def test_mixed_mok_with_Id_vs_independent_mok(session_tf):
data = DataMixedKernelWithEye
# Independent model
k1 = mk.SharedIndependentMok(RBF(data.D, variance=0.5, lengthscales=1.2),
data.L)
f1 = InducingPoints(data.X[:data.M, ...].copy())
m1 = SVGP(data.X,
data.Y,
k1,
Gaussian(),
f1,
q_mu=data.mu_data_full,
q_sqrt=data.sqrt_data_full)
m1.set_trainable(False)
m1.q_sqrt.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m1, maxiter=data.MAXITER)
# Mixed Model
kern_list = [
RBF(data.D, variance=0.5, lengthscales=1.2) for _ in range(data.L)
]
k2 = mk.SeparateMixedMok(kern_list, data.W)
f2 = InducingPoints(data.X[:data.M, ...].copy())
m2 = SVGP(data.X,
data.Y,
k2,
Gaussian(),
f2,
q_mu=data.mu_data_full,
q_sqrt=data.sqrt_data_full)
m2.set_trainable(False)
m2.q_sqrt.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m2, maxiter=data.MAXITER)
check_equality_predictions(session_tf, [m1, m2])
def test_compare_mixed_kernel(session_tf):
data = DataMixedKernel
kern_list = [RBF(data.D) for _ in range(data.L)]
k1 = mk.SeparateMixedMok(kern_list, W=data.W)
f1 = mf.SharedIndependentMof(InducingPoints(data.X[:data.M, ...].copy()))
m1 = SVGP(data.X,
data.Y,
k1,
Gaussian(),
feat=f1,
q_mu=data.mu_data,
q_sqrt=data.sqrt_data)
kern_list = [RBF(data.D) for _ in range(data.L)]
k2 = mk.SeparateMixedMok(kern_list, W=data.W)
f2 = mf.MixedKernelSharedMof(InducingPoints(data.X[:data.M, ...].copy()))
m2 = SVGP(data.X,
data.Y,
k2,
Gaussian(),
feat=f2,
q_mu=data.mu_data,
q_sqrt=data.sqrt_data)
check_equality_predictions(session_tf, [m1, m2])
def test_multioutput_with_diag_q_sqrt(session_tf):
data = DataMixedKernel
q_sqrt_diag = np.ones((data.M, data.L)) * 2
q_sqrt = np.repeat(np.eye(data.M)[None, ...], data.L,
axis=0) * 2 # L x M x M
kern_list = [RBF(data.D) for _ in range(data.L)]
k1 = mk.SeparateMixedMok(kern_list, W=data.W)
f1 = mf.SharedIndependentMof(InducingPoints(data.X[:data.M, ...].copy()))
m1 = SVGP(data.X,
data.Y,
k1,
Gaussian(),
feat=f1,
q_mu=data.mu_data,
q_sqrt=q_sqrt_diag,
q_diag=True)
kern_list = [RBF(data.D) for _ in range(data.L)]
k2 = mk.SeparateMixedMok(kern_list, W=data.W)
f2 = mf.SharedIndependentMof(InducingPoints(data.X[:data.M, ...].copy()))
m2 = SVGP(data.X,
data.Y,
k2,
Gaussian(),
feat=f2,
q_mu=data.mu_data,
q_sqrt=q_sqrt,
q_diag=False)
check_equality_predictions(session_tf, [m1, m2])
def __init__(self,
layer_id,
kern,
U,
Z,
num_outputs,
mean_function,
white=False,
**kwargs):
"""
A sparse variational GP layer in whitened representation. This layer holds the kernel,
variational parameters, inducing points and mean function.
The underlying model at inputs X is
f = Lv + mean_function(X), where v \sim N(0, I) and LL^T = kern.K(X)
The variational distribution over the inducing points is
q(v) = N(q_mu, q_sqrt q_sqrt^T)
The layer holds D_out independent GPs with the same kernel and inducing points.
:param kern: The kernel for the layer (input_dim = D_in)
:param Z: Inducing points (M, D_in)
:param num_outputs: The number of GP outputs (q_mu is shape (M, num_outputs))
:param mean_function: The mean function
:return:
"""
Layer.__init__(self, layer_id, U, num_outputs, **kwargs)
#Initialize using kmeans
self.dim_in = U[0].shape[1] if layer_id == 0 else num_outputs
self.Z = Z if Z is not None else np.random.normal(
0, 0.01, (100, self.dim_in))
self.num_inducing = self.Z.shape[0]
q_mu = np.zeros((self.num_inducing, num_outputs))
self.q_mu = Parameter(q_mu)
q_sqrt = np.tile(
np.eye(self.num_inducing)[None, :, :], [num_outputs, 1, 1])
transform = transforms.LowerTriangular(self.num_inducing,
num_matrices=num_outputs)
self.q_sqrt = Parameter(q_sqrt, transform=transform)
self.feature = InducingPoints(self.Z)
self.kern = kern
self.mean_function = mean_function
self.num_outputs = num_outputs
self.white = white
if not self.white: # initialize to prior
Ku = self.kern.compute_K_symm(self.Z)
Lu = np.linalg.cholesky(Ku +
np.eye(self.Z.shape[0]) * settings.jitter)
self.q_sqrt = np.tile(Lu[None, :, :], [num_outputs, 1, 1])
self.needs_build_cholesky = True
def test_separate_independent_mok(session_tf):
"""
We use different independent kernels for each of the output dimensions.
We can achieve this in two ways:
1) efficient: SeparateIndependentMok with Shared/SeparateIndependentMof
2) inefficient: SeparateIndependentMok with InducingPoints
However, both methods should return the same conditional,
and after optimization return the same log likelihood.
"""
# Model 1 (INefficient)
q_mu_1 = np.random.randn(Data.M * Data.P, 1)
q_sqrt_1 = np.tril(np.random.randn(Data.M * Data.P,
Data.M * Data.P))[None,
...] # 1 x MP x MP
kern_list_1 = [
RBF(Data.D, variance=0.5, lengthscales=1.2) for _ in range(Data.P)
]
kernel_1 = mk.SeparateIndependentMok(kern_list_1)
feature_1 = InducingPoints(Data.X[:Data.M, ...].copy())
m1 = SVGP(Data.X,
Data.Y,
kernel_1,
Gaussian(),
feature_1,
q_mu=q_mu_1,
q_sqrt=q_sqrt_1)
m1.set_trainable(False)
m1.q_sqrt.set_trainable(True)
m1.q_mu.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m1, maxiter=Data.MAXITER)
# Model 2 (efficient)
q_mu_2 = np.random.randn(Data.M, Data.P)
q_sqrt_2 = np.array([
np.tril(np.random.randn(Data.M, Data.M)) for _ in range(Data.P)
]) # P x M x M
kern_list_2 = [
RBF(Data.D, variance=0.5, lengthscales=1.2) for _ in range(Data.P)
]
kernel_2 = mk.SeparateIndependentMok(kern_list_2)
feature_2 = mf.SharedIndependentMof(
InducingPoints(Data.X[:Data.M, ...].copy()))
m2 = SVGP(Data.X,
Data.Y,
kernel_2,
Gaussian(),
feature_2,
q_mu=q_mu_2,
q_sqrt=q_sqrt_2)
m2.set_trainable(False)
m2.q_sqrt.set_trainable(True)
m2.q_mu.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m2, maxiter=Data.MAXITER)
check_equality_predictions(session_tf, [m1, m2])
def __init__(self, kern, Z, num_outputs, mean_function):
"""
A sparse variational GP layer in whitened representation. This layer holds the kernel,
variational parameters, inducing points and mean function.
The underlying model at inputs X is
f = Lv + mean_function(X), where v \sim N(0, I) and LL^T = kern.K(X)
The variational distribution over the inducing points is
q(v) = N(q_mu, q_sqrt q_sqrt^T)
The layer holds D_out independent GPs with the same kernel and inducing points.
