def set_data_parameters_(self,
num_frames,
num_observations,
num_input_features,
num_input_dimesions):
## Define data parameters
self.num_frames = num_frames
self.num_observations = num_observations
self.num_input_features = num_input_features
self.num_input_dimensions = num_input_dimesions
self.input_per_frame = self.num_input_features * self.num_input_dimensions
self.nxm = (self.num_observations != self.num_input_features)
self.binder = BINDER_NxM(
num_observations=self.num_observations,
num_features=self.num_input_features,
gradient_init=True)
self.perspective_taker = Perspective_Taker(
self.num_input_features,
self.num_input_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
self.preprocessor = Preprocessor(
self.num_observations,
self.num_input_features,
self.num_input_dimensions)
self.evaluator = BAPTAT_evaluator(
self.num_frames,
self.num_observations,
self.num_input_features,
self.preprocessor)
def set_data_parameters_(self,
num_frames,
num_observations,
num_input_features,
num_input_dimesions):
## Define data parameters
self.num_frames = num_frames
self.num_observations = num_observations
self.num_input_features = num_input_features
self.num_input_dimensions = num_input_dimesions
self.input_per_frame = self.num_input_features * self.num_input_dimensions
self.nxm = (self.num_observations != self.num_input_features)
# fixed gestalten definition. could be changed to flexible.
if self.num_input_dimensions == 7:
self.gestalten = True
self.num_spatial_dimensions = self.num_input_dimensions-4
self.num_pos = self.num_spatial_dimensions
self.num_dir = self.num_spatial_dimensions
self.num_mag = 1
else:
self.num_spatial_dimensions = self.num_input_dimensions
self.binder = BINDER_NxM(
num_observations=self.num_observations,
num_features=self.num_input_features,
gradient_init=True)
self.perspective_taker = Perspective_Taker(
self.num_input_features,
self.num_spatial_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
self.preprocessor = Preprocessor(
self.num_observations,
self.num_input_features,
self.num_input_dimensions)
self.evaluator = BAPTAT_evaluator(
self.num_frames,
self.num_observations,
self.num_input_features,
self.preprocessor)
## Define tuning variables
# general
obs_count = 0
at_inputs = torch.tensor([])
at_predictions = torch.tensor([])
at_final_predictions = torch.tensor([])
at_losses = []
# state
at_states = []
# state_optimizer = torch.optim.Adam(init_state, at_learning_rate)
# translation
perspective_taker = Perspective_Taker(alpha_init=0.0,
beta_init=0.0,
gamma_init=0.0,
rotation_gradient_init=True,
translation_gradient_init=True)
ideal_trans = torch.zeros(3)
Cs = []
C_grads = [None] * (tuning_length + 1)
C_upd = [None] * (tuning_length + 1)
c_losses = []
c_norm = 1
############################################################################
########## INITIALIZATIONS ###############################################
## Load data
observations, feature_names = preprocessor.get_AT_data(data_asf_path,
data_amc_path,
## Define tuning variables
# general
obs_count = 0
at_inputs = torch.tensor([])
at_predictions = torch.tensor([])
at_final_predictions = torch.tensor([])
at_losses = []
# state
at_states = []
# state_optimizer = torch.optim.Adam(init_state, at_learning_rate)
# rotation
perspective_taker = Perspective_Taker(alpha_init=0.0,
beta_init=0.0,
gamma_init=0.0,
rotation_gradient_init=True,
translation_gradient_init=True)
ideal_angle = torch.zeros(num_input_dimensions, 1)
ideal_rotation = torch.Tensor(np.identity(num_input_dimensions))
Rs = []
R_grads = [None] * (tuning_length + 1)
R_upd = [None] * (tuning_length + 1)
rm_losses = []
ra_losses = []
r_norm = 1
############################################################################
########## INITIALIZATIONS ###############################################
class COMBI_BAPTAT():
def __init__(self):
## General parameters
self.device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
autograd.set_detect_anomaly(True)
torch.set_printoptions(precision=8)
## Set default parameters
## -> Can be changed during experiments
self.scale_mode = 'rcwSM'
self.scale_combo = 'comp_mult'
self.rotation_type = 'qrotate'
self.grad_bias_binding = 1.5
self.grad_bias_rotation = 1.5
self.grad_bias_translation = 1.5
self.nxm = False
self.additional_features = None
self.nxm_enhance = 'square',
self.nxm_last_line_scale = 0.1
self.dummie_init = 0.1
############################################################################
########## PARAMETERS ####################################################
def set_scale_mode(self, mode):
self.scale_mode = mode
print('Reset scale mode: ' + self.scale_mode)
def set_scale_combination(self, combination):
self.scale_combo = combination
print('Reset scale combination: ' + self.scale_combo)
def set_additional_features(self, index_addition):
self.additional_features = index_addition
print(f'Additional features to the LSTM-input at indices {self.additional_features}')
def set_nxm_enhancement(self, enhancement):
self.nxm_enhance = enhancement
print(f'Enhancement for outcast line: {self.nxm_enhance}')
def set_nxm_last_line_scale(self, scale_factor):
self.nxm_last_line_scale = scale_factor
print(f'Scaler for outcast line: {self.nxm_last_line_scale}')
def set_dummie_init_value(self, init_value):
self.dummie_init = init_value
print(f'Initial value for dummie line: {self.dummie_init}')
def set_rotation_type(self, rotation):
self.rotation_type = rotation
print('Reset type of rotation: ' + self.rotation_type)
def set_weighted_gradient_biases(self, biases):
# bias > 1 => favor recent
# bias < 1 => favor earlier
print('Reset biases for gradient weighting:')
self.grad_bias_binding = biases[0]
print(f'\t> binding: {self.grad_bias_binding}')
self.grad_bias_rotation = biases[1]
print(f'\t> rotation: {self.grad_bias_rotation}')
self.grad_bias_translation = biases[2]
print(f'\t> translation: {self.grad_bias_translation}')
def set_data_parameters_(self,
num_frames,
num_observations,
num_input_features,
num_input_dimesions):
## Define data parameters
self.num_frames = num_frames
self.num_observations = num_observations
self.num_input_features = num_input_features
self.num_input_dimensions = num_input_dimesions
self.input_per_frame = self.num_input_features * self.num_input_dimensions
self.nxm = (self.num_observations != self.num_input_features)
self.binder = BINDER_NxM(
num_observations=self.num_observations,
num_features=self.num_input_features,
gradient_init=True)
self.perspective_taker = Perspective_Taker(
self.num_input_features,
self.num_input_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
self.preprocessor = Preprocessor(
self.num_observations,
self.num_input_features,
self.num_input_dimensions)
self.evaluator = BAPTAT_evaluator(
self.num_frames,
self.num_observations,
self.num_input_features,
self.preprocessor)
def set_tuning_parameters_(self,
tuning_length,
num_tuning_cycles,
loss_function,
at_learning_rates_BAPTAT,
at_learning_rate_state,
at_momenta_BAPTAT):
## Define tuning parameters
self.tuning_length = tuning_length # length of tuning horizon
self.tuning_cycles = num_tuning_cycles # number of tuning cycles in each iteration
# possible loss functions
self.at_loss = loss_function
self.mse = nn.MSELoss()
self.l1Loss = nn.L1Loss()
self.smL1Loss = nn.SmoothL1Loss(reduction='sum')
self.l2Loss = lambda x,y: self.mse(x, y) * (self.num_input_dimensions * self.num_input_features)
# define learning parameters
self.at_learning_rate_binding = at_learning_rates_BAPTAT[0]
self.at_learning_rate_rotation = at_learning_rates_BAPTAT[1]
self.at_learning_rate_translation = at_learning_rates_BAPTAT[2]
self.at_learning_rate_state = at_learning_rate_state
self.bm_momentum = at_momenta_BAPTAT[0]
self.r_momentum = at_momenta_BAPTAT[1]
self.c_momentum = at_momenta_BAPTAT[2]
self.at_loss_function = self.mse
print('Parameters set.')
def get_additional_features(self):
return self.additional_features
def get_oc_grads(self):
return self.oc_grads
def init_model_(self, model_path):
## Load model
self.core_model = CORE_NET()
self.core_model.load_state_dict(torch.load(model_path))
self.core_model.eval()
self.core_model.to(self.device)
print('Model loaded.')
