
self.sensoryEncoder = SDRCategoryEncoder(
n=1024,
w=self.numActiveBitsSensoryInput,
categoryList=uniqueSensoryElements,
forced=True)
self.lengthSensoryInput = self.sensoryEncoder.getWidth()
else:
self.lengthSensoryInput = (len(self.sensoryInputElementsPool)+1) * \
self.numActiveBitsSensoryInput
self.sensoryEncoder = CategoryEncoder(
w=self.numActiveBitsSensoryInput,
categoryList=uniqueSensoryElements,
forced=True)
motorEncoder1D = ScalarEncoder(n=self.lengthMotorInput1D,
w=self.numActiveBitsMotorInput,
minval=-self.maxDisplacement,
maxval=self.maxDisplacement,
clipInput=True,
forced=True)
self.motorEncoder = VectorEncoder(length=self.dim,
encoder=motorEncoder1D)
def generateSensorimotorSequence(self, sequenceLength):
"""
Generate sensorimotor sequences of length sequenceLength.
@param sequenceLength (int)
Length of the sensorimotor sequence.
@return (tuple) Contains:
sensorySequence (list)
Encoded sensory input for whole sequence.
motorSequence (list)
Encoded motor input for whole sequence.
sensorimotorSequence (list)
Encoder sensorimotor input for whole sequence. This is useful
when you want to give external input to temporal memory.
"""
motorSequence = []
sensorySequence = []
sensorimotorSequence = []
currentEyeLoc = self.nupicRandomChoice(self.spatialConfig)
for i in xrange(sequenceLength):
currentSensoryInput = self.spatialMap[tuple(currentEyeLoc)]
nextEyeLoc, currentEyeV = self.getNextEyeLocation(currentEyeLoc)
if self.verbosity:
print "sensory input = ", currentSensoryInput, \
"eye location = ", currentEyeLoc, \
" motor command = ", currentEyeV
sensoryInput = self.encodeSensoryInput(currentSensoryInput)
motorInput = self.encodeMotorInput(list(currentEyeV))
sensorimotorInput = numpy.concatenate((sensoryInput, motorInput))
sensorySequence.append(sensoryInput)
motorSequence.append(motorInput)
sensorimotorSequence.append(sensorimotorInput)
currentEyeLoc = nextEyeLoc
return (sensorySequence, motorSequence, sensorimotorSequence)
def encodeSensorimotorSequence(self, eyeLocs):
"""
Encode sensorimotor sequence given the eye movements. Sequence will have
length len(eyeLocs) - 1 because only the differences of eye locations can be
used to encoder motor commands.
@param eyeLocs (list)
Numpy coordinates describing where the eye is looking.
@return (tuple) Contains:
sensorySequence (list)
Encoded sensory input for whole sequence.
motorSequence (list)
Encoded motor input for whole sequence.
sensorimotorSequence (list)
Encoder sensorimotor input for whole sequence. This is useful
when you want to give external input to temporal memory.
"""
sequenceLength = len(eyeLocs) - 1
motorSequence = []
sensorySequence = []
sensorimotorSequence = []
for i in xrange(sequenceLength):
currentEyeLoc = eyeLocs[i]
nextEyeLoc = eyeLocs[i + 1]
currentSensoryInput = self.spatialMap[currentEyeLoc]
currentEyeV = nextEyeLoc - currentEyeLoc
if self.verbosity:
print "sensory input = ", currentSensoryInput, \
"eye location = ", currentEyeLoc, \
" motor command = ", currentEyeV
sensoryInput = self.encodeSensoryInput(currentSensoryInput)
motorInput = self.encodeMotorInput(list(currentEyeV))
sensorimotorInput = numpy.concatenate((sensoryInput, motorInput))
sensorySequence.append(sensoryInput)
motorSequence.append(motorInput)
sensorimotorSequence.append(sensorimotorInput)
return (sensorySequence, motorSequence, sensorimotorSequence)
def getNextEyeLocation(self, currentEyeLoc):
"""
Generate next eye location based on current eye location.
@param currentEyeLoc (numpy.array)
Current coordinate describing the eye location in the world.
@return (tuple) Contains:
nextEyeLoc (numpy.array)
Coordinate of the next eye location.
eyeDiff (numpy.array)
Vector describing change from currentEyeLoc to nextEyeLoc.
"""
possibleEyeLocs = []
for loc in self.spatialConfig:
shift = abs(max(loc - currentEyeLoc))
if self.minDisplacement <= shift <= self.maxDisplacement:
possibleEyeLocs.append(loc)
nextEyeLoc = self.nupicRandomChoice(possibleEyeLocs)
eyeDiff = nextEyeLoc - currentEyeLoc
return nextEyeLoc, eyeDiff
def setRandomSeed(self, seed):
"""
Reset the nupic random generator. This is necessary to reset random seed to
generate new sequences.
@param seed (int)
Seed for nupic.bindings.Random.
"""
self.seed = seed
self._random = Random()
self._random.setSeed(seed)
def nupicRandomChoice(self, array):
"""
Chooses a random element from an array using the nupic random number
generator.
@param array (list or numpy.array)
Array to choose random element from.
@return (element)
Element chosen at random.
"""
return array[self._random.getUInt32(len(array))]
def encodeMotorInput(self, motorInput):
"""
Encode motor command to bit vector.
@param motorInput (1D numpy.array)
Motor command to be encoded.
@return (1D numpy.array)
Encoded motor command.
"""
if not hasattr(motorInput, "__iter__"):
motorInput = list([motorInput])
return self.motorEncoder.encode(motorInput)
def decodeMotorInput(self, motorInputPattern):
"""
Decode motor command from bit vector.
@param motorInputPattern (1D numpy.array)
Encoded motor command.
@return (1D numpy.array)
Decoded motor command.
"""
key = self.motorEncoder.decode(motorInputPattern)[0].keys()[0]
motorCommand = self.motorEncoder.decode(
motorInputPattern)[0][key][1][0]
return motorCommand
def encodeSensoryInput(self, sensoryInputElement):
"""
Encode sensory input to bit vector
@param sensoryElement (1D numpy.array)
Sensory element to be encoded.
@return (1D numpy.array)
Encoded sensory element.
"""
return self.sensoryEncoder.encode(sensoryInputElement)
def decodeSensoryInput(self, sensoryInputPattern):
"""
Decode sensory input from bit vector.
@param sensoryInputPattern (1D numpy.array)
Encoded sensory element.
@return (1D numpy.array)
Decoded sensory element.
"""
return self.sensoryEncoder.decode(
sensoryInputPattern)[0]['category'][1]
def printSensoryCodingScheme(self):
"""
Print sensory inputs along with their encoded versions.
"""
print "\nsensory coding scheme: "
for loc in self.spatialConfig:
sensoryElement = self.spatialMap[tuple(loc)]
print sensoryElement, "%s : " % loc,
printSequence(self.encodeSensoryInput(sensoryElement))
def printMotorCodingScheme(self):
"""
Print motor commands (displacement vector) along with their encoded
versions.
"""
print "\nmotor coding scheme: "
self.build(self.dim, [])
def build(self, n, vec):
"""
Recursive function to help print motor coding scheme.
"""
for i in range(-self.maxDisplacement, self.maxDisplacement + 1):
next = vec + [i]
if n == 1:
print '{:>5}\t'.format(next), " = ",
printSequence(self.encodeMotorInput(next))
else:
self.build(n - 1, next)