:kern: The kernel for the layer (input_dim = D_in)
:param q_mu: mean initialization (M, D_out)
:param q_sqrt: sqrt of variance initialization (D_out,M,M)
:param Z: Inducing points (M, D_in)
:param mean_function: The mean function
:return:
"""
Parameterized.__init__(self)
M = Z.shape[0]
q_mu = np.zeros((M, num_outputs))
self.q_mu = Parameter(q_mu)
q_sqrt = np.tile(np.eye(M)[None, :, :], [num_outputs, 1, 1])
transform = transforms.LowerTriangular(M, num_matrices=num_outputs)
self.q_sqrt = Parameter(q_sqrt, transform=transform)
self.feature = InducingPoints(Z)
self.kern = kern
self.mean_function = mean_function
def test_sample_conditional_mixedkernel(session_tf):
q_mu = np.random.randn(Data.M, Data.L) # M x L
q_sqrt = np.array([
np.tril(np.random.randn(Data.M, Data.M)) for _ in range(Data.L)
]) # L x M x M
Z = Data.X[:Data.M, ...] # M x D
N = int(10e5)
Xs = np.ones((N, Data.D), dtype=float_type)
values = {"Xnew": Xs, "q_mu": q_mu, "q_sqrt": q_sqrt}
placeholders = _create_placeholder_dict(values)
feed_dict = _create_feed_dict(placeholders, values)
# Path 1: mixed kernel: most efficient route
W = np.random.randn(Data.P, Data.L)
mixed_kernel = mk.SeparateMixedMok([RBF(Data.D) for _ in range(Data.L)], W)
mixed_feature = mf.MixedKernelSharedMof(InducingPoints(Z.copy()))
sample = sample_conditional(placeholders["Xnew"],
mixed_feature,
mixed_kernel,
placeholders["q_mu"],
q_sqrt=placeholders["q_sqrt"],
white=True)
value = session_tf.run(sample, feed_dict=feed_dict)
# Path 2: independent kernels, mixed later
separate_kernel = mk.SeparateIndependentMok(
[RBF(Data.D) for _ in range(Data.L)])
shared_feature = mf.SharedIndependentMof(InducingPoints(Z.copy()))
sample2 = sample_conditional(placeholders["Xnew"],
shared_feature,
separate_kernel,
placeholders["q_mu"],
q_sqrt=placeholders["q_sqrt"],
white=True)
value2 = session_tf.run(sample2, feed_dict=feed_dict)
value2 = np.matmul(value2, W.T)
# check if mean and covariance of samples are similar
np.testing.assert_array_almost_equal(np.mean(value, axis=0),
np.mean(value2, axis=0),
decimal=1)
np.testing.assert_array_almost_equal(np.cov(value, rowvar=False),
np.cov(value2, rowvar=False),
decimal=1)
def _build_model(self, Y_var, freqs, X, Y, kern_params=None, Z=None, q_mu = None, q_sqrt = None, M=None, P=None, L=None, W=None, num_data=None, jitter=1e-6, tec_scale=None, W_trainable=False, use_mc=False, **kwargs):
"""
Build the model from the data.
X,Y: tensors the X and Y of data
Returns:
gpflow.models.Model
"""
settings.numerics.jitter = jitter
with gp.defer_build():
# Define the likelihood
likelihood = ComplexHarmonicPhaseOnlyGaussianEncodedHetero(tec_scale=tec_scale)
# likelihood.variance = 0.3**2#(5.*np.pi/180.)**2
# likelihood_var = log_normal_solve((5.*np.pi/180.)**2, 0.5*(5.*np.pi/180.)**2)
# likelihood.variance.prior = LogNormal(likelihood_var[0],likelihood_var[1]**2)
# likelihood.variance.transform = gp.transforms.positiveRescale(np.exp(likelihood_var[0]))
likelihood.variance.trainable = False
q_mu = q_mu/tec_scale #M, L
q_sqrt = q_sqrt/tec_scale# L, M, M
kern = mk.SeparateMixedMok([self._build_kernel(None, None, None, #kern_params[l].w, kern_params[l].mu, kern_params[l].v,
kern_var = np.var(q_mu[:,l]), **kwargs.get("priors",{})) for l in range(L)], W)
kern.W.trainable = W_trainable
kern.W.prior = gp.priors.Gaussian(W, 0.01**2)
feature = mf.MixedKernelSeparateMof([InducingPoints(Z) for _ in range(L)])
mean = Zero()
model = HeteroscedasticPhaseOnlySVGP(Y_var, freqs, X, Y, kern, likelihood,
feat = feature,
mean_function=mean,
minibatch_size=None,
num_latent = P,
num_data = num_data,
whiten = False,
q_mu = None,
q_sqrt = None,
q_diag = True)
for feat in feature.feat_list:
feat.Z.trainable = True #True
model.q_mu.trainable = True
model.q_mu.prior = gp.priors.Gaussian(0., 0.05**2)
model.q_sqrt.trainable = True
# model.q_sqrt.prior = gp.priors.Gaussian(0., (0.005/tec_scale)**2)
model.compile()
tf.summary.image('W',kern.W.constrained_tensor[None,:,:,None])
tf.summary.image('q_mu',model.q_mu.constrained_tensor[None,:,:,None])
# tf.summary.image('q_sqrt',model.q_sqrt.constrained_tensor[:,:,:,None])
return model
def test_sample_conditional(session_tf, whiten, full_cov, full_output_cov):
q_mu = np.random.randn(Data.M, Data.P) # M x P
q_sqrt = np.array([
np.tril(np.random.randn(Data.M, Data.M)) for _ in range(Data.P)
]) # P x M x M
Z = Data.X[:Data.M, ...] # M x D
Xs = np.ones((Data.N, Data.D), dtype=float_type)
feature = InducingPoints(Z.copy())
kernel = RBF(Data.D)
values = {"Z": Z, "Xnew": Xs, "q_mu": q_mu, "q_sqrt": q_sqrt}
placeholders = _create_placeholder_dict(values)
feed_dict = _create_feed_dict(placeholders, values)
# Path 1
sample_f = sample_conditional(placeholders["Xnew"],
feature,
kernel,
placeholders["q_mu"],
q_sqrt=placeholders["q_sqrt"],
white=whiten,
full_cov=full_cov,
full_output_cov=full_output_cov,
num_samples=int(1e5))
value_f, mean_f, var_f = session_tf.run(sample_f, feed_dict=feed_dict)
value_f = value_f.reshape((-1, ) + value_f.shape[2:])
# Path 2
if full_output_cov:
pytest.skip(
"sample_conditional with X instead of feature does not support full_output_cov"
)
sample_x = sample_conditional(placeholders["Xnew"],
placeholders["Z"],
kernel,
placeholders["q_mu"],
q_sqrt=placeholders["q_sqrt"],
white=whiten,
full_cov=full_cov,
full_output_cov=full_output_cov,
num_samples=int(1e5))
value_x, mean_x, var_x = session_tf.run(sample_x, feed_dict=feed_dict)
value_x = value_x.reshape((-1, ) + value_x.shape[2:])
# check if mean and covariance of samples are similar
np.testing.assert_array_almost_equal(np.mean(value_x, axis=0),
np.mean(value_f, axis=0),
decimal=1)
np.testing.assert_array_almost_equal(np.cov(value_x, rowvar=False),
np.cov(value_f, rowvar=False),
decimal=1)
np.testing.assert_allclose(mean_x, mean_f)
np.testing.assert_allclose(var_x, var_f)
def __init__(self, kern, num_outputs, mean_function,
Z=None,
feature=None,
white=False, input_prop_dim=None,
q_mu=None,
q_sqrt=None, **kwargs):
"""
A sparse variational GP layer in whitened representation. This layer holds the kernel,
variational parameters, inducing points and mean function.
The underlying model at inputs X is
f = Lv + mean_function(X), where v \sim N(0, I) and LL^T = kern.K(X)
The variational distribution over the inducing points is
q(v) = N(q_mu, q_sqrt q_sqrt^T)
The layer holds D_out independent GPs with the same kernel and inducing points.
:param kern: The kernel for the layer (input_dim = D_in)
:param Z: Inducing points (M, D_in)
:param num_outputs: The number of GP outputs (q_mu is shape (M, num_outputs))
:param mean_function: The mean function
:return:
"""
Layer.__init__(self, input_prop_dim, **kwargs)
if feature is None:
feature = InducingPoints(Z)
self.num_inducing = len(feature)
self.feature = feature
self.kern = kern
self.mean_function = mean_function
self.num_outputs = num_outputs
self.white = white
if q_mu is None:
q_mu = np.zeros((self.num_inducing, num_outputs), dtype=settings.float_type)
self.q_mu = Parameter(q_mu)
if q_sqrt is None:
if not self.white: # initialize to prior
with gpflow.params_as_tensors_for(feature):
Ku = conditionals.Kuu(feature, self.kern, jitter=settings.jitter)
Lu = tf.linalg.cholesky(Ku)
Lu = self.enquire_session().run(Lu)
q_sqrt = np.tile(Lu[None, :, :], [num_outputs, 1, 1])
else:
q_sqrt = np.tile(np.eye(self.num_inducing, dtype=settings.float_type)[None, :, :], [num_outputs, 1, 1])
transform = transforms.LowerTriangular(self.num_inducing, num_matrices=num_outputs)
self.q_sqrt = Parameter(q_sqrt, transform=transform)
self.needs_build_cholesky = True
def _build_model(self, Y_var, X, Y, Z=None, q_mu = None, q_sqrt = None, M=None, P=None, L=None, W=None, num_data=None, jitter=1e-6, tec_scale=None, W_diag=False, **kwargs):
"""
Build the model from the data.
