def forward_asn(self, x):
# ACTION SELECTION NETWORK - FUZZY INFERENCE
w = np.zeros(self.h_asn)
m = np.zeros(self.h_asn)
for i, rule in enumerate(self.rule_set):
j1, j2 = rule[0][0], rule[1][0] # input indexes
u1, u2 = self.imf[j1][rule[0][1]], self.imf[j2][
rule[1][1]] # input membership functions
w[i] = min(self.D[j1, i] * u1.fuzzify(x[j1]),
self.D[j2, i] * u2.fuzzify(x[j2]))
w[i] = clip(
w[i], 0, 1
) # Make sure the degree of satisfaction of the rule is between 0 and 1
m[i] = self.omf[rule[2]].defuzzify(w[i])
denominator_temp = sum([self.F[i] * w[i] for i in range(self.h_asn)])
if abs(denominator_temp) < 0.00001:
u = 0
else:
u = sum([self.F[i] * m[i] * w[i]
for i in range(self.h_asn)]) / denominator_temp
# ACTION SELECTION NETWORK - NEURAL NETWORK
self.z, p = nn_doubly_connected_forward_pass(self.D, self.F, self.E, x)
p = clip(p, 0, 1)
up = self.o_func(u, p)
s = self.k_func(u, up, p)
return up, s # NOTE: return u instead of up to bypass the stochastic modification as suggested in the report
def main():
parser = get_parser()
options, args = parser.parse_args()
default_name = os.environ.get('RCFILE_NAME')
default_server = os.environ.get('RCFILE_SERVER')
if len(args) == 0:
if default_name and default_server:
name, server = default_name, default_server
else:
parser.error('Missing parameters')
elif len(args) == 1:
arg = args[0]
if arg in servers.keys():
if default_name:
name, server = default_name, arg
else:
parser.error('No name specified')
elif arg not in servers.keys():
if default_server:
name, server = arg, default_server
else:
parser.error('No server specified')
elif len(args) == 2:
name, server = args
else:
parser.error("Incorrect arguments")
if server not in servers.keys():
parser.error("Invalid server.")
version = options.version
if version not in versions:
parser.error("Invalid crawl version.")
url = servers[server].rcfile(name, version)
if options.copy or options.url:
if options.copy:
clip(url)
if options.url:
sys.stdout.write(url + '\n')
sys.exit()
else:
request = Request(url)
request.add_header('User-agent', USER_AGENT)
try:
response = urlopen(request)
except HTTPError, e:
sys.exit('{0} {1}'.format(e.code, e.reason))
for line in response.read():
sys.stdout.write(line)
def draw(self, dt):
#if self._mixer.is_onset():
# self.hue_inner = math.fmod(self.hue_inner + self.hue-step(), 1.0)
# self.luminance_offset += self.hue-step()
self.hue_inner += dt * self.speed()
self.wave1_offset += self.wave1_speed() * dt
self.wave2_offset += self.wave2_speed() * dt
self.luminance_offset += self.luminance_speed() * dt
luminance_table = []
luminance = 0.0
for input in range(self.luminance_steps()):
if input > self.blackout() * self.luminance_steps():
luminance -= 0.01
luminance = clip(0, luminance, 1.0)
elif input < self.whiteout() * self.luminance_steps():
luminance += 0.1
luminance = clip(0, luminance, 1.0)
else:
luminance -= 0.01
luminance = clip(0.5, luminance, 1.0)
luminance_table.append(luminance)
luminance_table = np.asarray(luminance_table)
wave1_period = self.wave1_period()
wave1_amplitude = self.wave1_amplitude()
wave2_period = self.wave2_period()
wave2_amplitude = self.wave2_amplitude()
luminance_scale = self.luminance_scale()
wave1 = np.abs(
np.cos(self.wave1_offset + self.pixel_angles * wave1_period) *
wave1_amplitude)
wave2 = np.abs(
np.cos(self.wave2_offset + self.pixel_angles * wave2_period) *
wave2_amplitude)
hues = self.pixel_distances + wave1 + wave2
luminance_indices = np.mod(
np.abs(
np.int_((self.luminance_offset + hues * luminance_scale) *
self.luminance_steps())), self.luminance_steps())
luminances = luminance_table[luminance_indices]
hues = np.fmod(self.hue_inner + hues * self.hue_width(), 1.0)
self.setAllHLS(hues, luminances, 1.0)
def coord_descent_exp_loss(sum_1_1, sum_1_m1, sum_0_1, sum_0_m1, max_weight):
