def test_stress(opt_id):
optironment = tigercontrol.optironment('LQR')
x = optironment.reset(p=2, q=0)
controller = tigercontrol.controllers('LSTM')
controller.initialize(n=1, m=1, l=5, h=10,
optimizer=OGD) # initialize with class
controller.predict(1.0) # call controllers to verify it works
controller.update(1.0)
optimizer = OGD(learning_rate=0.001)
controller = tigercontrol.controllers('LSTM')
controller.initialize(n=1, m=1, l=3, h=10,
optimizer=optimizer) # reinitialize with instance
loss = []
for t in range(1000):
y_pred = controller.predict(x)
y_true = optironment.step()
loss.append(mse(y_pred, y_true))
controller.update(y_true)
x = y_true
if show:
plt.plot(loss)
plt.show(block=False)
plt.pause(3)
plt.close()
print("test_ogd passed")
def test_sgd_lstm(show=False):
environment = tigercontrol.environment('LDS')
x = environment.reset(p=2,q=0)
controller = tigercontrol.controllers('LSTM')
controller.initialize(n=1, m=1, l=3, h=10, optimizer=SGD) # initialize with class
controller.predict(1.0) # call controllers to verify it works
controller.update(1.0)
optimizer = SGD(learning_rate=0.001)
controller = tigercontrol.controllers('LSTM')
controller.initialize(n=1, m=1, l=3, h=10, optimizer=optimizer) # reinitialize with instance
loss = []
for t in range(1000):
y_pred = controller.predict(x)
y_true = environment.step()
loss.append(mse(y_pred, y_true))
controller.update(y_true)
x = y_true
if show:
plt.title("Test SGD on LQR(3) with LSTM controller")
plt.plot(loss)
plt.show(block=False)
plt.pause(3)
plt.close()
def test_ons(show=False):
#tigercontrol.set_key(0) # consistent randomness
environment = tigercontrol.environment('LDS')
x, y_true = environment.reset()
controllers = []
labels = ['OGD', 'ONS', 'Adam'] # don't run deprecated ONS
controller = tigercontrol.controllers('LSTM')
controller.initialize(n = 1, m = 1, optimizer=OGD) # initialize with class
controllers.append(controller)
#controller = tigercontrol.controllers('AutoRegressor')
#controller.initialize(optimizer=Adagrad) # initialize with class
#controllers.append(controller)
controller = tigercontrol.controllers('LSTM')
controller.initialize(n = 1, m = 1, optimizer=ONS) # initialize with class
controllers.append(controller)
#controller = tigercontrol.controllers('AutoRegressor')
#controller.initialize(optimizer=Adam) # initialize with class
#controllers.append(controller)
losses = [[] for i in range(len(controllers))]
update_time = [0.0 for i in range(len(controllers))]
for t in tqdm(range(2000)):
for i in range(len(controllers)):
l, controller = losses[i], controllers[i]
y_pred = controller.predict(x)
l.append(mse(y_pred, y_true))
t = time.time()
controller.update(y_true)
update_time[i] += time.time() - t
x, y_true = environment.step()
print("time taken:")
for t, label in zip(update_time, labels):
print(label + ": " + str(t))
if show:
plt.yscale('log')
for l, label in zip(losses, labels):
plt.plot(l, label = label)
#plt.plot(avg_regret(l), label = label)
plt.legend()
plt.title("Autoregressors on ENSO-T6")
plt.show(block=False)
plt.pause(300)
plt.close()
print("test_ons passed")
def test_simulator(verbose=False):
environment = tigercontrol.environment("PyBullet-CartPole")
obs = environment.reset(render=verbose)
controller = tigercontrol.controllers("CartPoleNN")
controller.initialize(environment.get_observation_space(),
environment.get_action_space())
t_start = time.time()
save_to_mem_ID = -1
frame = 0
score = 0
restart_delay = 0
while time.time() - t_start < 3:
a = controller.predict(obs)
obs, r, done, _ = environment.step(a)
score += r
frame += 1
if verbose:
time.sleep(1. / 60.)
