def test_lwr_linear(self):
"""Test LWLR on random linear models of dimensions from 1 to 20.
It should return exact results, give of take floating point imprecisions."""
for _ in range(20):
n = random.randint(1, 20)
m = random.randint(1, 5)
f = random_linear(n, m)
cfg = {'m_channels' : [learners.Channel('x_{}'.format(i), (0.0, 1.0))
for i in range(n)],
's_channels' : [learners.Channel('y_{}'.format(i), (0.0, 1.0))
for i in range(m)],
'm_uniformize': True,
'options.maxiter': 500}
learner = learners.OptimizeLearner(cfg)
for _ in range(4*n):
x = np.random.rand(n)
y = f(x)
learner.update(tools.to_signal(x, cfg['m_channels']),
tools.to_signal(y, cfg['s_channels']))
for _ in range(10):
x = np.random.rand(n).ravel()
y = f(x)
xp = learner.infer(tools.to_signal(y, cfg['s_channels']))
xp = np.array(tools.to_vector(xp, cfg['m_channels']))
self.assertTrue(np.allclose(f(xp), y, rtol = 1e-1, atol = 1e-1))
def test_lwr1D_linear(self):
"""Simplest test possible (well, not quite, but close)."""
f = lambda x: 2.0 * x
cfg = {
'm_channels': [learners.Channel('x', (0.0, 1.0))],
's_channels': [learners.Channel('y', (0.0, 1.0))],
'm_uniformize': True,
'sigma': 0.1
}
for learner in [
learners.LWLRLearner(cfg),
learners.ESLWLRLearner(cfg)
]:
for _ in range(10):
x = np.random.rand(1)
y = f(x)
learner.update(tools.to_signal(x, cfg['m_channels']),
tools.to_signal(y, cfg['s_channels']))
for _ in range(10):
x = np.random.rand(1).ravel()
y = f(x)
yp = learner.predict(tools.to_signal(x, cfg['m_channels']))
yp = tools.to_vector(yp, cfg['s_channels'])
self.assertTrue(np.allclose(y, yp, rtol=1e-5, atol=1e-5))
def test_lwr_linear(self):
"""Test LWLR on random linear models of dimensions from 1 to 20.
It should return exact results, give of take floating point imprecisions."""
for cpp in [True, False]:
if cpp:
learners.enable_fastlearners(silent_fail=False)
else:
learners.disable_fastlearners()
for _ in range(20):
n = random.randint(1, 20)
m = random.randint(1, 5)
f = random_linear(n, m)
cfg = {'m_channels' : [learners.Channel('x_{}'.format(i), (0.0, 1.0))
for i in range(n)],
's_channels' : [learners.Channel('y_{}'.format(i), (0.0, 1.0))
for i in range(m)],
'm_uniformize': True,
'sigma' : 1.0}
for learner in [learners.LWLRLearner(cfg), learners.ESLWLRLearner(cfg)]:
for _ in range(2*n):
x = np.random.rand(n)
y = f(x)
learner.update(tools.to_signal(x, cfg['m_channels']),
tools.to_signal(y, cfg['s_channels']))
for _ in range(10):
x = np.random.rand(n).ravel()
y = f(x)
yp = learner.predict(tools.to_signal(x, cfg['m_channels']))
yp = tools.to_vector(yp, cfg['s_channels'])
self.assertTrue(np.allclose(y, yp, rtol = 1e-5, atol = 1e-5))
def cov_test(cfg):
ticks = set(cfg.test.ticks)
history = chrono.ChronoHistory(cfg.hardware.datafile, core_keys=['errors'],
meta={'jobcfg': cfg},
extralog = False)
sensory_data = chrono.ChronoHistory(cfg.hardware.exploration.sensoryfile,
extralog = False, verbose=True)
data_cfg = sensory_data.core.meta['jobcfg'].exploration
points = []
for tick, entry in enumerate(sensory_data):
if tick in ticks:
if len(history) <= tick or history.core.entries[tick] is None:
history.add_entry(tick, {'errors': [shapely.ops.unary_union(points).area]},
delete_posterior=False)
s_vector = tools.to_vector(entry['data']['s_signal'], data_cfg.explorer.s_channels)
if cfg.test.depolarize:
cs = data_cfg.explorer.s_channels
if len(cs) == 2 and cs[0].name == 'r' and cs[1].name == 'theta':
r, theta = s_vector
s_vector = (r*math.cos(theta), r*math.sin(theta))
points.append(shapely.geometry.Point(s_vector).buffer(cfg.test.buffer_size))