m = 1e-10
# if sum_0_1 + sum_0_m1 == 0 or sum_1_1 + sum_1_m1 == 0:
# return np.inf, np.inf
# w_l = (sum_0_1 - sum_0_m1) / (sum_0_1 + sum_0_m1)
# w_r = (sum_1_1 - sum_1_m1) / (sum_1_1 + sum_1_m1) - w_l
# 1e-4 up to 20-50 iters; 1e-6 up to 100-200 iters which leads to a significant slowdown in practice
eps_precision = 1e-4
# We have to properly handle the cases when the optimal leaf value is +-inf.
if sum_1_m1 < m and sum_0_1 < m:
w_l, w_r = -max_weight, 2 * max_weight
elif sum_1_1 < m and sum_0_m1 < m:
w_l, w_r = max_weight, -2 * max_weight
elif sum_1_m1 < m:
w_r = max_weight
w_l = 0.5 * math.log((math.exp(-w_r) * sum_1_1 + sum_0_1) /
(math.exp(w_r) * sum_1_m1 + sum_0_m1))
elif sum_1_1 < m:
w_r = -max_weight
w_l = 0.5 * math.log((math.exp(-w_r) * sum_1_1 + sum_0_1) /
(math.exp(w_r) * sum_1_m1 + sum_0_m1))
elif sum_0_1 < m:
w_l = -max_weight
w_r = 0.5 * math.log(sum_1_1 / sum_1_m1) - w_l
elif sum_0_m1 < m:
w_l = max_weight
w_r = 0.5 * math.log(sum_1_1 / sum_1_m1) - w_l
else: # main case
w_r = 0.0
w_l = 0.0
w_r_prev, w_l_prev = np.inf, np.inf
i = 0
# Note: ideally one has to calculate the loss, but O(n) factor would slow down everything here
while (np.abs(w_r - w_r_prev) >
eps_precision) or (np.abs(w_l - w_l_prev) > eps_precision):
i += 1
w_r_prev, w_l_prev = w_r, w_l
w_r = 0.5 * math.log(sum_1_1 / sum_1_m1) - w_l
w_l = 0.5 * math.log((math.exp(-w_r) * sum_1_1 + sum_0_1) /
(math.exp(w_r) * sum_1_m1 + sum_0_m1))
if i == 50:
break
left_leaf = clip(w_l, -max_weight, max_weight)
right_leaf = clip(left_leaf + w_r, -max_weight, max_weight)
w_l, w_r = left_leaf, right_leaf - left_leaf
return w_l, w_r
def fuzzify(self, val):
val = abs(val) if self.y_symmetry else val
y = self.a * val + self.b
if y > 1 and self.sink_beyond_1:
return 0
else:
return clip(y, 0, 1)
def __call__(self, x, deterministic, train_clip=False, thresh=3):
# Alpha is the dropout rate
log_alpha = clip(self.log_sigma2 - tf.log(self.W**2 + eps))
# Values of log_alpha that are above the threshold
clip_mask = tf.greater_equal(log_alpha, thresh)
def true_path(): # For inference
# If log_alpha >= thresh, return 0
# If log_alpha < thresh, return tf.matmul(x,self.W)
return tf.matmul(
x, tf.where(clip_mask, tf.zeros_like(self.W), self.W))
def false_path(): # For training
# Sample from a normal distribution centred on tf.matmul(x,W)
# and with variance roughly proportional to the size of tf.matmul(x,W)*tf.exp(log_alpha)
W = self.W
if train_clip:
raise NotImplementedError
mu = tf.matmul(x, W)
si = tf.matmul(x * x, tf.exp(log_alpha) * self.W * self.W)
si = tf.sqrt(si + eps)
return mu + tf.random_normal(tf.shape(mu), mean=0.0,
stddev=1.0) * si
h = tf.cond(deterministic, true_path, false_path)
return self.nonlinearity(h + self.b)
def basic_case_two_intervals(y, gamma, guaranteed_right, uncertain, sum_1,
sum_m1, max_weight):
loss_best, w_r_best, w_l_best = np.inf, np.inf, np.inf
for sign_w_r in (-1, 1):
# Calculate the indicator function based on the known `sign_w_r`
ind = guaranteed_right + (y * sign_w_r < 0) * uncertain
# Calculate all partial sums
sum_1_1, sum_1_m1 = np.sum(ind * (y == 1) * gamma), np.sum(
ind * (y == -1) * gamma)
sum_0_1, sum_0_m1 = sum_1 - sum_1_1, sum_m1 - sum_1_m1
# Minimizer of w_l, w_r on the current interval
w_l, w_r = coord_descent_exp_loss(sum_1_1, sum_1_m1, sum_0_1, sum_0_m1,
max_weight)
# if w_r is on the different side from 0, then sign_w_r*w_r < 0 => w_r:=0
w_r = sign_w_r * max(sign_w_r * w_r, 0)
# If w_r now become 0, we need to readjust w_l
if sum_1_m1 != 0 and sum_0_m1 != 0:
w_l = 0.5 * math.log((math.exp(-w_r) * sum_1_1 + sum_0_1) /
(math.exp(w_r) * sum_1_m1 + sum_0_m1))
w_l = clip(w_l, -max_weight, max_weight)
else: # to prevent a division over zero
w_l = max_weight * math.copysign(
1, 0.5 * math.log((math.exp(-w_r) * sum_1_1 + sum_0_1)))
preds_adv = w_l + w_r * ind
loss = np.mean(gamma * np.exp(-y * preds_adv)) # also O(n)
if loss < loss_best:
loss_best, w_l_best, w_r_best = loss, w_l, w_r
return loss_best, w_l_best, w_r_best
def __call__(self, x, deterministic, train_clip=False, thresh=3):
# Alpha is the dropout rate
log_alpha = clip(self.log_sigma2 - tf.log(self.W**2 + eps))
# Values of log_alpha that are above the threshold
clip_mask = tf.greater_equal(log_alpha, thresh)
def true_path(): # For inference
return tf.nn.conv2d(x,
tf.where(clip_mask, tf.zeros_like(self.W),
self.W),
strides=self.strides,
padding=self.padding)
def false_path(): # For training
W = self.W
if train_clip:
raise NotImplementedError
mu = tf.nn.conv2d(x, W, strides=self.strides, padding=self.padding)
si = tf.nn.conv2d(x * x,
tf.exp(log_alpha) * W * W,
strides=self.strides,
padding=self.padding)
si = tf.sqrt(si + eps)
return mu + tf.random_normal(tf.shape(mu), mean=0.0,
stddev=1.0) * si
h = tf.cond(deterministic, true_path, false_path)
return self.nonlinearity(h + self.b)
def train_step(self, image):
with tf.GradientTape() as tape:
outputs = self.extractor(image)
loss = self.style_content_loss(outputs)
grad = tape.gradient(loss, image)
self.opt.apply_gradients([(grad, image)])
image.assign(clip(image))
def eval_reg(log_sigma2, W):
