def run(self,
max_episodes=5000,
test_name="test",
log_file=False,
save_pth=False,
history=None,
device=torch.device('cpu')):
while self.g_ep.value < self.total_episodes:
# 入力ノードを再設定している為，ここに追加
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
self.env = BarFemGym(node_pos, input_nodes, input_vectors,
output_nodes, output_vectors, frozen_nodes,
edges_indices, edges_thickness, frozen_nodes)
self.env.reset()
for episode in range(max_episodes):
action = select_action_gcn_critic_gcn(self.env,
self.local_criticNet,
self.local_node1Net,
self.local_node2Net,
self.local_x_y_Net,
device,
log_dir=log_file,
history=history)
next_nodes_pos, _, done, _ = self.env.step(action)
if 4 in action['which_node']:
self.env.input_nodes = [2, 4]
self.env.input_vectors = np.array([[1, 0], [0, 1]])
if 2 in action['which_node'] and 4 in action[
'which_node']: # TODO [2,4]を選択しないように学習させる
reward = np.array([0])
else:
reward = self.env.calculate_simulation()
self.local_criticNet.rewards.append(reward)
done = True # 今回はonestepの為
if done: # update global and assign to local net
record(self.g_ep, self.g_ep_r, reward, self.res_queue,
self.name)
# sync
# 各プロセスの重み更新をglobalにpushし，その更新後のものを各プロセスの重みに戻す
self.finish_episode()
break
self.res_queue.put(None)
def check_maximum_node_pos():
# step4において，最も良い値を出力する条件を調査する為の関数
resolution = 100
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
env = BarFemGym(node_pos, input_nodes, input_vectors, output_nodes,
output_vectors, frozen_nodes, edges_indices,
edges_thickness, frozen_nodes)
rewards = np.zeros((resolution, resolution))
max = 0
for ix, x in tqdm(enumerate(np.linspace(0, 1, resolution))):
for iy, y in enumerate(np.linspace(1, 0, resolution)):
env.reset()
action = {}
action['which_node'] = np.array([0, 4])
action['end'] = 0
action['edge_thickness'] = np.array([1])
action['new_node'] = np.array([[x, y]])
next_nodes_pos, _, done, _ = env.step(action)
action = {}
action['which_node'] = np.array([2, 4])
action['end'] = 0
action['edge_thickness'] = np.array([1])
action['new_node'] = np.array([[0, 1]])
next_nodes_pos, _, done, _ = env.step(action)
action = {}
action['which_node'] = np.array([3, 4])
action['end'] = 0
action['edge_thickness'] = np.array([1])
action['new_node'] = np.array([[0, 1]])
next_nodes_pos, _, done, _ = env.step(action)
reward = env.calculate_simulation()
if max < reward:
max = reward
max_x = x
max_y = y
max_reward = reward
rewards[iy, ix] = reward
fig = plt.figure(figsize=(6, 6))
ax = fig.add_subplot(111)
im = plt.imshow(rewards, extent=(0, 1, 0, 1))
plt.colorbar(im)
ax.set_xlabel(r"x", fontsize=20)
ax.set_ylabel(r"y", fontsize=20)
ax.tick_params(axis='x', labelsize=20)
ax.tick_params(axis='y', labelsize=20)
plt.savefig("distribution.png")
print(max_x, max_y)
print(max_reward)
def confirm_max_status():
"最大値となる状態を求める．"
max = 0
x = 1000
for i in np.arange(0.1, 1.001, 0.001):
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
env = BarFemGym(node_pos, input_nodes, input_vectors, output_nodes,
output_vectors, frozen_nodes, edges_indices,
edges_thickness, frozen_nodes)
env.reset()
action = {}
action['which_node'] = np.array([0, 3])
action['end'] = 0
action['edge_thickness'] = np.array([i])
action['new_node'] = np.array([[0, 2]])
next_nodes_pos, _, done, _ = env.step(action)
reward = env.calculate_simulation()
if max < reward:
max = reward
x = i
print("最小は", x, max)
def __init__(self,
global_criticNet,
global_x_y_Net,
global_node1Net,
global_node2Net,
Critic_opt,
x_y_opt,
Node1_opt,
Node2_opt,
global_ep,
global_ep_r,
res_queue,
name,
gamma=0.99,
total_episodes=5000):
super(Worker, self).__init__()
self.name = 'w%i' % name
self.g_ep, self.g_ep_r, self.res_queue = global_ep, global_ep_r, res_queue
self.Critic_opt, self.x_y_opt, self.Node1_opt, self.Node2_opt = Critic_opt, x_y_opt, Node1_opt, Node2_opt
self.global_criticNet, self.global_x_y_Net,\
self.global_node1Net, self.global_node2Net = global_criticNet, global_x_y_Net, global_node1Net, global_node2Net
device = torch.device('cpu')
self.local_criticNet = CriticNetwork_GCN(2, 1, 400,
400).double().to(device)
self.local_x_y_Net = X_Y_Actor(2, 1, 400, 400).double().to(device)
self.local_node1Net = Select_node1_model(2, 1, 400,
400).double().to(device)
self.local_node2Net = Select_node2_model(400 + 2,
400).double().to(device)
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
self.env = BarFemGym(node_pos, input_nodes, input_vectors,
output_nodes, output_vectors, frozen_nodes,
edges_indices, edges_thickness, frozen_nodes)
self.env.reset()
self.gamma = gamma # 報酬減衰率
self.total_episodes = total_episodes # すべてのプロセスにおいての合計epoch
def calculate_efficiency(gene_nodes_pos, gene_edges_thickness, gene_adj_element, np_save_path=False):
condition_nodes_pos, input_nodes, input_vectors, output_nodes, \
output_vectors, frozen_nodes, condition_edges_indices, condition_edges_thickness\
= make_main_node_edge_info(*condition(), condition_edge_thickness=0.2)