if verbose:
print("about to save state")
save_to_mem_ID = environment.getState()
if verbose:
print("save_state_ID: " + str(save_to_mem_ID))
# run simulator for 4 seconds
environment.loadState(environment.getState())
sim = environment.fork()
if verbose:
print("environment.loadState worked")
sim_score = score
sim_frame = frame
while time.time() - t_start < 3:
if verbose:
time.sleep(1. / 60.)
a = controller.predict(obs)
obs, r, done, _ = environment.step(a)
sim_score += r
sim_frame += 1
# resume stepping through environment for 2 seconds from the point when the simulator was launched (i.e. t = 1)
environment.loadState(save_to_mem_ID)
if verbose:
print("environment.loadState worked")
while time.time() - t_start < 3:
a = controller.predict(obs)
obs, r, done, _ = environment.step(a)
score += r
frame += 1
if verbose:
time.sleep(1. / 60.)
environment.close()
print("test_simulator passed")
def test_double_pendulum(verbose=False):
environment = tigercontrol.environment("DoublePendulum")
# observe [cos(theta1) sin(theta1) cos(theta2) sin(theta2) thetaDot1 thetaDot2]
L = lambda x, u: (x[0] - x[2])**2
dim_x, dim_u = 4, 1
obs = environment.reset()
update_period = 75
T = 75 # horizon
threshold = 0.01
lamb = 0.1
max_iterations = 25
controller = tigercontrol.controllers("ILQR")
controller.initialize(environment, L, dim_x, dim_u, update_period,
max_iterations, lamb, threshold)
if verbose:
print("Running iLQR...")
# u = controller.plan(obs, T, max_iterations, lamb, threshold)
index = 0
for t in range(10 * T):
if verbose:
environment.render()
time.sleep(1. / 15.)
u = controller.plan(obs)
obs, r, done, _ = environment.step(u)
index += 1
if done:
if verbose:
print("solved double pendulum in {} time steps!".format(t + 1))
obs = environment.reset()
'''
if done or index == T:
if verbose:
print("recomputing u...")
u = controller.plan(obs, T, max_iterations, lamb, threshold)
index = 0'''
environment.close()
print("test_double_pendulum passed")
def test_grid_search_arma(show=False):
environment_id = "LDS"
controller_id = "GPC"
environment_params = {'n':3, 'm':2}
controller_params = {}
loss = lambda a, b: np.sum((a-b)**2)
search_space = {'optimizer':[]} # parameters for LQR controller
opts = [Adam, Adagrad, ONS, OGD]
lr_start, lr_stop = 0, -4 # search learning rates from 10^start to 10^stop
learning_rates = np.logspace(lr_start, lr_stop, 1+2*np.abs(lr_start - lr_stop))
for opt, lr in itertools.product(opts, learning_rates):
search_space['optimizer'].append(opt(learning_rate=lr)) # create instance and append
trials = 15
hpo = GridSearch() # hyperparameter optimizer
optimal_params, optimal_loss = hpo.search(controller_id, controller_params, environment_id, environment_params, loss,
search_space, trials=trials, smoothing=10, start_steps=100, verbose=show)
if show:
print("optimal loss: ", optimal_loss)
print("optimal params: ", optimal_params)
# test resulting controller params
controller = tigercontrol.controllers(controller_id)
controller.initialize(**optimal_params)
environment = tigercontrol.environment(environment_id)
x = environment.reset(**environment_params)
loss = []
if show:
print("run final test with optimal parameters")
for t in range(5000):
y_pred = controller.predict(x)
y_true = environment.step()
loss.append(mse(y_pred, y_true))
controller.update(y_true)
x = y_true
if show:
plt.plot(loss)
plt.show(block=False)
plt.pause(10)
plt.close()
def test_sgd_autoregressor(show=False):
environment = tigercontrol.environment('LDS')
x = environment.reset(p=2,q=0)
optimizer = SGD(learning_rate=0.0003)
controller = tigercontrol.controllers('AutoRegressor')
controller.initialize(p=3, optimizer=optimizer) # reinitialize with instance
loss = []
for t in range(1000):
y_pred = controller.predict(x)
y_true = environment.step()
loss.append(mse(y_pred, y_true))
controller.update(y_true)
x = y_true
if show:
plt.title("Test SGD on LQR(3) with AutoRegressor controller")
plt.plot(loss)
plt.show(block=False)
plt.pause(3)
plt.close()
def test_cartpole(verbose=False):
environment = tigercontrol.environment("PyBullet-CartPole")
obs = environment.reset(render=verbose)
controller = tigercontrol.controllers("CartPoleNN")
controller.initialize(environment.get_observation_space(),
environment.get_action_space())
t_start = time.time()
save_to_mem_ID = -1
frame = 0
score = 0
restart_delay = 0
saved = False
while time.time() - t_start < 3:
time.sleep(1. / 60.)
