def test_normalize_dense_matrix_enum(self): normalization_parameters = { 1: NormalizationParameters( identify_types.ENUM, None, None, None, None, [12, 4, 2], None, None, None, ), 2: NormalizationParameters( identify_types.CONTINUOUS, None, 0, 0, 1, None, None, None, None ), 3: NormalizationParameters( identify_types.ENUM, None, None, None, None, [15, 3], None, None, None ), } norm_net = core.Net("net") C2.set_net(norm_net) preprocessor = PreprocessorNet() inputs = np.zeros([4, 3], dtype=np.float32) feature_ids = [2, 1, 3] # Sorted according to feature type inputs[:, feature_ids.index(1)] = [12, 4, 2, 2] inputs[:, feature_ids.index(2)] = [1.0, 2.0, 3.0, 3.0] inputs[:, feature_ids.index(3)] = [15, 3, 15, normalization.MISSING_VALUE] input_blob = C2.NextBlob("input_blob") workspace.FeedBlob(input_blob, np.array([0], dtype=np.float32)) normalized_output_blob, _ = preprocessor.normalize_dense_matrix( input_blob, feature_ids, normalization_parameters, "", False ) workspace.FeedBlob(input_blob, inputs) workspace.RunNetOnce(norm_net) normalized_feature_matrix = workspace.FetchBlob(normalized_output_blob) np.testing.assert_allclose( np.array( [ [1.0, 1, 0, 0, 1, 0], [2.0, 0, 1, 0, 0, 1], [3.0, 0, 0, 1, 1, 0], [3.0, 0, 0, 1, 0, 0], # Missing values should go to all 0 ] ), normalized_feature_matrix, )
def test_normalize_dense_matrix_enum(self): normalization_parameters = { 1: NormalizationParameters( identify_types.ENUM, None, None, None, None, [12, 4, 2], None, None, None, ), 2: NormalizationParameters(identify_types.CONTINUOUS, None, 0, 0, 1, None, None, None, None), 3: NormalizationParameters(identify_types.ENUM, None, None, None, None, [15, 3], None, None, None), } norm_net = core.Net("net") C2.set_net(norm_net) preprocessor = PreprocessorNet() inputs = np.zeros([4, 3], dtype=np.float32) feature_ids = [2, 1, 3] # Sorted according to feature type inputs[:, feature_ids.index(1)] = [12, 4, 2, 2] inputs[:, feature_ids.index(2)] = [1.0, 2.0, 3.0, 3.0] inputs[:, feature_ids.index(3)] = [ 15, 3, 15, normalization.MISSING_VALUE ] input_blob = C2.NextBlob("input_blob") workspace.FeedBlob(input_blob, np.array([0], dtype=np.float32)) normalized_output_blob, _ = preprocessor.normalize_dense_matrix( input_blob, feature_ids, normalization_parameters, "", False) workspace.FeedBlob(input_blob, inputs) workspace.RunNetOnce(norm_net) normalized_feature_matrix = workspace.FetchBlob(normalized_output_blob) np.testing.assert_allclose( np.array([ [1.0, 1, 0, 0, 1, 0], [2.0, 0, 1, 0, 0, 1], [3.0, 0, 0, 1, 1, 0], [3.0, 0, 0, 1, 0, 0], # Missing values should go to all 0 ]), normalized_feature_matrix, )
def test_prepare_normalization_and_normalize(self): feature_value_map = read_data() normalization_parameters = {} for name, values in feature_value_map.items(): normalization_parameters[name] = normalization.identify_parameter( name, values, 10, feature_type=self._feature_type_override(name)) for k, v in normalization_parameters.items(): if id_to_type(k) == CONTINUOUS: self.assertEqual(v.feature_type, CONTINUOUS) self.assertIs(v.boxcox_lambda, None) self.assertIs(v.boxcox_shift, None) elif id_to_type(k) == BOXCOX: self.assertEqual(v.feature_type, BOXCOX) self.assertIsNot(v.boxcox_lambda, None) self.assertIsNot(v.boxcox_shift, None) else: assert v.feature_type == id_to_type(k) sorted_features, _ = sort_features_by_normalization( normalization_parameters) norm_net = core.Net("net") C2.set_net(norm_net) preprocessor = PreprocessorNet() input_matrix = np.zeros([10000, len(sorted_features)], dtype=np.float32) for i, feature in enumerate(sorted_features): input_matrix[:, i] = feature_value_map[feature] input_matrix_blob = "input_matrix_blob" workspace.FeedBlob(input_matrix_blob, np.array([], dtype=np.float32)) output_blob, _ = preprocessor.normalize_dense_matrix( input_matrix_blob, sorted_features, normalization_parameters, "", False) workspace.FeedBlob(input_matrix_blob, input_matrix) workspace.RunNetOnce(norm_net) normalized_feature_matrix = workspace.FetchBlob(output_blob) normalized_features = {} on_column = 0 for feature in sorted_features: norm = normalization_parameters[feature] if norm.feature_type == ENUM: column_size = len(norm.possible_values) else: column_size = 1 normalized_features[ feature] = normalized_feature_matrix[:, on_column:(on_column + column_size)] on_column += column_size self.assertTrue( all([ np.isfinite(parameter.stddev) and np.isfinite(parameter.mean) for parameter in normalization_parameters.values() ])) for k, v in six.iteritems(normalized_features): self.assertTrue(np.all(np.isfinite(v))) feature_type = normalization_parameters[k].feature_type if feature_type == identify_types.PROBABILITY: sigmoidv = special.expit(v) self.assertTrue( np.all( np.logical_and(np.greater(sigmoidv, 0), np.less(sigmoidv, 1)))) elif feature_type == identify_types.ENUM: possible_values = normalization_parameters[k].possible_values self.assertEqual(v.shape[0], len(feature_value_map[k])) self.assertEqual(v.shape[1], len(possible_values)) possible_value_map = {} for i, possible_value in enumerate(possible_values): possible_value_map[possible_value] = i for i, row in enumerate(v): original_feature = feature_value_map[k][i] self.assertEqual(possible_value_map[original_feature], np.where(row == 1)[0][0]) elif feature_type == identify_types.QUANTILE: for i, feature in enumerate(v[0]): original_feature = feature_value_map[k][i] expected = NumpyFeatureProcessor.value_to_quantile( original_feature, normalization_parameters[k].quantiles) self.assertAlmostEqual(feature, expected, 2) elif feature_type == identify_types.BINARY: pass elif (feature_type == identify_types.CONTINUOUS or feature_type == identify_types.BOXCOX): one_stddev = np.isclose(np.std(v, ddof=1), 1, atol=0.01) zero_stddev = np.isclose(np.std(v, ddof=1), 0, atol=0.01) zero_mean = np.isclose(np.mean(v), 0, atol=0.01) self.assertTrue( np.all(zero_mean), "mean of feature {} is {}, not 0".format(k, np.mean(v)), ) self.assertTrue(np.all(np.logical_or(one_stddev, zero_stddev))) elif feature_type == identify_types.CONTINUOUS_ACTION: less_than_max = v < 1 more_than_min = v > -1 self.assertTrue( np.all(less_than_max), "values are not less than 1: {}".format( v[less_than_max == False]), ) self.assertTrue( np.all(more_than_min), "values are not more than -1: {}".format( v[more_than_min == False]), ) else: raise NotImplementedError()