def init_inference_tools(self):
## Define tuning variables
# general
self.obs_count = 0
self.at_inputs = torch.tensor([]).to(self.device)
self.at_predictions = torch.tensor([]).to(self.device)
self.at_final_predictions = torch.tensor([]).to(self.device)
self.at_losses = []
# state
self.at_states = []
# binding
self.Bs = []
self.B_grads = [None] * (self.tuning_length+1)
self.B_upd = [None] * (self.tuning_length+1)
self.bm_losses = []
self.bm_dets = []
self.oc_grads = []
# rotation
self.Rs = []
self.R_grads = [None] * (self.tuning_length+1)
self.R_upd = [None] * (self.tuning_length+1)
self.rm_losses = []
self.rv_losses = []
# translation
self.Cs = []
self.C_grads = [None] * (self.tuning_length+1)
self.C_upd = [None] * (self.tuning_length+1)
self.c_losses = []
def set_comparison_values(self, ideal_binding, ideal_rotation, ideal_translation):
# binding
if ideal_binding is not None:
self.ideal_binding = ideal_binding.to(self.device)
if self.nxm:
self.ideal_binding = self.binder.ideal_nxm_binding(
self.additional_features, self.ideal_binding).to(self.device)
# rotation
self.identity_matrix = torch.Tensor(np.identity(self.num_input_dimensions))
if ideal_rotation is not None:
(ideal_rotation_values, self.ideal_rotation) = ideal_rotation
self.ideal_rotation = self.ideal_rotation.to(self.device)
if self.rotation_type == 'qrotate':
self.ideal_quat = ideal_rotation_values.to(self.device)
self.ideal_angle = self.perspective_taker.qeuler(self.ideal_quat, 'xyz').to(self.device)
elif self.rotation_type == 'eulrotate':
self.ideal_angle = ideal_rotation_values.to(self.device)
else:
print(f'ERROR: Received unknown rotation type!\n\trotation type: {self.rotation_type}')
exit()
# translation
if ideal_translation is not None:
self.ideal_translation = ideal_translation.to(self.device)
############################################################################
########## INFERENCE #####################################################
def run_inference(self,
observations,
grad_calculations,
do_binding,
do_rotation,
do_translation,
order,
reorder):
[grad_calc_binding, grad_calc_rotation, grad_calc_translation] = grad_calculations
if reorder is not None:
reorder = reorder.to(self.device)
at_final_predictions = torch.tensor([]).to(self.device)
at_final_inputs = torch.tensor([]).to(self.device)
########################### BINDING #################################
if do_binding:
## Binding matrices
# Init binding entries
bm = self.binder.init_binding_matrix_det_()
# bm = binder.init_binding_matrix_rand_()
# print(bm)
dummie_line = torch.ones(1,self.num_observations).to(self.device) * self.dummie_init
for i in range(self.tuning_length+1):
matrix = bm.clone().to(self.device)
if self.nxm:
matrix = torch.cat([matrix, dummie_line])
matrix.requires_grad_()
self.Bs.append(matrix)
########################### ROTATION ################################
if do_rotation:
if self.rotation_type == 'qrotate':
## Rotation quaternion
rq = self.perspective_taker.init_quaternion()
# print(rq)
for i in range(self.tuning_length+1):
quat = rq.clone().to(self.device)
quat.requires_grad_()
self.Rs.append(quat)
elif self.rotation_type == 'eulrotate':
## Rotation euler angles
# ra = perspective_taker.init_angles_()
# ra = torch.Tensor([[309.89], [82.234], [95.765]])
ra = torch.Tensor([[75.0], [6.0], [128.0]])
# print(ra)
for i in range(self.tuning_length+1):
angles = []
for j in range(self.num_input_dimensions):
angle = ra[j].clone().to(self.device)
angle.requires_grad_()
angles.append(angle)
self.Rs.append(angles)
else:
print('ERROR: Received unknown rotation type!')
exit()
########################### TRANSLATION #############################
if do_translation:
tb = self.perspective_taker.init_translation_bias_()
# print(tb)
for i in range(self.tuning_length+1):
transba = tb.clone().to(self.device)
transba.requires_grad = True
self.Cs.append(transba)
#######################################################################
## Core state
# define scaler
state_scaler = 0.95
# init state
at_h = torch.zeros(1, self.core_model.hidden_size).to(self.device)
at_c = torch.zeros(1, self.core_model.hidden_size).to(self.device)
at_h.requires_grad = True
at_c.requires_grad = True
init_state = (at_h, at_c)
state = (init_state[0], init_state[1])
############################################################################
########## FORWARD PASS ##################################################
for i in range(self.tuning_length):
o = observations[self.obs_count].to(self.device)
self.at_inputs = torch.cat((
self.at_inputs,
o.reshape(1, self.num_observations, self.num_input_dimensions)), 0)
self.obs_count += 1
########################### BINDING #################################
if do_binding:
bm = self.binder.scale_binding_matrix(
self.Bs[i],
self.scale_mode,
self.scale_combo,
self.nxm_enhance,
self.nxm_last_line_scale)
if self.nxm:
bm = bm[:-1]
x_B = self.binder.bind(o, bm)
else:
x_B = o
########################### ROTATION ################################
if do_rotation:
if self.rotation_type == 'qrotate':
x_R = self.perspective_taker.qrotate(x_B, self.Rs[i])
else:
rotmat = self.perspective_taker.compute_rotation_matrix_(
self.Rs[i][0], self.Rs[i][1], self.Rs[i][2])
x_R = self.perspective_taker.rotate(x_B, rotmat)
else:
x_R = x_B
########################### TRANSLATION #############################
if do_translation:
x_C = self.perspective_taker.translate(x_R, self.Cs[i])
else:
x_C = x_R
#######################################################################
x = self.preprocessor.convert_data_AT_to_LSTM(x_C)
state = (state[0] * state_scaler, state[1] * state_scaler)
new_prediction, state = self.core_model(x, state)
self.at_states.append(state)
self.at_predictions = torch.cat((self.at_predictions, new_prediction.reshape(1,self.input_per_frame)), 0)
############################################################################
########## ACTIVE TUNING ##################################################
while self.obs_count < self.num_frames:
# TODO folgendes evtl in function auslagern
o = observations[self.obs_count].to(self.device)
self.obs_count += 1
########################### BINDING #################################
if do_binding:
bm = self.binder.scale_binding_matrix(
self.Bs[-1],
self.scale_mode,
self.scale_combo,
self.nxm_enhance,
self.nxm_last_line_scale)
if self.nxm:
bm = bm[:-1]
x_B = self.binder.bind(o, bm)
else:
x_B = o
########################### ROTATION ################################
if do_rotation:
if self.rotation_type == 'qrotate':
x_R = self.perspective_taker.qrotate(x_B, self.Rs[-1])
else:
rotmat = self.perspective_taker.compute_rotation_matrix_(
self.Rs[-1][0], self.Rs[-1][1], self.Rs[-1][2])
x_R = self.perspective_taker.rotate(x_B, rotmat)
else:
x_R = x_B
########################### TRANSLATION #############################
if do_translation:
x_C = self.perspective_taker.translate(x_R, self.Cs[-1])
else:
x_C = x_R
#######################################################################
x = self.preprocessor.convert_data_AT_to_LSTM(x_C)
## Generate current prediction
with torch.no_grad():
state = self.at_states[-1]
state = (state[0] * state_scaler, state[1] * state_scaler)
new_prediction, state = self.core_model(x, state)
## For #tuning_cycles
for cycle in range(self.tuning_cycles):
print('----------------------------------------------')
# Get prediction
p = self.at_predictions[-1]
# Calculate error
loss = self.at_loss(p,x[0])
# Propagate error back through tuning horizon
loss.backward(retain_graph = True)
self.at_losses.append(loss.clone().detach().cpu().numpy())
print(f'frame: {self.obs_count} cycle: {cycle} loss: {loss}')
# Update parameters
with torch.no_grad():
########################### BINDING #################################
if do_binding:
# Calculate gradients with respect to the entires
for i in range(self.tuning_length+1):
self.B_grads[i] = self.Bs[i].grad
# print(B_grads[tuning_length])
# Calculate overall gradients
if grad_calc_binding == 'lastOfTunHor':
### version 1
grad_B = self.B_grads[0]
elif grad_calc_binding == 'meanOfTunHor':
### version 2 / 3
grad_B = torch.mean(torch.stack(self.B_grads), dim=0)