# make edge_indices
edges_indices = make_adj_triu_matrix(gene_adj_element, node_num, condition_edges_indices)
# make nodes_pos
nodes_pos = np.concatenate([condition_nodes_pos, gene_nodes_pos])
# 条件ノードが含まれている部分グラフを抽出
G = nx.Graph()
G.add_nodes_from(np.arange(len(nodes_pos)))
G.add_edges_from(edges_indices)
condition_node_list = input_nodes + output_nodes + frozen_nodes
trigger = 0 # 条件ノードが全て接続するグラフが存在するとき，トリガーを発動する
for c in nx.connected_components(G):
sg = G.subgraph(c) # 部分グラフ
if set(condition_node_list) <= set(sg.nodes): # 条件ノードが全て含まれているか
edges_indices = np.array(sg.edges)
trigger = 1
break
if trigger == 0: # ペナルティを発動する
return -10.0
# make edges_thickness
edges_thickness = make_edge_thick_triu_matrix(gene_edges_thickness, node_num, condition_edges_indices, condition_edges_thickness, edges_indices)
env = BarFemGym(nodes_pos, input_nodes, input_vectors,
output_nodes, output_vectors, frozen_nodes,
edges_indices, edges_thickness, frozen_nodes)
env.reset()
efficiency = env.calculate_simulation()
if np_save_path:
env.render(save_path=os.path.join(np_save_path, "image.png"))
np.save(os.path.join(np_save_path, "nodes_pos.npy"), nodes_pos)
np.save(os.path.join(np_save_path, "edges_indices.npy"), edges_indices)
np.save(os.path.join(np_save_path, "edges_thickness.npy"), edges_thickness)
return float(efficiency)
def select_action_gcn_critic_gcn(env,
criticNet,
edgethickNet,
device,
log_dir=None,
history=None):
nodes_pos, edges_indices, edges_thickness, node_adj = env.extract_node_edge_info(
)
node, edge, node_adj, edge_adj, D_v, D_e, T = make_torch_type_for_GCN(
nodes_pos, edges_indices, edges_thickness, node_adj)
state_value = criticNet(node, edge, node_adj, edge_adj, D_v, D_e, T)
node1 = 0
node2 = 3
edge_thickness = edgethickNet(node, edge, node_adj, edge_adj, D_v, D_e, T,
node1, node2)
edge_thickness_tdist = tdist.Normal(edge_thickness[0][0].item(),
edge_thickness[0][1].item())
edge_thickness_action = edge_thickness_tdist.sample()
edge_thickness_action = torch.clamp(edge_thickness_action, min=0, max=1)
action = {}
action['which_node'] = np.array([node1, node2])
action['end'] = 0
action['edge_thickness'] = np.array([edge_thickness_action.item()])
action['new_node'] = np.array([[0, 2]])
# save to action buffer
criticNet.saved_actions.append(Saved_Action(action, state_value))
edgethickNet.saved_actions.append(
Saved_mean_std_Action(edge_thickness[0][0], edge_thickness[0][1]))
if log_dir is not None:
# lossの確認事項
with open(os.path.join(log_dir, "progress.txt"), mode='a') as f:
print('edge_thick_mean:', edge_thickness[0][0].item(), file=f)
print('edge_thick_std:', edge_thickness[0][1].item(), file=f)
print('edge_thickness:', edge_thickness_action.item(), file=f)
if history is not None:
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
calc_effi_env = BarFemGym(node_pos, input_nodes, input_vectors,
output_nodes, output_vectors, frozen_nodes,
edges_indices, edges_thickness, frozen_nodes)
calc_effi_env.reset()
mean_action = {}
mean_action['which_node'] = np.array([node1, node2])
mean_action['end'] = 0
mean_action['edge_thickness'] = np.array([edge_thickness[0][0].item()])
mean_action['new_node'] = np.array([[0, 2]])
next_nodes_pos, _, done, _ = calc_effi_env.step(mean_action)
mean_efficiency = calc_effi_env.calculate_simulation(mode='force')
# historyにログを残す
history['mean_efficiency'].append(mean_efficiency)
history['a'].append(edge_thickness_action.item())
history['a_mean'].append(edge_thickness[0][0].item())
history['a_sigma'].append(edge_thickness[0][1].item())
history['critic_value'].append(state_value.item())
return action
def select_action_gcn_critic_gcn(env,
node1Net,
node2Net,
criticNet,
edgethickNet,
device,
log_dir=None,
history=None):
nodes_pos, edges_indices, edges_thickness, node_adj = env.extract_node_edge_info(
)
node_num = nodes_pos.shape[0]
node, edge, node_adj, edge_adj, D_v, D_e, T = make_torch_type_for_GCN(
nodes_pos, edges_indices, edges_thickness, node_adj)
state_value = criticNet(node, edge, node_adj, edge_adj, D_v, D_e, T)
# ノード1を求める
emb_node, node1_prob = node1Net(node, edge, node_adj, edge_adj, D_v, D_e,
T)
node1_categ = Categorical(node1_prob)
node1 = node1_categ.sample()
# ノード1を除いたnodeの作成
non_node1_node = torch.cat([node[:, 0:node1, :], node[:, node1 + 1:, :]],
1)
# ノード1の情報抽出
H1 = emb_node[0][node1]
H1_cat = H1.repeat(node_num - 1, 1)
H1_cat = H1_cat.unsqueeze(0)
# HとH1のノード情報をconcat
emb_graph_cat = torch.cat([non_node1_node, H1_cat], 2)
# ノード2を求める
emb_edge, node2_prob = node2Net(emb_graph_cat)
node2_categ = Categorical(node2_prob)
node2_temp = node2_categ.sample()
if node2_temp >= node1:
node2 = node2_temp + 1 # node1分の調整
else:
node2 = node2_temp
edge_thickness = edgethickNet(emb_edge)
edge_thickness_tdist = tdist.Normal(edge_thickness[0][0].item(),
edge_thickness[0][1].item())
edge_thickness_action = edge_thickness_tdist.sample()
edge_thickness_action = torch.clamp(edge_thickness_action, min=0, max=1)