X,Y: tensors the X and Y of data
Returns:
gpflow.models.Model
"""
settings.numerics.jitter = jitter
with gp.defer_build():
# Define the likelihood
likelihood = GaussianTecHetero(tec_scale=tec_scale)
q_mu = q_mu/tec_scale #M, L
q_sqrt = q_sqrt/tec_scale# L, M, M
kern = mk.SeparateMixedMok([self._build_kernel(kern_var = np.var(q_mu[:,l]), **kwargs.get("priors",{})) for l in range(L)], W)
if W_diag:
# kern.W.transform = Reshape(W.shape,(P,L,L))(gp.transforms.DiagMatrix(L)(gp.transforms.positive))
kern.W.trainable = False
else:
kern.W.transform = Reshape(W.shape,(P//L,L,L))(MatrixSquare()(gp.transforms.LowerTriangular(L,P//L)))
kern.W.trainable = True
feature = mf.MixedKernelSeparateMof([InducingPoints(Z) for _ in range(L)])
mean = Zero()
model = HeteroscedasticTecSVGP(Y_var, X, Y, kern, likelihood,
feat = feature,
mean_function=mean,
minibatch_size=None,
num_latent = P,
num_data = num_data,
whiten = False,
q_mu = q_mu,
q_sqrt = q_sqrt)
for feat in feature.feat_list:
feat.Z.trainable = True
model.q_mu.trainable = True
model.q_sqrt.trainable = True
# model.q_sqrt.prior = gp.priors.Gaussian(q_sqrt, 0.005**2)
model.compile()
tf.summary.image('W',kern.W.constrained_tensor[None,:,:,None])
tf.summary.image('q_mu',model.q_mu.constrained_tensor[None,:,:,None])
tf.summary.image('q_sqrt',model.q_sqrt.constrained_tensor[:,:,:,None])
return model
def __init__(self, kern, Z, num_outputs, mean_function, **kwargs):
"""
A sparse variational GP layer with a Gaussian likelihood, where the
GP is integrated out
:kern: The kernel for the layer (input_dim = D_in)
:param Z: Inducing points (M, D_in)
:param mean_function: The mean function
:return:
"""
Collapsed_Layer.__init__(self, **kwargs)
self.feature = InducingPoints(Z)
self.kern = kern
self.mean_function = mean_function
self.num_outputs = num_outputs
def __init__(self, Z, mean_function, kern, num_latent=1, whiten=True, name=None):
super(Latent, self).__init__(name=name)
self.mean_function = mean_function
self.kern = kern
self.num_latent = num_latent
M = Z.shape[0]
# M = tf.print(M,[M,'any thing i want'],message='Debug message:',summarize=100)
self.feature = InducingPoints(Z)
num_inducing = len(self.feature)
self.whiten = whiten
self.q_mu = Parameter(np.zeros((num_inducing, self.num_latent), dtype=settings.float_type))
q_sqrt = np.tile(np.eye(M)[None, :, :], [self.num_latent, 1, 1])
transform = transforms.LowerTriangular(M, num_matrices=self.num_latent)
self.q_sqrt = Parameter(q_sqrt, transform=transform)
def test_sample_conditional(session_tf, whiten):
q_mu = np.random.randn(Data.M, Data.P) # M x P
q_sqrt = np.array([
np.tril(np.random.randn(Data.M, Data.M)) for _ in range(Data.P)
]) # P x M x M
Z = Data.X[:Data.M, ...] # M x D
Xs = np.ones((int(10e5), Data.D), dtype=float_type)
feature = InducingPoints(Z.copy())
kernel = RBF(Data.D)
values = {"Z": Z, "Xnew": Xs, "q_mu": q_mu, "q_sqrt": q_sqrt}
placeholders = _create_placeholder_dict(values)
feed_dict = _create_feed_dict(placeholders, values)
# Path 1
sample = sample_conditional(placeholders["Xnew"],
placeholders["Z"],
kernel,
placeholders["q_mu"],
q_sqrt=placeholders["q_sqrt"],
white=whiten)
value = session_tf.run(sample, feed_dict=feed_dict)
# Path 2
sample2 = sample_conditional(placeholders["Xnew"],
feature,
kernel,
placeholders["q_mu"],
q_sqrt=placeholders["q_sqrt"],
white=whiten)
value2 = session_tf.run(sample2, feed_dict=feed_dict)
# check if mean and covariance of samples are similar
np.testing.assert_array_almost_equal(np.mean(value, axis=0),
np.mean(value2, axis=0),
decimal=1)
np.testing.assert_array_almost_equal(np.cov(value, rowvar=False),
np.cov(value2, rowvar=False),
decimal=1)
class SVGP_Layer(Layer):
def __init__(self,
layer_id,
kern,
U,
Z,
num_outputs,
mean_function,
white=False,
**kwargs):
"""
A sparse variational GP layer in whitened representation. This layer holds the kernel,
variational parameters, inducing points and mean function.
The underlying model at inputs X is
f = Lv + mean_function(X), where v \sim N(0, I) and LL^T = kern.K(X)
The variational distribution over the inducing points is
q(v) = N(q_mu, q_sqrt q_sqrt^T)
The layer holds D_out independent GPs with the same kernel and inducing points.
:param kern: The kernel for the layer (input_dim = D_in)
:param Z: Inducing points (M, D_in)
:param num_outputs: The number of GP outputs (q_mu is shape (M, num_outputs))
:param mean_function: The mean function
:return:
"""
Layer.__init__(self, layer_id, U, num_outputs, **kwargs)
#Initialize using kmeans
self.dim_in = U[0].shape[1] if layer_id == 0 else num_outputs
self.Z = Z if Z is not None else np.random.normal(
0, 0.01, (100, self.dim_in))
self.num_inducing = self.Z.shape[0]
q_mu = np.zeros((self.num_inducing, num_outputs))
self.q_mu = Parameter(q_mu)
q_sqrt = np.tile(
np.eye(self.num_inducing)[None, :, :], [num_outputs, 1, 1])
transform = transforms.LowerTriangular(self.num_inducing,
num_matrices=num_outputs)
self.q_sqrt = Parameter(q_sqrt, transform=transform)
self.feature = InducingPoints(self.Z)
self.kern = kern
self.mean_function = mean_function
self.num_outputs = num_outputs
self.white = white
if not self.white: # initialize to prior
Ku = self.kern.compute_K_symm(self.Z)
Lu = np.linalg.cholesky(Ku +
np.eye(self.Z.shape[0]) * settings.jitter)
self.q_sqrt = np.tile(Lu[None, :, :], [num_outputs, 1, 1])
self.needs_build_cholesky = True
@params_as_tensors
def build_cholesky_if_needed(self):
# make sure we only compute this once
if self.needs_build_cholesky:
self.Ku = self.feature.Kuu(self.kern, jitter=settings.jitter)
self.Lu = tf.cholesky(self.Ku)
self.Ku_tiled = tf.tile(self.Ku[None, :, :],
[self.num_outputs, 1, 1])
self.Lu_tiled = tf.tile(self.Lu[None, :, :],
[self.num_outputs, 1, 1])
self.needs_build_cholesky = False
def conditional_ND(self, X, full_cov=False):
self.build_cholesky_if_needed()
# mmean, vvar = conditional(X, self.feature.Z, self.kern,
# self.q_mu, q_sqrt=self.q_sqrt,
# full_cov=full_cov, white=self.white)
Kuf = self.feature.Kuf(self.kern, X)
A = tf.matrix_triangular_solve(self.Lu, Kuf, lower=True)
if not self.white:
A = tf.matrix_triangular_solve(tf.transpose(self.Lu),
A,
lower=False)
mean = tf.matmul(A, self.q_mu, transpose_a=True)
A_tiled = tf.tile(A[None, :, :], [self.num_outputs, 1, 1])
I = tf.eye(self.num_inducing, dtype=settings.float_type)[None, :, :]
if self.white:
SK = -I
else:
SK = -self.Ku_tiled
if self.q_sqrt is not None:
SK += tf.matmul(self.q_sqrt, self.q_sqrt, transpose_b=True)
B = tf.matmul(SK, A_tiled)
if full_cov:
# (num_latent, num_X, num_X)
delta_cov = tf.matmul(A_tiled, B, transpose_a=True)
Kff = self.kern.K(X)
else:
# (num_latent, num_X)
delta_cov = tf.reduce_sum(A_tiled * B, 1)
