def eval_model(args):
"""Evaluate model on training data."""
cfg, lbl = util.get_label_cfg_by_args(args)
uid = cfg['uniqueid']
print('We are playing with %s' % uid)
outdir = 'models/%s/gate_expert' % uid
outname = 'gate_expert_model.pt'
if KLLOSS:
outname = 'gate_expert_kldiv_model.pt'
if args.warm:
outname = outname.replace('.pt', '_warm.pt')
mdl_path = os.path.join(outdir, outname)
gate_expert = GateExpertNet(mdl_path, args.argmax)
eval_fun = gate_expert.get_y
data = npload(cfg['file_path'], uid)
datax = data[cfg['x_name']]
datay = data[cfg['y_name']]
evaly = eval_fun(datax)
print(np.histogram(evaly[:, 48]))
fig, ax = pld.get3dAxis()
ax.scatter(datax[:, 0], datax[:, 1], evaly[:, 48])
loss = l1loss(evaly, datay)
err_norm = np.mean(loss, axis=1)
fig, ax = plt.subplots()
ax.hist(err_norm)
plt.show()
def eval_final_label(args):
"""Evaluation of labels on the training set."""
cfg, lbl = util.get_label_cfg_by_args(args)
uid = cfg['uniqueid']
print('We are playing with %s' % uid)
outdir = 'models/%s/gate_expert' % uid
outname = 'gate_expert_model.pt'
if KLLOSS:
outname = 'gate_expert_kldiv_model.pt'
if args.warm:
outname = outname.replace('.pt', '_warm.pt')
mdl_path = os.path.join(outdir, outname)
gate_expert = GateExpertNet(mdl_path, False)
eval_fun = gate_expert.get_p_y
data = npload(cfg['file_path'], uid)
datax = data[cfg['x_name']]
p, v = eval_fun(datax)
label = np.argmax(p, axis=1)
if args.draw:
fig, ax = plt.subplots()
n_expert = np.amax(label) + 1
for i in range(n_expert):
mask = label == i
ax.scatter(datax[mask, 0], datax[mask, 1])
plt.show()
label_name = 'data/pen/gate_expert_label.npy'
if KLLOSS:
label_name = label_name.replace('_label', '_kldiv_label')
if args.warm:
label_name = label_name.replace('.npy', '_warm.npy')
np.save(label_name, label)
def show_labels(args):
"""Show the labels on a graph"""
pld.setGlobalFontSize(16)
fig, ax = plt.subplots(2, 2, figsize=(8, 6))
keys = ['MoE Cost', 'MoE Gate', 'k-Means-3', 'k-Means-5']
titles = ['MoE I', 'MoE II', '$k$-Means-3', '$k$-Means-5']
moelbl = np.load('data/pen/moe_label.npy')
momlbl = np.load('data/pen/mom_label.npy')
gatelbl = np.load('data/pen/gate_expert_label.npy')
kmeanlbl = np.load('data/pen/pca_kmean_label.npz')
k3lbl = kmeanlbl['3']
k5lbl = kmeanlbl['5']
data = npload(cfg['file_path'], cfg['uniqueid'])
x0 = data[cfg['x_name']]
markers = ['s', 'o', 'x', 'd', '*']
colors = ['b', 'g', 'r', 'c', 'k']
cm = plt.get_cmap('jet')
norm = mpl.colors.Normalize(0, 5)
def show_label_on_axis(ax, x, lbl):
nlbl = np.amax(lbl) + 1
ax.imshow(np.reshape(lbl, (61, 21)).T,
cmap=cm,
origin='lower',
norm=norm,
extent=[0, 2 * np.pi, -2.0, 2.0])
# for i in range(nlbl):
# mask = lbl == i
# ax.scatter(x[mask, 0], x[mask, 1], s=3, marker=markers[i], color=colors[i])
show_label_on_axis(ax[0][0], x0, moelbl)
ax[0][0].set_title(titles[0])
show_label_on_axis(ax[0][1], x0, gatelbl)
ax[0][1].set_title(titles[1])
show_label_on_axis(ax[1][0], x0, k3lbl)
ax[1][0].set_title(titles[2])
show_label_on_axis(ax[1][1], x0, k5lbl)
ax[1][1].set_title(titles[3])
ax[1][0].set_xlabel(r'$\theta$')
ax[1][1].set_xlabel(r'$\theta$')
ax[0][0].set_xticklabels([])
ax[0][1].set_xticklabels([])
ax[0][0].set_ylabel(r'$\omega$')
ax[1][0].set_ylabel(r'$\omega$')
ax[0][1].set_yticklabels([])
ax[1][1].set_yticklabels([])
fig.tight_layout()
fig.savefig('gallery/pen/pen_label_assign.pdf')
plt.show()
def eval_final_label(args):
"""Evaluation of labels on the training set."""