# Approximates the negative of the KL-divergence according to eqn 14.
# This is a key part of the loss function (see eqn 3).
k1, k2, k3 = 0.63576, 1.8732, 1.48695
C = -k1
log_alpha = clip(log_sigma2 - tf.log(W**2))
mdkl = k1 * tf.nn.sigmoid(k2 + k3 * log_alpha) - 0.5 * tf.log1p(
tf.exp(-log_alpha)) + C
return -tf.reduce_sum(mdkl)
def _len2NS(py, ns, getCount):
'''(INTERNAL) Check the inital Python C{len} vs the final
C{NS...} instance C{count}.
'''
n, m = len(py), getCount(ns)
if m != n:
t = (ns.objc_classname, m, clip(repr(py)), n)
raise RuntimeError('%s[%s] vs %s[%s]' % t)
return ns
def changeColor(r, g, b, address=0xF):
global COLOR
global PWM
global GPIOMapping_BCM
for i in range(0, len(config.LED_PINS)):
if ((i+1) & address) != 0:
COLOR[i].R = r
COLOR[i].G = g
COLOR[i].B = b
# if lower than min value turn LEDs off
r = 0.0 if r<=0 else utils.clip(r, config.MIN_VALUE)
g = 0.0 if g<=0 else utils.clip(g, config.MIN_VALUE)
b = 0.0 if b<=0 else utils.clip(b, config.MIN_VALUE)
setDutyCycle(PWM[config.LED_PINS[i][0]], r)
setDutyCycle(PWM[config.LED_PINS[i][1]], g)
setDutyCycle(PWM[config.LED_PINS[i][2]], b)
def estimate_noise(diff_img):
"""
Estimate background noise in the given image.
:param diff_img: given image
:return: background noise
"""
arr = diff_img[~np.isnan(diff_img)]
arr = arr[np.nonzero(arr)]
_, noise_level = clip(arr, nsigma=5)
return noise_level
def fixup(self, input):
"""Restricts the value to the valid range defined by setTop() and
setBottom(). Limits the precision as well."""
# restrict the value to the valid range
try:
input = self.parent().fmt.format(
clip(float(input), self.bottom(), self.top()))
except ValueError:
pass # do nothing if float conversion fails
return str(input)
def changeColor(r, g, b, address=0xF):
global COLOR
global PIGPIO
global GPIOMapping_BCM
for i in range(0, len(config.LED_PINS)):
if ((i + 1) & address) != 0:
COLOR[i].R = r
COLOR[i].G = g
COLOR[i].B = b
# if lower than min value turn LEDs off
r = 0.0 if r <= 0.0 else utils.clip(r, config.MIN_VALUE)
g = 0.0 if g <= 0.0 else utils.clip(g, config.MIN_VALUE)
b = 0.0 if b <= 0.0 else utils.clip(b, config.MIN_VALUE)
# pigpio works with values between 0-255
PIGPIO.set_PWM_dutycycle(GPIOMapping_BCM[config.LED_PINS[i][0]], r * 255)
PIGPIO.set_PWM_dutycycle(GPIOMapping_BCM[config.LED_PINS[i][1]], g * 255)
PIGPIO.set_PWM_dutycycle(GPIOMapping_BCM[config.LED_PINS[i][2]], b * 255)
def render(self):
self.canvas.delete('all')
(faces, colors) = self.map.render()
faces, colors = list(faces), list(colors)
for i in range(len(faces)):
face = []
for (x, y, z) in faces[i]:
# Camera position
x -= cam.x
y -= cam.y
z -= cam.z
# Camera rotation
(x, z) = utils.rotate2D(x, z, cam.yaw)
(y, z) = utils.rotate2D(y, z, cam.pitch)
face.append((x, y, z))
faces[i] = face
#Face clipping
faces = [utils.clip(face) for face in faces]
#Face sorting
order = sorted(range(len(faces)),
key=lambda i: utils.calculateDepth(faces[i]))
#Face display
for i in order:
face = faces[i]
if len(face) > 0:
polygon = []
for (x, y, z) in face:
# Projection
f = (self.width / 2) / z
x = x * f + (self.width / 2)
y = -y * f + (self.height / 2)
polygon += [x, y]
# de = ("%02x"%random.randint(0,255))
# re = ("%02x"%random.randint(0,255))
# we = ("%02x"%random.randint(0,255))
# color= "#" + de + re + we
self.canvas.create_polygon(polygon,
outline='white',
fill=colors[i])
def draw(self, dt):
#if self._mixer.is_onset():
# self.hue_inner = math.fmod(self.hue_inner + self.hue-step(), 1.0)
# self.luminance_offset += self.hue-step()
self.hue_inner += dt * self.speed()
self.wave1_offset += self.wave1_speed() * dt
self.wave2_offset += self.wave2_speed() * dt
self.luminance_offset += self.luminance_speed() * dt
luminance_table = []
luminance = 0.0
for input in range(self.luminance_steps()):
if input > self.blackout() * self.luminance_steps():
luminance -= 0.01
luminance = clip(0, luminance, 1.0)
elif input < self.whiteout() * self.luminance_steps():
luminance += 0.1
luminance = clip(0, luminance, 1.0)
else:
luminance -= 0.01