Kff = self.kern.Kdiag(X)
# either (1, num_X) + (num_latent, num_X) or (1, num_X, num_X) + (num_latent, num_X, num_X)
var = tf.expand_dims(Kff, 0) + delta_cov
var = tf.transpose(var)
return mean + self.mean_function(X), var
def KL(self):
"""
The KL divergence from the variational distribution to the prior
:return: KL divergence from N(q_mu, q_sqrt) to N(0, I), independently for each GP
"""
# if self.white:
# return gauss_kl(self.q_mu, self.q_sqrt)
# else:
# return gauss_kl(self.q_mu, self.q_sqrt, self.Ku)
self.build_cholesky_if_needed()
KL = -0.5 * self.num_outputs * self.num_inducing
KL -= 0.5 * tf.reduce_sum(tf.log(tf.matrix_diag_part(self.q_sqrt)**2))
if not self.white:
KL += tf.reduce_sum(tf.log(tf.matrix_diag_part(
self.Lu))) * self.num_outputs
KL += 0.5 * tf.reduce_sum(
tf.square(
tf.matrix_triangular_solve(
self.Lu_tiled, self.q_sqrt, lower=True)))
Kinv_m = tf.cholesky_solve(self.Lu, self.q_mu)
KL += 0.5 * tf.reduce_sum(self.q_mu * Kinv_m)
else:
KL += 0.5 * tf.reduce_sum(tf.square(self.q_sqrt))
KL += 0.5 * tf.reduce_sum(self.q_mu**2)
return KL
def init_layers(graph_adj, node_feature, kernels, n_layers, all_layers_dim, num_inducing,
gc_kernel=True, mean_function="linear", white=False, q_diag=False):
assert mean_function in ["linear", "zero"] # mean function must be linear or zero
layers = []
# get initial Z
sparse_adj = tuple_to_sparse_matrix(graph_adj[0], graph_adj[1], graph_adj[2])
X_running = node_feature.copy()
for i in range(n_layers):
tf.logging.info("initialize {}th layer".format(i + 1))
dim_in = all_layers_dim[i]
dim_out = all_layers_dim[i + 1]
conv_X = sparse_adj.dot(X_running)
Z_running = kmeans2(conv_X, num_inducing[i], minit="points")[0]
kernel = kernels[i]
if gc_kernel and kernel.gc_weight:
# Z_running = pca(Z_running, kernel.base_kernel.input_dim) # 将维度降到和输出维度一致
X_dim = X_running.shape[1]
kernel_input_dim = kernel.base_kernel.input_dim
if X_dim > kernel_input_dim:
Z_running = pca(Z_running, kernel.base_kernel.input_dim) # 将维度降到和输出维度一致
elif X_dim < kernel_input_dim:
Z_running = np.concatenate([Z_running, np.zeros((Z_running.shape[0], kernel_input_dim - X_dim))], axis=1)
# print(type(Z_running))
# print(Z_running)
if dim_in > dim_out:
_, _, V = np.linalg.svd(X_running, full_matrices=False)
W = V[:dim_out, :].T
elif dim_in < dim_out:
W = np.concatenate([np.eye(dim_in), np.zeros((dim_in, dim_out - dim_in))], 1)
if mean_function == "zero":
mf = Zero()
else:
if dim_in == dim_out:
mf = Identity()
else:
mf = Linear(W)
mf.set_trainable(False)
# self.Ku = Kuu(GraphConvolutionInducingpoints(Z_running), kernel, jitter=settings.jitter)
# print("successfully calculate Ku")
if gc_kernel:
feature = GraphConvolutionInducingpoints(Z_running)
else:
feature = InducingPoints(Z_running)
layers.append(svgp_layer(kernel, Z_running, feature, dim_out, mf, gc_kernel, white=white, q_diag=q_diag))
if dim_in != dim_out:
# Z_running = Z_running.dot(W)
X_running = X_running.dot(W)
return layers
def build_model(self,
ARGS,
X,
Y,
conditioning=False,
apply_name=True,
noise_var=None,
mean_function=None):
if conditioning == False:
N, D = X.shape
# first layer inducing points
if N > ARGS.M:
Z = kmeans2(X, ARGS.M, minit='points')[0]
else:
# This is the old way of initializing Zs
# M_pad = ARGS.M - N
# Z = np.concatenate([X.copy(), np.random.randn(M_pad, D)], 0)
# This is the new way of initializing Zs
min_x, max_x = self.bounds[0]
min_x = (min_x - self.x_mean) / self.x_std
max_x = (max_x - self.x_mean) / self.x_std
Z = np.linspace(min_x, max_x, num=ARGS.M) # * X.shape[1])
Z = Z.reshape((-1, X.shape[1]))
#print(min_x)
#print(max_x)
#print(Z)
#################################### layers
P = np.linalg.svd(X, full_matrices=False)[2]
# PX = P.copy()
layers = []
# quad_layers = []
DX = D
DY = 1
D_in = D
D_out = D
with defer_build():
# variance initialiaztion
lik = Gaussian()
lik.variance = ARGS.likelihood_variance
if len(ARGS.configuration) > 0:
for c, d in ARGS.configuration.split('_'):
if c == 'G':
num_gps = int(d)
A = np.zeros((D_in, D_out))
D_min = min(D_in, D_out)
A[:D_min, :D_min] = np.eye(D_min)
mf = Linear(A=A)
mf.b.set_trainable(False)
def make_kern():
k = RBF(D_in,
lengthscales=float(D_in)**0.5,
variance=1.,
ARD=True)
k.variance.set_trainable(False)
return k
PP = np.zeros((D_out, num_gps))
PP[:, :min(num_gps, DX)] = P[:, :min(num_gps, DX)]
ZZ = np.random.randn(ARGS.M, D_in)
# print(Z.shape)
# print(ZZ.shape)
ZZ[:, :min(D_in, DX)] = Z[:, :min(D_in, DX)]
kern = SharedMixedMok(make_kern(), W=PP)
inducing = MixedKernelSharedMof(InducingPoints(ZZ))
l = GPLayer(kern,
inducing,
num_gps,
mean_function=mf)
if ARGS.fix_linear is True:
kern.W.set_trainable(False)
mf.set_trainable(False)
layers.append(l)
D_in = D_out
elif c == 'L':
d = int(d)
D_in += d
layers.append(LatentVariableLayer(d,
XY_dim=DX + 1))
# kernel initialization
kern = RBF(D_in,
lengthscales=float(D_in)**0.5,
variance=1.,
ARD=True)
ZZ = np.random.randn(ARGS.M, D_in)
ZZ[:, :min(D_in, DX)] = Z[:, :min(D_in, DX)]
layers.append(GPLayer(kern, InducingPoints(ZZ), DY))
self.layers = layers
self.lik = lik
# global_step = tf.Variable(0, dtype=tf.int32)
# self.global_step = global_step
else:
lik = self._gp.likelihood
layers = self._gp.layers._list
# val = self.session.run(self.global_step)
# global_step = tf.Variable(val, dtype=tf.int32)
# self.global_step = global_step
self._gp.clear()
with defer_build():
#################################### model
name = 'Model' if apply_name else None
if ARGS.mode == 'VI':
model = DGP_VI(X,
Y,
layers,
lik,
minibatch_size=ARGS.minibatch_size,
name=name)
elif ARGS.mode == 'SGHMC':
for layer in layers:
if hasattr(layer, 'q_sqrt'):
del layer.q_sqrt
layer.q_sqrt = None
layer.q_mu.set_trainable(False)
model = DGP_VI(X,
Y,
layers,
lik,
minibatch_size=ARGS.minibatch_size,
name=name)
elif ARGS.mode == 'IWAE':
model = DGP_IWVI(X,
Y,
layers,
lik,
minibatch_size=ARGS.minibatch_size,
num_samples=ARGS.num_IW_samples,
name=name)
global_step = tf.Variable(0, dtype=tf.int32)
op_increment = tf.assign_add(global_step, 1)
if not ('SGHMC' == ARGS.mode):
for layer in model.layers[:-1]:
if isinstance(layer, GPLayer):
layer.q_sqrt = layer.q_sqrt.read_value() * 1e-5
model.compile()
#################################### optimization
var_list = [[model.layers[-1].q_mu, model.layers[-1].q_sqrt]]
model.layers[-1].q_mu.set_trainable(False)
model.layers[-1].q_sqrt.set_trainable(False)
gamma = tf.cast(tf.train.exponential_decay(ARGS.gamma,
global_step,
1000,
ARGS.gamma_decay,
staircase=True),
dtype=tf.float64)
lr = tf.cast(tf.train.exponential_decay(ARGS.lr,
global_step,
1000,
ARGS.lr_decay,
staircase=True),
dtype=tf.float64)
op_ng = NatGradOptimizer(gamma=gamma).make_optimize_tensor(