elif grad_calc_binding == 'weightedInTunHor':
### version 4
weighted_grads_B = [None] * (self.tuning_length+1)
for i in range(self.tuning_length+1):
weighted_grads_B[i] = np.power(self.grad_bias_binding, i) * self.B_grads[i]
grad_B = torch.mean(torch.stack(weighted_grads_B), dim=0)
# print(f'grad_B: {grad_B}')
# Update parameters in time step t-H with saved gradients
grad_B = grad_B.to(self.device)
upd_B = self.binder.decay_update_binding_matrix_(
# upd_B = self.binder.update_binding_matrix_(
self.Bs[0], grad_B, self.at_learning_rate_binding, self.bm_momentum)
# Compare binding matrix to ideal matrix
# NOTE: ideal matrix is always identity, bc then the FBE and determinant can be calculated => provide reorder
c_bm = self.binder.scale_binding_matrix(upd_B, self.scale_mode, self.scale_combo)
if order is not None:
c_bm = c_bm.gather(1, reorder.unsqueeze(0).expand(c_bm.shape))
if self.nxm:
self.oc_grads.append(grad_B[-1])
FBE = self.evaluator.FBE_nxm_additional_features(
c_bm, self.ideal_binding, self.additional_features)
c_bm = self.evaluator.clear_nxm_binding_matrix(c_bm, self.additional_features)
mat_loss = self.evaluator.FBE(c_bm, self.ideal_binding)
if self.nxm:
mat_loss = torch.stack([mat_loss, FBE, mat_loss+FBE])
self.bm_losses.append(mat_loss)
print(f'loss of binding matrix (FBE): {mat_loss}')
# Compute determinante of binding matrix
det = torch.det(c_bm)
self.bm_dets.append(det)
print(f'determinante of binding matrix: {det}')
# Zero out gradients for all parameters in all time steps of tuning horizon
for i in range(self.tuning_length+1):
self.Bs[i].requires_grad = False
self.Bs[i].grad.data.zero_()
# Update all parameters for all time steps
for i in range(self.tuning_length+1):
self.Bs[i].data = upd_B.clone().data
self.Bs[i].requires_grad = True
########################### ROTATION ################################
if do_rotation:
## get gradients
if self.rotation_type == 'qrotate':
for i in range(self.tuning_length+1):
# save grads for all parameters in all time steps of tuning horizon
self.R_grads[i] = self.Rs[i].grad
else:
for i in range(self.tuning_length+1):
# save grads for all parameters in all time steps of tuning horizon
grad = []
for j in range(self.num_input_dimensions):
grad.append(self.Rs[i][j].grad)
self.R_grads[i] = torch.stack(grad)
# print(self.R_grads[self.tuning_length])
# Calculate overall gradients
if grad_calc_rotation == 'lastOfTunHor':
### version 1
grad_R = self.R_grads[0]
elif grad_calc_rotation == 'meanOfTunHor':
### version 2 / 3
grad_R = torch.mean(torch.stack(self.R_grads), dim=0)
elif grad_calc_rotation == 'weightedInTunHor':
### version 4
weighted_grads_R = [None] * (self.tuning_length+1)
for i in range(self.tuning_length+1):
weighted_grads_R[i] = np.power(self.grad_bias_rotation, i) * self.R_grads[i]
grad_R = torch.mean(torch.stack(weighted_grads_R), dim=0)
# print(f'grad_R: {grad_R}')
grad_R = grad_R.to(self.device)
if self.rotation_type == 'qrotate':
# Update parameters in time step t-H with saved gradients
upd_R = self.perspective_taker.update_quaternion(
self.Rs[0], grad_R, self.at_learning_rate_rotation, self.r_momentum)
print(f'updated quaternion: {upd_R}')
# Compare quaternion values
quat_loss = torch.sum(self.perspective_taker.qmul(self.ideal_quat, upd_R))
print(f'loss of quaternion: {quat_loss}')
self.rv_losses.append(quat_loss)
# Compute rotation matrix
rotmat = self.perspective_taker.quaternion2rotmat(upd_R)
# Zero out gradients for all parameters in all time steps of tuning horizon
for i in range(self.tuning_length+1):
self.Rs[i].requires_grad = False
self.Rs[i].grad.data.zero_()
# Update all parameters for all time steps
for i in range(self.tuning_length+1):
quat = upd_R.clone()
quat.requires_grad_()
self.Rs[i] = quat
else:
# Update parameters in time step t-H with saved gradients
upd_R = self.perspective_taker.update_rotation_angles_(
self.Rs[0], grad_R, self.at_learning_rate_rotation)
print(f'updated angles: {upd_R}')
# Save rotation angles
rotang = torch.stack(upd_R)
# angles:
ang_diff = rotang - self.ideal_angle
ang_loss = 2 - (torch.cos(torch.deg2rad(ang_diff)) + 1)
print(f'loss of rotation angles: \n {ang_loss}, \n with norm {torch.norm(ang_loss)}')
self.rv_losses.append(torch.norm(ang_loss))
# Compute rotation matrix
rotmat = self.perspective_taker.compute_rotation_matrix_(
upd_R[0], upd_R[1], upd_R[2])[0]
# Zero out gradients for all parameters in all time steps of tuning horizon
for i in range(self.tuning_length+1):
for j in range(self.num_input_dimensions):
self.Rs[i][j].requires_grad = False
self.Rs[i][j].grad.data.zero_()
# Update all parameters for all time steps
for i in range(self.tuning_length+1):
angles = []
for j in range(3):
angle = upd_R[j].clone()
angle.requires_grad_()
angles.append(angle)
self.Rs[i] = angles
# Calculate and save rotation losses
# matrix:
mat_loss = self.mse(
(torch.mm(self.ideal_rotation, torch.transpose(rotmat, 0, 1))),
self.identity_matrix
)
print(f'loss of rotation matrix: {mat_loss}')
self.rm_losses.append(mat_loss)
########################### TRANSLATION #############################
if do_translation:
## Get gradients
for i in range(self.tuning_length+1):
# save grads for all parameters in all time steps of tuning horizon
self.C_grads[i] = self.Cs[i].grad
# print(self.C_grads[self.tuning_length])
# Calculate overall gradients
if grad_calc_translation == 'lastOfTunHor':
### version 1
grad_C = self.C_grads[0]
elif grad_calc_translation == 'meanOfTunHor':
### version 2 / 3
grad_C = torch.mean(torch.stack(self.C_grads), dim=0)
elif grad_calc_translation == 'weightedInTunHor':
### version 4
weighted_grads_C = [None] * (self.tuning_length+1)
for i in range(self.tuning_length+1):
weighted_grads_C[i] = np.power(self.grad_bias_translation, i) * self.C_grads[i]
grad_C = torch.mean(torch.stack(weighted_grads_C), dim=0)
# Update parameters in time step t-H with saved gradients
grad_C = grad_C.to(self.device)
upd_C = self.perspective_taker.update_translation_bias_(
self.Cs[0], grad_C, self.at_learning_rate_translation, self.c_momentum)
# Compare translation bias to ideal bias
trans_loss = self.mse(self.ideal_translation, upd_C)
self.c_losses.append(trans_loss)
print(f'loss of translation bias (MSE): {trans_loss}')
# Zero out gradients for all parameters in all time steps of tuning horizon
for i in range(self.tuning_length+1):
self.Cs[i].requires_grad = False
self.Cs[i].grad.data.zero_()
# Update all parameters for all time steps
for i in range(self.tuning_length+1):
translation = upd_C.clone()
translation.requires_grad_()
self.Cs[i] = translation
#######################################################################
# Initial state
g_h = at_h.grad.to(self.device)
g_c = at_c.grad.to(self.device)
upd_h = init_state[0] - self.at_learning_rate_state * g_h
upd_c = init_state[1] - self.at_learning_rate_state * g_c
at_h.data = upd_h.clone().detach().requires_grad_()
at_c.data = upd_c.clone().detach().requires_grad_()
at_h.grad.data.zero_()
at_c.grad.data.zero_()
# print(f'updated init_state: {init_state}')
# forward pass from t-H to t with new parameters
init_state = (at_h, at_c)
state = (init_state[0], init_state[1])
self.at_predictions = torch.tensor([]).to(self.device)
for i in range(self.tuning_length):
########################### BINDING #################################
if do_binding:
bm = self.binder.scale_binding_matrix(
self.Bs[i],
self.scale_mode,
self.scale_combo,
self.nxm_enhance,
self.nxm_last_line_scale)
if self.nxm:
bm = bm[:-1]
x_B = self.binder.bind(self.at_inputs[i], bm)
else:
x_B = self.at_inputs[i]
########################### ROTATION ################################
if do_rotation:
if self.rotation_type == 'qrotate':
x_R = self.perspective_taker.qrotate(x_B, self.Rs[i])
else:
rotmat = self.perspective_taker.compute_rotation_matrix_(
self.Rs[i][0], self.Rs[i][1], self.Rs[i][2])
x_R = self.perspective_taker.rotate(x_B, rotmat)
else:
x_R = x_B
########################### TRANSLATION #############################
if do_translation:
x_C = self.perspective_taker.translate(x_R, self.Cs[i])
else:
x_C = x_R
#######################################################################
x = self.preprocessor.convert_data_AT_to_LSTM(x_C)