action = {}
action['which_node'] = np.array([node1.item(), node2.item()])
action['end'] = 0
action['edge_thickness'] = np.array([edge_thickness_action.item()])
action['new_node'] = np.array([[0, 2]])
# save to action buffer
criticNet.saved_actions.append(Saved_Action(action, state_value))
node1Net.saved_actions.append(
Saved_prob_Action(node1_categ.log_prob(node1)))
node2Net.saved_actions.append(
Saved_prob_Action(node2_categ.log_prob(node2_temp)))
edgethickNet.saved_actions.append(
Saved_mean_std_Action(edge_thickness[0][0], edge_thickness[0][1]))
if log_dir is not None:
# lossの確認事項
with open(os.path.join(log_dir, "progress.txt"), mode='a') as f:
print('node1_prob:', node1_prob, file=f)
print('node1:', node1.item(), file=f)
print('node2_prob:', node2_prob, file=f)
print('node2:', node2.item(), file=f)
print('edge_thick_mean:', edge_thickness[0][0].item(), file=f)
print('edge_thick_std:', edge_thickness[0][1].item(), file=f)
print('edge_thickness:', edge_thickness_action.item(), file=f)
if history is not None:
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
calc_effi_env = BarFemGym(node_pos, input_nodes, input_vectors,
output_nodes, output_vectors, frozen_nodes,
edges_indices, edges_thickness, frozen_nodes)
calc_effi_env.reset()
mean_action = {}
mean_action['which_node'] = np.array([node1, node2])
mean_action['end'] = 0
mean_action['edge_thickness'] = np.array([edge_thickness[0][0].item()])
mean_action['new_node'] = np.array([[0, 2]])
next_nodes_pos, _, done, _ = calc_effi_env.step(mean_action)
mean_efficiency = calc_effi_env.calculate_simulation()
# historyにログを残す
history['mean_efficiency'].append(mean_efficiency)
history['a'].append(edge_thickness_action.item())
history['a_mean'].append(edge_thickness[0][0].item())
history['a_sigma'].append(edge_thickness[0][1].item())
history['critic_value'].append(state_value.item())
return action
def load_actor_gcn_critic_gcn(load_dir,
load_epoch,
max_episodes=5000,
test_name="test",
history=None,
log_file=False):
"""ActorCriticにおいて保存されpthをロードし，そこから学習を開始する．
Args:
load_dir ([type]): ロードする対象のpthが複数存在するディレクトリのパスを指定する．
load_epoch ([type]): いつのepochから学習を開始するかを決める．
max_episodes (int, optional): 学習回数. Defaults to 5000.
test_name (str, optional): 保存ファイルの名前. Defaults to "test".
history ([type], optional): 保存したhistory.これを指定した時，グラフにもロード結果が適用される. Defaults to None.
log_file (bool, optional): Trueにすると，progress.txtに損失関数などの情報のログをとる. Defaults to False.
"""
if history is None:
history = {}
history['epoch'] = []
history['result_efficiency'] = []
history['mean_efficiency'] = [] # a_meanの値の時のηの値を収納する
history['a'] = []
history['a_mean'] = []
history['a_sigma'] = []
history['advantage'] = []
history['critic_value'] = []
else:
for key in history.keys():
history[key] = history[key][:load_epoch]
log_dir = "confirm/step5_entropy/a_gcn_c_gcn_results/{}".format(test_name)
assert not os.path.exists(log_dir), "already folder exists"
if log_file:
log_file = log_dir
else:
log_file = None
os.makedirs(log_dir, exist_ok=True)
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
env = BarFemGym(node_pos, input_nodes, input_vectors, output_nodes,
output_vectors, frozen_nodes, edges_indices,
edges_thickness, frozen_nodes)
env.reset()
max_steps = 1
lr_actor = 1e-4
lr_critic = 1e-3
weight_decay = 1e-2
gamma = 0.99
device = torch.device('cpu')
criticNet = CriticNetwork_GCN(2, 1, 400, 400).to(device).double()
edgethickNet = Edgethick_Actor(2, 1, 400, 400).to(device).double()
criticNet.load_state_dict(
torch.load(
os.path.join(load_dir, "pth/{}_criticNet.pth".format(load_epoch))))
edgethickNet.load_state_dict(
torch.load(
os.path.join(load_dir,
"pth/{}_edgethickNet.pth".format(load_epoch))))
optimizer_edgethick = optim.SGD(edgethickNet.parameters(), lr=lr_actor)
optimizer_critic = optim.Adam(criticNet.parameters(),
lr=lr_critic,
weight_decay=weight_decay)
for episode in tqdm(range(load_epoch, max_episodes)):
if log_file:
with open(os.path.join(log_dir, "progress.txt"), mode='a') as f:
print('\nepoch:', episode, file=f)
env.reset()
nodes_pos, edges_indices, edges_thickness, node_adj = env.extract_node_edge_info(
)
for step in range(max_steps):
action = select_action_gcn_critic_gcn(env,
criticNet,
edgethickNet,
device,
log_dir=log_file,
history=history)
next_nodes_pos, _, done, _ = env.step(action)
reward = env.calculate_simulation(mode='force')
criticNet.rewards.append(reward)
loss = finish_episode(criticNet,
edgethickNet,
optimizer_critic,
optimizer_edgethick,
gamma,
log_dir=log_file,
history=history)
history['epoch'].append(episode + 1)
history['result_efficiency'].append(reward)
env.close()
plot_efficiency_history(history,
os.path.join(log_dir, 'learning_effi_curve.png'))
return history
def actor_gcn_critic_gcn(max_episodes=5000,
test_name="test",
log_file=False,
save_pth=False):
"""Actor-Criticを行う．Actor,CriticはGCN
Actorの指定できるものは，一つのエッジのみの幅を選択できる．
max_episodes:学習回数
test_name:保存ファイルの名前