model, var_list=var_list)
op_adam = AdamOptimizer(lr).make_optimize_tensor(model)
def train(s):
s.run(op_increment)
s.run(op_ng)
s.run(op_adam)
model.train_op = train
model.init_op = lambda s: s.run(
tf.variables_initializer([global_step]))
model.global_step = global_step
else:
model.compile()
sghmc_vars = []
for layer in layers:
if hasattr(layer, 'q_mu'):
sghmc_vars.append(layer.q_mu.unconstrained_tensor)
hyper_train_op = AdamOptimizer(ARGS.lr).make_optimize_tensor(model)
self.sghmc_optimizer = SGHMC(model, sghmc_vars, hyper_train_op,
100)
def train_op(s):
s.run(op_increment),
self.sghmc_optimizer.sghmc_step(s),
self.sghmc_optimizer.train_hypers(s)
model.train_op = train_op
model.sghmc_optimizer = self.sghmc_optimizer
def init_op(s):
epsilon = 0.01
mdecay = 0.05
with tf.variable_scope('sghmc'):
self.sghmc_optimizer.generate_update_step(epsilon, mdecay)
v = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES,
scope='sghmc')
s.run(tf.variables_initializer(v))
s.run(tf.variables_initializer([global_step]))
# Added jitter due to input matrix invertability problems
custom_config = gpflow.settings.get_settings()
custom_config.numerics.jitter_level = 1e-8
model.init_op = init_op
model.global_step = global_step
# build the computation graph for the gradient
self.X_placeholder = tf.placeholder(tf.float64,
shape=[None, X.shape[1]])
self.Fs, Fmu, Fvar = model._build_predict(self.X_placeholder)
self.mean_grad = tf.gradients(Fmu, self.X_placeholder)
self.var_grad = tf.gradients(Fvar, self.X_placeholder)
# calculated the gradient of the mean for the quantile-filtered distribution
# print(Fs)
# q = np.quantile(Fs, self.quantile, axis=0)
# qFs = [f for f in Fs if f < q]
# q_mean = np.mean(qFs, axis=0)
# q_var = np.var(qFs, axis=0)
# self.qmean_grad = tf.gradients(q_mean, self.X_placeholder)
# self.qvar_grad = tf.gradients(q_var, self.X_placeholder)
return model
def test_separate_independent_mof(session_tf):
"""
Same test as above but we use different (i.e. separate) inducing features
for each of the output dimensions.
"""
np.random.seed(0)
# Model 1 (INefficient)
q_mu_1 = np.random.randn(Data.M * Data.P, 1)
q_sqrt_1 = np.tril(np.random.randn(Data.M * Data.P,
Data.M * Data.P))[None,
...] # 1 x MP x MP
kernel_1 = mk.SharedIndependentMok(
RBF(Data.D, variance=0.5, lengthscales=1.2), Data.P)
feature_1 = InducingPoints(Data.X[:Data.M, ...].copy())
m1 = SVGP(Data.X,
Data.Y,
kernel_1,
Gaussian(),
feature_1,
q_mu=q_mu_1,
q_sqrt=q_sqrt_1)
m1.set_trainable(False)
m1.q_sqrt.set_trainable(True)
m1.q_mu.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m1, maxiter=Data.MAXITER)
# Model 2 (efficient)
q_mu_2 = np.random.randn(Data.M, Data.P)
q_sqrt_2 = np.array([
np.tril(np.random.randn(Data.M, Data.M)) for _ in range(Data.P)
]) # P x M x M
kernel_2 = mk.SharedIndependentMok(
RBF(Data.D, variance=0.5, lengthscales=1.2), Data.P)
feat_list_2 = [
InducingPoints(Data.X[:Data.M, ...].copy()) for _ in range(Data.P)
]
feature_2 = mf.SeparateIndependentMof(feat_list_2)
m2 = SVGP(Data.X,
Data.Y,
kernel_2,
Gaussian(),
feature_2,
q_mu=q_mu_2,
q_sqrt=q_sqrt_2)
m2.set_trainable(False)
m2.q_sqrt.set_trainable(True)
m2.q_mu.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m2, maxiter=Data.MAXITER)
# Model 3 (Inefficient): an idenitical feature is used P times,
# and treated as a separate feature.
q_mu_3 = np.random.randn(Data.M, Data.P)
q_sqrt_3 = np.array([
np.tril(np.random.randn(Data.M, Data.M)) for _ in range(Data.P)
]) # P x M x M
kern_list = [
RBF(Data.D, variance=0.5, lengthscales=1.2) for _ in range(Data.P)
]
kernel_3 = mk.SeparateIndependentMok(kern_list)
feat_list_3 = [
InducingPoints(Data.X[:Data.M, ...].copy()) for _ in range(Data.P)
]
feature_3 = mf.SeparateIndependentMof(feat_list_3)
m3 = SVGP(Data.X,
Data.Y,
kernel_3,
Gaussian(),
feature_3,
q_mu=q_mu_3,
q_sqrt=q_sqrt_3)
m3.set_trainable(False)
m3.q_sqrt.set_trainable(True)
m3.q_mu.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m3, maxiter=Data.MAXITER)
check_equality_predictions(session_tf, [m1, m2, m3])
def test_shared_independent_mok(session_tf):
"""
In this test we use the same kernel and the same inducing features
for each of the outputs. The outputs are considered to be uncorrelated.
This is how GPflow handled multiple outputs before the multioutput framework was added.
We compare three models here:
1) an ineffient one, where we use a SharedIndepedentMok with InducingPoints.
This combination will uses a Kff of size N x P x N x P, Kfu if size N x P x M x P
which is extremely inefficient as most of the elements are zero.
2) efficient: SharedIndependentMok and SharedIndependentMof
This combinations uses the most efficient form of matrices
3) the old way, efficient way: using Kernel and InducingPoints
Model 2) and 3) follow more or less the same code path.
"""
# Model 1
q_mu_1 = np.random.randn(Data.M * Data.P, 1) # MP x 1
q_sqrt_1 = np.tril(np.random.randn(Data.M * Data.P,
Data.M * Data.P))[None,
...] # 1 x MP x MP
kernel_1 = mk.SharedIndependentMok(
RBF(Data.D, variance=0.5, lengthscales=1.2), Data.P)
feature_1 = InducingPoints(Data.X[:Data.M, ...].copy())
m1 = SVGP(Data.X,
Data.Y,
kernel_1,
Gaussian(),
feature_1,
q_mu=q_mu_1,
q_sqrt=q_sqrt_1)
m1.set_trainable(False)
m1.q_sqrt.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m1, maxiter=Data.MAXITER)
# Model 2
q_mu_2 = np.reshape(q_mu_1, [Data.M, Data.P]) # M x P
q_sqrt_2 = np.array([
np.tril(np.random.randn(Data.M, Data.M)) for _ in range(Data.P)
]) # P x M x M
kernel_2 = RBF(Data.D, variance=0.5, lengthscales=1.2)
feature_2 = InducingPoints(Data.X[:Data.M, ...].copy())
m2 = SVGP(Data.X,
Data.Y,
kernel_2,
Gaussian(),
feature_2,
q_mu=q_mu_2,
q_sqrt=q_sqrt_2)
m2.set_trainable(False)
m2.q_sqrt.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m2, maxiter=Data.MAXITER)
# Model 3
q_mu_3 = np.reshape(q_mu_1, [Data.M, Data.P]) # M x P
q_sqrt_3 = np.array([
np.tril(np.random.randn(Data.M, Data.M)) for _ in range(Data.P)
]) # P x M x M
kernel_3 = mk.SharedIndependentMok(
RBF(Data.D, variance=0.5, lengthscales=1.2), Data.P)
feature_3 = mf.SharedIndependentMof(
InducingPoints(Data.X[:Data.M, ...].copy()))
m3 = SVGP(Data.X,
Data.Y,
kernel_3,
Gaussian(),
feature_3,
q_mu=q_mu_3,
q_sqrt=q_sqrt_3)
m3.set_trainable(False)
m3.q_sqrt.set_trainable(True)
gpflow.training.ScipyOptimizer().minimize(m3, maxiter=Data.MAXITER)
check_equality_predictions(session_tf, [m1, m2, m3])
class SVGP_Layer(Layer):
def __init__(self,
kern,
Z,
num_outputs,
mean_function,
white=False,
input_prop_dim=None,
**kwargs):
"""
A sparse variational GP layer in whitened representation. This layer holds the kernel,
variational parameters, inducing points and mean function.