state = (state[0] * state_scaler, state[1] * state_scaler)
upd_prediction, state = self.core_model(x, state)
self.at_predictions = torch.cat((self.at_predictions, upd_prediction.reshape(1,self.input_per_frame)), 0)
# for last tuning cycle update initial state to track gradients
if cycle==(self.tuning_cycles-1) and i==0:
with torch.no_grad():
final_prediction = self.at_predictions[0].clone().detach().to(self.device)
final_input = x.clone().detach().to(self.device)
at_h = state[0].clone().detach().requires_grad_().to(self.device)
at_c = state[1].clone().detach().requires_grad_().to(self.device)
init_state = (at_h, at_c)
state = (init_state[0], init_state[1])
self.at_states[i] = state
# Update current input
########################### BINDING #################################
if do_binding:
bm = self.binder.scale_binding_matrix(
self.Bs[-1],
self.scale_mode,
self.scale_combo,
self.nxm_enhance,
self.nxm_last_line_scale)
if self.nxm:
bm = bm[:-1]
x_B = self.binder.bind(o, bm)
else:
x_B = o
########################### ROTATION ################################
if do_rotation:
if self.rotation_type == 'qrotate':
x_R = self.perspective_taker.qrotate(x_B, self.Rs[-1])
else:
rotmat = self.perspective_taker.compute_rotation_matrix_(
self.Rs[-1][0], self.Rs[-1][1], self.Rs[-1][2])
x_R = self.perspective_taker.rotate(x_B, rotmat)
else:
x_R = x_B
########################### TRANSLATION #############################
if do_translation:
x_C = self.perspective_taker.translate(x_R, self.Cs[-1])
else:
x_C = x_R
#######################################################################
x = self.preprocessor.convert_data_AT_to_LSTM(x_C)
# END tuning cycle
## Generate updated prediction
state = self.at_states[-1]
state = (state[0] * state_scaler, state[1] * state_scaler)
new_prediction, state = self.core_model(x, state)
## Reorganize storage variables
# observations
at_final_inputs = torch.cat(
(at_final_inputs,
final_input.reshape(1,self.input_per_frame)), 0)
self.at_inputs = torch.cat(
(self.at_inputs[1:],
o.reshape(1, self.num_observations, self.num_input_dimensions)), 0)
# predictions
at_final_predictions = torch.cat(
(at_final_predictions,
final_prediction.reshape(1,self.input_per_frame)), 0)
self.at_predictions = torch.cat(
(self.at_predictions[1:],
new_prediction.reshape(1,self.input_per_frame)), 0)
# END active tuning
# store rest of predictions in at_final_predictions
for i in range(self.tuning_length):
at_final_predictions = torch.cat(
(at_final_predictions,
self.at_predictions[i].reshape(1,self.input_per_frame)), 0)
at_final_inputs = torch.cat(
(at_final_inputs,
self.at_inputs[i].reshape(1,self.input_per_frame)), 0)
########################### BINDING #################################
# get final binding matrix
if do_binding:
final_binding_matrix = self.binder.scale_binding_matrix(
self.Bs[-1].clone().detach(), self.scale_mode, self.scale_combo)
print(f'final binding matrix: {final_binding_matrix}')
final_binding_entries = self.Bs[-1].clone().detach()
print(f'final binding entires: {final_binding_entries}')
else:
final_binding_entries, final_binding_matrix = None, None
########################### ROTATION ################################
# get final rotation matrix
if do_rotation:
if self.rotation_type == 'qrotate':
final_rotation_values = self.Rs[0].clone().detach()
# get final quaternion
print(f'final quaternion: {final_rotation_values}')
final_rotation_matrix = self.perspective_taker.quaternion2rotmat(final_rotation_values)
else:
final_rotation_values = [
self.Rs[0][i].clone().detach()
for i in range(self.num_input_dimensions)]
print(f'final euler angles: {final_rotation_values}')
final_rotation_matrix = self.perspective_taker.compute_rotation_matrix_(
final_rotation_values[0],
final_rotation_values[1],
final_rotation_values[2])
print(f'final rotation matrix: \n{final_rotation_matrix}')
else:
final_rotation_matrix, final_rotation_values = None, None
########################### TRANSLATION #############################
# get final translation bias
if do_translation:
final_translation_values = self.Cs[0].clone().detach()
print(f'final translation bias: {final_translation_values}')
else:
final_translation_values = None
#######################################################################
return [at_final_inputs,
at_final_predictions,
final_binding_matrix,
final_binding_entries,
final_rotation_values,
final_rotation_matrix,
final_translation_values]
############################################################################
########## EVALUATION #####################################################
def get_result_history(
self,
observations,
at_final_predictions):
if self.nxm:
pred_errors = self.evaluator.prediction_errors_nxm(
observations,
self.additional_features,
self.num_observations,
at_final_predictions,
self.mse
)
self.bm_losses = torch.stack(self.bm_losses)
else:
pred_errors = self.evaluator.prediction_errors(
observations,
at_final_predictions,
self.mse)
return [pred_errors,
self.at_losses,
self.bm_dets,
self.bm_losses,
self.rm_losses,
self.rv_losses,
self.c_losses]
data_asf_path = 'Data_Compiler/S35T07.asf'
data_amc_path = 'Data_Compiler/S35T07.amc'
####################### Note: sample needs to be changed in the future
## Define model parameters
model_path = 'CoreLSTM/models/LSTM_2.pt'
## Define Binding and Perspektive Taking parameters
# Binding
binder = Binder(num_features=num_input_features, gradient_init=True)
# Perspective Taking
perspective_taker = Perspective_Taker(alpha_init=0.0,
beta_init=0.0,
gamma_init=0.0,
rotation_gradient_init=True,
translation_gradient_init=True)
## Create list of parameters for gradient descent
Bs = []
Cs = []
Rs = []
################################################### appending separate matrices or only references?
###################### maybe tensors not lists? -> backprop possible
for i in range(tuning_length):
Bs.append(binder.binding_matrix_())
Cs.append(perspective_taker.translation_bias_())
Rs.append(perspective_taker.rotation_matrix_())
# print(Bs[0])
at_loss_function = l1Loss
at_learning_rate = 1
at_learning_rate_state = 0.0
c_momentum = 0.0
## Define tuning variables
# general
obs_count = 0
at_inputs = torch.tensor([])
at_predictions = torch.tensor([])
at_final_predictions = torch.tensor([])
at_losses = []
# translation
perspective_taker = Perspective_Taker(num_input_features,
num_input_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
ideal_trans = torch.zeros(3)
Cs = []
C_grads = [None] * (tuning_length + 1)
C_upd = [None] * (tuning_length + 1)
c_losses = []
c_norms = []
c_norm = 1
############################################################################
########## INITIALIZATIONS ###############################################
## Load data
observations, feature_names = preprocessor.get_AT_data(data_asf_path,
class BAPTAT_BASICS(ABC):
def __init__(self, num_features, num_observations, num_dimensions):
self.num_features = num_features
self.num_observations = num_observations
self.num_dimensions = num_dimensions
print('Initialized BAPTAT basic module.')
def set_data_parameters_(self, num_frames, num_observations,
num_input_features, num_input_dimesions):
## Define data parameters
self.num_frames = num_frames
self.num_observations = num_observations
self.num_input_features = num_input_features
self.num_input_dimensions = num_input_dimesions
self.input_per_frame = self.num_input_features * self.num_input_dimensions
self.nxm = (self.num_observations != self.num_input_features)
self.binder = BINDER_NxM(num_observations=self.num_observations,
num_features=self.num_input_features,
gradient_init=True)
self.perspective_taker = Perspective_Taker(
self.num_input_features,
self.num_input_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
self.preprocessor = Preprocessor(self.num_observations,
self.num_input_features,
self.num_input_dimensions)
self.evaluator = BAPTAT_evaluator(self.num_frames,
self.num_observations,
self.num_input_features,
self.preprocessor)
def init_model_(self, model_path):
## Load model
self.core_model = CORE_NET()
self.core_model.load_state_dict(torch.load(model_path))
self.core_model.eval()
print('Model loaded.')