def export( cls, trainer, state_normalization_parameters, action_normalization_parameters, int_features=False, model_on_gpu=False, ): """Export caffe2 preprocessor net and pytorch DQN forward pass as one caffe2 net. :param trainer ParametricDQNTrainer :param state_normalization_parameters state NormalizationParameters :param action_normalization_parameters action NormalizationParameters :param int_features boolean indicating if int features blob will be present :param model_on_gpu boolean indicating if the model is a GPU model or CPU model """ input_dim = trainer.num_features if isinstance(trainer.q_network, DataParallel): trainer.q_network = trainer.q_network.module buffer = PytorchCaffe2Converter.pytorch_net_to_buffer( trainer.q_network, input_dim, model_on_gpu ) qnet_input_blob, qnet_output_blob, caffe2_netdef = PytorchCaffe2Converter.buffer_to_caffe2_netdef( buffer ) torch_workspace = caffe2_netdef.workspace parameters = torch_workspace.Blobs() for blob_str in parameters: workspace.FeedBlob(blob_str, torch_workspace.FetchBlob(blob_str)) torch_init_net = core.Net(caffe2_netdef.init_net) torch_predict_net = core.Net(caffe2_netdef.predict_net) # While converting to metanetdef, the external_input of predict_net # will be recomputed. Add the real output of init_net to parameters # to make sure they will be counted. parameters.extend( set(caffe2_netdef.init_net.external_output) - set(caffe2_netdef.init_net.external_input) ) # ensure state and action IDs have no intersection assert ( len( set(state_normalization_parameters.keys()) & set(action_normalization_parameters.keys()) ) == 0 ) model = model_helper.ModelHelper(name="predictor") net = model.net C2.set_model(model) workspace.FeedBlob("input/float_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/float_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/float_features.values", np.zeros(1, dtype=np.float32)) input_feature_lengths = "input_feature_lengths" input_feature_keys = "input_feature_keys" input_feature_values = "input_feature_values" if int_features: workspace.FeedBlob( "input/int_features.lengths", np.zeros(1, dtype=np.int32) ) workspace.FeedBlob("input/int_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/int_features.values", np.zeros(1, dtype=np.int32)) C2.net().Cast( ["input/int_features.values"], ["input/int_features.values_float"], dtype=caffe2_pb2.TensorProto.FLOAT, ) C2.net().MergeMultiScalarFeatureTensors( [ "input/float_features.lengths", "input/float_features.keys", "input/float_features.values", "input/int_features.lengths", "input/int_features.keys", "input/int_features.values_float", ], [input_feature_lengths, input_feature_keys, input_feature_values], ) else: C2.net().Copy(["input/float_features.lengths"], [input_feature_lengths]) C2.net().Copy(["input/float_features.keys"], [input_feature_keys]) C2.net().Copy(["input/float_features.values"], [input_feature_values]) preprocessor = PreprocessorNet(True) sorted_state_features, _ = sort_features_by_normalization( state_normalization_parameters ) state_dense_matrix, new_parameters = sparse_to_dense( input_feature_lengths, input_feature_keys, input_feature_values, sorted_state_features, ) parameters.extend(new_parameters) state_normalized_dense_matrix, new_parameters = preprocessor.normalize_dense_matrix( state_dense_matrix, sorted_state_features, state_normalization_parameters, "state_norm", False, ) parameters.extend(new_parameters) sorted_action_features, _ = sort_features_by_normalization( action_normalization_parameters ) action_dense_matrix, new_parameters = sparse_to_dense( input_feature_lengths, input_feature_keys, input_feature_values, sorted_action_features, ) parameters.extend(new_parameters) action_normalized_dense_matrix, new_parameters = preprocessor.normalize_dense_matrix( action_dense_matrix, sorted_action_features, action_normalization_parameters, "action_norm", False, ) parameters.extend(new_parameters) state_action_normalized = "state_action_normalized" state_action_normalized_dim = "state_action_normalized_dim" net.Concat( [state_normalized_dense_matrix, action_normalized_dense_matrix], [state_action_normalized, state_action_normalized_dim], axis=1, ) net.Copy([state_action_normalized], [qnet_input_blob]) workspace.RunNetOnce(model.param_init_net) workspace.RunNetOnce(torch_init_net) net.AppendNet(torch_predict_net) new_parameters, q_values = RLPredictor._forward_pass( model, trainer, state_action_normalized, ["Q"], qnet_output_blob ) parameters.extend(new_parameters) flat_q_values_key = ( "output/string_weighted_multi_categorical_features.values.values" ) num_examples, _ = C2.Reshape(C2.Size(flat_q_values_key), shape=[1]) q_value_blob, _ = C2.Reshape(flat_q_values_key, shape=[1, -1]) # Get 1 x n (number of examples) action index tensor under the max_q policy max_q_act_idxs = "max_q_policy_actions" C2.net().FlattenToVec([C2.ArgMax(q_value_blob)], [max_q_act_idxs]) max_q_act_blob = C2.Tile(max_q_act_idxs, num_examples, axis=0) # Get 1 x n (number of examples) action index tensor under the softmax policy temperature = C2.NextBlob("temperature") parameters.append(temperature) workspace.FeedBlob( temperature, np.array([trainer.rl_temperature], dtype=np.float32) ) tempered_q_values = C2.Div(q_value_blob, temperature, broadcast=1) softmax_values = C2.Softmax(tempered_q_values) softmax_act_idxs_nested = "softmax_act_idxs_nested" C2.net().WeightedSample([softmax_values], [softmax_act_idxs_nested]) softmax_act_blob = C2.Tile( C2.FlattenToVec(softmax_act_idxs_nested), num_examples, axis=0 ) # Concat action idx vecs to get 2 x n tensor [[a_maxq, ..], [a_softmax, ..]] # transpose & flatten to get [a_maxq, a_softmax, a_maxq, a_softmax, ...] max_q_act_blob = C2.Cast(max_q_act_blob, to=caffe2_pb2.TensorProto.INT64) softmax_act_blob = C2.Cast(softmax_act_blob, to=caffe2_pb2.TensorProto.INT64) max_q_act_blob_nested, _ = C2.Reshape(max_q_act_blob, shape=[1, -1]) softmax_act_blob_nested, _ = C2.Reshape(softmax_act_blob, shape=[1, -1]) C2.net().Append( [max_q_act_blob_nested, softmax_act_blob_nested], [max_q_act_blob_nested] ) transposed_action_idxs = C2.Transpose(max_q_act_blob_nested) flat_transposed_action_idxs = C2.FlattenToVec(transposed_action_idxs) output_values = "output/int_single_categorical_features.values" workspace.FeedBlob(output_values, np.zeros(1, dtype=np.int64)) C2.net().Copy([flat_transposed_action_idxs], [output_values]) output_lengths = "output/int_single_categorical_features.lengths" workspace.FeedBlob(output_lengths, np.zeros(1, dtype=np.int32)) C2.net().ConstantFill( [flat_q_values_key], [output_lengths], value=2, dtype=caffe2_pb2.TensorProto.INT32, ) output_keys = "output/int_single_categorical_features.keys" workspace.FeedBlob(output_keys, np.zeros(1, dtype=np.int64)) output_keys_tensor, _ = C2.Concat( C2.ConstantFill(shape=[1, 1], value=0, dtype=caffe2_pb2.TensorProto.INT64), C2.ConstantFill(shape=[1, 1], value=1, dtype=caffe2_pb2.TensorProto.INT64), axis=0, ) output_key_tile = C2.Tile(output_keys_tensor, num_examples, axis=0) C2.net().FlattenToVec([output_key_tile], [output_keys]) workspace.CreateNet(net) return ParametricDQNPredictor(net, torch_init_net, parameters, int_features)
def benchmark(num_forward_passes): """ Benchmark preprocessor speeds: 1 - PyTorch 2 - PyTorch -> ONNX -> C2 3 - C2 """ feature_value_map = gen_data( num_binary_features=10, num_boxcox_features=10, num_continuous_features=10, num_enum_features=10, num_prob_features=10, num_quantile_features=10, ) normalization_parameters = {} for name, values in feature_value_map.items(): normalization_parameters[name] = normalization.identify_parameter( name, values, 10 ) sorted_features, _ = sort_features_by_normalization(normalization_parameters) # Dummy input input_matrix = np.zeros([10000, len(sorted_features)], dtype=np.float32) # PyTorch Preprocessor pytorch_preprocessor = Preprocessor(normalization_parameters, False) for i, feature in enumerate(sorted_features): input_matrix[:, i] = feature_value_map[feature] #################### time pytorch ############################ start = time.time() for _ in range(NUM_FORWARD_PASSES): _ = pytorch_preprocessor.forward(input_matrix) end = time.time() logger.info( "PyTorch: {} forward passes done in {} seconds".format( NUM_FORWARD_PASSES, end - start ) ) ################ time pytorch -> ONNX -> caffe2 #################### buffer = PytorchCaffe2Converter.pytorch_net_to_buffer( pytorch_preprocessor, len(sorted_features), False ) input_blob, output_blob, caffe2_netdef = PytorchCaffe2Converter.buffer_to_caffe2_netdef( buffer ) torch_workspace = caffe2_netdef.workspace parameters = torch_workspace.Blobs() for blob_str in parameters: workspace.FeedBlob(blob_str, torch_workspace.FetchBlob(blob_str)) torch_init_net = core.Net(caffe2_netdef.init_net) torch_predict_net = core.Net(caffe2_netdef.predict_net) input_matrix_blob = "input_matrix_blob" workspace.FeedBlob(input_blob, input_matrix) workspace.RunNetOnce(torch_init_net) start = time.time() for _ in range(NUM_FORWARD_PASSES): workspace.RunNetOnce(torch_predict_net) _ = workspace.FetchBlob(output_blob) end = time.time() logger.info( "PyTorch -> ONNX -> Caffe2: {} forward passes done in {} seconds".format( NUM_FORWARD_PASSES, end - start ) ) #################### time caffe2 ############################ norm_net = core.Net("net") C2.set_net(norm_net) preprocessor = PreprocessorNet() input_matrix_blob = "input_matrix_blob" workspace.FeedBlob(input_matrix_blob, np.array([], dtype=np.float32)) output_blob, _ = preprocessor.normalize_dense_matrix( input_matrix_blob, sorted_features, normalization_parameters, "", False ) workspace.FeedBlob(input_matrix_blob, input_matrix) start = time.time() for _ in range(NUM_FORWARD_PASSES): workspace.RunNetOnce(norm_net) workspace.FetchBlob(output_blob) end = time.time() logger.info( "Caffe2: {} forward passes done in {} seconds".format( NUM_FORWARD_PASSES, end - start ) )
def export( cls, trainer, actions, state_normalization_parameters, int_features=False, model_on_gpu=False, set_missing_value_to_zero=False, ): """Export caffe2 preprocessor net and pytorch DQN forward pass as one caffe2 net. :param trainer DQNTrainer :param state_normalization_parameters state NormalizationParameters :param int_features boolean indicating if int features blob will be present :param model_on_gpu boolean indicating if the model is a GPU model or CPU model """ input_dim = trainer.num_features q_network = (trainer.q_network.module if isinstance( trainer.q_network, DataParallel) else trainer.q_network) buffer = PytorchCaffe2Converter.pytorch_net_to_buffer( q_network, input_dim, model_on_gpu) qnet_input_blob, qnet_output_blob, caffe2_netdef = PytorchCaffe2Converter.buffer_to_caffe2_netdef( buffer) torch_workspace = caffe2_netdef.workspace parameters = torch_workspace.Blobs() for blob_str in parameters: workspace.FeedBlob(blob_str, torch_workspace.FetchBlob(blob_str)) torch_init_net = core.Net(caffe2_netdef.init_net) torch_predict_net = core.Net(caffe2_netdef.predict_net) logger.info("Generated ONNX predict net:") logger.info(str(torch_predict_net.Proto())) # While converting to metanetdef, the external_input of predict_net # will be recomputed. Add the real output of init_net to parameters # to make sure they will be counted. parameters.extend( set(caffe2_netdef.init_net.external_output) - set(caffe2_netdef.init_net.external_input)) model = model_helper.ModelHelper(name="predictor") net = model.net C2.set_model(model) workspace.FeedBlob("input/image", np.zeros([1, 1, 1, 1], dtype=np.int32)) workspace.FeedBlob("input/float_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/float_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/float_features.values", np.zeros(1, dtype=np.float32)) input_feature_lengths = "input_feature_lengths" input_feature_keys = "input_feature_keys" input_feature_values = "input_feature_values" if int_features: workspace.FeedBlob("input/int_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/int_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/int_features.values", np.zeros(1, dtype=np.int32)) C2.net().Cast( ["input/int_features.values"], ["input/int_features.values_float"], dtype=caffe2_pb2.TensorProto.FLOAT, ) C2.net().MergeMultiScalarFeatureTensors( [ "input/float_features.lengths", "input/float_features.keys", "input/float_features.values", "input/int_features.lengths", "input/int_features.keys", "input/int_features.values_float", ], [ input_feature_lengths, input_feature_keys, input_feature_values ], ) else: C2.net().Copy(["input/float_features.lengths"], [input_feature_lengths]) C2.net().Copy(["input/float_features.keys"], [input_feature_keys]) C2.net().Copy(["input/float_features.values"], [input_feature_values]) if state_normalization_parameters is not None: sorted_feature_ids = sort_features_by_normalization( state_normalization_parameters)[0] dense_matrix, new_parameters = sparse_to_dense( input_feature_lengths, input_feature_keys, input_feature_values, sorted_feature_ids, set_missing_value_to_zero=set_missing_value_to_zero, ) parameters.extend(new_parameters) preprocessor_net = PreprocessorNet() state_normalized_dense_matrix, new_parameters = preprocessor_net.normalize_dense_matrix( dense_matrix, sorted_feature_ids, state_normalization_parameters, "state_norm_", True, ) parameters.extend(new_parameters) else: # Image input. Note: Currently this does the wrong thing if # more than one image is passed at a time. state_normalized_dense_matrix = "input/image" net.Copy([state_normalized_dense_matrix], [qnet_input_blob]) workspace.RunNetOnce(model.param_init_net) workspace.RunNetOnce(torch_init_net) net.AppendNet(torch_predict_net) new_parameters, q_values = RLPredictor._forward_pass( model, trainer, state_normalized_dense_matrix, actions, qnet_output_blob) parameters.extend(new_parameters) # Get 1 x n action index tensor under the max_q policy max_q_act_idxs = "max_q_policy_actions" C2.net().Flatten([C2.ArgMax(q_values)], [max_q_act_idxs], axis=0) shape_of_num_of_states = "num_states_shape" C2.net().FlattenToVec([max_q_act_idxs], [shape_of_num_of_states]) num_states, _ = C2.Reshape(C2.Size(shape_of_num_of_states), shape=[1]) # Get 1 x n action index tensor under the softmax policy temperature = C2.NextBlob("temperature") parameters.append(temperature) workspace.FeedBlob( temperature, np.array([trainer.rl_temperature], dtype=np.float32)) tempered_q_values = C2.Div(q_values, temperature, broadcast=1) softmax_values = C2.Softmax(tempered_q_values) softmax_act_idxs_nested = "softmax_act_idxs_nested" C2.net().WeightedSample([softmax_values], [softmax_act_idxs_nested]) softmax_act_idxs = "softmax_policy_actions" C2.net().Flatten([softmax_act_idxs_nested], [softmax_act_idxs], axis=0) action_names = C2.NextBlob("action_names") parameters.append(action_names) workspace.FeedBlob(action_names, np.array(actions)) # Concat action index tensors to get 2 x n tensor - [[max_q], [softmax]] # transpose & flatten to get [a1_maxq, a1_softmax, a2_maxq, a2_softmax, ...] max_q_act_blob = C2.Cast(max_q_act_idxs, to=caffe2_pb2.TensorProto.INT32) softmax_act_blob = C2.Cast(softmax_act_idxs, to=caffe2_pb2.TensorProto.INT32) C2.net().Append([max_q_act_blob, softmax_act_blob], [max_q_act_blob]) transposed_action_idxs = C2.Transpose(max_q_act_blob) flat_transposed_action_idxs = C2.FlattenToVec(transposed_action_idxs) workspace.FeedBlob(OUTPUT_SINGLE_CAT_VALS_NAME, np.zeros(1, dtype=np.int64)) C2.net().Gather([action_names, flat_transposed_action_idxs], [OUTPUT_SINGLE_CAT_VALS_NAME]) workspace.FeedBlob(OUTPUT_SINGLE_CAT_LENGTHS_NAME, np.zeros(1, dtype=np.int32)) C2.net().ConstantFill( [shape_of_num_of_states], [OUTPUT_SINGLE_CAT_LENGTHS_NAME], value=2, dtype=caffe2_pb2.TensorProto.INT32, ) workspace.FeedBlob(OUTPUT_SINGLE_CAT_KEYS_NAME, np.zeros(1, dtype=np.int64)) output_keys_tensor, _ = C2.Concat( C2.ConstantFill(shape=[1, 1], value=0, dtype=caffe2_pb2.TensorProto.INT64), C2.ConstantFill(shape=[1, 1], value=1, dtype=caffe2_pb2.TensorProto.INT64), axis=0, ) output_key_tile = C2.Tile(output_keys_tensor, num_states, axis=0) C2.net().FlattenToVec([output_key_tile], [OUTPUT_SINGLE_CAT_KEYS_NAME]) workspace.CreateNet(net) return DQNPredictor(net, torch_init_net, parameters, int_features)