The underlying model at inputs X is
f = Lv + mean_function(X), where v \sim N(0, I) and LL^T = kern.K(X)
The variational distribution over the inducing points is
q(v) = N(q_mu, q_sqrt q_sqrt^T)
The layer holds D_out independent GPs with the same kernel and inducing points.
:param kern: The kernel for the layer (input_dim = D_in)
:param Z: Inducing points (M, D_in)
:param num_outputs: The number of GP outputs (q_mu is shape (M, num_outputs))
:param mean_function: The mean function
:return:
"""
Layer.__init__(self, input_prop_dim, **kwargs)
self.num_inducing = Z.shape[0]
q_mu = np.zeros((self.num_inducing, num_outputs))
self.q_mu = Parameter(q_mu)
q_sqrt = np.tile(
np.eye(self.num_inducing)[None, :, :], [num_outputs, 1, 1])
transform = transforms.LowerTriangular(self.num_inducing,
num_matrices=num_outputs)
self.q_sqrt = Parameter(q_sqrt, transform=transform)
self.feature = InducingPoints(Z)
self.kern = kern
self.mean_function = mean_function
self.num_outputs = num_outputs
self.white = white #tf.constant(white, shape=(), dtype = tf.bool) #white #
if not self.white: # initialize to prior
Ku = self.kern.compute_K_symm(Z)
Lu = np.linalg.cholesky(Ku + np.eye(Z.shape[0]) * settings.jitter)
self.q_sqrt = np.tile(Lu[None, :, :], [num_outputs, 1, 1])
self.needs_build_cholesky = True
@params_as_tensors
def build_cholesky_if_needed(self):
# make sure we only compute this once
if self.needs_build_cholesky:
self.Ku = self.feature.Kuu(self.kern, jitter=settings.jitter)
self.Lu = tf.cholesky(self.Ku)
self.Ku_tiled = tf.tile(self.Ku[None, :, :],
[self.num_outputs, 1, 1])
self.Lu_tiled = tf.tile(self.Lu[None, :, :],
[self.num_outputs, 1, 1])
#also compute K_inverse and it's det
if not self.white:
inp_ = (self.Ku + tf.eye(self.num_inducing, dtype=tf.float64) *
settings.jitter * 10)
self.K_inv = tf.linalg.inv(tf.cast(inp_, dtype=tf.float64))
self.needs_build_cholesky = False
def conditional_ND(self, X, full_cov=False):
self.build_cholesky_if_needed()
# mmean, vvar = conditional(X, self.feature.Z, self.kern,
# self.q_mu, q_sqrt=self.q_sqrt,
# full_cov=full_cov, white=self.white)
Kuf = self.feature.Kuf(self.kern, X)
A = tf.matrix_triangular_solve(self.Lu, Kuf, lower=True)
if not self.white:
A = tf.matrix_triangular_solve(tf.transpose(self.Lu),
A,
lower=False)
mean = tf.matmul(A, self.q_mu, transpose_a=True)
A_tiled = tf.tile(A[None, :, :], [self.num_outputs, 1, 1])
I = tf.eye(self.num_inducing, dtype=settings.float_type)[None, :, :]
if self.white:
SK = -I
else:
SK = -self.Ku_tiled
if self.q_sqrt is not None:
SK += tf.matmul(self.q_sqrt, self.q_sqrt, transpose_b=True)
B = tf.matmul(SK, A_tiled)
if full_cov:
# (num_latent, num_X, num_X)
delta_cov = tf.matmul(A_tiled, B, transpose_a=True)
Kff = self.kern.K(X)
else:
# (num_latent, num_X)
delta_cov = tf.reduce_sum(A_tiled * B, 1)
Kff = self.kern.Kdiag(X)
# either (1, num_X) + (num_latent, num_X) or (1, num_X, num_X) + (num_latent, num_X, num_X)
var = tf.expand_dims(Kff, 0) + delta_cov
var = tf.transpose(var)
return mean + self.mean_function(X), var
def KL(self):
"""
The KL divergence from the variational distribution to the prior.
Notation in paper is KL[q(u)||p(u)].
OR the alpha-renyi divergence from variational distribution to the prior
:return: KL divergence from N(q_mu, q_sqrt * q_sqrt^T) to N(0, I) (if whitened)
and to N(mu(Z), K(Z)) otherwise, independently for each GP
"""
# if self.white:
# return gauss_kl(self.q_mu, self.q_sqrt)
# else:
# return gauss_kl(self.q_mu, self.q_sqrt, self.Ku)
#
self.build_cholesky_if_needed()
if self.alpha is None:
"""Get KL regularizer"""
KL = -0.5 * self.num_outputs * self.num_inducing
KL -= 0.5 * tf.reduce_sum(
tf.log(tf.matrix_diag_part(self.q_sqrt)**2))
if not self.white:
# Whitening is relative to the prior. Here, the prior is NOT
# whitened, meaning that we have N(0, K(Z,Z)) as prior.
KL += tf.reduce_sum(tf.log(tf.matrix_diag_part(
self.Lu))) * self.num_outputs
KL += 0.5 * tf.reduce_sum(
tf.square(
tf.matrix_triangular_solve(
self.Lu_tiled, self.q_sqrt, lower=True)))
Kinv_m = tf.cholesky_solve(self.Lu, self.q_mu)
KL += 0.5 * tf.reduce_sum(self.q_mu * Kinv_m)
else:
KL += 0.5 * tf.reduce_sum(tf.square(self.q_sqrt))
KL += 0.5 * tf.reduce_sum(self.q_mu**2)
return self.weight * KL
else:
"""Get AR regularizer. For the normal, this means
log(Normalizing Constant[alpha * eta_q + (1-alpha) * eta_0 ]) -
alpha*log(Normalizing Constant[eta_q]) -
(1-alpha)*log(Normalizing Constant[eta_0]).
NOTE: the 2*pi factor will cancel, as well as the 0.5 * factor.
NOTE: q_strt is s.t. q_sqrt * q_sqrt^T = variational variance, i.e.
q(v) = N(q_mu, q_sqrt q_sqrt^T).
NOTE: self.Lu is cholesky decomp of self.Ku
NOTE: self.feature are the inducing points Z, and
self.Ku = self.feature.Kuu(kernel), meaning that self.Ku is
the kernel matrix computed at the inducing points Z.
NOTE: We need the alpha-renyi div between prior and GP-variational
posterior for EACH of the GPs in this layer.
Shapes:
q_sqrt: 13 x 100 x 100
q_mu: 100 x 13
tf.matrix_diag_part(self.q_sqrt): 13 x 100
q_sqrt_inv: 13 x 100 x 100
Ku, Lu: 100 x 100
num_inducing: 100
num_outputs: 13
"""
#convenience
alpha = self.alpha
#INEFFICIENT, can probably be done much better with cholesky solve
inp_ = (tf.matmul(self.q_sqrt, self.q_sqrt, transpose_b=True) +
tf.eye(self.num_inducing, dtype=tf.float64) *
settings.jitter * 100)
q_inv = tf.linalg.inv(tf.cast(inp_, dtype=tf.float64))
#gives Sigma_q^-1 * mu_q
q_var_x_q_mu = tf.matmul(
q_inv,
tf.reshape(self.q_mu,
shape=(self.num_outputs, self.num_inducing, 1)))
#Get the two log-normalizers for the variational posteriors
q_component_1 = 0.5 * tf.reduce_sum(
tf.log(tf.matrix_diag_part(self.q_sqrt)**2))
q_component_2 = 0.5 * tf.reduce_sum(q_var_x_q_mu * self.q_mu)
logZq = (q_component_1 + q_component_2)
if not self.white:
#prior using self.Lu, still 0 mean fct
logZpi = 0.5 * tf.reduce_sum(
tf.log(tf.matrix_diag_part(self.Lu)**2)) * self.num_outputs
new_Sigma_inv = (alpha * q_inv + (1.0 - alpha) * self.K_inv +
tf.eye(self.num_inducing, dtype=tf.float64) *
settings.jitter) # +
else:
logZpi = 0.0 #* self.num_outputs * self.num_inducing - but that is still 0.
new_Sigma_inv = (alpha * q_inv +
(1.0 - alpha + settings.jitter) *
tf.eye(self.num_inducing, dtype=tf.float64))
new_Sigma_inv_chol = tf.cholesky(tf.cast(new_Sigma_inv,
tf.float64))
log_det = -tf.reduce_sum(
tf.log(tf.matrix_diag_part(new_Sigma_inv_chol)**2))
#Get the new inverse variance of the exponential family member
#corresponding to alpha * eta_q + (1-alpha) * eta_0.