luminance = clip(0.5, luminance, 1.0)
luminance_table.append(luminance)
luminance_table = np.asarray(luminance_table)
wave1_period = self.wave1_period()
wave1_amplitude = self.wave1_amplitude()
wave2_period = self.wave2_period()
wave2_amplitude = self.wave2_amplitude()
luminance_scale = self.luminance_scale()
wave1 = np.abs(np.cos(self.wave1_offset + self.pixel_angles * wave1_period) * wave1_amplitude)
wave2 = np.abs(np.cos(self.wave2_offset + self.pixel_angles * wave2_period) * wave2_amplitude)
hues = self.pixel_distances + wave1 + wave2
luminance_indices = np.mod(np.abs(np.int_((self.luminance_offset + hues * luminance_scale) * self.luminance_steps())), self.luminance_steps())
luminances = luminance_table[luminance_indices]
hues = np.fmod(self.hue_inner + hues * self.hue_width(), 1.0)
self.setAllHLS(hues, luminances, 1.0)
def progress(self):
if self.type == constants.CONDITION_TIME:
return utils.clip((time.time() - self.startTime) / self.time.seconds)
if self.type == constants.CONDITION_ITERATE:
return (self.startIterations - self.iterations) * 1.0 / self.iterations
if self.type == constants.CONDITION_COLOR:
return 0 if led.COLOR[0] != self.color else 1
if self.type == constants.CONDITION_BOOL:
return 1.0 if self.condition else 0.0
def updatePower(self, x, y):
"""
Compute the power!!!
Measured as the distance from the tip of the turret.
"""
refDist = 250.0
xTip, yTip = self.tip
# Velocity is dependent on the distance the pointer is from the turret.
_ = CrudeVec
self.power = distance(_(x, y), _(xTip, yTip)) / refDist
self.power = clip(1.0, 0.05)(self.power)
def __mul__(self, other):
if type(other) is Color:
return Color(utils.clip(self.R * other.R), utils.clip(self.G * other.G), utils.clip(self.B * other.B))
if type(other) is float or type(other) is int or type(other) is long:
return Color(utils.clip(self.R * other), utils.clip(self.G * other), utils.clip(self.B * other))
raise ValueError("unknown type for multiply operation")
def __add__(self, other):
if type(other) is Color:
return Color(utils.clip(self.R + other.R), utils.clip(self.G + other.G), utils.clip(self.B + other.B))
if type(other) is float or type(other) is int or type(other) is long:
return Color(utils.clip(self.R + other), utils.clip(self.G + other), utils.clip(self.B + other))
raise ValueError("unknown type for add operation " + type(other))
def __sub__(self, other):
if type(other) is Color:
return Color(utils.clip(self.R - other.R), utils.clip(self.G - other.G), utils.clip(self.B - other.B))
if type(other) is float or type(other) is int or type(other) is long:
return Color(utils.clip(self.R - other), utils.clip(self.G - other), utils.clip(self.B - other))
raise ValueError("unknown type for subtract operation " + type(other))
def __div__(self, other):
if type(other) is Color:
return Color(utils.clip(self.R / other.R), utils.clip(self.G / other.G), utils.clip(self.B / other.B))
if type(other) is float or type(other) is int or type(other) is long:
return Color(utils.clip(self.R / other), utils.clip(self.G / other), utils.clip(self.B / other))
raise ValueError("unknown type for division operation")
def dream_process(input_img_np, target_img_np, model, lr, mode, iteration,
epoch, device):
"""Dreaming Iteration Process"""
_, _, h, w = input_img_np.shape
if h > 400 and w > 400:
deep = 8
elif h > 300 and w > 300:
deep = 6
elif h > 200 and w > 200:
deep = 4
else:
deep = 2
for _ in tqdm.tqdm(range(iteration), desc='Epoch ' + str(epoch) + ' :'):
input_tensor = torch.from_numpy(input_img_np).type(dtype=torch.float32)
input_tensor = input_tensor.to(device)
input_tensor.requires_grad = True
model.zero_grad()
out_feature = model(input_tensor)
dst_feature = None
if target_img_np is not None:
guide_tensor = torch.from_numpy(target_img_np).type(
dtype=torch.float32)
guide_tensor = guide_tensor.to(device)
guide_tensor.requires_grad = False
dst_feature = model(guide_tensor)
matched_data = match_features_product_loss(out_feature, dst_feature,
device)
out_feature.backward(matched_data)