if len(sensory_data) in ticks:
history.add_entry(len(sensory_data), {'errors': [shapely.ops.unary_union(points).area]}, delete_posterior=False)
history.save(done=True, verbose=True)
def nn_test(cfg):
## Loading exploration data ##
data_history = chrono.ChronoHistory(cfg.hardware.exploration.datafile,
extralog=False,
verbose=True)
data_cfg = data_history.core.meta['jobcfg'].exploration
testset_chr = chrono.ChronoHistory(cfg.hardware.testset.datafile,
extralog=False,
verbose=True)
testset = {
's_channels': testset_chr.core.meta['s_channels'],
's_goals': testset_chr.core.meta['testset']
}
history = chrono.ChronoHistory(cfg.hardware.datafile,
core_keys=['errors'],
meta={
'jobcfg': cfg,
'testset': testset
},
extralog=False)
ticks = set(cfg.test.ticks)
nnset = learners.NNSet()
for tick, entry in enumerate(data_history):
if tick in ticks and len(nnset) > 0:
if len(history) <= tick or history.core.entries[tick] is None:
measure_perf(tick, testset, nnset, data_cfg, history)
exploration = entry['data']['exploration']
feedback = entry['data']['feedback']
m_vector = tools.to_vector(exploration['m_signal'],
data_cfg.explorer.m_channels)
s_vector = tools.to_vector(feedback['s_signal'],
data_cfg.explorer.s_channels)
nnset.add(m_vector, s_vector)
if len(data_history) in ticks:
measure_perf(len(data_history), testset, nnset, data_cfg, history)
history.save(done=True, verbose=True)
def measure_perf(tick, testset, nnset, data_cfg, history, light=False):
errors = []
for s_goal in testset['s_goals']:
s_vector_goal = tools.to_vector(s_goal, testset['s_channels'])
dist, idx = nnset.nn_y(s_vector_goal, k=1)
s_vector = nnset.ys[idx[0]]
errors.append(tools.dist(s_vector_goal, s_vector))
print('log: test(t={}) done'.format(tick))
history.add_entry(tick, {'errors': errors}, delete_posterior=False)
def measure_perf(tick, testset, nnset, data_cfg, history, light=False):
errors = []
for s_goal in testset['s_goals']:
s_vector_goal = tools.to_vector(s_goal, testset['s_channels'])
dist, idx = nnset.nn_y(s_vector_goal, k=1)
s_vector = nnset.ys[idx[0]]
errors.append(tools.dist(s_vector_goal, s_vector))
print('log: test(t={}) done'.format(tick))
history.add_entry(tick, {'errors': errors},
delete_posterior=False)
def nn_test(cfg):
## Loading exploration data ##
data_history = chrono.ChronoHistory(cfg.hardware.exploration.datafile,
extralog=False, verbose=True)
data_cfg = data_history.core.meta['jobcfg'].exploration
testset_chr = chrono.ChronoHistory(cfg.hardware.testset.datafile,
extralog=False, verbose=True)
testset = {'s_channels': testset_chr.core.meta['s_channels'],
's_goals' : testset_chr.core.meta['testset']}
history = chrono.ChronoHistory(cfg.hardware.datafile, core_keys=['errors'],
meta={'jobcfg': cfg, 'testset': testset},
extralog = False)
ticks = set(cfg.test.ticks)
nnset = learners.NNSet()
for tick, entry in enumerate(data_history):
if tick in ticks and len(nnset) > 0:
if len(history) <= tick or history.core.entries[tick] is None:
measure_perf(tick, testset, nnset, data_cfg, history)
exploration = entry['data']['exploration']
feedback = entry['data']['feedback']
m_vector = tools.to_vector(exploration['m_signal'], data_cfg.explorer.m_channels)
s_vector = tools.to_vector( feedback['s_signal'], data_cfg.explorer.s_channels)
nnset.add(m_vector, s_vector)
if len(data_history) in ticks:
measure_perf(len(data_history), testset, nnset, data_cfg, history)
history.save(done=True, verbose=True)
def test_lwr_linear(self):
"""Test LWLR on random linear models of dimensions from 1 to 20.