log_file: Trueにすると，progress.txtに損失関数などの情報のログをとる．"""
history = {}
history['epoch'] = []
history['result_efficiency'] = []
history['x'] = []
history['x_mean'] = []
history['x_sigma'] = []
history['y'] = []
history['y_mean'] = []
history['y_sigma'] = []
history['advantage'] = []
history['critic_value'] = []
log_dir = "confirm/step5_entropy/a_gcn_c_gcn_results/{}".format(test_name)
assert not os.path.exists(log_dir), "already folder exists"
if log_file:
log_file = log_dir
else:
log_file = None
os.makedirs(log_dir, exist_ok=True)
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
env = BarFemGym(node_pos, input_nodes, input_vectors, output_nodes,
output_vectors, frozen_nodes, edges_indices,
edges_thickness, frozen_nodes)
env.reset()
lr_actor = 1e-4
lr_critic = 1e-3
weight_decay = 1e-2
gamma = 0.99
device = torch.device('cpu')
criticNet = CriticNetwork_GCN(2, 1, 400, 400).to(device).double()
x_y_Net = X_Y_Actor(2, 1, 400, 400).to(device).double()
node1Net = Select_node1_model(2, 1, 400, 400).to(device).double()
node2Net = Select_node2_model(400 + 2, 400).to(
device).double() # 400+2における400は，Select_node1_modelのinput3の部分に対応
optimizer_node1 = optim.Adam(node1Net.parameters(), lr=lr_actor)
optimizer_node2 = optim.Adam(node2Net.parameters(), lr=lr_actor)
optimizer_xy = optim.Adam(x_y_Net.parameters(), lr=lr_actor)
optimizer_critic = optim.Adam(criticNet.parameters(),
lr=lr_critic,
weight_decay=weight_decay)
for episode in tqdm(range(max_episodes)):
if log_file:
with open(os.path.join(log_dir, "progress.txt"), mode='a') as f:
print('\nepoch:', episode, file=f)
env = BarFemGym(node_pos, input_nodes, input_vectors, output_nodes,
output_vectors, frozen_nodes, edges_indices,
edges_thickness, frozen_nodes)
env.reset()
nodes_pos, edges_indices, edges_thickness, node_adj = env.extract_node_edge_info(
)
action = select_action_gcn_critic_gcn(env,
criticNet,
node1Net,
node2Net,
x_y_Net,
device,
log_dir=log_file,
history=history)
next_nodes_pos, _, done, _ = env.step(action)
if 4 in action['which_node']:
env.input_nodes = [2, 4]
env.input_vectors = np.array([[1, 0], [0, 1]])
if 2 in action['which_node'] and 4 in action[
'which_node']: # TODO [2,4]を選択しないように学習させる
reward = np.array([0])
else:
reward = env.calculate_simulation()
criticNet.rewards.append(reward)
loss = finish_episode(criticNet,
x_y_Net,
node1Net,
node2Net,
optimizer_critic,
optimizer_xy,
optimizer_node1,
optimizer_node2,
gamma,
log_dir=log_file,
history=history)
history['epoch'].append(episode + 1)
history['result_efficiency'].append(reward)
plot_efficiency_history(
history, os.path.join(log_dir, 'learning_effi_curve.png'))
if episode % 100 == 0:
if save_pth:
save_model(criticNet,
x_y_Net,
os.path.join(log_dir, "pth"),
save_name=str(episode))
env.close()
with open(os.path.join(log_dir, 'history.pkl'), 'wb') as f:
pickle.dump(history, f)
return history
origin_frozen_nodes = [1, 3, 5, 7, 9, 11, 13, 15]
origin_input_vectors = np.array([
[0., -0.1],
])
origin_output_vectors = np.array([
[-1, 0],
])
barfem_input_nodes = [84]
barfem_output_nodes = [68]
condition_nodes = origin_input_nodes + origin_output_nodes + origin_frozen_nodes
env = BarFemGym(origin_nodes_positions, barfem_input_nodes,
origin_input_vectors, barfem_output_nodes,
origin_output_vectors, origin_frozen_nodes,
origin_edges_indices, origin_edges_thickness,
origin_frozen_nodes)
env.reset()
# env.render(os.path.join(log_dir, 'render_image/first.png'))
# 初期状態を作成
best_efficiency = -1000
if env.confirm_graph_is_connected():
current_efficiency = env.calculate_simulation()
else:
current_efficiency = -1
current_edges_indices = origin_edges_indices.copy()
Saved_Action = namedtuple('SavedAction', ['action', 'value'])
Saved_prob_Action = namedtuple('SavedAction', ['log_prob'])
Saved_mean_std_Action = namedtuple('SavedAction', ['mean', 'variance'])
GCN_optimizer = optim.Adam(GCN.parameters(), lr=lr)
X_Y_optimizer = optim.Adam(X_Y.parameters(), lr=lr)
Stop_optimizer = optim.Adam(Stop.parameters(), lr=lr)
Select_node1_optimizer = optim.Adam(Select_node1.parameters(), lr=lr)
Select_node2_optimizer = optim.Adam(Select_node2.parameters(), lr=lr)
Edge_thickness_optimizer = optim.Adam(Edge_thickness.parameters(), lr=lr)
# アニーリングの情報を引き継ぐ．
node_pos, input_nodes, input_vectors, output_nodes,\
output_vectors, frozen_nodes, edges_indices, edges_thickness = load_graph_info(
os.path.join(annealing_dir, 'graph_info'))
env = BarFemGym(node_pos, input_nodes, input_vectors, output_nodes,
output_vectors, frozen_nodes, edges_indices, edges_thickness,
frozen_nodes)
env.reset()
def select_action(condition_nodes):
nodes_pos, edges_indices, edges_thickness, node_adj = env.extract_node_edge_info(
)
node_num = nodes_pos.shape[0]
# ラベル作成
label = np.zeros((node_num, 1))
label[condition_nodes] = 1
nodes_pos = np.concatenate([nodes_pos, label], 1)
origin_output_nodes = [68]
origin_output_vectors = np.array([
[-1, 0],
])
origin_frozen_nodes = [1, 3, 5, 7, 9, 11, 13, 15]