cfg, lbl = util.get_label_cfg_by_args(args)
uid = cfg['uniqueid']
print('We are playing with %s' % uid)
outdir = 'models/%s/moe' % uid
outname = 'moe_model.pt'
mdl_path = os.path.join(outdir, outname)
eval_fun = get_moe_loader(mdl_path, True)
data = npload(cfg['file_path'], uid)
datax = data[cfg['x_name']]
p, v = eval_fun(datax)
label = np.argmax(p, axis=1)
np.save('data/pen/moe_label.npy', label)
def run_the_training(args):
"""Run the MoE training without using any clustering information but let it find it on its own."""
cfg, lbl = util.get_label_cfg_by_args(args)
uid = cfg['uniqueid']
print('We are playing with %s' % uid)
data = npload(cfg['file_path'], uid)
data_feed = {'x': data[cfg['x_name']], 'y': data[cfg['y_name']]}
dimx = data_feed['x'].shape[1]
dimy = data_feed['y'].shape[1]
n_model = args.k
# create the network
net = MoMNet([dimx, 100, n_model], [[dimx, int(np.ceil(300.0 / n_model)), dimy] for _ in range(n_model)])
net.argmax = False
config = genTrainConfig(outdir='models/%s/mom' % uid, outname='mom_model.pt', overwrite=False)
if args.eval:
mdl_path = os.path.join(config['outdir'], config['outname'])
eval_fun = momLoader(mdl_path, withclus=args.prob, argmax=False)
predy = eval_fun(data_feed['x'])
return {'x': data_feed['x'], 'y': data_feed['y'], 'predy': predy}
trainOne(config, data_feed, net=net)
def run_the_training(args, clus=None, expert=None):
"""Run the MoE training without using any clustering information but let it find it on its own."""
# load data
cfg, lbl = util.get_label_cfg_by_args(args)
uid = cfg['uniqueid']
print('We are playing with %s' % uid)
data = npload(cfg['file_path'], uid)
data_feed = {'x': data[cfg['x_name']], 'y': data[cfg['y_name']]}
dimx = data_feed['x'].shape[1]
dimy = data_feed['y'].shape[1]
# create gate and expert
if clus is None:
n_model = 5
clus = GaoNet([dimx, 100, n_model])
expert = Experts([[dimx, 60, dimy]] * n_model)
# cuda it
clus.cuda()
expert.cuda()
# set data loader
xname, yname = 'x', 'y'
factory = KeyFactory(data_feed, xname, yname, scalex=True, scaley=True)
factory.shuffle(None)
draw_clus_region(clus, data_feed['x'], factory)
# create two sets
trainsize = 0.8
trainSet = SubFactory(factory, 0.0, trainsize)
testSet = SubFactory(factory, trainsize, 1.0)
batch_size = 32
test_batch_size = -1
trainLder = DataLoader(trainSet, batch_size=batch_size, shuffle=False)
testLder = DataLoader(testSet, batch_size=test_batch_size, shuffle=False)
# set up file output
outname = 'gate_expert_model.pt'
outdir = 'models/pen/gate_expert'
if KLLOSS:
outname = 'gate_expert_kldiv_model.pt'
if args.warm:
outname = outname.replace('.pt', '_warm.pt')
# set optimizer
lr = 1e-3
opt_G = torch.optim.Adam(clus.parameters(), lr=lr)
opt_E = torch.optim.Adam(expert.parameters(), lr=lr)
# set other training stuff
n_epoch = 500
back_check_epoch = 8
best_test_loss = np.inf
best_test_loss_expert = np.inf
best_test_epoch = 0
def get_mean_error(g_y, exp_y, feedy):
"""Calculate two loss"""
error_traj = torch.mean((exp_y - feedy.expand_as(exp_y))**2, dim=2).t()
g = f.softmax(g_y)
log_g = f.log_softmax(g_y)
posterior = g * torch.exp(
-0.5 * error_traj) # b by r probability, not scaled to 1
traj_prob = torch.mean(-torch.log(torch.sum(posterior, dim=1)))