# Update input tensor with different mode.
if mode == "lapnorm":
normed_grad = utils.normalize_grad(input_tensor.grad.data,
deep=deep,
device=device)
input_tensor.data.add_(lr * normed_grad)
else:
avg_grad = np.abs(input_tensor.grad.data.cpu().numpy()).mean()
norm_lr = lr / avg_grad
input_tensor.data.add_(input_tensor.grad.data * norm_lr)
input_tensor.grad.data.zero_()
# Convert to numpy for clipping, It is not differentiable.
input_img_np = input_tensor.cpu().detach().numpy()
input_img_np = utils.clip(input_img_np)
return input_img_np
def dream(image, model, iterations, lr):
""" Updates the image to maximize outputs for n iterations """
for i in range(iterations):
model.zero_grad()
out = model(image)
loss = out.norm()
loss.backward()
avg_grad = np.abs(image.grad.data.cpu().numpy()).mean()
norm_lr = lr / avg_grad
image.data += norm_lr * image.grad.data
image.data = clip(image.data)
image.grad.data.zero_()
return image.cpu().data.numpy()
def dream(image, model, iterations, lr):
""" Updates the image to maximize outputs for n iterations """
image = Variable(image, requires_grad=True)
for i in range(iterations):
model.zero_grad()
out = model(image)
loss = out.norm()
loss.backward()
avg_grad = float(image.grad.data.abs().mean())
norm_lr = lr / avg_grad
image.data += norm_lr * image.grad.data
image.data = clip(image.data)
image.grad.data.zero_()
return image
def forward(self, model, image, z, d_img=None, mask=None):
"""Summary
Args:
model (TYPE): Description
image (TYPE): Description
z (TYPE): Description
d_img (None, optional): Description
mask (None, optional): Description
Returns:
TYPE: Description
"""
model.zero_grad()
if self.config["fp16"]:
with torch.cuda.amp.autocast():
out = model(image)
else:
out = model(image)
if self.config["guided"]:
target = self.get_target(self.config, z, out)
loss = -self.loss(out, target)
else:
loss = out.norm()
loss.backward()
avg_grad = np.abs(image.grad.data.cpu().numpy()).mean()
norm_lr = self.lr / avg_grad
grad = image.grad.data
dream_grad = grad * (norm_lr * self.norm_str)
if self.depth:
d_img = torch.from_numpy(d_img)
d_img = d_img[0, 0].to(self.device)
dream_grad *= d_img * self.depth_w
if mask is not None:
mask = torch.from_numpy(mask)
dream_grad *= mask.to(self.device)
image.data += dream_grad
image.data = clip(image.data)
image.grad.data.zero_()
return image
def dream(image, model, iterations, lr):
""" Updates the image to maximize outputs for n iterations """
Tensor = torch.cuda.FloatTensor if torch.cuda.is_available() else torch.FloatTensor
image = Variable(Tensor(image), requires_grad=True)
for i in range(iterations):
model.zero_grad()
out = model(image)
loss = out.norm()
loss.backward()
avg_grad = np.abs(image.grad.data.cpu().numpy()).mean()
norm_lr = lr / avg_grad
image.data += norm_lr * image.grad.data
image.data = clip(image.data)
image.grad.data.zero_()
return image.cpu().data.numpy()
def update(self):
# get points as percentage of maximum
self.pointpc = float(self.points) / self.maxPoints
# produce intermediate color
pointpc, inverse = self.pointpc, 1 - self.pointpc
self.color = (
self.minColor[0] * inverse +
self.maxColor[0] * pointpc,
self.minColor[1] * inverse +
self.maxColor[1] * pointpc,
self.minColor[2] * inverse +
self.maxColor[2] * pointpc)
# not sure if necessary, but in case of rounding errors
self.color = map(clip(1, 0), self.color)
def screen_distorsion(self, screen):
# Screen shake
shake = random.randint(-6, 6)
width = 500 + shake
height = 700 + shake
screen.blit(pygame.transform.scale(screen, (width, height)),
(-shake, -shake))
# Screen distortion
for _ in range(random.randint(5, 25)):
x = random.randint(0, 500)
y = random.randint(0, 700)
width = random.randint(20, 200)
height = random.randint(5, 25)
surface = clip(screen, x - width, y - height, width, height)
screen.blit(
surface,
(x + random.randint(-20, 20), y + random.randint(-20, 20)))
def train(dataset):
examples, target = dataset.examples, dataset.target
N = len(examples)
epsilon = 1. / (2 * N)
w = [1. / N] * N
h, z = [], []
for k in range(K):
h_k = L(dataset, w)
h.append(h_k)
error = sum(weight for example, weight in zip(examples, w)
if example[target] != h_k(example))
# Avoid divide-by-0 from either 0% or 100% error rates:
error = clip(error, epsilon, 1 - epsilon)
for j, example in enumerate(examples):
if example[target] == h_k(example):
w[j] *= error / (1. - error)
w = normalize(w)
z.append(math.log((1. - error) / error))
return WeightedMajority(h, z)
def calculate(self):
if self.calculate_per_pixel() == False:
e = self._calculate_full_energy()
if not isinstance(e, ndarray):