It should return exact results, give of take floating point imprecisions."""
for cpp in [True, False]:
if cpp:
learners.enable_fastlearners(silent_fail=False)
else:
learners.disable_fastlearners()
for _ in range(20):
n = random.randint(1, 20)
m = random.randint(1, 5)
f = random_linear(n, m)
cfg = {
'm_channels': [
learners.Channel('x_{}'.format(i), (0.0, 1.0))
for i in range(n)
],
's_channels': [
learners.Channel('y_{}'.format(i), (0.0, 1.0))
for i in range(m)
],
'm_uniformize':
True,
'sigma':
1.0
}
for learner in [
learners.LWLRLearner(cfg),
learners.ESLWLRLearner(cfg)
]:
for _ in range(2 * n):
x = np.random.rand(n)
y = f(x)
learner.update(tools.to_signal(x, cfg['m_channels']),
tools.to_signal(y, cfg['s_channels']))
for _ in range(10):
x = np.random.rand(n).ravel()
y = f(x)
yp = learner.predict(
tools.to_signal(x, cfg['m_channels']))
yp = tools.to_vector(yp, cfg['s_channels'])
self.assertTrue(
np.allclose(y, yp, rtol=1e-5, atol=1e-5))
def test_lwr1D_linear(self):
"""Simplest test possible (well, not quite, but close)."""
f = lambda x : 2.0*x
cfg = {'m_channels' : [learners.Channel('x', (0.0, 1.0))],
's_channels' : [learners.Channel('y', (0.0, 1.0))],
'm_uniformize': True}
learner = learners.OptimizeLearner(cfg)
for _ in range(10):
x = np.random.rand(1)
y = f(x)
learner.update(tools.to_signal(x, cfg['m_channels']),
tools.to_signal(y, cfg['s_channels']))
for _ in range(10):
y = np.random.rand(1).ravel()
xp = learner.infer(tools.to_signal(y, cfg['s_channels']))
xp = np.array(tools.to_vector(xp, cfg['m_channels']))
self.assertTrue(np.allclose(f(xp), y, rtol = 1e-5, atol = 1e-5))
def cov_test(cfg):
ticks = set(cfg.test.ticks)
history = chrono.ChronoHistory(cfg.hardware.datafile,
core_keys=['errors'],
meta={'jobcfg': cfg},
extralog=False)
sensory_data = chrono.ChronoHistory(cfg.hardware.exploration.sensoryfile,
extralog=False,
verbose=True)
data_cfg = sensory_data.core.meta['jobcfg'].exploration
points = []
for tick, entry in enumerate(sensory_data):
if tick in ticks:
if len(history) <= tick or history.core.entries[tick] is None:
history.add_entry(
tick, {'errors': [shapely.ops.unary_union(points).area]},
delete_posterior=False)
s_vector = tools.to_vector(entry['data']['s_signal'],
data_cfg.explorer.s_channels)
if cfg.test.depolarize:
cs = data_cfg.explorer.s_channels
if len(cs) == 2 and cs[0].name == 'r' and cs[1].name == 'theta':
r, theta = s_vector
s_vector = (r * math.cos(theta), r * math.sin(theta))
points.append(
shapely.geometry.Point(s_vector).buffer(cfg.test.buffer_size))
if len(sensory_data) in ticks:
history.add_entry(len(sensory_data),
{'errors': [shapely.ops.unary_union(points).area]},
delete_posterior=False)
history.save(done=True, verbose=True)
def test_lwr1D_linear(self):
"""Simplest test possible (well, not quite, but close)."""