def export_actor( cls, trainer, state_normalization_parameters, action_feature_ids, min_action_range_tensor_serving, max_action_range_tensor_serving, int_features=False, model_on_gpu=False, ): """Export caffe2 preprocessor net and pytorch actor forward pass as one caffe2 net. :param trainer DDPGTrainer :param state_normalization_parameters state NormalizationParameters :param min_action_range_tensor_serving pytorch tensor that specifies min action value for each dimension :param max_action_range_tensor_serving pytorch tensor that specifies min action value for each dimension :param state_normalization_parameters state NormalizationParameters :param int_features boolean indicating if int features blob will be present :param model_on_gpu boolean indicating if the model is a GPU model or CPU model """ model = model_helper.ModelHelper(name="predictor") net = model.net C2.set_model(model) parameters: List[str] = [] workspace.FeedBlob("input/float_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/float_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/float_features.values", np.zeros(1, dtype=np.float32)) input_feature_lengths = "input_feature_lengths" input_feature_keys = "input_feature_keys" input_feature_values = "input_feature_values" if int_features: workspace.FeedBlob( "input/int_features.lengths", np.zeros(1, dtype=np.int32) ) workspace.FeedBlob("input/int_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/int_features.values", np.zeros(1, dtype=np.int32)) C2.net().Cast( ["input/int_features.values"], ["input/int_features.values_float"], dtype=caffe2_pb2.TensorProto.FLOAT, ) C2.net().MergeMultiScalarFeatureTensors( [ "input/float_features.lengths", "input/float_features.keys", "input/float_features.values", "input/int_features.lengths", "input/int_features.keys", "input/int_features.values_float", ], [input_feature_lengths, input_feature_keys, input_feature_values], ) else: C2.net().Copy(["input/float_features.lengths"], [input_feature_lengths]) C2.net().Copy(["input/float_features.keys"], [input_feature_keys]) C2.net().Copy(["input/float_features.values"], [input_feature_values]) preprocessor = PreprocessorNet() sorted_features, _ = sort_features_by_normalization( state_normalization_parameters ) state_dense_matrix, new_parameters = sparse_to_dense( input_feature_lengths, input_feature_keys, input_feature_values, sorted_features, ) parameters.extend(new_parameters) state_normalized_dense_matrix, new_parameters = preprocessor.normalize_dense_matrix( state_dense_matrix, sorted_features, state_normalization_parameters, "state_norm", False, ) parameters.extend(new_parameters) torch_init_net, torch_predict_net, new_parameters, actor_input_blob, actor_output_blob, min_action_training_blob, max_action_training_blob, min_action_serving_blob, max_action_serving_blob = DDPGPredictor.generate_train_net( trainer, model, min_action_range_tensor_serving, max_action_range_tensor_serving, model_on_gpu, ) parameters.extend(new_parameters) net.Copy([state_normalized_dense_matrix], [actor_input_blob]) workspace.RunNetOnce(model.param_init_net) workspace.RunNetOnce(torch_init_net) net.AppendNet(torch_predict_net) # Scale actors actions from [-1, 1] to serving range prev_range = C2.Sub(max_action_training_blob, min_action_training_blob) new_range = C2.Sub(max_action_serving_blob, min_action_serving_blob) subtract_prev_min = C2.Sub(actor_output_blob, min_action_training_blob) div_by_prev_range = C2.Div(subtract_prev_min, prev_range) scaled_for_serving_actions = C2.Add( C2.Mul(div_by_prev_range, new_range), min_action_serving_blob ) output_lengths = "output/float_features.lengths" workspace.FeedBlob(output_lengths, np.zeros(1, dtype=np.int32)) C2.net().ConstantFill( [C2.FlattenToVec(C2.ArgMax(actor_output_blob))], [output_lengths], value=trainer.actor.layers[-1].out_features, dtype=caffe2_pb2.TensorProto.INT32, ) action_feature_ids_blob = C2.NextBlob("action_feature_ids") workspace.FeedBlob( action_feature_ids_blob, np.array(action_feature_ids, dtype=np.int64) ) parameters.append(action_feature_ids_blob) output_keys = "output/float_features.keys" workspace.FeedBlob(output_keys, np.zeros(1, dtype=np.int64)) num_examples, _ = C2.Reshape(C2.Size("input/float_features.lengths"), shape=[1]) C2.net().Tile([action_feature_ids_blob, num_examples], [output_keys], axis=1) output_values = "output/float_features.values" workspace.FeedBlob(output_values, np.zeros(1, dtype=np.float32)) C2.net().FlattenToVec([scaled_for_serving_actions], [output_values]) workspace.CreateNet(net) return DDPGPredictor(net, torch_init_net, parameters, int_features)
def test_prepare_normalization_and_normalize(self): feature_value_map = read_data() normalization_parameters = {} for name, values in feature_value_map.items(): normalization_parameters[name] = normalization.identify_parameter( name, values, 10, feature_type=self._feature_type_override(name) ) for k, v in normalization_parameters.items(): if id_to_type(k) == CONTINUOUS: self.assertEqual(v.feature_type, CONTINUOUS) self.assertIs(v.boxcox_lambda, None) self.assertIs(v.boxcox_shift, None) elif id_to_type(k) == BOXCOX: self.assertEqual(v.feature_type, BOXCOX) self.assertIsNot(v.boxcox_lambda, None) self.assertIsNot(v.boxcox_shift, None) else: assert v.feature_type == id_to_type(k) sorted_features, _ = sort_features_by_normalization(normalization_parameters) norm_net = core.Net("net") C2.set_net(norm_net) preprocessor = PreprocessorNet() input_matrix = np.zeros([10000, len(sorted_features)], dtype=np.float32) for i, feature in enumerate(sorted_features): input_matrix[:, i] = feature_value_map[feature] input_matrix_blob = "input_matrix_blob" workspace.FeedBlob(input_matrix_blob, np.array([], dtype=np.float32)) output_blob, _ = preprocessor.normalize_dense_matrix( input_matrix_blob, sorted_features, normalization_parameters, "", False ) workspace.FeedBlob(input_matrix_blob, input_matrix) workspace.RunNetOnce(norm_net) normalized_feature_matrix = workspace.FetchBlob(output_blob) normalized_features = {} on_column = 0 for feature in sorted_features: norm = normalization_parameters[feature] if norm.feature_type == ENUM: column_size = len(norm.possible_values) else: column_size = 1 normalized_features[feature] = normalized_feature_matrix[ :, on_column : (on_column + column_size) ] on_column += column_size self.assertTrue( all( [ np.isfinite(parameter.stddev) and np.isfinite(parameter.mean) for parameter in normalization_parameters.values() ] ) ) for k, v in six.iteritems(normalized_features): self.assertTrue(np.all(np.isfinite(v))) feature_type = normalization_parameters[k].feature_type if feature_type == identify_types.PROBABILITY: sigmoidv = special.expit(v) self.assertTrue( np.all( np.logical_and(np.greater(sigmoidv, 0), np.less(sigmoidv, 1)) ) ) elif feature_type == identify_types.ENUM: possible_values = normalization_parameters[k].possible_values