raise Exception, "Return value of _calculate_full_energy should be of type numpy.ndarray"
e.clip(utils.MIN_PIXEL_VALUE, utils.MAX_PIXEL_VALUE)
self._energy = e
else:
h = len(self._image)
if h < 1:
raise Exception, "Invalid image size"
w = len(self._image[0])
for y in range(0, h):
for x in range(0, w):
e = self._calculate_pixel_energy(x, y)
if not isinstance(e, int):
raise Exception, "Return value of _calculate_pixel_energy should be of type int"
e = utils.clip(e)
self._energy[y, x] = e
def train(dataset):
examples, target = dataset.examples, dataset.target
N = len(examples)
epsilon = 1. / (2 * N)
w = [1. / N] * N
h, z = [], []
for k in range(K):
h_k = L(dataset, w)
h.append(h_k)
error = sum(weight for example, weight in zip(examples, w)
if example[target] != h_k(example))
# Avoid divide-by-0 from either 0% or 100% error rates:
error = clip(error, epsilon, 1 - epsilon)
for j, example in enumerate(examples):
if example[target] == h_k(example):
w[j] *= error / (1. - error)
w = normalize(w)
z.append(math.log((1. - error) / error))
return WeightedMajority(h, z)
def ada_boost(dataset, L, K):
"""[Figure 18.34]"""
examples, target = dataset.examples, dataset.target
N = len(examples)
epsilon = 1 / (2 * N)
w = [1 / N] * N
h, z = [], []
for k in range(K):
h_k = L(dataset, w)
h.append(h_k)
error = sum(weight for example, weight in zip(examples, w) if example[target] != h_k(example))
# avoid divide-by-0 from either 0% or 100% error rates
error = clip(error, epsilon, 1 - epsilon)
for j, example in enumerate(examples):
if example[target] == h_k(example):
w[j] *= error / (1 - error)
w = normalize(w)
z.append(math.log((1 - error) / error))
return weighted_majority(h, z)
def dream(self, image, iterations, lr, neuron, offset):
""" Updates the image to maximize outputs for n iterations """
Tensor = torch.cuda.FloatTensor if torch.cuda.is_available else torch.FloatTensor
image = Variable(Tensor(image), requires_grad=True)
for i in range(iterations):
self.model.zero_grad()
out = self.model(image)
if neuron is None:
loss = out.norm()
else:
loss = out[:, neuron, :, :].norm()
loss.backward()
avg_grad = max(
np.abs(image.grad.data.cpu().numpy()).mean(), offset)
norm_lr = lr / avg_grad
image.data += norm_lr * image.grad.data
image.data = clip(image.data)
image.grad.data.zero_()
return image.cpu().data.numpy()
def dream(image, model, iterations, lr, filter=-1):
print(type(image), image.shape)
#Tensor = torch.cuda.FloatTensor if torch.cuda.is_available else torch.FloatTensor
image = torch.from_numpy(image).cuda()
image.requires_grad_(True)
#image = torch.from_numpy(image).requires_grad_(True).cuda()
for i in range(iterations):
model.zero_grad()
if filter == -1:
out = model(image)
else:
out = model(image)[0][filter]
loss = out.norm()
loss.backward()
avg_grad = np.abs(image.grad.data.cpu().numpy()).mean()
norm_lr = lr / avg_grad
image.data += norm_lr * image.grad.data
image.data = utils.clip(image.data)
image.grad.data.zero_()
return image.cpu().data.numpy()
def pgd(self, x_nat, x, y, network, loss):
"""
Perform projected gradient descent from Madry et al 2018
:param x_nat: starting image
:param x: starting point for optimization
:param y: true label of image
:param network: network
:param loss: loss function
:return: x, the maximum found
"""
for i in range(self.gradSteps):
# if self.cuda:
# x = x.cuda()
jacobian, ell = utils.get_jacobian(network,
copy.deepcopy(x),
y,
loss,
cuda=self.cuda) # get jacobian
x += self.alpha * torch.sign(jacobian) # take gradient step
# if self.cuda:
# x = x.cpu()
# x_nat = x_nat.cpu()
# xT = x.detach().numpy()
xT = x.detach()
xT = utils.clip(xT,
x_nat.detach() - self.eps,
x_nat.detach() + self.eps)
xT = torch.clamp(xT, 0, 1)
x = xT
# xT = np.clip(xT, x_nat.detach().numpy() - self.eps, x_nat.detach().numpy() + self.eps)
# x = torch.from_numpy(xT)
# if self.cuda:
# x = x.cuda()
ell = loss(x, y)
return x, ell.item()
def dreamchapter(model,
img,
lr=0.01,
iters=20,
verbose=True,
interval=5,
jitter=32,
layer_n=10):
plt.ion()
for i in range(iters):
with torch.no_grad():
rx, ry = torch.randint(-jitter, jitter + 1, (2, ))
img = torch.roll(img, (rx, ry), (-1, -2))
img.requires_grad_(True)
actvs = model(utils.norm(img), layer_n)
lss = l2_norm(actvs)
lss.backward()
with torch.no_grad():
img += lr / torch.abs(img.grad).mean() * img.grad
img.grad.zero_()
img = utils.clip(img)
img = torch.roll(img, (-rx, -ry), (-1, -2))
if verbose and (i % interval == 0):
plt.imshow(utils.to_img(img))
plt.title('Partial-Dream[iter#{:04d}]'.format(i))
plt.pause(1e-3)
plt.close('all')
plt.ioff()
return img