f = lambda x: 2.0 * x
cfg = {
'm_channels': [learners.Channel('x', (0.0, 1.0))],
's_channels': [learners.Channel('y', (0.0, 1.0))],
'm_uniformize': True
}
learner = learners.OptimizeLearner(cfg)
for _ in range(10):
x = np.random.rand(1)
y = f(x)
learner.update(tools.to_signal(x, cfg['m_channels']),
tools.to_signal(y, cfg['s_channels']))
for _ in range(10):
y = np.random.rand(1).ravel()
xp = learner.infer(tools.to_signal(y, cfg['s_channels']))
xp = np.array(tools.to_vector(xp, cfg['m_channels']))
self.assertTrue(np.allclose(f(xp), y, rtol=1e-5, atol=1e-5))
def test_lwr1D_linear(self):
"""Simplest test possible (well, not quite, but close)."""
f = lambda x : 2.0*x
cfg = {'m_channels' : [learners.Channel('x', (0.0, 1.0))],
's_channels' : [learners.Channel('y', (0.0, 1.0))],
'm_uniformize': True,
'sigma' : 0.1}
for learner in [learners.LWLRLearner(cfg), learners.ESLWLRLearner(cfg)]:
for _ in range(10):
x = np.random.rand(1)
y = f(x)
learner.update(tools.to_signal(x, cfg['m_channels']),
tools.to_signal(y, cfg['s_channels']))
for _ in range(10):
x = np.random.rand(1).ravel()
y = f(x)
yp = learner.predict(tools.to_signal(x, cfg['m_channels']))
yp = tools.to_vector(yp, cfg['s_channels'])
self.assertTrue(np.allclose(y, yp, rtol = 1e-5, atol = 1e-5))
def test_lwr_linear(self):
"""Test LWLR on random linear models of dimensions from 1 to 20.
It should return exact results, give of take floating point imprecisions."""
for _ in range(20):
n = random.randint(1, 20)
m = random.randint(1, 5)
f = random_linear(n, m)
cfg = {
'm_channels': [
learners.Channel('x_{}'.format(i), (0.0, 1.0))
for i in range(n)
],
's_channels': [
learners.Channel('y_{}'.format(i), (0.0, 1.0))
for i in range(m)
],
'm_uniformize':
True,
'options.maxiter':
500
}
learner = learners.OptimizeLearner(cfg)
for _ in range(4 * n):
x = np.random.rand(n)
y = f(x)
learner.update(tools.to_signal(x, cfg['m_channels']),
tools.to_signal(y, cfg['s_channels']))
for _ in range(10):
x = np.random.rand(n).ravel()
y = f(x)
xp = learner.infer(tools.to_signal(y, cfg['s_channels']))
xp = np.array(tools.to_vector(xp, cfg['m_channels']))
self.assertTrue(np.allclose(f(xp), y, rtol=1e-1, atol=1e-1))
def _execute(self, m_signal, meta=None):
m_vector = tools.to_vector(m_signal, self.m_channels)
s_vector = (m_vector[0] + m_vector[1], m_vector[0]*m_vector[1])
return tools.to_signal(s_vector, self.s_channels)
def _execute(self, m_signal, meta=None):
m_vector = tools.to_vector(m_signal, self.m_channels)
s_vector = (m_vector[0] + m_vector[1], m_vector[0] * m_vector[1])
return tools.to_signal(s_vector, self.s_channels)