if KLLOSS:
posterior_scale = Variable(
(posterior / torch.sum(posterior, dim=1, keepdim=True)
).data) # do not use gradient of it
div_error = f.kl_div(log_g, posterior_scale)
return traj_prob, div_error
else:
Og = torch.sum(exp_y * g.t().unsqueeze(2), dim=0)
traj_error = f.smooth_l1_loss(Og, feedy)
return traj_prob, traj_error
# start training
for epoch in range(n_epoch):
sum_train_loss = 0
sum_train_loss_prob = 0
for idx, batch_data in enumerate(trainLder):
feedy = Variable(batch_data[yname], requires_grad=False).cuda()
feedx = Variable(batch_data[xname], requires_grad=False).cuda()
# train experts
opt_E.zero_grad()
opt_G.zero_grad()
exp_y = expert(feedx)
g_y = clus(feedx)
g = f.softmax(g_y) # this is prior
log_g = f.log_softmax(g_y)
error_traj = torch.mean((exp_y - feedy.expand_as(exp_y))**2,
dim=2).t()
posterior = g * torch.exp(
-0.5 * error_traj) # b by r probability, not scaled to 1
posterior_scale = Variable(
(posterior / torch.sum(posterior, dim=1, keepdim=True)
).data) # do not use gradient of it
lossi = torch.mean(-torch.log(torch.sum(posterior, dim=1)))
lossi.backward(retain_graph=True)
sum_train_loss_prob += lossi.cpu().data.numpy() * feedx.size()[0]
opt_E.step()
# update h by regression error
all_pred = exp_y
if KLLOSS:
error = f.kl_div(log_g, posterior_scale)
else:
Og_before = all_pred * g.t().unsqueeze(2)
Og = torch.sum(Og_before, dim=0)
error = f.smooth_l1_loss(Og, feedy)
sum_train_loss += error.cpu().data.numpy() * feedx.size()[0]
error.backward()
opt_G.step()
# val = clus.printWeights(3)
mean_train_loss = sum_train_loss / trainLder.getNumData()
mean_train_loss_prob = sum_train_loss_prob / trainLder.getNumData()
# evaluate on test data
sum_test_loss_gate = 0
sum_test_loss_expert = 0
n_test_data = testLder.getNumData()
for idx, batch_data in enumerate(testLder):
feedy = Variable(batch_data[yname], volatile=True).cuda()
feedx = Variable(batch_data[xname], volatile=True).cuda()
exp_y = expert(feedx)
g_y = clus(feedx)
traj_prob, div_error = get_mean_error(g_y, exp_y, feedy)
sum_test_loss_gate += div_error.cpu().data.numpy() * feedx.size(
)[0]
sum_test_loss_expert += traj_prob.cpu().data.numpy() * feedx.size(
)[0]
mean_test_loss_gate = sum_test_loss_gate / n_test_data
mean_test_loss_expert = sum_test_loss_expert / n_test_data
print('epoch %d gate loss %f expert loss %f test gate loss %f expert loss %f' \
% (epoch, mean_train_loss, mean_train_loss_prob, mean_test_loss_gate, mean_test_loss_expert))
if mean_test_loss_gate < best_test_loss:
best_test_loss = mean_test_loss_gate
best_test_epoch = epoch
if mean_test_loss_expert < best_test_loss_expert:
best_test_loss_expert = mean_test_loss_expert
best_test_epoch = epoch
if epoch > best_test_epoch + back_check_epoch:
break
print('Save model now')
# draw region for classifier
draw_clus_region(clus, data_feed['x'], factory)
clus.cpu()
expert.cpu()
model = {
'gate': clus,
'expert': expert,
'xScale': [trainLder.xmean, trainLder.xstd],
'yScale': [trainLder.ymean, trainLder.ystd]
}
if not os.path.exists(outdir):
os.mkdir(outdir)
torch.save(model, os.path.join(outdir, outname))
def show_picky_states(cfg, lbl_name, args):
"""Select a few states and draw predictions."""