#var_inv_new = tf.matmul(chol_var_inv_new, chol_var_inv_new, transpose_b=True)
#Compute mu_new: Compute (Sigma^-1*mu) = A via
#A = alpha* Sigma_q^-1 * q_mu + (1-alpha * 0) and then multiply
#both sides by Sigma! => Problem: I don't know sigma!
mu_new = tf.linalg.solve(
tf.cast(new_Sigma_inv, dtype=tf.float64),
tf.cast(alpha * q_var_x_q_mu, dtype=tf.float64))
#Note: Sigma^{-1}_new * mu_new = Sigma^{-1}_q * mu_q, so
# mu_new' * Sigma^{-1}_new * mu_new = mu_new' * (Sigma^{-1}_q * mu_q)
mu_new_x_new_Sigma_inv = tf.reduce_sum(alpha * q_var_x_q_mu *
mu_new)
#Observing that log(|Sigma|) = - log(|Sigma|^-1), we can now get
#the normalizing constant of the new exp. fam member.
logZnew = (0.5 * mu_new_x_new_Sigma_inv + 0.5 * log_det)
#return the log of the AR-div between the normals, i.e.
# (1/(alpha * (1-alpha))) * log(D), where D =
#new normalizer / (q_normalizer^alpha * prior_normalizer^(1-alpha))
AR = (1.0 / (alpha * (1.0 - alpha))) * (logZnew - alpha * logZq -
(1.0 - alpha) * logZpi)
return self.weight * AR
def build_model(ARGS, X, Y, apply_name=True):
if ARGS.mode == 'CVAE':
layers = []
for l in ARGS.configuration.split('_'):
try:
layers.append(int(l))
except:
pass
with defer_build():
name = 'CVAE' if apply_name else None
model = CVAE(X, Y, 1, layers, batch_size=ARGS.minibatch_size, name=name)
model.compile()
global_step = tf.Variable(0, dtype=tf.int32)
op_increment = tf.assign_add(global_step, 1)
lr = tf.cast(tf.train.exponential_decay(ARGS.lr, global_step, 1000, 0.98, staircase=True), dtype=tf.float64)
op_adam = AdamOptimizer(lr).make_optimize_tensor(model)
model.train_op = lambda s: s.run([op_adam, op_increment])
model.init_op = lambda s: s.run(tf.variables_initializer([global_step]))
model.global_step = global_step
model.compile()
else:
N, D = X.shape
# first layer inducing points
if N > ARGS.M:
Z = kmeans2(X, ARGS.M, minit='points')[0]
else:
M_pad = ARGS.M - N
Z = np.concatenate([X.copy(), np.random.randn(M_pad, D)], 0)
#################################### layers
P = np.linalg.svd(X, full_matrices=False)[2]
# PX = P.copy()
layers = []
# quad_layers = []
DX = D
DY = 1
D_in = D
D_out = D
with defer_build():
lik = Gaussian()
lik.variance = ARGS.likelihood_variance
if len(ARGS.configuration) > 0:
for c, d in ARGS.configuration.split('_'):
if c == 'G':
num_gps = int(d)
A = np.zeros((D_in, D_out))
D_min = min(D_in, D_out)
A[:D_min, :D_min] = np.eye(D_min)
mf = Linear(A=A)
mf.b.set_trainable(False)
def make_kern():
k = RBF(D_in, lengthscales=float(D_in) ** 0.5, variance=1., ARD=True)
k.variance.set_trainable(False)
return k
PP = np.zeros((D_out, num_gps))
PP[:, :min(num_gps, DX)] = P[:, :min(num_gps, DX)]
ZZ = np.random.randn(ARGS.M, D_in)
ZZ[:, :min(D_in, DX)] = Z[:, :min(D_in, DX)]
kern = SharedMixedMok(make_kern(), W=PP)
inducing = MixedKernelSharedMof(InducingPoints(ZZ))
l = GPLayer(kern, inducing, num_gps, mean_function=mf)
if ARGS.fix_linear is True:
kern.W.set_trainable(False)
mf.set_trainable(False)
layers.append(l)
D_in = D_out
elif c == 'L':
d = int(d)
D_in += d
layers.append(LatentVariableLayer(d, XY_dim=DX+1))
kern = RBF(D_in, lengthscales=float(D_in)**0.5, variance=1., ARD=True)
ZZ = np.random.randn(ARGS.M, D_in)
ZZ[:, :min(D_in, DX)] = Z[:, :min(D_in, DX)]
layers.append(GPLayer(kern, InducingPoints(ZZ), DY))
#################################### model
name = 'Model' if apply_name else None
if ARGS.mode == 'VI':
model = DGP_VI(X, Y, layers, lik,
minibatch_size=ARGS.minibatch_size,
name=name)
elif ARGS.mode == 'SGHMC':
for layer in layers:
if hasattr(layer, 'q_sqrt'):
del layer.q_sqrt
layer.q_sqrt = None
layer.q_mu.set_trainable(False)
model = DGP_VI(X, Y, layers, lik,
minibatch_size=ARGS.minibatch_size,
name=name)
elif ARGS.mode == 'IWAE':
model = DGP_IWVI(X, Y, layers, lik,
minibatch_size=ARGS.minibatch_size,
num_samples=ARGS.num_IW_samples,
name=name)
global_step = tf.Variable(0, dtype=tf.int32)
op_increment = tf.assign_add(global_step, 1)
if not ('SGHMC' == ARGS.mode):
for layer in model.layers[:-1]:
if isinstance(layer, GPLayer):
layer.q_sqrt = layer.q_sqrt.read_value() * 1e-5
model.compile()
#################################### optimization
var_list = [[model.layers[-1].q_mu, model.layers[-1].q_sqrt]]
model.layers[-1].q_mu.set_trainable(False)
model.layers[-1].q_sqrt.set_trainable(False)
gamma = tf.cast(tf.train.exponential_decay(ARGS.gamma, global_step, 1000, ARGS.gamma_decay, staircase=True),
dtype=tf.float64)
lr = tf.cast(tf.train.exponential_decay(ARGS.lr, global_step, 1000, ARGS.lr_decay, staircase=True), dtype=tf.float64)
op_ng = NatGradOptimizer(gamma=gamma).make_optimize_tensor(model, var_list=var_list)
op_adam = AdamOptimizer(lr).make_optimize_tensor(model)
def train(s):
s.run(op_increment)
s.run(op_ng)
s.run(op_adam)
model.train_op = train
model.init_op = lambda s: s.run(tf.variables_initializer([global_step]))
model.global_step = global_step
else:
model.compile()
hmc_vars = []
for layer in layers:
if hasattr(layer, 'q_mu'):
hmc_vars.append(layer.q_mu.unconstrained_tensor)
hyper_train_op = AdamOptimizer(ARGS.lr).make_optimize_tensor(model)
sghmc_optimizer = SGHMC(model, hmc_vars, hyper_train_op, 100)
def train_op(s):
s.run(op_increment),
sghmc_optimizer.sghmc_step(s),
sghmc_optimizer.train_hypers(s)
model.train_op = train_op
model.sghmc_optimizer = sghmc_optimizer
def init_op(s):
epsilon = 0.01
mdecay = 0.05
with tf.variable_scope('hmc'):
sghmc_optimizer.generate_update_step(epsilon, mdecay)
v = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='hmc')
s.run(tf.variables_initializer(v))
s.run(tf.variables_initializer([global_step]))
model.init_op = init_op
model.global_step = global_step
return model
def build_model(ARGS, X, Y, apply_name=True):
N, D = X.shape
# first layer inducing points
if N > ARGS.M:
Z = kmeans2(X, ARGS.M, minit="points")[0]
else:
M_pad = ARGS.M - N
Z = np.concatenate([X.copy(), np.random.randn(M_pad, D)], 0)
#################################### layers
P = np.linalg.svd(X, full_matrices=False)[2]
layers = []
DX = D
DY = 1
D_in = D
D_out = D
with defer_build():
lik = Gaussian()
lik.variance = ARGS.likelihood_variance
if len(ARGS.configuration) > 0:
for c, d in ARGS.configuration.split("_"):
if c == "G":
num_gps = int(d)
A = np.zeros((D_in, D_out))