# gymに入力する要素を抽出
new_node_pos, new_input_nodes, new_input_vectors, new_output_nodes, new_output_vectors, new_frozen_nodes, new_edges_indices, new_edges_thickness = make_main_node_edge_info(
origin_nodes_positions, origin_edges_indices, origin_input_nodes,
origin_input_vectors, origin_output_nodes, origin_output_vectors,
origin_frozen_nodes)
env = BarFemGym(new_node_pos, new_input_nodes, new_input_vectors,
new_output_nodes, new_output_vectors, new_frozen_nodes,
new_edges_indices, new_edges_thickness)
# １エピソードのループ
state = env.reset()
total_time = 0
total_calc_time = 0
for i in range(500):
# ランダム行動の取得
action = env.random_action()
# １ステップの実行
state, reward, done, info = env.step(action)
if env.confirm_graph_is_connected():
reward = 0
start = time.time()
efficiency = env.calculate_simulation()
class Worker(mp.Process):
def __init__(self,
global_criticNet,
global_x_y_Net,
global_node1Net,
global_node2Net,
Critic_opt,
x_y_opt,
Node1_opt,
Node2_opt,
global_ep,
global_ep_r,
res_queue,
name,
gamma=0.99,
total_episodes=5000):
super(Worker, self).__init__()
self.name = 'w%i' % name
self.g_ep, self.g_ep_r, self.res_queue = global_ep, global_ep_r, res_queue
self.Critic_opt, self.x_y_opt, self.Node1_opt, self.Node2_opt = Critic_opt, x_y_opt, Node1_opt, Node2_opt
self.global_criticNet, self.global_x_y_Net,\
self.global_node1Net, self.global_node2Net = global_criticNet, global_x_y_Net, global_node1Net, global_node2Net
device = torch.device('cpu')
self.local_criticNet = CriticNetwork_GCN(2, 1, 400,
400).double().to(device)
self.local_x_y_Net = X_Y_Actor(2, 1, 400, 400).double().to(device)
self.local_node1Net = Select_node1_model(2, 1, 400,
400).double().to(device)
self.local_node2Net = Select_node2_model(400 + 2,
400).double().to(device)
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
self.env = BarFemGym(node_pos, input_nodes, input_vectors,
output_nodes, output_vectors, frozen_nodes,
edges_indices, edges_thickness, frozen_nodes)
self.env.reset()
self.gamma = gamma # 報酬減衰率
self.total_episodes = total_episodes # すべてのプロセスにおいての合計epoch
def finish_episode(self, log_dir=None, history=None):
R = 0
GCN_saved_actions = self.local_criticNet.saved_actions
x_y_saved_actions = self.local_x_y_Net.saved_actions
node1Net_saved_actions = self.local_node1Net.saved_actions
node2Net_saved_actions = self.local_node2Net.saved_actions
policy_losses = [] # list to save actor (policy) loss
value_losses = [] # list to save critic (value) loss
returns = [] # list to save the true values
# calculate the true value using rewards returned from the environment
for r in self.local_criticNet.rewards[::-1]:
# calculate the discounted value
R = r + self.gamma * R
returns.insert(0, R)
returns = torch.tensor(returns)
x_y_opt_trigger = False # advantage>0の場合したときにx_y_optを作動出来るようにする為のトリガー
for (action,
value), (x_y_mean, x_y_std, x_dist,
y_dist), (node1_prob,
node1_dist), (node2_prob,
node2_dist), R in zip(
GCN_saved_actions,
x_y_saved_actions,
node1Net_saved_actions,
node2Net_saved_actions,
returns):
advantage = R - value.item()
# calculate actor (policy) loss
if action["end"]:
print("okasii")
else:
log_probs = torch.cat([node1_prob, node2_prob])
policy_loss = -torch.mean(log_probs) * advantage
policy_losses.append(policy_loss)
if advantage > 0:
x_y_mean_loss = F.l1_loss(
torch.from_numpy(action["new_node"][0]).double(),
x_y_mean.double())
x_y_var_loss = F.l1_loss(
torch.from_numpy(
np.abs(
action["new_node"][0] -
x_y_mean.to('cpu').detach().numpy().copy())),
x_y_std.double())
policy_losses.append(
(x_y_mean_loss + x_y_var_loss) * advantage)
x_y_opt_trigger = True # x_y_optのトリガーを起動
else:
x_y_mean_loss = torch.zeros(1)
x_y_var_loss = torch.zeros(1)
# calculate critic (value) loss using L1 loss
value_losses.append(
F.l1_loss(value.double(),
torch.tensor([[R]]).double()))
# reset gradients
self.Critic_opt.zero_grad()
self.Node1_opt.zero_grad()
self.Node2_opt.zero_grad()
if x_y_opt_trigger:
self.x_y_opt.zero_grad()
# sum up all the values of policy_losses and value_losses
if len(policy_losses) == 0:
loss = torch.stack(value_losses).sum()
else:
loss = torch.stack(policy_losses).sum() + \
torch.stack(value_losses).sum()
# perform backprop
loss.backward()
for lp, gp in zip(self.local_criticNet.parameters(),
self.global_criticNet.parameters()):
gp._grad = lp.grad
for lp, gp in zip(self.local_node1Net.parameters(),
self.global_node1Net.parameters()):
gp._grad = lp.grad
for lp, gp in zip(self.local_node2Net.parameters(),
self.global_node2Net.parameters()):
gp._grad = lp.grad
if x_y_opt_trigger:
for lp, gp in zip(self.local_x_y_Net.parameters(),
self.global_x_y_Net.parameters()):
gp._grad = lp.grad
self.Critic_opt.step()
self.Node1_opt.step()
self.Node2_opt.step()
if x_y_opt_trigger:
self.x_y_opt.step()
# pull global parameters
self.local_criticNet.load_state_dict(
self.global_criticNet.state_dict())
self.local_x_y_Net.load_state_dict(self.global_x_y_Net.state_dict())