uid = cfg['uniqueid']
lbl_name = 'pca_kmean_label'
# load all training data and validation data
data = npload(cfg['file_path'], uid)
xname, yname = cfg['x_name'], cfg['y_name']
datax, datay = data[xname], data[yname]
# create a query instance
query = Query(datax, scale=True)
vdata = np.load(cfg['valid_path'])
vx, vy = vdata[xname], vdata[yname]
# snn model
snn_fun = modelLoader(cfg['snn_path'])
# moe model
result = util.get_clus_reg_by_dir('models/%s/%s' % (uid, lbl_name))
cls, regs = result[10] # let me try this one
net = MoMNet(cls, regs)
# load cluster labels
lbl_data_dct = np.load('data/%s/%s.npz' % (uid, lbl_name))
label = lbl_data_dct['10']
# eval snn on validation set and extract the one with largest prediction error
pred_vy = snn_fun(vx)
diff_vy = pred_vy - vy
error_y = np.linalg.norm(diff_vy, axis=1)
error_order = np.argsort(error_y)
for i in range(7, 20):
vx_idx = error_order[-1 - i]
bad_x0 = vx[vx_idx]
bad_sol = vy[vx_idx]
snn_pred = pred_vy[vx_idx]
moe_pred = net.getPredY(bad_x0)
predX, _, _ = parseX(snn_pred)
realX, _, _ = parseX(bad_sol)
predXMoE, _, _ = parseX(moe_pred)
# get neighbors
index = query.getIndex(bad_x0)
print('index ', index, 'label ', label[index])
# draw them
fig, axes = plt.subplots(1, 2)
shown_cluster = []
for ind in index:
nnX, _, _ = parseX(datay[ind])
if label[ind] not in shown_cluster:
axes[1].plot(nnX[:, 0], nnX[:, 1], color='C%d' % label[ind], label='Cluster %d' % label[ind])
shown_cluster.append(label[ind])
else:
axes[1].plot(nnX[:, 0], nnX[:, 1], color='C%d' % label[ind])
axes[0].plot(predX[:, 0], predX[:, 1], color='#ff7f0e', linewidth=2, ls='--', label='SNN')
axes[0].plot(predXMoE[:, 0], predXMoE[:, 1], color='g', linewidth=2, ls='--', label='MoE')
axes[0].plot(realX[:, 0], realX[:, 1], color='k', linewidth=2, label='Opt.')
finalAgl = predX[-1, 2]
direc = [1*np.sin(finalAgl), 1*np.cos(finalAgl)]
xf = predX[-1]
for i in range(2):
ax = axes[i]
if i == 0:
ax.arrow(xf[0], xf[1], direc[0], direc[1], color='#ff7f0e', linewidth=2, width=0.1)
finalAgl = predXMoE[-1, 2]
direc = [1*np.sin(finalAgl), 1*np.cos(finalAgl)]
xf = predXMoE[-1]
ax.arrow(xf[0], xf[1], direc[0], direc[1], color='g', linewidth=2, width=0.1)
ax.scatter(0, 0, s=50, color='r')
ax.annotate('Goal', (0, 0), xytext=(0.2, 0.2), textcoords='data')
ax.scatter(bad_x0[0], bad_x0[1], s=50, color='k', marker='*')
if i == 0:
ax.annotate('Start', (bad_x0[0], bad_x0[1]), xytext=(-1 + bad_x0[0], -0.8 + bad_x0[1]), textcoords='data')
else:
ax.annotate('Start', (bad_x0[0], bad_x0[1]), xytext=(bad_x0[0], 0.3 + bad_x0[1]), textcoords='data')
ax.set_xlabel(r'$x$')
ax.axis('equal')
if i == 0:
xlim = ax.get_xlim()
ax.set_ylabel(r'$y$')
if i == 0:
ax.legend()
else:
ax.legend(loc=4)
if i == 0:
ax.set_xlim(-2.5, xlim[1] + 1)
else:
xlim = ax.get_xlim()
ax.set_xlim(xlim[0] - 1, xlim[1] + 1.5)
fig.tight_layout()
fig.savefig('gallery/car/car_snn_vs_moe_traj.pdf')
plt.show()