D_min = min(D_in, D_out)
A[:D_min, :D_min] = np.eye(D_min)
mf = Linear(A=A)
mf.b.set_trainable(False)
def make_kern():
k = RBF(D_in,
lengthscales=float(D_in)**0.5,
variance=1.0,
ARD=True)
k.variance.set_trainable(False)
return k
PP = np.zeros((D_out, num_gps))
PP[:, :min(num_gps, DX)] = P[:, :min(num_gps, DX)]
ZZ = np.random.randn(ARGS.M, D_in)
ZZ[:, :min(D_in, DX)] = Z[:, :min(D_in, DX)]
kern = SharedMixedMok(make_kern(), W=PP)
inducing = MixedKernelSharedMof(InducingPoints(ZZ))
l = GPLayer(kern,
inducing,
num_gps,
layer_num=len(layers),
mean_function=mf)
if ARGS.fix_linear is True:
kern.W.set_trainable(False)
mf.set_trainable(False)
layers.append(l)
D_in = D_out
elif c == "L":
d = int(d)
D_in += d
encoder_dims = [
int(dim.strip())
for dim in ARGS.encoder_dims.split(",")
]
layers.append(
LatentVariableLayer(d,
XY_dim=DX + 1,
encoder_dims=encoder_dims,
qz_mode=ARGS.qz_mode))
kern = RBF(D_in, lengthscales=float(D_in)**0.5, variance=1.0, ARD=True)
ZZ = np.random.randn(ARGS.M, D_in)
ZZ[:, :min(D_in, DX)] = Z[:, :min(D_in, DX)]
layers.append(GPLayer(kern, InducingPoints(ZZ), DY))
#################################### model
name = "Model" if apply_name else None
if ARGS.mode == "VI":
model = DGP_VI(X,
Y,
layers,
lik,
minibatch_size=ARGS.minibatch_size,
name=name)
elif ARGS.mode == "IWAE":
model = DGP_IWVI(
X=X,
Y=Y,
layers=layers,
likelihood=lik,
minibatch_size=ARGS.minibatch_size,
num_samples=ARGS.num_IW_samples,
name=name,
encoder_minibatch_size=ARGS.encoder_minibatch_size,
)
elif ARGS.mode == "CIWAE":
model = DGP_CIWAE(
X,
Y,
layers,
lik,
minibatch_size=ARGS.minibatch_size,
num_samples=ARGS.num_IW_samples,
name=name,
beta=ARGS.beta,
)
else:
raise ValueError(f"Unknown mode {ARGS.mode}.")
global_step = tf.Variable(0, dtype=tf.int32)
op_increment = tf.assign_add(global_step, 1)
for layer in model.layers[:-1]:
if isinstance(layer, GPLayer):
layer.q_sqrt = layer.q_sqrt.read_value() * 1e-5
model.compile()
#################################### optimization
# Whether to train the final layer with the other parameters, using Adam, or by itself, using natural
# gradients.
if ARGS.use_nat_grad_for_final_layer:
# Turn off training so the parameters are not optimised by Adam. We pass them directly to the natgrad
# optimiser, which bypasses this flag.
model.layers[-1].q_mu.set_trainable(False)
model.layers[-1].q_sqrt.set_trainable(False)
gamma = tf.cast(
tf.train.exponential_decay(ARGS.gamma,
global_step,
1000,
ARGS.gamma_decay,
staircase=True),
dtype=tf.float64,
)
final_layer_vars = [[model.layers[-1].q_mu, model.layers[-1].q_sqrt]]
final_layer_opt_op = NatGradOptimizer(
gamma=gamma).make_optimize_tensor(model, var_list=final_layer_vars)
else:
final_layer_opt_op = NoOp()
lr = tf.cast(
tf.train.exponential_decay(ARGS.lr,
global_step,
decay_steps=1000,
decay_rate=ARGS.lr_decay,
staircase=True),
dtype=tf.float64,
)
encoder_lr = tf.cast(
tf.train.exponential_decay(
ARGS.encoder_lr,
global_step,
decay_steps=1000,
decay_rate=ARGS.encoder_lr_decay,
staircase=True,
),
dtype=tf.float64,
)
dreg_optimizer = DregOptimizer(
enable_dreg=ARGS.use_dreg,
optimizer=ARGS.optimizer,
encoder_optimizer=ARGS.encoder_optimizer,
learning_rate=lr,
encoder_learning_rate=encoder_lr,
assert_no_nans=ARGS.assert_no_nans,
encoder_grad_clip_value=ARGS.clip_encoder_grads,
)
other_layers_opt_op = dreg_optimizer.make_optimize_tensor(model)
model.lr = lr
model.train_op = tf.group(op_increment, final_layer_opt_op,
other_layers_opt_op)
model.init_op = lambda s: s.run(tf.variables_initializer([global_step]))
model.global_step = global_step
return model
def _make_part_model(self,
X,
Y,
weights,
Z,
q_mu,
q_sqrt,
W,
freqs,
minibatch_size=None,
priors=None):
"""
Create a gpflow model for a selection of data
X: array (N, Din)
Y: array (N, P, Nf)
weights: array like Y the statistical weights of each datapoint
minibatch_size : int
Z: list of array (M, Din)
The inducing points mean locations.
q_mu: list of array (M, L)
q_sqrt: list of array (L, M, M)
W: array [P,L]
freqs: array [Nf,] the freqs
priors : dict of priors for the global model
Returns:
model : gpflow.models.Model
"""
N, P, Nf = Y.shape
_, Din = X.shape
assert priors is not None
likelihood_var = priors['likelihood_var']
tec_kern_time_ls = priors['tec_kern_time_ls']
tec_kern_dir_ls = priors['tec_kern_dir_ls']
tec_kern_var = priors['tec_kern_var']
tec_mean = priors['tec_mean']
Z_var = priors['Z_var']
P, L = W.shape
with defer_build():
# Define the likelihood
likelihood = WrappedPhaseGaussianMulti(
tec_scale=priors['tec_scale'], freqs=freqs)
likelihood.variance = np.exp(likelihood_var[0]) #median as initial
likelihood.variance.prior = LogNormal(likelihood_var[0],
likelihood_var[1]**2)
likelihood.variance.set_trainable(True)
def _kern():
kern_thin_layer = ThinLayer(np.array([0., 0., 0.]),
priors['tec_scale'],
active_dims=slice(2, 6, 1))
kern_time = Matern32(1, active_dims=slice(6, 7, 1))
kern_dir = Matern32(2, active_dims=slice(0, 2, 1))
###
# time kern
kern_time.lengthscales = np.exp(tec_kern_time_ls[0])
kern_time.lengthscales.prior = LogNormal(
tec_kern_time_ls[0], tec_kern_time_ls[1]**2)
kern_time.lengthscales.set_trainable(True)
kern_time.variance = 1. #np.exp(tec_kern_var[0])
#kern_time.variance.prior = LogNormal(tec_kern_var[0],tec_kern_var[1]**2)
kern_time.variance.set_trainable(False) #
###
# directional kern
kern_dir.variance = np.exp(tec_kern_var[0])
kern_dir.variance.prior = LogNormal(tec_kern_var[0],
tec_kern_var[1]**2)
kern_dir.variance.set_trainable(True)
kern_dir.lengthscales = np.exp(tec_kern_dir_ls[0])
kern_dir.lengthscales.prior = LogNormal(
tec_kern_dir_ls[0], tec_kern_dir_ls[1]**2)
kern_dir.lengthscales.set_trainable(True)
kern = kern_dir * kern_time #(kern_thin_layer + kern_dir)*kern_time
return kern
kern = mk.SeparateMixedMok([_kern() for _ in range(L)], W)
feature_list = []
for _ in range(L):
feat = InducingPoints(Z)
#feat.Z.prior = Gaussian(Z,Z_var)
feature_list.append(feat)
feature = mf.MixedKernelSeparateMof(feature_list)
mean = Zero()
model = HomoscedasticPhaseOnlySVGP(weights,
X,
Y,
kern,
likelihood,
feat=feature,
mean_function=mean,
minibatch_size=minibatch_size,
num_latent=P,
num_data=N,
whiten=False,
q_mu=q_mu,
q_sqrt=q_sqrt)
model.compile()
return model