self.local_node1Net.load_state_dict(self.global_node1Net.state_dict())
self.local_node2Net.load_state_dict(self.global_node2Net.state_dict())
# reset rewards and action buffer
del self.local_criticNet.rewards[:]
del self.local_criticNet.saved_actions[:]
del self.local_x_y_Net.saved_actions[:]
del self.local_node1Net.saved_actions[:]
del self.local_node2Net.saved_actions[:]
if history is not None:
history['advantage'].append(advantage.item())
return loss.item()
def run(self,
max_episodes=5000,
test_name="test",
log_file=False,
save_pth=False,
history=None,
device=torch.device('cpu')):
while self.g_ep.value < self.total_episodes:
# 入力ノードを再設定している為，ここに追加
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
self.env = BarFemGym(node_pos, input_nodes, input_vectors,
output_nodes, output_vectors, frozen_nodes,
edges_indices, edges_thickness, frozen_nodes)
self.env.reset()
for episode in range(max_episodes):
action = select_action_gcn_critic_gcn(self.env,
self.local_criticNet,
self.local_node1Net,
self.local_node2Net,
self.local_x_y_Net,
device,
log_dir=log_file,
history=history)
next_nodes_pos, _, done, _ = self.env.step(action)
if 4 in action['which_node']:
self.env.input_nodes = [2, 4]
self.env.input_vectors = np.array([[1, 0], [0, 1]])
if 2 in action['which_node'] and 4 in action[
'which_node']: # TODO [2,4]を選択しないように学習させる
reward = np.array([0])
else:
reward = self.env.calculate_simulation()
self.local_criticNet.rewards.append(reward)
done = True # 今回はonestepの為
if done: # update global and assign to local net
record(self.g_ep, self.g_ep_r, reward, self.res_queue,
self.name)
# sync
# 各プロセスの重み更新をglobalにpushし，その更新後のものを各プロセスの重みに戻す
self.finish_episode()
break
self.res_queue.put(None)
from FEM.bar_fem import barfem
import numpy as np
from env.gym_barfem import BarFemGym
nodes_pos = np.array([[0, 0],
[0.5, 0],
[0.5, 0.5],
[0, 0.5]])
nodes_pos[:, 0] += 0.25
nodes_pos[:, 1] += 0.25
edges_indices = np.array([[0, 1],
[1, 2],
[0, 3],
[2, 3], [1, 3]])
edges_thickness = np.array([1.0, 1.0, 1.0, 1.0, 1])
input_nodes = [2]
input_vectors = np.array([[1, 0]])
frozen_nodes = [1]
output_nodes = [0]
output_vectors = np.array([[0.5, 0.5]])
env = BarFemGym(nodes_pos, input_nodes, input_vectors,
output_nodes, output_vectors, frozen_nodes,
edges_indices, edges_thickness, frozen_nodes)
env.reset()
print(env.calculate_simulation())
search_edge_indice_1 = [1, 11] # 探したいエッジの幅のindice
search_edge_indice_2 = [0, 2] # 探したいエッジの幅のindice
np_save_path = "GA/confirm_data_for_cross_process/50"
nodes_pos = np.load(os.path.join(np_save_path, "nodes_pos.npy"))
#nodes_pos[10, :] = np.array([0.5, 0.5])
edges_indices = np.load(os.path.join(np_save_path, "edges_indices.npy"))
edges_thickness = np.load(os.path.join(np_save_path, "edges_thickness.npy"))
condition_nodes_pos, input_nodes, input_vectors, output_nodes, \
output_vectors, frozen_nodes, condition_edges_indices, condition_edges_thickness\
= make_main_node_edge_info(*condition(), condition_edge_thickness=0.05) # スレンダー比を考慮し，長さ方向に対して1/20の値の幅にした
env = BarFemGym(nodes_pos, input_nodes, input_vectors, output_nodes,
output_vectors, frozen_nodes, edges_indices, edges_thickness,
frozen_nodes)
env.reset()
efficiency = env.calculate_simulation()
#env.render(save_path="image/image_preprocess.png", display_number=True)
# 同じノード位置にあるものを排除する．
processed_nodes_pos, processed_edges_indices, processed_edges_thickness = preprocess_graph_info(
nodes_pos, edges_indices, edges_thickness)
# 傾きが一致するものをグループ分けし，エッジ分割を行う．
processed_edges_indices, processed_edges_thickness = separate_same_line_procedure(
processed_nodes_pos, processed_edges_indices, processed_edges_thickness)
processed_nodes_pos, processed_edges_indices, processed_edges_thickness =\
seperate_cross_line_procedure(processed_nodes_pos, processed_edges_indices, processed_edges_thickness)
X_Y = model.X_Y_model(node_out_features, 2).double() # なぜかdoubleが必要だった
Stop = model.Stop_model(node_out_features, 2).double()
Select_node1 = model.Select_node1_model(node_out_features, 2).double()
Select_node2 = model.Select_node2_model(node_features + node_out_features,
2).double()
Edge_thickness = model.Edge_thickness_model(node_features + node_out_features,
2).double()
# 連続状態を作成
while (1):
new_node_pos, new_input_nodes, new_input_vectors, new_output_nodes, new_output_vectors, new_frozen_nodes, new_edges_indices, new_edges_thickness = make_continuous_init_graph(
origin_nodes_positions, origin_edges_indices, origin_input_nodes,
origin_input_vectors, origin_output_nodes, origin_output_vectors,
origin_frozen_nodes, EDGE_THICKNESS)
env = BarFemGym(new_node_pos, new_input_nodes, new_input_vectors,
new_output_nodes, new_output_vectors, new_frozen_nodes,
new_edges_indices, new_edges_thickness)
env.reset()
if env.confirm_graph_is_connected():
# env.render('render_image/yatta.png')
break
Saved_Action = namedtuple('SavedAction', ['action', 'value'])
Saved_prob_Action = namedtuple('SavedAction', ['log_prob'])