self.assertEqual(v.shape[0], len(feature_value_map[k])) self.assertEqual(v.shape[1], len(possible_values)) possible_value_map = {} for i, possible_value in enumerate(possible_values): possible_value_map[possible_value] = i for i, row in enumerate(v): original_feature = feature_value_map[k][i] self.assertEqual( possible_value_map[original_feature], np.where(row == 1)[0][0] ) elif feature_type == identify_types.QUANTILE: for i, feature in enumerate(v[0]): original_feature = feature_value_map[k][i] expected = NumpyFeatureProcessor.value_to_quantile( original_feature, normalization_parameters[k].quantiles ) self.assertAlmostEqual(feature, expected, 2) elif feature_type == identify_types.BINARY: pass elif ( feature_type == identify_types.CONTINUOUS or feature_type == identify_types.BOXCOX ): one_stddev = np.isclose(np.std(v, ddof=1), 1, atol=0.01) zero_stddev = np.isclose(np.std(v, ddof=1), 0, atol=0.01) zero_mean = np.isclose(np.mean(v), 0, atol=0.01) self.assertTrue( np.all(zero_mean), "mean of feature {} is {}, not 0".format(k, np.mean(v)), ) self.assertTrue(np.all(np.logical_or(one_stddev, zero_stddev))) elif feature_type == identify_types.CONTINUOUS_ACTION: less_than_max = v < 1 more_than_min = v > -1 self.assertTrue( np.all(less_than_max), "values are not less than 1: {}".format(v[less_than_max == False]), ) self.assertTrue( np.all(more_than_min), "values are not more than -1: {}".format(v[more_than_min == False]), ) else: raise NotImplementedError()
def export(cls, trainer, actions, state_normalization_parameters, int_features=False): """ Creates a DiscreteActionPredictor from a DiscreteActionTrainer. :param trainer DiscreteActionTrainer :param actions list of action names :param state_normalization_parameters state NormalizationParameters :param int_features boolean indicating if int features blob will be present """ model = model_helper.ModelHelper(name="predictor") net = model.net C2.set_model(model) workspace.FeedBlob("input/image", np.zeros([1, 1, 1, 1], dtype=np.int32)) workspace.FeedBlob("input/float_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/float_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/float_features.values", np.zeros(1, dtype=np.float32)) input_feature_lengths = C2.NextBlob("input_feature_lengths") input_feature_keys = C2.NextBlob("input_feature_keys") input_feature_values = C2.NextBlob("input_feature_values") if int_features: workspace.FeedBlob("input/int_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/int_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/int_features.values", np.zeros(1, dtype=np.int32)) C2.net().Cast( ["input/int_features.values"], ["input/int_features.values_float"], dtype=caffe2_pb2.TensorProto.FLOAT, ) C2.net().MergeMultiScalarFeatureTensors( [ "input/float_features.lengths", "input/float_features.keys", "input/float_features.values", "input/int_features.lengths", "input/int_features.keys", "input/int_features.values_float", ], [ input_feature_lengths, input_feature_keys, input_feature_values ], ) else: C2.net().Copy(["input/float_features.lengths"], [input_feature_lengths]) C2.net().Copy(["input/float_features.keys"], [input_feature_keys]) C2.net().Copy(["input/float_features.values"], [input_feature_values]) parameters = [] if state_normalization_parameters is not None: preprocessor = PreprocessorNet(True) sorted_features, _ = sort_features_by_normalization( state_normalization_parameters) state_dense_matrix, new_parameters = sparse_to_dense( input_feature_lengths, input_feature_keys, input_feature_values, sorted_features, ) parameters.extend(new_parameters) normalized_dense_matrix, new_parameters = preprocessor.normalize_dense_matrix( state_dense_matrix, sorted_features, state_normalization_parameters, "state_norm", False, ) parameters.extend(new_parameters) else: # Image input. Note: Currently this does the wrong thing if # more than one image is passed at a time. normalized_dense_matrix = "input/image" new_parameters, q_values = RLPredictor._forward_pass( model, trainer, normalized_dense_matrix, actions) parameters.extend(new_parameters) # Get 1 x n action index tensor under the max_q policy max_q_act_idxs = "max_q_policy_actions" C2.net().Flatten([C2.ArgMax(q_values)], [max_q_act_idxs], axis=0) shape_of_num_of_states = "num_states_shape" C2.net().FlattenToVec([max_q_act_idxs], [shape_of_num_of_states]) num_states, _ = C2.Reshape(C2.Size(shape_of_num_of_states), shape=[1]) # Get 1 x n action index tensor under the softmax policy temperature = C2.NextBlob("temperature") parameters.append(temperature) workspace.FeedBlob( temperature, np.array([trainer.rl_temperature], dtype=np.float32)) tempered_q_values = C2.Div(q_values, temperature, broadcast=1) softmax_values = C2.Softmax(tempered_q_values) softmax_act_idxs_nested = "softmax_act_idxs_nested" C2.net().WeightedSample([softmax_values], [softmax_act_idxs_nested]) softmax_act_idxs = "softmax_policy_actions" C2.net().Flatten([softmax_act_idxs_nested], [softmax_act_idxs], axis=0) action_names = C2.NextBlob("action_names") parameters.append(action_names) workspace.FeedBlob(action_names, np.array(actions)) # Concat action index tensors to get 2 x n tensor - [[max_q], [softmax]] # transpose & flatten to get [a1_maxq, a1_softmax, a2_maxq, a2_softmax, ...] max_q_act_blob = C2.Cast(max_q_act_idxs, to=caffe2_pb2.TensorProto.INT32) softmax_act_blob = C2.Cast(softmax_act_idxs, to=caffe2_pb2.TensorProto.INT32) C2.net().Append([max_q_act_blob, softmax_act_blob], [max_q_act_blob]) transposed_action_idxs = C2.Transpose(max_q_act_blob) flat_transposed_action_idxs = C2.FlattenToVec(transposed_action_idxs) output_values = "output/string_single_categorical_features.values" workspace.FeedBlob(output_values, np.zeros(1, dtype=np.int64)) C2.net().Gather([action_names, flat_transposed_action_idxs], [output_values]) output_lengths = "output/string_single_categorical_features.lengths" workspace.FeedBlob(output_lengths, np.zeros(1, dtype=np.int32)) C2.net().ConstantFill( [shape_of_num_of_states], [output_lengths], value=2, dtype=caffe2_pb2.TensorProto.INT32, ) output_keys = "output/string_single_categorical_features.keys" workspace.FeedBlob(output_keys, np.zeros(1, dtype=np.int64)) output_keys_tensor, _ = C2.Concat( C2.ConstantFill(shape=[1, 1], value=0, dtype=caffe2_pb2.TensorProto.INT64), C2.ConstantFill(shape=[1, 1], value=1, dtype=caffe2_pb2.TensorProto.INT64), axis=0, ) output_key_tile = C2.Tile(output_keys_tensor, num_states, axis=0) C2.net().FlattenToVec([output_key_tile], [output_keys]) workspace.RunNetOnce(model.param_init_net) workspace.CreateNet(net) return DiscreteActionPredictor(net, parameters, int_features)