def setPin(pin, value):
global PIGPIO
PIGPIO.set_PWM_dutycycle(GPIOMapping_BCM[pin], utils.clip(value) * 255)
def DPVI(model,
T,
n_mc,
N,
batch_size,
train_data,
sigma,
C,
optimizer,
use_cuda=False):
input_dim = model.input_dim
for i in range(T):
## Take minibatch
minibatch = train_data.sample(batch_size, replace=False)
## Reset optimizer and ELBO
optimizer.zero_grad()
elbo = 0
## Draws for mc integration
draws = torch.randn(n_mc, input_dim)
## MC integration for likelihood part of ELBO
for j in range(n_mc):
draw = model.forward(draws[j])
log_likelihood_loss = -1./n_mc*log_likelihood(minibatch.iloc[:, :-1],\
minibatch.iloc[:, -1].astype('double'), draw, use_cuda)
elbo += log_likelihood_loss
log_likelihood_loss.backward(retain_graph=True)
## Clip and add noise
if sigma > 0:
noise_w = sigma * C * torch.randn(input_dim)
noise_b = sigma * C * torch.randn(input_dim)
clip(model, C)
g = torch.cat(
(model.reparam.weight.grad.data, model.reparam.bias.grad.data),
1).clone()
if not torch.all(g.norm(dim=1) < (C + 1e-9)):
print(g.norm(dim=1).max())
print(torch.any(torch.isnan(g)))
return model
model.reparam.weight.grad.add_(noise_w / batch_size)
model.reparam.bias.grad.add_(noise_b / batch_size)
## MC integration for prior part of ELBO
for j in range(n_mc):
draw = model.forward(draws[j])
log_prior_loss = -(batch_size / N) * log_prior(draw) / n_mc
elbo += log_prior_loss
log_prior_loss.backward(retain_graph=True)
## Add entropy to ELBO
entropy = -(batch_size / N) * mvn_entropy(model.reparam)
elbo += entropy
entropy.backward(retain_graph=True)
## Take step
optimizer.step()
if i % 10 == 0:
sys.stdout.write('\r{}% : ELBO = {}'.format(
int(i * 100 / T), -1. * elbo.data.tolist()))
if i == T - 1:
sys.stdout.write('\rDone : ELBO = {}\n'.format(
(-1. * elbo.data.tolist())))
sys.stdout.flush()
return model
def setPin(pin, value):
global PWM
PWM[pin].ChangeDutyCycle(utils.clip(value)*100)
def __init__(self, redFloat_Or_colorString, greenFloat=None, blueFloat=None, address=None):
if greenFloat is None or blueFloat is None:
self.colorString = string.strip(redFloat_Or_colorString)
self.R = 0.0
self.G = 0.0
self.B = 0.0
self.Address = 0
if self.colorString[0] != "{" or self.colorString[len(self.colorString) - 1] != "}":
raise ValueError("color must defined within {} brackets" + self.colorString)
colorString = self.colorString[1 : len(self.colorString) - 1]
colorParts = string.split(colorString, ":")
if not (colorParts[0] in ["x", "b", "f", "r", "hsv", "hsl"]):
raise ValueError("unknown color type: " + colorParts[0])
# extracting Address
if len(colorParts) > 2:
self.Address = int(colorParts[2], 16)
elif len(colorParts) <= 2:
self.Address = 0xF
# extracting RGB
if colorParts[0] == "x":
rgbcomps = utils.getIntComponents(colorParts[1])
self.R = rgbcomps[0] / 255.0
self.G = rgbcomps[1] / 255.0
self.B = rgbcomps[2] / 255.0
if colorParts[0] == "b":
rgbcomps = string.split(colorParts[1], ",")
self.R = int(rgbcomps[0]) / 255.0
self.G = int(rgbcomps[1]) / 255.0
self.B = int(rgbcomps[2]) / 255.0
if colorParts[0] == "f":
rgbcomps = string.split(colorParts[1], ",")
self.R = float(rgbcomps[0])
self.G = float(rgbcomps[1])
self.B = float(rgbcomps[2])
if colorParts[0] == "r":
rndValues = string.split(colorParts[1], ",")
fromRed = float(string.split(rndValues[0], "-")[0])
toRed = float(string.split(rndValues[0], "-")[1])
fromGreen = float(string.split(rndValues[1], "-")[0])
toGreen = float(string.split(rndValues[1], "-")[1])
fromBlue = float(string.split(rndValues[2], "-")[0])
toBlue = float(string.split(rndValues[2], "-")[1])
self.R = utils.randfloat(fromRed, toRed)
self.G = utils.randfloat(fromGreen, toGreen)
self.B = utils.randfloat(fromBlue, toBlue)
if colorParts[0] == "hsv":
hsvcomps = string.split(colorParts[1], ",")
h = float(hsvcomps[0])
s = float(hsvcomps[1])
v = float(hsvcomps[2])
self.R, self.G, self.B = colorsys.hsv_to_rgb(h / 360.0, s / 100.0, v / 100.0)
if colorParts[0] == "hsl":
hslcomps = string.split(colorParts[1], ",")
h = float(hslcomps[0])
s = float(hslcomps[1])
l = float(hslcomps[2])
self.R, self.G, self.B = colorsys.hls_to_rgb(h / 360.0, l / 100.0, s / 100.0)
self.R = utils.clip(self.R)
self.G = utils.clip(self.G)
self.B = utils.clip(self.B)
else:
self.R = float(redFloat_Or_colorString)
self.G = float(greenFloat)
self.B = float(blueFloat)
if address is None:
self.Address = 0xF
else:
self.Address = address
def move(self, walls):
"""
Move the robot while keeping track of all walls. Can update the walls so it only keeps track of the walls present in a neighbouring grid based on the distance the robot travels in one frame.