def init_general_inference_tools(self):
# general
self.obs_count = 0
self.at_inputs = torch.tensor([]).to(self.device)
self.at_predictions = torch.tensor([]).to(self.device)
self.at_final_predictions = torch.tensor([]).to(self.device)
self.at_losses = []
# state
self.at_states = []
def init_binding_inference_tools(self):
self.Bs = []
self.B_grads = [None] * (self.tuning_length + 1)
self.B_upd = [None] * (self.tuning_length + 1)
self.bm_losses = []
self.bm_dets = []
self.oc_grads = []
def init_rotation_inference_tools(self):
self.Rs = []
self.R_grads = [None] * (self.tuning_length + 1)
self.R_upd = [None] * (self.tuning_length + 1)
self.rm_losses = []
self.rv_losses = []
def init_translation_inference_tools(self):
self.Cs = []
self.C_grads = [None] * (self.tuning_length + 1)
self.C_upd = [None] * (self.tuning_length + 1)
self.c_losses = []
def set_comparison_values_binding(self, ideal_binding):
self.ideal_binding = ideal_binding.to(self.device)
if self.nxm:
self.ideal_binding = self.binder.ideal_nxm_binding(
self.additional_features, self.ideal_binding).to(self.device)
def set_comparison_values(self, ideal_rotation_values,
ideal_rotation_matrix):
self.ideal_rotation = ideal_rotation_matrix
if self.rotation_type == 'qrotate':
self.ideal_quat = ideal_rotation_values
self.ideal_angle = self.perspective_taker.qeuler(
self.ideal_quat, 'xyz')
elif self.rotation_type == 'eulrotate':
self.ideal_angle = ideal_rotation_values
else:
print(
f'ERROR: Received unknown rotation type!\n\trotation type: {self.rotation_type}'
)
exit()
def set_comparison_values_translation(self, ideal_translation):
self.ideal_translation = ideal_translation
def perform_binding(self, data, bm_activations):
bm = self.binder.scale_binding_matrix(bm_activations, self.scale_mode,
self.scale_combo,
self.nxm_enhance,
self.nxm_last_line_scale)
if self.nxm:
bm = bm[:-1]
return self.binder.bind(data, bm)
def perform_rotation(self, data, rotation_vals):
if self.rotation_type == 'qrotate':
return self.perspective_taker.qrotate(data, rotation_vals)
else:
rotmat = self.perspective_taker.compute_rotation_matrix_(
rotation_vals[0], rotation_vals[1], rotation_vals[2])
return self.perspective_taker.rotate(data, rotmat)
def perform_translation(self, data, translation_vals):
return self.perspective_taker.translate(data, translation_vals)
## Define tuning variables
# general
obs_count = 0
at_inputs = torch.tensor([])
at_predictions = torch.tensor([])
at_final_predictions = torch.tensor([])
at_losses = []
# state
at_states = []
# state_optimizer = torch.optim.Adam(init_state, at_learning_rate)
# translation
perspective_taker = Perspective_Taker(num_input_features,
num_input_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
ideal_trans = torch.zeros(3)
Cs = []
C_grads = [None] * (tuning_length + 1)
C_upd = [None] * (tuning_length + 1)
c_losses = []
c_norms = []
# rotation
ideal_quat = torch.zeros(1, num_input_dimensions)
ideal_rotation = torch.Tensor(np.identity(num_input_dimensions))
ideal_angles = torch.zeros(3)
Rs = []
## Define tuning variables
# general
obs_count = 0
at_inputs = torch.tensor([])
at_predictions = torch.tensor([])
at_final_predictions = torch.tensor([])
at_losses = []
# state
at_states = []
# state_optimizer = torch.optim.Adam(init_state, at_learning_rate)
# rotation
perspective_taker = Perspective_Taker(num_input_features,
num_input_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
ideal_quat = torch.zeros(1, num_input_dimensions)
ideal_rotation = torch.Tensor(np.identity(num_input_dimensions))
Rs = []
R_grads = [None] * (tuning_length + 1)
R_upd = [None] * (tuning_length + 1)
rm_losses = []
ra_losses = []
############################################################################
########## INITIALIZATIONS ###############################################
## Load data
observations, feature_names = preprocessor.get_AT_data(data_asf_path,
## Define tuning variables
# general
obs_count = 0
at_inputs = torch.tensor([])
at_predictions = torch.tensor([])
at_final_predictions = torch.tensor([])
at_losses = []
# state
at_states = []
# state_optimizer = torch.optim.Adam(init_state, at_learning_rate)
# rotation
perspective_taker = Perspective_Taker(num_input_features,
num_input_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
ideal_angle = torch.zeros(num_input_dimensions, 1)
ideal_rotation = torch.Tensor(np.identity(num_input_dimensions))
Rs = []
R_grads = [None] * (tuning_length + 1)
R_upd = [None] * (tuning_length + 1)
rm_losses = []
ra_losses = []
############################################################################
########## INITIALIZATIONS ###############################################
## Load data
observations, feature_names = preprocessor.get_AT_data(data_asf_path,
class SEP_ROTATION():
def __init__(self):
## General parameters
self.device = torch.device(
'cuda' if torch.cuda.is_available() else 'cpu')
autograd.set_detect_anomaly(True)
torch.set_printoptions(precision=8)
## Set default parameters
## -> Can be changed during experiments
self.rotation_type = 'qrotate'
self.grad_bias = 1.5
############################################################################
########## PARAMETERS ####################################################
def set_rotation_type(self, rotation):
self.rotation_type = rotation
print('Reset type of rotation: ' + self.rotation_type)
def set_weighted_gradient_bias(self, bias):
# bias > 1 => favor recent
# bias < 1 => favor earlier
self.grad_bias = bias
print(f'Reset bias for gradient weighting: {self.grad_bias}')
def set_data_parameters_(self, num_frames, num_observations,
num_input_features, num_input_dimesions):
## Define data parameters
self.num_frames = num_frames
self.num_observations = num_observations
self.num_input_features = num_input_features
self.num_input_dimensions = num_input_dimesions
self.input_per_frame = self.num_input_features * self.num_input_dimensions
self.perspective_taker = Perspective_Taker(
self.num_observations,
self.num_input_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
self.preprocessor = Preprocessor(self.num_observations,
self.num_input_features,
self.num_input_dimensions)
self.evaluator = BAPTAT_evaluator(self.num_frames,
self.num_observations,
self.num_input_features,
self.preprocessor)
def set_tuning_parameters_(self, tuning_length, num_tuning_cycles,
loss_function, at_learning_rate_rotation,
at_learning_rate_state, at_momentum_rotation):
## Define tuning parameters
self.tuning_length = tuning_length # length of tuning horizon
self.tuning_cycles = num_tuning_cycles # number of tuning cycles in each iteration
# possible loss functions
self.at_loss = loss_function
self.mse = nn.MSELoss()
self.l1Loss = nn.L1Loss()
self.smL1Loss = nn.SmoothL1Loss(reduction='sum')
self.l2Loss = lambda x, y: self.mse(x, y) * (self.num_input_dimensions
* self.num_input_features)
# define learning parameters
self.at_learning_rate = at_learning_rate_rotation
self.at_learning_rate_state = at_learning_rate_state
self.r_momentum = at_momentum_rotation
self.at_loss_function = self.mse
print('Parameters set.')
def init_model_(self, model_path):
## Load model
self.core_model = CORE_NET(45, 150)
self.core_model.load_state_dict(torch.load(model_path))
self.core_model.eval()
self.core_model.to(self.device)
print('Model loaded.')