Saved_mean_std_Action = namedtuple('SavedAction', ['mean', 'variance'])
GCN_optimizer = optim.Adam(GCN.parameters(), lr=lr)
X_Y_optimizer = optim.Adam(X_Y.parameters(), lr=lr)
Stop_optimizer = optim.Adam(Stop.parameters(), lr=lr)
Select_node1_optimizer = optim.Adam(Select_node1.parameters(), lr=lr)
Select_node2_optimizer = optim.Adam(Select_node2.parameters(), lr=lr)
Edge_thickness_optimizer = optim.Adam(Edge_thickness.parameters(), lr=lr)
def main():
# running_reward = 0
prior_efficiency = 0
continuous_trigger = 0
best_efficiency = -1000
best_epoch = 0
# １エピソードのループ
while (1):
new_node_pos, new_input_nodes, new_input_vectors, new_output_nodes, new_output_vectors, new_frozen_nodes, new_edges_indices, new_edges_thickness = make_continuous_init_graph(
origin_nodes_positions, origin_edges_indices, origin_input_nodes,
origin_input_vectors, origin_output_nodes, origin_output_vectors,
origin_frozen_nodes, EDGE_THICKNESS)
env = BarFemGym(new_node_pos, new_input_nodes, new_input_vectors,
new_output_nodes, new_output_vectors, new_frozen_nodes,
new_edges_indices, new_edges_thickness)
env.reset()
if env.confirm_graph_is_connected():
break
nodes_pos, _, _, _ = env.extract_node_edge_info()
first_node_num = nodes_pos.shape[0]
# run inifinitely many episodes
for epoch in tqdm(range(train_num)):
# for epoch in count(1):
# reset environment and episode reward
while (1):
new_node_pos, new_input_nodes, new_input_vectors, new_output_nodes, new_output_vectors, new_frozen_nodes, new_edges_indices, new_edges_thickness = make_continuous_init_graph(
origin_nodes_positions, origin_edges_indices,
origin_input_nodes, origin_input_vectors, origin_output_nodes,
origin_output_vectors, origin_frozen_nodes, EDGE_THICKNESS)
env = BarFemGym(new_node_pos, new_input_nodes, new_input_vectors,
new_output_nodes, new_output_vectors,
new_frozen_nodes, new_edges_indices,
new_edges_thickness)
env.reset()
if env.confirm_graph_is_connected():
break
state = env.reset()
ep_reward = 0
continuous_trigger = 0
# for each episode, only run 9999 steps so that we don't
# infinite loop while learning
for t in range(max_action):
# select action from policy
action = select_action(first_node_num)
nodes_pos, edges_indices, edges_thickness, adj = env.extract_node_edge_info(
)
# take the action
state, _, done, info = env.step(action)
if (t == (max_action -
1)) and (done is not True): # max_action内にてactionが終わらない時
reward = -final_penalty
elif env.confirm_graph_is_connected():
efficiency = env.calculate_simulation()
if continuous_trigger == 1:
reward = efficiency - prior_efficiency
else:
reward = efficiency + continuous_reward
continuous_trigger = 1
prior_efficiency = efficiency
elif continuous_trigger == 1:
reward = -penalty
else:
reward = 0
GCN.rewards.append(reward)
ep_reward += reward
if done:
steps = t
break
# update cumulative reward
# running_reward = 0.05 * ep_reward + (1 - 0.05) * running_reward
# perform backprop
loss = finish_episode()
# efficiencyの最終結果を求める
if env.confirm_graph_is_connected():
result_efficiency = env.calculate_simulation()
else:
result_efficiency = -1
if best_efficiency < result_efficiency:
best_epoch = epoch
best_efficiency = result_efficiency
save_model(save_name="Good")
# env.render(os.path.join(
# log_dir, 'render_image/{}.png'.format(epoch+1)))
history['epoch'].append(epoch + 1)
history['loss'].append(loss)
history['ep_reward'].append(ep_reward)
history['result_efficiency'].append(result_efficiency)
history['steps'].append(steps + 1)
# 学習履歴を保存
with open(os.path.join(log_dir, 'history.pkl'), 'wb') as f:
pickle.dump(history, f)
with open(os.path.join(log_dir, "progress.txt"), mode='a') as f:
f.writelines(
'epoch %d, loss: %.4f ep_reward: %.4f result_efficiency: %.4f\n'
% (epoch + 1, loss, ep_reward, result_efficiency))
with open(os.path.join(log_dir, "represent_value.txt"), mode='w') as f:
f.writelines('epoch %d, best_efficiency: %.4f\n' %
(best_epoch + 1, best_efficiency))
save_model(save_name="Last")
plot_loss_history(history,
os.path.join(log_dir, 'learning_loss_curve.png'))
plot_reward_history(history,
os.path.join(log_dir, 'learning_reward_curve.png'))
plot_efficiency_history(
history, os.path.join(log_dir, 'learning_effi_curve.png'))
plot_steps_history(history,
os.path.join(log_dir, 'learning_steps_curve.png'))
error_num = 0
tmax = 10000 # 共益勾配法の最大試行回数
eps = 1e-8 # 共益勾配法の許容閾値
for i in tqdm(range(1000)):
nodes_pos, edges_indices, edges_thickness,\
input_nodes, input_vectors, frozen_nodes = \
make_random_fem_condition_with_ER(max_node_num, max_edge_pos)
output_nodes = [0]
output_vectors = np.array([[1, 1]])
result = compare_apdl_barfem(nodes_pos, edges_indices, edges_thickness,
input_nodes, input_vectors, frozen_nodes, tmax, eps)
if not result:
error_num += 1
log_dir = "check_fem_by_ansys/conditions/error{}".format(error_num)
os.makedirs(log_dir, exist_ok=True)
np.save(os.path.join(log_dir, 'nodes_pos.npy'), nodes_pos)