:param walls:
:return:
"""
update = False
collision = False
j = 0
new_position = self.position
if self.velocity_right > self.max_vel:
self.velocity_right = round(self.max_vel, 1)
if self.velocity_right < -self.max_vel:
self.velocity_right = -round(self.max_vel, 1)
if self.velocity_left > self.max_vel:
self.velocity_left = round(self.max_vel, 1)
if self.velocity_left < -self.max_vel:
self.velocity_left = -round(self.max_vel, 1)
# calculate force
sum_vels = self.velocity_right + self.velocity_left
sign = -1 if sum_vels < 0 else 1
mag = math.sqrt(self.velocity_right ** 2 + self.velocity_left ** 2)
self.force = mag * sign
# if wheels are not moving the equal velocity, resolve their movement differently
if self.velocity_right != self.velocity_left:
# motion model step
new_x, new_y, theta = motion.Step(self.velocity_right, self.velocity_left, self.radius * 2,
self.position[0], self.position[1], np.radians(self.orientation))
# discrete collision detection and resolution, trying to loop over all walls as many times as necessary until all collision resolved
# note that this does not handle collisions with boundary walls - boundary wall collisions take precedence and "break" the simulation
# a trivial solution would be to place secondary boundary walls on top (but slightly closer to the inside) of the existing boundary walls and treat them as normal walls
# I do not know why I did not do that, but if it becomes necessary, I will add it
for i in range(len(walls)):
if not update:
j += 1
if j >= len(walls):
break
else:
j = 0
update = False
wall = walls[j]
is_intersection, new_P = physics.resolve_wall_collision(wall[0], wall[1], new_position,
self.force, self.radius,
self.orientation)
if is_intersection:
new_position = new_P
collision = True
# update = True
# determine new position after accounting for parallel velocity component
self.frame += 1
self.collisions += 1 if collision and self.frame % 2 == 0 else 0
new_position = [new_position[0] + self.force * np.cos(np.radians(self.orientation)),
new_position[1] + self.force * np.sin(np.radians(
self.orientation))] # utils.rotate(self.position, self.position+[self.velocity_left/2+self.velocity_right/2],np.radians(self.orientation))
# if it moves too quickly, try to resolve continuous collisions
# resolve collisions using continuous collision detection - if no collisions, just returns the new_position itself
new_position = physics.resolve_past_collision(walls, [], self.position, new_position, self.radius,
self.force, self.orientation)
# set the robot position to the new position
self.position = new_position # utils.rotate(new_position, point_of_rotation, np.radians(self.orientation))
# clip the robot's position to within the boundaries - can do it earlier
utils.clip(self.position, [self.radius + 1, self.radius + 1],
[config.WIDTH - int(config.HEIGHT / 3) - self.radius - 1,
config.HEIGHT - int(config.HEIGHT / 3) - self.radius - 1], self)
# set the orientation to the new orientation determined by the motion model
self.orientation = np.degrees(theta)
# update the sensors when done
for sensor in self.sensors:
sensor.update_sensor(self.position, np.radians(self.orientation - self.orientation_history[-1]), None)
else:
# discrete collision detection and resolution, trying to loop over all walls as many times as necessary until all collision resolved
# note that this does not handle collisions with boundary walls - boundary wall collisions take precedence and "break" the simulation
# a trivial solution would be to place secondary boundary walls on top (but slightly closer to the inside) of the existing boundary walls and treat them as normal walls
# I do not know why I did not do that, but if it becomes necessary, I will add it
for i in range(len(walls)):
if not update:
j += 1
if j >= len(walls):
break
else:
j = 0
update = False
wall = walls[j]
is_intersection, new_P = physics.resolve_wall_collision(wall[0], wall[1], new_position,
self.force, self.radius,
self.orientation)
if is_intersection:
new_position = new_P
collision = True
# update = True
collisions = []
# determine new position after accounting for parallel velocity component
self.frame += 1
self.collisions += 1 if collision and self.frame % 2 == 0 else 0
new_position = [new_position[0] + self.force * np.cos(np.radians(self.orientation)),
new_position[1] + self.force * np.sin(np.radians(
self.orientation))] # utils.rotate(self.position, self.position+[self.velocity_left/2+self.velocity_right/2],np.radians(self.orientation))
# if it moves too quickly, try to resolve continuous collisions
# resolve collisions using continuous collision detection - if no collisions, just returns the new_position itself
new_position = physics.resolve_past_collision(walls, [], self.position, new_position, self.radius,
self.force, self.orientation)
# set the robot position to the new position
self.position = new_position # utils.rotate(new_position, point_of_rotation, np.radians(self.orientation))
# clip the robot's position to within the boundaries - can do it earlier
utils.clip(self.position, [self.radius + 1, self.radius + 1],
[config.WIDTH - int(config.HEIGHT / 3) - self.radius - 1,
config.HEIGHT - int(config.HEIGHT / 3) - self.radius - 1], self)
# update the sensors when done
for sensor in self.sensors:
sensor.update_sensor(self.position, 0, None)
# update the robot's orientation accordingly
self.rotate()
# save position and orientation to their respective history lists
self.save_position(self.position)
self.save_orientation(self.orientation)