def test_prepare_normalization_and_normalize(self): features, feature_value_map = preprocessing_util.read_data() normalization_parameters = {} for name, values in feature_value_map.items(): normalization_parameters[name] = normalization.identify_parameter( values, 10) for k, v in normalization_parameters.items(): if k == CONTINUOUS: self.assertEqual(v.feature_type, CONTINUOUS) self.assertIs(v.boxcox_lambda, None) self.assertIs(v.boxcox_shift, None) elif k == BOXCOX: self.assertEqual(v.feature_type, BOXCOX) self.assertIsNot(v.boxcox_lambda, None) self.assertIsNot(v.boxcox_shift, None) else: assert v.feature_type == k or v.feature_type + "_2" + k norm_net = core.Net("net") preprocessor = PreprocessorNet(norm_net, False) input_matrix = np.zeros([10000, len(features)], dtype=np.float32) for i, feature in enumerate(features): input_matrix[:, i] = feature_value_map[feature] input_matrix_blob = 'input_matrix_blob' workspace.FeedBlob(input_matrix_blob, np.array([], dtype=np.float32)) output_blob, _ = preprocessor.normalize_dense_matrix( input_matrix_blob, features, normalization_parameters, '') workspace.FeedBlob(input_matrix_blob, input_matrix) workspace.RunNetOnce(norm_net) normalized_feature_matrix = workspace.FetchBlob(output_blob) normalized_features = {} on_column = 0 for feature in features: norm = normalization_parameters[feature] if norm.feature_type == ENUM: column_size = len(norm.possible_values) else: column_size = 1 normalized_features[feature] = \ normalized_feature_matrix[:, on_column:( on_column + column_size )] on_column += column_size self.assertTrue( all([ np.isfinite(parameter.stddev) and np.isfinite(parameter.mean) for parameter in normalization_parameters.values() ])) for k, v in six.iteritems(normalized_features): self.assertTrue(np.all(np.isfinite(v))) feature_type = normalization_parameters[k].feature_type if feature_type == identify_types.PROBABILITY: sigmoidv = special.expit(v) self.assertTrue( np.all( np.logical_and(np.greater(sigmoidv, 0), np.less(sigmoidv, 1)))) elif feature_type == identify_types.ENUM: possible_values = normalization_parameters[k].possible_values self.assertEqual(v.shape[0], len(feature_value_map[k])) self.assertEqual(v.shape[1], len(possible_values)) possible_value_map = {} for i, possible_value in enumerate(possible_values): possible_value_map[possible_value] = i for i, row in enumerate(v): original_feature = feature_value_map[k][i] self.assertEqual(possible_value_map[original_feature], np.where(row == 1)[0][0]) elif feature_type == identify_types.QUANTILE: for i, feature in enumerate(v[0]): original_feature = feature_value_map[k][i] expected = self._value_to_quantile( original_feature, normalization_parameters[k].quantiles) self.assertAlmostEqual(feature, expected, 2) elif feature_type == identify_types.BINARY: pass elif feature_type == identify_types.CONTINUOUS or \ feature_type == identify_types.BOXCOX: one_stddev = np.isclose(np.std(v, ddof=1), 1, atol=0.01) zero_stddev = np.isclose(np.std(v, ddof=1), 0, atol=0.01) zero_mean = np.isclose(np.mean(v), 0, atol=0.01) self.assertTrue( np.all(zero_mean), 'mean of feature {} is {}, not 0'.format(k, np.mean(v))) self.assertTrue(np.all(np.logical_or(one_stddev, zero_stddev))) else: raise NotImplementedError()
def benchmark(num_forward_passes): """ Benchmark preprocessor speeds: 1 - PyTorch 2 - PyTorch -> ONNX -> C2 3 - C2 """ feature_value_map = gen_data( num_binary_features=10, num_boxcox_features=10, num_continuous_features=10, num_enum_features=10, num_prob_features=10, num_quantile_features=10, ) normalization_parameters = {} for name, values in feature_value_map.items(): normalization_parameters[name] = normalization.identify_parameter( name, values, 10 ) sorted_features, _ = sort_features_by_normalization(normalization_parameters) # Dummy input input_matrix = np.zeros([10000, len(sorted_features)], dtype=np.float32) # PyTorch Preprocessor pytorch_preprocessor = Preprocessor(normalization_parameters, False) for i, feature in enumerate(sorted_features): input_matrix[:, i] = feature_value_map[feature] #################### time pytorch ############################ start = time.time() for _ in range(NUM_FORWARD_PASSES): _ = pytorch_preprocessor.forward(input_matrix) end = time.time() logger.info( "PyTorch: {} forward passes done in {} seconds".format( NUM_FORWARD_PASSES, end - start ) ) ################ time pytorch -> ONNX -> caffe2 #################### buffer = PytorchCaffe2Converter.pytorch_net_to_buffer( pytorch_preprocessor, len(sorted_features), False ) input_blob, output_blob, caffe2_netdef = PytorchCaffe2Converter.buffer_to_caffe2_netdef( buffer ) torch_workspace = caffe2_netdef.workspace parameters = torch_workspace.Blobs() for blob_str in parameters: workspace.FeedBlob(blob_str, torch_workspace.FetchBlob(blob_str)) torch_init_net = core.Net(caffe2_netdef.init_net) torch_predict_net = core.Net(caffe2_netdef.predict_net) input_matrix_blob = "input_matrix_blob" workspace.FeedBlob(input_blob, input_matrix) workspace.RunNetOnce(torch_init_net) start = time.time() for _ in range(NUM_FORWARD_PASSES): workspace.RunNetOnce(torch_predict_net) _ = workspace.FetchBlob(output_blob) end = time.time() logger.info( "PyTorch -> ONNX -> Caffe2: {} forward passes done in {} seconds".format( NUM_FORWARD_PASSES, end - start ) ) #################### time caffe2 ############################ norm_net = core.Net("net") C2.set_net(norm_net) preprocessor = PreprocessorNet() input_matrix_blob = "input_matrix_blob" workspace.FeedBlob(input_matrix_blob, np.array([], dtype=np.float32)) output_blob, _ = preprocessor.normalize_dense_matrix( input_matrix_blob, sorted_features, normalization_parameters, "", False ) workspace.FeedBlob(input_matrix_blob, input_matrix) start = time.time() for _ in range(NUM_FORWARD_PASSES): workspace.RunNetOnce(norm_net) _ = workspace.FetchBlob(output_blob) end = time.time() logger.info( "Caffe2: {} forward passes done in {} seconds".format( NUM_FORWARD_PASSES, end - start ) )
def export_critic( cls, trainer, state_normalization_parameters, action_normalization_parameters, int_features=False, model_on_gpu=False, ): """Export caffe2 preprocessor net and pytorch critic forward pass as one caffe2 net. :param trainer DDPGTrainer :param state_normalization_parameters state NormalizationParameters :param action_normalization_parameters action NormalizationParameters :param int_features boolean indicating if int features blob will be present """ input_dim = trainer.state_dim + trainer.action_dim if isinstance(trainer.critic, DataParallel): trainer.critic = trainer.critic.module buffer = PytorchCaffe2Converter.pytorch_net_to_buffer( trainer.critic, input_dim, model_on_gpu) critic_input_blob, critic_output_blob, caffe2_netdef = PytorchCaffe2Converter.buffer_to_caffe2_netdef( buffer) torch_workspace = caffe2_netdef.workspace parameters = [] for blob_str in torch_workspace.Blobs(): workspace.FeedBlob(blob_str, torch_workspace.FetchBlob(blob_str)) parameters.append(blob_str) torch_init_net = core.Net(caffe2_netdef.init_net) torch_predict_net = core.Net(caffe2_netdef.predict_net) model = model_helper.ModelHelper(name="predictor") net = model.net C2.set_model(model) workspace.FeedBlob("input/float_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/float_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/float_features.values", np.zeros(1, dtype=np.float32)) input_feature_lengths = "input_feature_lengths" input_feature_keys = "input_feature_keys" input_feature_values = "input_feature_values" if int_features: workspace.FeedBlob("input/int_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/int_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/int_features.values", np.zeros(1, dtype=np.int32)) C2.net().Cast( ["input/int_features.values"], ["input/int_features.values_float"], dtype=caffe2_pb2.TensorProto.FLOAT, ) C2.net().MergeMultiScalarFeatureTensors( [ "input/float_features.lengths", "input/float_features.keys", "input/float_features.values", "input/int_features.lengths", "input/int_features.keys", "input/int_features.values_float", ], [ input_feature_lengths, input_feature_keys, input_feature_values ], ) else: C2.net().Copy(["input/float_features.lengths"], [input_feature_lengths]) C2.net().Copy(["input/float_features.keys"], [input_feature_keys]) C2.net().Copy(["input/float_features.values"], [input_feature_values]) preprocessor = PreprocessorNet(True) sorted_features, _ = sort_features_by_normalization( state_normalization_parameters) state_dense_matrix, new_parameters = sparse_to_dense( input_feature_lengths, input_feature_keys, input_feature_values, sorted_features, ) parameters.extend(new_parameters) state_normalized_dense_matrix, new_parameters = preprocessor.normalize_dense_matrix( state_dense_matrix, sorted_features, state_normalization_parameters, "state_norm", False, ) parameters.extend(new_parameters) # Don't normalize actions, just go from sparse -> dense action_dense_matrix, new_parameters = sparse_to_dense( input_feature_lengths, input_feature_keys, input_feature_values, list(action_normalization_parameters.keys() ), # TODO: Clean up in D10161240 ) parameters.extend(new_parameters) state_action_normalized = "state_action_normalized" state_action_normalized_dim = "state_action_normalized_dim" net.Concat( [state_normalized_dense_matrix, action_dense_matrix], [state_action_normalized, state_action_normalized_dim], axis=1, ) net.Copy([state_action_normalized], [critic_input_blob]) workspace.RunNetOnce(model.param_init_net) workspace.RunNetOnce(torch_init_net) net.AppendNet(torch_init_net) net.AppendNet(torch_predict_net) C2.FlattenToVec(C2.ArgMax(critic_output_blob)) output_lengths = "output/float_features.lengths" workspace.FeedBlob(output_lengths, np.zeros(1, dtype=np.int32)) C2.net().ConstantFill( [C2.FlattenToVec(C2.ArgMax(critic_output_blob))], [output_lengths], value=trainer.critic.layers[-1].out_features, dtype=caffe2_pb2.TensorProto.INT32, ) output_keys_int32 = "output_keys_int32" output_keys = "output/float_features.keys" workspace.FeedBlob(output_keys, np.zeros(1, dtype=np.int64)) C2.net().LengthsRangeFill([output_lengths], [output_keys_int32]) C2.net().Cast([output_keys_int32], [output_keys], to=caffe2_pb2.TensorProto.INT64) output_values = "output/float_features.values" workspace.FeedBlob(output_values, np.zeros(1, dtype=np.float32)) C2.net().FlattenToVec([critic_output_blob], [output_values]) workspace.CreateNet(net) return DDPGPredictor(net, torch_init_net, parameters, int_features)
def export_actor( cls, trainer, state_normalization_parameters, min_action_range_tensor_serving, max_action_range_tensor_serving, int_features=False, model_on_gpu=False, ): """Export caffe2 preprocessor net and pytorch actor forward pass as one caffe2 net. :param trainer DDPGTrainer :param state_normalization_parameters state NormalizationParameters :param min_action_range_tensor_serving pytorch tensor that specifies min action value for each dimension :param max_action_range_tensor_serving pytorch tensor that specifies min action value for each dimension :param state_normalization_parameters state NormalizationParameters :param int_features boolean indicating if int features blob will be present :param model_on_gpu boolean indicating if the model is a GPU model or CPU model """ input_dim = trainer.state_dim if isinstance(trainer.actor, DataParallel): trainer.actor = trainer.actor.module buffer = PytorchCaffe2Converter.pytorch_net_to_buffer( trainer.actor, input_dim, model_on_gpu) actor_input_blob, actor_output_blob, caffe2_netdef = PytorchCaffe2Converter.buffer_to_caffe2_netdef( buffer) torch_workspace = caffe2_netdef.workspace parameters = torch_workspace.Blobs() for blob_str in parameters: workspace.FeedBlob(blob_str, torch_workspace.FetchBlob(blob_str)) torch_init_net = core.Net(caffe2_netdef.init_net) torch_predict_net = core.Net(caffe2_netdef.predict_net) # While converting to metanetdef, the external_input of predict_net # will be recomputed. Add the real output of init_net to parameters # to make sure they will be counted. parameters.extend( set(caffe2_netdef.init_net.external_output) - set(caffe2_netdef.init_net.external_input)) model = model_helper.ModelHelper(name="predictor") net = model.net C2.set_model(model) # Feed action scaling tensors for serving min_action_serving_blob = C2.NextBlob( "min_action_range_tensor_serving") workspace.FeedBlob(min_action_serving_blob, min_action_range_tensor_serving.cpu().data.numpy()) parameters.append(str(min_action_serving_blob)) max_action_serving_blob = C2.NextBlob( "max_action_range_tensor_serving") workspace.FeedBlob(max_action_serving_blob, max_action_range_tensor_serving.cpu().data.numpy()) parameters.append(str(max_action_serving_blob)) # Feed action scaling tensors for training [-1, 1] due to tanh actor min_vals_training = trainer.min_action_range_tensor_training.cpu( ).data.numpy() min_action_training_blob = C2.NextBlob( "min_action_range_tensor_training") workspace.FeedBlob(min_action_training_blob, min_vals_training) parameters.append(str(min_action_training_blob)) max_vals_training = trainer.max_action_range_tensor_training.cpu( ).data.numpy() max_action_training_blob = C2.NextBlob( "max_action_range_tensor_training") workspace.FeedBlob(max_action_training_blob, max_vals_training) parameters.append(str(max_action_training_blob)) workspace.FeedBlob("input/float_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/float_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/float_features.values", np.zeros(1, dtype=np.float32)) input_feature_lengths = "input_feature_lengths" input_feature_keys = "input_feature_keys" input_feature_values = "input_feature_values" if int_features: workspace.FeedBlob("input/int_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/int_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/int_features.values", np.zeros(1, dtype=np.int32)) C2.net().Cast( ["input/int_features.values"], ["input/int_features.values_float"], dtype=caffe2_pb2.TensorProto.FLOAT, ) C2.net().MergeMultiScalarFeatureTensors( [ "input/float_features.lengths", "input/float_features.keys", "input/float_features.values", "input/int_features.lengths", "input/int_features.keys", "input/int_features.values_float", ], [ input_feature_lengths, input_feature_keys, input_feature_values ], ) else: C2.net().Copy(["input/float_features.lengths"], [input_feature_lengths]) C2.net().Copy(["input/float_features.keys"], [input_feature_keys]) C2.net().Copy(["input/float_features.values"], [input_feature_values]) preprocessor = PreprocessorNet(True) sorted_features, _ = sort_features_by_normalization( state_normalization_parameters) state_dense_matrix, new_parameters = sparse_to_dense( input_feature_lengths, input_feature_keys, input_feature_values, sorted_features, ) parameters.extend(new_parameters) state_normalized_dense_matrix, new_parameters = preprocessor.normalize_dense_matrix( state_dense_matrix, sorted_features, state_normalization_parameters, "state_norm", False, ) parameters.extend(new_parameters) net.Copy([state_normalized_dense_matrix], [actor_input_blob]) workspace.RunNetOnce(model.param_init_net) workspace.RunNetOnce(torch_init_net) net.AppendNet(torch_predict_net) C2.FlattenToVec(C2.ArgMax(actor_output_blob)) output_lengths = "output/float_features.lengths" workspace.FeedBlob(output_lengths, np.zeros(1, dtype=np.int32)) C2.net().ConstantFill( [C2.FlattenToVec(C2.ArgMax(actor_output_blob))], [output_lengths], value=trainer.actor.layers[-1].out_features, dtype=caffe2_pb2.TensorProto.INT32, ) output_keys_int32 = "output_keys_int32" output_keys = "output/float_features.keys" workspace.FeedBlob(output_keys, np.zeros(1, dtype=np.int64)) C2.net().LengthsRangeFill([output_lengths], [output_keys_int32]) C2.net().Cast([output_keys_int32], [output_keys], to=caffe2_pb2.TensorProto.INT64) output_values = "output/float_features.values" workspace.FeedBlob(output_values, np.zeros(1, dtype=np.float32)) # Scale actors actions from [-1, 1] to serving range prev_range = C2.Sub(max_action_training_blob, min_action_training_blob) new_range = C2.Sub(max_action_serving_blob, min_action_serving_blob) subtract_prev_min = C2.Sub(actor_output_blob, min_action_training_blob) div_by_prev_range = C2.Div(subtract_prev_min, prev_range) scaled_for_serving_actions = C2.Add( C2.Mul(div_by_prev_range, new_range), min_action_serving_blob) C2.net().FlattenToVec([scaled_for_serving_actions], [output_values]) workspace.CreateNet(net) return DDPGPredictor(net, torch_init_net, parameters, int_features)