def init_inference_tools(self):
## Define tuning variables
# general
self.obs_count = 0
self.at_inputs = torch.tensor([]).to(self.device)
self.at_predictions = torch.tensor([]).to(self.device)
self.at_final_inputs = torch.tensor([]).to(self.device)
self.at_final_predictions = torch.tensor([]).to(self.device)
self.at_losses = []
# state
self.at_states = []
# state_optimizer = torch.optim.Adam(init_state, at_learning_rate)
# rotation
self.Rs = []
self.R_grads = [None] * (self.tuning_length + 1)
self.R_upd = [None] * (self.tuning_length + 1)
self.rm_losses = []
self.rv_losses = []
self.ra_losses = []
def set_comparison_values(self, ideal_rotation_values,
ideal_rotation_matrix):
self.identity_matrix = torch.Tensor(
np.identity(self.num_input_dimensions))
self.ideal_rotation = ideal_rotation_matrix.to(self.device)
if self.rotation_type == 'qrotate':
self.ideal_quat = ideal_rotation_values.to(self.device)
self.ideal_angle = torch.rad2deg(
self.perspective_taker.qeuler(self.ideal_quat,
'xyz')).to(self.device)
elif self.rotation_type == 'eulrotate':
self.ideal_angle = ideal_rotation_values.to(self.device)
else:
print(
f'ERROR: Received unknown rotation type!\n\trotation type: {self.rotation_type}'
)
exit()
def set_ideal_euler_angles(self, angles):
self.ideal_angles = angles.to(self.device)
def set_ideal_quaternion(self, quaternion):
self.ideal_quat = quaternion.to(self.device)
def set_ideal_roation_matrix(self, matrix):
self.ideal_rotation = matrix.to(self.device)
############################################################################
########## INFERENCE #####################################################
def run_inference(self, observations, grad_calculation):
at_final_predictions = torch.tensor([]).to(self.device)
at_final_inputs = torch.tensor([]).to(self.device)
if self.rotation_type == 'qrotate':
## Rotation quaternion
rq = self.perspective_taker.init_quaternion()
# print(rq)
for i in range(self.tuning_length + 1):
quat = rq.clone().to(self.device)
quat.requires_grad_()
self.Rs.append(quat)
elif self.rotation_type == 'eulrotate':
## Rotation euler angles
# ra = perspective_taker.init_angles_()
# ra = torch.Tensor([[309.89], [82.234], [95.765]])
ra = torch.Tensor([[75.0], [6.0], [128.0]])
print(ra)
for i in range(self.tuning_length + 1):
angles = []
for j in range(self.num_input_dimensions):
angle = ra[j].clone()
angle.requires_grad_()
angles.append(angle)
self.Rs.append(angles)
else:
print('ERROR: Received unknown rotation type!')
exit()
## Core state
# define scaler
state_scaler = 0.95
# init state
at_h = torch.zeros(1, self.core_model.hidden_size).to(self.device)
at_c = torch.zeros(1, self.core_model.hidden_size).to(self.device)
at_h.requires_grad = True
at_c.requires_grad = True
init_state = (at_h, at_c)
state = (init_state[0], init_state[1])
############################################################################
########## FORWARD PASS ##################################################
for i in range(self.tuning_length):
o = observations[self.obs_count].to(self.device)
self.at_inputs = torch.cat((self.at_inputs,
o.reshape(1, self.num_input_features,
self.num_input_dimensions)),
0)
self.obs_count += 1
if self.rotation_type == 'qrotate':
x_R = self.perspective_taker.qrotate(o, self.Rs[i])
else:
rotmat = self.perspective_taker.compute_rotation_matrix_(
self.Rs[i][0], self.Rs[i][1], self.Rs[i][2])
x_R = self.perspective_taker.rotate(o, rotmat)
x = self.preprocessor.convert_data_AT_to_LSTM(x_R)
state = (state[0] * state_scaler, state[1] * state_scaler)
new_prediction, state = self.core_model(x, state)
self.at_states.append(state)
self.at_predictions = torch.cat(
(self.at_predictions,
new_prediction.reshape(1, self.input_per_frame)), 0)
############################################################################
########## ACTIVE TUNING ##################################################
while self.obs_count < self.num_frames:
# TODO folgendes evtl in function auslagern
o = observations[self.obs_count].to(self.device)
self.obs_count += 1
if self.rotation_type == 'qrotate':
x_R = self.perspective_taker.qrotate(o, self.Rs[-1])
else:
rotmat = self.perspective_taker.compute_rotation_matrix_(
self.Rs[-1][0], self.Rs[-1][1], self.Rs[-1][2])
x_R = self.perspective_taker.rotate(o, rotmat)
x = self.preprocessor.convert_data_AT_to_LSTM(x_R)
## Generate current prediction
with torch.no_grad():
state = self.at_states[-1]
state = (state[0] * state_scaler, state[1] * state_scaler)
new_prediction, state = self.core_model(x, state)
## For #tuning_cycles
for cycle in range(self.tuning_cycles):
print('----------------------------------------------')
# Get prediction
p = self.at_predictions[-1]
# Calculate error
loss = self.at_loss(p, x[0])
# Propagate error back through tuning horizon
loss.backward(retain_graph=True)
self.at_losses.append(loss.clone().detach().cpu().numpy())
print(f'frame: {self.obs_count} cycle: {cycle} loss: {loss}')
# Update parameters
with torch.no_grad():
## get gradients
if self.rotation_type == 'qrotate':
for i in range(self.tuning_length + 1):
# save grads for all parameters in all time steps of tuning horizon
self.R_grads[i] = self.Rs[i].grad
else:
for i in range(self.tuning_length + 1):
# save grads for all parameters in all time steps of tuning horizon
grad = []
for j in range(self.num_input_dimensions):
grad.append(self.Rs[i][j].grad)
self.R_grads[i] = torch.stack(grad)
# print(self.R_grads[self.tuning_length])
# Calculate overall gradients
if grad_calculation == 'lastOfTunHor':
### version 1
grad_R = self.R_grads[0]
elif grad_calculation == 'meanOfTunHor':
### version 2 / 3
grad_R = torch.mean(torch.stack(self.R_grads), dim=0)
elif grad_calculation == 'weightedInTunHor':
### version 4
weighted_grads_R = [None] * (self.tuning_length + 1)
for i in range(self.tuning_length + 1):
weighted_grads_R[i] = np.power(self.grad_bias,
i) * self.R_grads[i]
grad_R = torch.mean(torch.stack(weighted_grads_R),
dim=0)
# print(f'grad_R: {grad_R}')
grad_R = grad_R.to(self.device)
if self.rotation_type == 'qrotate':
# Update parameters in time step t-H with saved gradients
upd_R = self.perspective_taker.update_quaternion(
self.Rs[0], grad_R, self.at_learning_rate,
self.r_momentum)
print(f'updated quaternion: {upd_R}')
# Compare quaternion values
# quat_loss = torch.sum(self.perspective_taker.qmul(self.ideal_quat, upd_R))
quat_loss = 2 * torch.arccos(
torch.abs(
torch.sum(torch.mul(self.ideal_quat, upd_R))))
quat_loss = torch.rad2deg(quat_loss)
print(f'loss of quaternion: {quat_loss}')
self.rv_losses.append(quat_loss)
# Compare quaternion angles
ang = torch.rad2deg(
self.perspective_taker.qeuler(upd_R, 'zyx'))
ang_diff = ang - self.ideal_angle
ang_loss = 2 - (torch.cos(torch.deg2rad(ang_diff)) + 1)
print(
f'loss of quaternion angles: {ang_loss} \nwith norm: {torch.norm(ang_loss)}'
)
self.ra_losses.append(torch.norm(ang_loss))
# Compute rotation matrix
rotmat = self.perspective_taker.quaternion2rotmat(
upd_R)
# Zero out gradients for all parameters in all time steps of tuning horizon
for i in range(self.tuning_length + 1):
self.Rs[i].requires_grad = False
self.Rs[i].grad.data.zero_()
# Update all parameters for all time steps
for i in range(self.tuning_length + 1):
quat = upd_R.clone()
quat.requires_grad_()
self.Rs[i] = quat
else:
# Update parameters in time step t-H with saved gradients
upd_R = self.perspective_taker.update_rotation_angles_(
self.Rs[0], grad_R, self.at_learning_rate)
print(f'updated angles: {upd_R}')
# Save rotation angles
rotang = torch.stack(upd_R)
# angles:
ang_diff = rotang - self.ideal_angle
ang_loss = 2 - (torch.cos(torch.deg2rad(ang_diff)) + 1)
print(
f'loss of rotation angles: \n {ang_loss}, \n with norm {torch.norm(ang_loss)}'
)
self.rv_losses.append(torch.norm(ang_loss))
# Compute rotation matrix
rotmat = self.perspective_taker.compute_rotation_matrix_(
upd_R[0], upd_R[1], upd_R[2])[0]
# Zero out gradients for all parameters in all time steps of tuning horizon
for i in range(self.tuning_length + 1):
for j in range(self.num_input_dimensions):
self.Rs[i][j].requires_grad = False
self.Rs[i][j].grad.data.zero_()
# print(Rs[0])
# Update all parameters for all time steps
for i in range(self.tuning_length + 1):
angles = []
for j in range(3):
angle = upd_R[j].clone()
angle.requires_grad_()
angles.append(angle)
self.Rs[i] = angles
# print(Rs[0])
# Calculate and save rotation losses
# matrix:
# mat_loss = self.mse(
# (torch.mm(self.ideal_rotation, torch.transpose(rotmat, 0, 1))),
# self.identity_matrix
# )
dif_R = torch.mm(self.ideal_rotation,
torch.transpose(rotmat, 0, 1))
mat_loss = torch.arccos(0.5 * (torch.trace(dif_R) - 1))
mat_loss = torch.rad2deg(mat_loss)
print(f'loss of rotation matrix: {mat_loss}')
self.rm_losses.append(mat_loss)
# print(Rs[0])
# Initial state
g_h = at_h.grad.to(self.device)
g_c = at_c.grad.to(self.device)
upd_h = init_state[0] - self.at_learning_rate_state * g_h
upd_c = init_state[1] - self.at_learning_rate_state * g_c
at_h.data = upd_h.clone().detach().requires_grad_()
at_c.data = upd_c.clone().detach().requires_grad_()
at_h.grad.data.zero_()
at_c.grad.data.zero_()