a = controller.predict(obs)
obs, r, done, _ = environment.step(a)
score += r
frame += 1
if time.time() - t_start > 0 and not saved:
if verbose:
print("about to save to memory")
#save_to_mem_ID = environment.getState()
saved = True
if not done: continue
if restart_delay == 0:
if verbose:
print("score=%0.2f in %i frames" % (score, frame))
restart_delay = 60 * 2 # 2 sec at 60 fps
else:
restart_delay -= 1
if restart_delay > 0: continue
break
environment.close()
print("test_cartpole passed")
def test_dynaboost_lstm(steps=500, show=True):
# controller initialize
T = steps
controller_id = "LSTM"
ogd = OGD(learning_rate=0.01)
controller_params = {'n': 1, 'm': 1, 'l': 5, 'h': 10, 'optimizer': ogd}
controllers = []
Ns = [1, 3, 6]
for n in Ns: # number of weak learners
controller = tigercontrol.controllers("DynaBoost")
controller.initialize(controller_id, controller_params, n,
reg=1.0) # regularization
controllers.append(controller)
# regular AutoRegressor for comparison
autoreg = tigercontrol.controllers("AutoRegressor")
autoreg.initialize(p=4) # regularization
# environment initialize
p, q = 4, 0
environment = tigercontrol.environment("LDS")
y_true = environment.reset(p, q, noise_magnitude=0.1)
# run all boosting controller
result_list = [[] for n in Ns]
last_value = []
autoreg_loss = []
for i in range(T):
y_next = environment.step()
# predictions for every boosting controller
for result_i, controller_i in zip(result_list, controllers):
y_pred = controller_i.predict(y_true)
result_i.append(mse(y_next, y_pred))
controller_i.update(y_next)
# last value and autoregressor predictions
last_value.append(mse(y_true, y_next))
autoreg_loss.append(mse(autoreg.predict(y_true), y_next))
autoreg.update(y_next)
y_true = y_next
# plot performance
if show:
start = 100
x = np.arange(start, steps)
plt.figure(figsize=(12, 8))
# plot every boosting controller loss
for n, results in zip(Ns, result_list):
print("Mean loss for n={}: {}".format(
n, np.mean(np.array(results[start:]))))
plt.plot(x,
avg_regret(results[start:]),
label="DynaBoost, n={}".format(n))
# plot loss for last value and autoregressor controllers
print("Mean loss for LastValue: {}".format(
np.mean(np.array(last_value[start:]))))
plt.plot(x,
avg_regret(last_value[start:]),
label="Last value controller")
print("Mean loss for AutoRegressor: {}".format(
np.mean(np.array(autoreg_loss[start:]))))
plt.plot(x,
avg_regret(autoreg_loss[start:]),
label="AutoRegressor controller")
plt.title("DynaBoost controller on LQR environment")
plt.legend()
plt.show(block=False)
plt.pause(10)
plt.close()
def test_dynaboost_arma(steps=500, show=True):
# controller initialize
T = steps
controller_id = "AutoRegressor"
controller_params = {'p': 18, 'optimizer': OGD}
Ns = [64]
timelines = [6, 9, 12]
# regular AutoRegressor for comparison
autoreg = tigercontrol.controllers("AutoRegressor")
autoreg.initialize(p=18, optimizer=OGD)
fig, ax = plt.subplots(nrows=1, ncols=3)
cur = 0
# run all boosting controller
for timeline in timelines:
# environment initialize
environment = tigercontrol.environment("ENSO")
x, y_true = environment.reset(input_signals=['oni'], timeline=timeline)
controllers = []
for n in Ns: # number of weak learners
controller = tigercontrol.controllers("DynaBoost")