np.save(os.path.join(log_dir, 'edges_indices.npy'), edges_indices)
np.save(os.path.join(log_dir, 'edges_thickness.npy'), edges_thickness)
np.save(os.path.join(log_dir, 'input_nodes.npy'), input_nodes)
np.save(os.path.join(log_dir, 'input_vectors.npy'), input_vectors)
np.save(os.path.join(log_dir, 'frozen_nodes.npy'), frozen_nodes)
env = BarFemGym(nodes_pos, input_nodes, input_vectors,
output_nodes, output_vectors, frozen_nodes,
edges_indices, edges_thickness, frozen_nodes)
env.reset()
env.render(save_path=os.path.join(log_dir, "image.png"), display_number=True)
def actor_gcn_critic_gcn(max_episodes=5000,
test_name="test",
log_file=False,
save_pth=False):
"""Actor-Criticを行う．Actor,CriticはGCN
Actorの指定できるものは，ノード1とノード2であり，一つのエッジのみを選択できる．
max_episodes:学習回数
test_name:保存ファイルの名前
log_file: Trueにすると，progress.txtに損失関数などの情報のログをとる．"""
history = {}
history['epoch'] = []
history['result_efficiency'] = []
history['mean_efficiency'] = [] # a_meanの値の時のηの値を収納する
history['a'] = []
history['a_mean'] = []
history['a_sigma'] = []
history['advantage'] = []
history['critic_value'] = []
log_dir = "confirm/step3/a_gcn_c_gcn_results/{}".format(test_name)
assert not os.path.exists(log_dir), "already folder exists"
if log_file:
log_file = log_dir
else:
log_file = None
os.makedirs(log_dir, exist_ok=True)
node_pos, input_nodes, input_vectors,\
output_nodes, output_vectors, frozen_nodes,\
edges_indices, edges_thickness, frozen_nodes = easy_dev()
env = BarFemGym(node_pos, input_nodes, input_vectors, output_nodes,
output_vectors, frozen_nodes, edges_indices,
edges_thickness, frozen_nodes)
env.reset()
max_steps = 1
lr_actor = 1e-4
lr_critic = 1e-3
weight_decay = 1e-2
gamma = 0.99
device = torch.device('cpu')
actorNet = Select_node1_model(2, 1, 400, 400).to(device).double()
actorNet2 = Select_node2_model(400 + 2, 400).to(device).double()
criticNet = CriticNetwork_GCN(2, 1, 400, 400).to(device).double()
edgethickNet = Edgethick_Actor(400).to(device).double()
optimizer_actor = optim.Adam(actorNet.parameters(), lr=lr_actor)
optimizer_actor2 = optim.Adam(actorNet2.parameters(), lr=lr_actor)
optimizer_edgethick = optim.Adam(edgethickNet.parameters(), lr=lr_actor)
optimizer_critic = optim.Adam(criticNet.parameters(),
lr=lr_critic,
weight_decay=weight_decay)
for episode in tqdm(range(max_episodes)):
if log_file:
with open(os.path.join(log_dir, "progress.txt"), mode='a') as f:
print('\nepoch:', episode, file=f)
env.reset()
nodes_pos, edges_indices, edges_thickness, node_adj = env.extract_node_edge_info(
)
for step in range(max_steps):
action = select_action_gcn_critic_gcn(env,
actorNet,
actorNet2,
criticNet,
edgethickNet,
device,
log_dir=log_file)
next_nodes_pos, _, done, _ = env.step(action)
reward = env.calculate_simulation()
criticNet.rewards.append(reward)
loss = finish_episode(criticNet,
actorNet,
actorNet2,
edgethickNet,
optimizer_critic,
optimizer_actor,
optimizer_actor2,
optimizer_edgethick,
gamma,
log_dir=log_file)
history['epoch'].append(episode + 1)
history['result_efficiency'].append(reward)
if episode % 100 == 0:
if save_pth:
save_model(criticNet,
edgethickNet,
os.path.join(log_dir, "pth"),
save_name=str(episode))
env.close()
plot_efficiency_history(history,
os.path.join(log_dir, 'learning_effi_curve.png'))
return history
GCN = model.GCN_fund_model(node_features, 1, node_out_features, 3).double()
X_Y = model.X_Y_model(node_out_features, 2).double() # なぜかdoubleが必要だった
Stop = model.Stop_model(node_out_features, 2).double()
Select_node1 = model.Select_node1_model(node_out_features, 2).double()
Select_node2 = model.Select_node2_model(node_features + node_out_features,
2).double()
Edge_thickness = model.Edge_thickness_model(node_features + node_out_features,
2).double()
# gymに入力する要素を抽出
new_node_pos, new_input_nodes, new_input_vectors, new_output_nodes, new_output_vectors, new_frozen_nodes, new_edges_indices, new_edges_thickness = make_main_node_edge_info(
origin_nodes_positions, origin_edges_indices, origin_input_nodes,
origin_input_vectors, origin_output_nodes, origin_output_vectors,
origin_frozen_nodes, EDGE_THICKNESS)
env = BarFemGym(new_node_pos, new_input_nodes, new_input_vectors,
new_output_nodes, new_output_vectors, new_frozen_nodes,
new_edges_indices, new_edges_thickness, new_frozen_nodes)
Saved_Action = namedtuple('SavedAction', ['action', 'value'])
Saved_prob_Action = namedtuple('SavedAction', ['log_prob'])
Saved_mean_std_Action = namedtuple('SavedAction', ['mean', 'variance'])
GCN_optimizer = optim.Adam(GCN.parameters(), lr=lr)
X_Y_optimizer = optim.Adam(X_Y.parameters(), lr=lr)
Stop_optimizer = optim.Adam(Stop.parameters(), lr=lr)
Select_node1_optimizer = optim.Adam(Select_node1.parameters(), lr=lr)
Select_node2_optimizer = optim.Adam(Select_node2.parameters(), lr=lr)
Edge_thickness_optimizer = optim.Adam(Edge_thickness.parameters(), lr=lr)
def select_action(first_node_num):
nodes_pos, edges_indices, edges_thickness, node_adj = env.extract_node_edge_info(