# state_optimizer.step()
# print(f'updated init_state: {init_state}')
## REORGANIZE FOR MULTIPLE CYCLES!!!!!!!!!!!!!
# forward pass from t-H to t with new parameters
# Update init state???
init_state = (at_h, at_c)
state = (init_state[0], init_state[1])
self.at_predictions = torch.tensor([]).to(self.device)
for i in range(self.tuning_length):
if self.rotation_type == 'qrotate':
x_R = self.perspective_taker.qrotate(
self.at_inputs[i], self.Rs[i])
else:
rotmat = self.perspective_taker.compute_rotation_matrix_(
self.Rs[i][0], self.Rs[i][1], self.Rs[i][2])
x_R = self.perspective_taker.rotate(
self.at_inputs[i], rotmat)
x = self.preprocessor.convert_data_AT_to_LSTM(x_R)
state = (state[0] * state_scaler, state[1] * state_scaler)
upd_prediction, state = self.core_model(x, state)
self.at_predictions = torch.cat(
(self.at_predictions,
upd_prediction.reshape(1, self.input_per_frame)), 0)
# for last tuning cycle update initial state to track gradients
if cycle == (self.tuning_cycles - 1) and i == 0:
with torch.no_grad():
final_prediction = self.at_predictions[0].clone(
).detach().to(self.device)
final_input = x.clone().detach().to(self.device)
at_h = state[0].clone().detach().requires_grad_()
at_c = state[1].clone().detach().requires_grad_()
init_state = (at_h, at_c)
state = (init_state[0], init_state[1])
self.at_states[i] = state
# Update current rotation
if self.rotation_type == 'qrotate':
x_R = self.perspective_taker.qrotate(o, self.Rs[-1])
else:
rotmat = self.perspective_taker.compute_rotation_matrix_(
self.Rs[-1][0], self.Rs[-1][1], self.Rs[-1][2])
x_R = self.perspective_taker.rotate(o, rotmat)
x = self.preprocessor.convert_data_AT_to_LSTM(x_R)
# END tuning cycle
## Generate updated prediction
state = self.at_states[-1]
state = (state[0] * state_scaler, state[1] * state_scaler)
new_prediction, state = self.core_model(x, state)
## Reorganize storage variables
# observations
at_final_inputs = torch.cat(
(at_final_inputs, final_input.reshape(
1, self.input_per_frame)), 0)
self.at_inputs = torch.cat((self.at_inputs[1:],
o.reshape(1, self.num_input_features,
self.num_input_dimensions)),
0)
# predictions
at_final_predictions = torch.cat(
(at_final_predictions,
final_prediction.reshape(1, self.input_per_frame)), 0)
self.at_predictions = torch.cat(
(self.at_predictions[1:],
new_prediction.reshape(1, self.input_per_frame)), 0)
# END active tuning
# store rest of predictions in at_final_predictions
for i in range(self.tuning_length):
at_final_predictions = torch.cat(
(at_final_predictions, self.at_predictions[i].reshape(
1, self.input_per_frame)), 0)
if self.rotation_type == 'qrotate':
x_i = self.perspective_taker.qrotate(self.at_inputs[i],
self.Rs[-1])
else:
x_i = self.perspective_taker.rotate(self.at_inputs[i], rotmat)
at_final_inputs = torch.cat(
(at_final_inputs, x_i.reshape(1, self.input_per_frame)), 0)
# get final rotation matrix
if self.rotation_type == 'qrotate':
final_rotation_values = self.Rs[0].clone().detach()
# get final quaternion
print(f'final quaternion: {final_rotation_values}')
final_rotation_matrix = self.perspective_taker.quaternion2rotmat(
final_rotation_values)
else:
final_rotation_values = [
self.Rs[0][i].clone().detach()
for i in range(self.num_input_dimensions)
]
print(f'final euler angles: {final_rotation_values}')
final_rotation_matrix = self.perspective_taker.compute_rotation_matrix_(
final_rotation_values[0], final_rotation_values[1],
final_rotation_values[2])
print(f'final rotation matrix: \n{final_rotation_matrix}')
return at_final_inputs, at_final_predictions, final_rotation_values, final_rotation_matrix
############################################################################
########## EVALUATION #####################################################
def get_result_history(self, observations, at_final_predictions):
pred_errors = self.evaluator.prediction_errors(observations,
at_final_predictions,
self.mse)
print([
pred_errors, self.at_losses, self.rm_losses, self.rv_losses,
self.ra_losses
])
return [
pred_errors, self.at_losses, self.rm_losses, self.rv_losses,
self.ra_losses
]
class SEP_TRANSLATION():
def __init__(self):
## General parameters
self.device = torch.device(
'cuda' if torch.cuda.is_available() else 'cpu')
autograd.set_detect_anomaly(True)
torch.set_printoptions(precision=8)
## Set default parameters
## -> Can be changed during experiments
self.grad_bias = 1.5
############################################################################
########## PARAMETERS ####################################################
def set_weighted_gradient_bias(self, bias):
# bias > 1 => favor recent
# bias < 1 => favor earlier
self.grad_bias = bias
print(f'Reset bias for gradient weighting: {self.grad_bias}')
def set_data_parameters_(self, num_frames, num_observations,
num_input_features, num_input_dimesions):
## Define data parameters
self.num_frames = num_frames
self.num_observations = num_observations
self.num_input_features = num_input_features
self.num_input_dimensions = num_input_dimesions
self.input_per_frame = self.num_input_features * self.num_input_dimensions
self.perspective_taker = Perspective_Taker(
self.num_observations,
self.num_input_dimensions,
rotation_gradient_init=True,
translation_gradient_init=True)
self.preprocessor = Preprocessor(self.num_observations,
self.num_input_features,
self.num_input_dimensions)
self.evaluator = BAPTAT_evaluator(self.num_frames,
self.num_observations,
self.num_input_features,
self.preprocessor)
def set_tuning_parameters_(self, tuning_length, num_tuning_cycles,
loss_function, at_learning_rate_translation,
at_learning_rate_state,
at_momentum_translation):
## Define tuning parameters
self.tuning_length = tuning_length # length of tuning horizon
self.tuning_cycles = num_tuning_cycles # number of tuning cycles in each iteration
# possible loss functions
self.at_loss = loss_function
self.mse = nn.MSELoss()
self.l1Loss = nn.L1Loss()
self.smL1Loss = nn.SmoothL1Loss(reduction='sum')
self.l2Loss = lambda x, y: self.mse(x, y) * (self.num_input_dimensions
* self.num_input_features)
# define learning parameters
self.at_learning_rate = at_learning_rate_translation
self.at_learning_rate_state = at_learning_rate_state
self.c_momentum = at_momentum_translation
self.at_loss_function = self.mse
print('Parameters set.')