controller.initialize(controller_id, controller_params, n,
reg=0.0) # regularization
controllers.append(controller)
result_list = [[] for n in Ns]
autoreg_loss = []
for i in tqdm(range(T)):
# predictions for every boosting controller
for result_i, controller_i in zip(result_list, controllers):
y_pred = controller_i.predict(x)
result_i.append(mse(y_true, y_pred))
controller_i.update(y_true)
# last value and autoregressor predictions
autoreg_loss.append(mse(autoreg.predict(x), y_true))
autoreg.update(y_true)
x, y_true = environment.step()
# plot performance
if show:
start = T // 2
# plot every boosting controller loss
for n, results in zip(Ns, result_list):
print("Mean loss for n={}: {}".format(
n, np.mean(np.array(results))))
ax[cur].plot(avg_regret(results[-start:]),
label="DynaBoost, n={}".format(n))
# plot loss for last value and autoregressor controllers
print("Mean loss for AutoRegressor: {}".format(
np.mean(np.array(autoreg_loss))))
ax[cur].plot(avg_regret(autoreg_loss[-start:]),
label="AutoRegressor controller")
ax[cur].legend(loc="upper right", fontsize=8)
cur += 1
fig.tight_layout()
plt.show()
def __init__(self,
env,
controller_id,
controller_hyperparams,
N=3,
H=3,
cost_fn=quad_loss):
"""
Description: Initializes autoregressive controller parameters
Args:
controller_id (string): id of weak learner controller
controller_params (dict): dict of params to pass controller
N (int): default 3. Number of weak learners
"""
self.initialized = True
self.n, self.m = env.n, env.m # State & Action Dimensions
self.env = env # System
# 1. Maintain N copies of the algorithm
assert N > 0
self.N, self.H = N, H
self.controllers = []
#past state
self.x = np.zeros((self.n, 1))
# Past 2H noises
self.w = np.zeros((2 * H, self.n, 1))
# 2. Initialize the N weak learners
weak_controller_class = tigercontrol.controllers(controller_id)
self.weak_controller = controller_class(controller_hyperparams)
for _ in range(N):
new_controller = new_controller_class(controller_hyperparams)
self.controllers.append(new_controller)
self.past_partial_actions = np.zeros((N + 1, H, self.m, 1))
# Extract the set of actions of previous learners
def get_partial_actions(x):
u = np.zeros((self.N + 1, self.m, 1))
partial_u = np.zeros((self.m, 1))
for i, controller_i in enumerate(self.controllers):
eta_i = 2 / (i + 2)
pred_u = controller_i.get_action(x)
partial_u = (1 - eta_i) * partial_u + eta_i * pred_u
u = jax.ops.index_update(u, i + 1, partial_u)
return u
self.get_partial_actions = get_partial_actions
self.grad_action = grad(action_loss)
# Extract the set of actions of previous learners
def get_grads(partial_actions, w, cost_fn=quad_loss):
v_list = [
self.grad_action(partial_actions[i], w, self.H, self.env,
cost_fn) for i in range(self.N)
]
return v_list
self.get_grads = get_grads
def linear_loss(controller_i_params, grad_i, w):
linear_loss_i = 0
y = np.zeros((n, 1))
for h in range(self.H):
v = self.weak_controller.determine_action(
controller_i_params, y, w[:h + H])
linear_loss_i += np.dot(grad_i[h], v)
y = self.env.dyn(y, v) + w[h + H]
v = self.weak_controller.determine_action(controller_i_params, y,
w[:h + H])
linear_loss_i += np.dot(grad_i[h], v)
return np.sum(linear_loss_i)
self.grad_linear = grad(linear_loss)