def export( cls, trainer, actions, state_normalization_parameters, int_features=False, model_on_gpu=False, set_missing_value_to_zero=False, ): """Export caffe2 preprocessor net and pytorch DQN forward pass as one caffe2 net. :param trainer DQNTrainer :param state_normalization_parameters state NormalizationParameters :param int_features boolean indicating if int features blob will be present :param model_on_gpu boolean indicating if the model is a GPU model or CPU model """ input_dim = trainer.num_features q_network = ( trainer.q_network.module if isinstance(trainer.q_network, DataParallel) else trainer.q_network ) buffer = PytorchCaffe2Converter.pytorch_net_to_buffer( q_network, input_dim, model_on_gpu ) qnet_input_blob, qnet_output_blob, caffe2_netdef = PytorchCaffe2Converter.buffer_to_caffe2_netdef( buffer ) torch_workspace = caffe2_netdef.workspace parameters = torch_workspace.Blobs() for blob_str in parameters: workspace.FeedBlob(blob_str, torch_workspace.FetchBlob(blob_str)) torch_init_net = core.Net(caffe2_netdef.init_net) torch_predict_net = core.Net(caffe2_netdef.predict_net) logger.info("Generated ONNX predict net:") logger.info(str(torch_predict_net.Proto())) # While converting to metanetdef, the external_input of predict_net # will be recomputed. Add the real output of init_net to parameters # to make sure they will be counted. parameters.extend( set(caffe2_netdef.init_net.external_output) - set(caffe2_netdef.init_net.external_input) ) model = model_helper.ModelHelper(name="predictor") net = model.net C2.set_model(model) workspace.FeedBlob("input/image", np.zeros([1, 1, 1, 1], dtype=np.int32)) workspace.FeedBlob("input/float_features.lengths", np.zeros(1, dtype=np.int32)) workspace.FeedBlob("input/float_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/float_features.values", np.zeros(1, dtype=np.float32)) input_feature_lengths = "input_feature_lengths" input_feature_keys = "input_feature_keys" input_feature_values = "input_feature_values" if int_features: workspace.FeedBlob( "input/int_features.lengths", np.zeros(1, dtype=np.int32) ) workspace.FeedBlob("input/int_features.keys", np.zeros(1, dtype=np.int64)) workspace.FeedBlob("input/int_features.values", np.zeros(1, dtype=np.int32)) C2.net().Cast( ["input/int_features.values"], ["input/int_features.values_float"], dtype=caffe2_pb2.TensorProto.FLOAT, ) C2.net().MergeMultiScalarFeatureTensors( [ "input/float_features.lengths", "input/float_features.keys", "input/float_features.values", "input/int_features.lengths", "input/int_features.keys", "input/int_features.values_float", ], [input_feature_lengths, input_feature_keys, input_feature_values], ) else: C2.net().Copy(["input/float_features.lengths"], [input_feature_lengths]) C2.net().Copy(["input/float_features.keys"], [input_feature_keys]) C2.net().Copy(["input/float_features.values"], [input_feature_values]) if state_normalization_parameters is not None: sorted_feature_ids = sort_features_by_normalization( state_normalization_parameters )[0] dense_matrix, new_parameters = sparse_to_dense( input_feature_lengths, input_feature_keys, input_feature_values, sorted_feature_ids, set_missing_value_to_zero=set_missing_value_to_zero, ) parameters.extend(new_parameters) preprocessor_net = PreprocessorNet() state_normalized_dense_matrix, new_parameters = preprocessor_net.normalize_dense_matrix( dense_matrix, sorted_feature_ids, state_normalization_parameters, "state_norm_", True, ) parameters.extend(new_parameters) else: # Image input. Note: Currently this does the wrong thing if # more than one image is passed at a time. state_normalized_dense_matrix = "input/image" net.Copy([state_normalized_dense_matrix], [qnet_input_blob]) workspace.RunNetOnce(model.param_init_net) workspace.RunNetOnce(torch_init_net) net.AppendNet(torch_predict_net) new_parameters, q_values = RLPredictor._forward_pass( model, trainer, state_normalized_dense_matrix, actions, qnet_output_blob ) parameters.extend(new_parameters) # Get 1 x n action index tensor under the max_q policy max_q_act_idxs = "max_q_policy_actions" C2.net().Flatten([C2.ArgMax(q_values)], [max_q_act_idxs], axis=0) shape_of_num_of_states = "num_states_shape" C2.net().FlattenToVec([max_q_act_idxs], [shape_of_num_of_states]) num_states, _ = C2.Reshape(C2.Size(shape_of_num_of_states), shape=[1]) # Get 1 x n action index tensor under the softmax policy temperature = C2.NextBlob("temperature") parameters.append(temperature) workspace.FeedBlob( temperature, np.array([trainer.rl_temperature], dtype=np.float32) ) tempered_q_values = C2.Div(q_values, temperature, broadcast=1) softmax_values = C2.Softmax(tempered_q_values) softmax_act_idxs_nested = "softmax_act_idxs_nested" C2.net().WeightedSample([softmax_values], [softmax_act_idxs_nested]) softmax_act_idxs = "softmax_policy_actions" C2.net().Flatten([softmax_act_idxs_nested], [softmax_act_idxs], axis=0) action_names = C2.NextBlob("action_names") parameters.append(action_names) workspace.FeedBlob(action_names, np.array(actions)) # Concat action index tensors to get 2 x n tensor - [[max_q], [softmax]] # transpose & flatten to get [a1_maxq, a1_softmax, a2_maxq, a2_softmax, ...] max_q_act_blob = C2.Cast(max_q_act_idxs, to=caffe2_pb2.TensorProto.INT32) softmax_act_blob = C2.Cast(softmax_act_idxs, to=caffe2_pb2.TensorProto.INT32) C2.net().Append([max_q_act_blob, softmax_act_blob], [max_q_act_blob]) transposed_action_idxs = C2.Transpose(max_q_act_blob) flat_transposed_action_idxs = C2.FlattenToVec(transposed_action_idxs) workspace.FeedBlob(OUTPUT_SINGLE_CAT_VALS_NAME, np.zeros(1, dtype=np.int64)) C2.net().Gather( [action_names, flat_transposed_action_idxs], [OUTPUT_SINGLE_CAT_VALS_NAME] ) workspace.FeedBlob(OUTPUT_SINGLE_CAT_LENGTHS_NAME, np.zeros(1, dtype=np.int32)) C2.net().ConstantFill( [shape_of_num_of_states], [OUTPUT_SINGLE_CAT_LENGTHS_NAME], value=2, dtype=caffe2_pb2.TensorProto.INT32, ) workspace.FeedBlob(OUTPUT_SINGLE_CAT_KEYS_NAME, np.zeros(1, dtype=np.int64)) output_keys_tensor, _ = C2.Concat( C2.ConstantFill(shape=[1, 1], value=0, dtype=caffe2_pb2.TensorProto.INT64), C2.ConstantFill(shape=[1, 1], value=1, dtype=caffe2_pb2.TensorProto.INT64), axis=0, ) output_key_tile = C2.Tile(output_keys_tensor, num_states, axis=0) C2.net().FlattenToVec([output_key_tile], [OUTPUT_SINGLE_CAT_KEYS_NAME]) workspace.CreateNet(net) return DQNPredictor(net, torch_init_net, parameters, int_features)