def init_model_(self, model_path):
## Load model
self.core_model = CORE_NET()
self.core_model.load_state_dict(torch.load(model_path))
self.core_model.eval()
self.core_model.to(self.device)
print('Model loaded.')
def init_inference_tools(self):
## Define tuning variables
# general
self.obs_count = 0
self.at_inputs = torch.tensor([]).to(self.device)
self.at_predictions = torch.tensor([]).to(self.device)
self.at_final_predictions = torch.tensor([]).to(self.device)
self.at_losses = []
# state
self.at_states = []
# translation
self.Cs = []
self.C_grads = [None] * (self.tuning_length + 1)
self.C_upd = [None] * (self.tuning_length + 1)
self.c_losses = []
def set_comparison_values(self, ideal_translation):
self.ideal_translation = ideal_translation.to(self.device)
############################################################################
########## INFERENCE #####################################################
def run_inference(self, observations, grad_calculation):
at_final_predictions = torch.tensor([]).to(self.device)
at_final_inputs = torch.tensor([]).to(self.device)
tb = self.perspective_taker.init_translation_bias_()
# print(tb)
for i in range(self.tuning_length + 1):
transba = tb.clone().to(self.device)
transba.requires_grad = True
self.Cs.append(transba)
## Core state
# define scaler
state_scaler = 0.95
# init state
at_h = torch.zeros(1, self.core_model.hidden_size).to(self.device)
at_c = torch.zeros(1, self.core_model.hidden_size).to(self.device)
at_h.requires_grad = True
at_c.requires_grad = True
init_state = (at_h, at_c)
state = (init_state[0], init_state[1])
############################################################################
########## FORWARD PASS ##################################################
for i in range(self.tuning_length):
o = observations[self.obs_count].to(self.device)
self.at_inputs = torch.cat((self.at_inputs,
o.reshape(1, self.num_input_features,
self.num_input_dimensions)),
0)
self.obs_count += 1
x_C = self.perspective_taker.translate(o, self.Cs[i])
x = self.preprocessor.convert_data_AT_to_LSTM(x_C)
state = (state[0] * state_scaler, state[1] * state_scaler)
new_prediction, state = self.core_model(x, state)
self.at_states.append(state)
self.at_predictions = torch.cat(
(self.at_predictions,
new_prediction.reshape(1, self.input_per_frame)), 0)
############################################################################
########## ACTIVE TUNING ##################################################
while self.obs_count < self.num_frames:
# TODO folgendes evtl in function auslagern
o = observations[self.obs_count].to(self.device)
self.obs_count += 1
x_C = self.perspective_taker.translate(o, self.Cs[-1])
x = self.preprocessor.convert_data_AT_to_LSTM(x_C)
## Generate current prediction
with torch.no_grad():
state = self.at_states[-1]
state = (state[0] * state_scaler, state[1] * state_scaler)
new_prediction, state = self.core_model(x, state)
## For #tuning_cycles
for cycle in range(self.tuning_cycles):
print('----------------------------------------------')
# Get prediction
p = self.at_predictions[-1]
# Calculate error
loss = self.at_loss(p, x[0])
# Propagate error back through tuning horizon
loss.backward(retain_graph=True)
self.at_losses.append(loss.clone().detach().cpu().numpy())
print(f'frame: {self.obs_count} cycle: {cycle} loss: {loss}')
# Update parameters
with torch.no_grad():
## Get gradients
for i in range(self.tuning_length + 1):
# save grads for all parameters in all time steps of tuning horizon
self.C_grads[i] = self.Cs[i].grad
# print(self.C_grads[self.tuning_length])
# Calculate overall gradients
if grad_calculation == 'lastOfTunHor':
### version 1
grad_C = self.C_grads[0]
elif grad_calculation == 'meanOfTunHor':
### version 2 / 3
grad_C = torch.mean(torch.stack(self.C_grads), dim=0)
elif grad_calculation == 'weightedInTunHor':
### version 4
weighted_grads_C = [None] * (self.tuning_length + 1)
for i in range(self.tuning_length + 1):
weighted_grads_C[i] = np.power(self.grad_bias,
i) * self.C_grads[i]
grad_C = torch.mean(torch.stack(weighted_grads_C),
dim=0)
# print(f'grad_C: {grad_C}')
# Update parameters in time step t-H with saved gradients
grad_C = grad_C.to(self.device)
upd_C = self.perspective_taker.update_translation_bias_(
self.Cs[0], grad_C, self.at_learning_rate,
self.c_momentum)
# print(upd_C)
# Compare translation bias to ideal bias
trans_loss = self.mse(self.ideal_translation, upd_C)
self.c_losses.append(trans_loss)
print(f'loss of translation bias (MSE): {trans_loss}')
# Zero out gradients for all parameters in all time steps of tuning horizon
for i in range(self.tuning_length + 1):
self.Cs[i].requires_grad = False
self.Cs[i].grad.data.zero_()
# Update all parameters for all time steps
for i in range(self.tuning_length + 1):
translation = upd_C.clone()
translation.requires_grad_()
self.Cs[i] = translation
# print(self.Cs[0])
# Initial state
g_h = at_h.grad.to(self.device)
g_c = at_c.grad.to(self.device)
upd_h = init_state[0] - self.at_learning_rate_state * g_h
upd_c = init_state[1] - self.at_learning_rate_state * g_c
at_h.data = upd_h.clone().detach().requires_grad_()
at_c.data = upd_c.clone().detach().requires_grad_()
at_h.grad.data.zero_()
at_c.grad.data.zero_()
# state_optimizer.step()
# print(f'updated init_state: {init_state}')
## REORGANIZE FOR MULTIPLE CYCLES!!!!!!!!!!!!!
# forward pass from t-H to t with new parameters
# Update init state???
init_state = (at_h, at_c)
state = (init_state[0], init_state[1])
self.at_predictions = torch.tensor([]).to(self.device)
for i in range(self.tuning_length):
x_C = self.perspective_taker.translate(
self.at_inputs[i], self.Cs[i])
x = self.preprocessor.convert_data_AT_to_LSTM(x_C)
state = (state[0] * state_scaler, state[1] * state_scaler)
upd_prediction, state = self.core_model(x, state)
self.at_predictions = torch.cat(
(self.at_predictions,
upd_prediction.reshape(1, self.input_per_frame)), 0)
# for last tuning cycle update initial state to track gradients
if cycle == (self.tuning_cycles - 1) and i == 0:
with torch.no_grad():
final_prediction = self.at_predictions[0].clone(
).detach().to(self.device)
final_input = x.clone().detach().to(self.device)
at_h = state[0].clone().detach().requires_grad_()
at_c = state[1].clone().detach().requires_grad_()
init_state = (at_h, at_c)
state = (init_state[0], init_state[1])
self.at_states[i] = state
# Update current rotation
x_C = self.perspective_taker.translate(o, self.Cs[-1])
x = self.preprocessor.convert_data_AT_to_LSTM(x_C)
# END tuning cycle
## Generate updated prediction
state = self.at_states[-1]
state = (state[0] * state_scaler, state[1] * state_scaler)
new_prediction, state = self.core_model(x, state)
## Reorganize storage variables
# observations
at_final_inputs = torch.cat(
(at_final_inputs, final_input.reshape(
1, self.input_per_frame)), 0)
self.at_inputs = torch.cat((self.at_inputs[1:],
o.reshape(1, self.num_input_features,
self.num_input_dimensions)),
0)
# predictions
at_final_predictions = torch.cat(
(at_final_predictions,
final_prediction.reshape(1, self.input_per_frame)), 0)
self.at_predictions = torch.cat(
(self.at_predictions[1:],
new_prediction.reshape(1, self.input_per_frame)), 0)
# END active tuning
# store rest of predictions in at_final_predictions
for i in range(self.tuning_length):
at_final_predictions = torch.cat(
(at_final_predictions, self.at_predictions[i].reshape(
1, self.input_per_frame)), 0)
at_final_inputs = torch.cat(
(at_final_inputs, self.at_inputs[i].reshape(
1, self.input_per_frame)), 0)
# get final translation bias
final_translation_bias = self.Cs[0].clone().detach()
print(f'final translation bias: {final_translation_bias}')
return at_final_inputs, at_final_predictions, final_translation_bias
############################################################################
########## EVALUATION #####################################################
def get_result_history(self, observations, at_final_predictions):
pred_errors = self.evaluator.prediction_errors(observations,
at_final_predictions,
self.mse)
return [pred_errors, self.at_losses, self.c_losses]