def __gpr_precompute(self, x_gt, x_noisy, state_train):
"""
Compute the alphas and hyper-params on the training-data.
x_gt : ground-truth positions (nx3) matrix.
x_noisy: noisy positions (nx3) matrix.
state_train : the states corresponding to x_noisy (nx6) matrix (the state is xyzrpy).
"""
N = x_gt.shape[0]
assert x_noisy.shape[0]==N==state_train.shape[0]
x_errors = x_gt - x_noisy
alphas = []
hparams = np.empty((3,3))
covfunc = ['kernels.covSum', ['kernels.covSEiso','kernels.covNoise']]
n_task_vars = 3
for i_task_var in range(n_task_vars):
print 'GP training variable : ', (i_task_var+1), '/', n_task_vars
logtheta = np.array([-1,-1,-1])
X = state_train
y = x_errors[:, i_task_var]
y = np.reshape(y, (N,1))
hparams[i_task_var,:] = gpr.gp_train(logtheta, covfunc, X, y)
alphas.append(self.__precompute_alpha(hparams[i_task_var,:], covfunc, X, y))
return [hparams, alphas]
def valid(loghyper,
covfunc,
X,
id,
y,
X_val,
y_val,
R_tr,
w,
R_tr_val,
R_val,
trafo=None):
'''Do validation on validation dataset
tuning weight parameter of SUM of
parameterized cov **function** AND cov **martix**. '''
## TRAINING the parameters
logtheta = gpr.gp_train(loghyper, covfunc, X, y, R_tr, w)
## GET self covariances for the test cases (needed in covMatrix)
d = diag(R_val).transpose()
R_tr_val = vstack((R_tr_val, d))
## PREDICTION
[MU, S2] = gpr.gp_pred(logtheta, covfunc, X, y, X_val, R_tr, w, R_tr_val)
## VALIDATION for predictions on validation dataset
## DO NOT resacle predictions - rescaling is done in valid_fig if needed!!!
M = valid_fig(y_val, MU, trafo=trafo)
print w
print M
return hstack((M, logtheta))
def gp_correct_poses_precompute(gt_poses_train, poses_train, state_train, train_hyper=True, hyper_seed=None, subsample=1):
n_task_vars = pose_error.shape[1]
alphas = []
loghyper = hyper_seed
if train_hyper:
loghyper = []
if hyper_seed == None:
hyper_seed = [-1] * n_task_vars
# sample X for hyperparam training
n = state_train.shape[0]
d = state_train.shape[1]
## data from a noisy GP
X = state_train
X_subsample = np.empty((0, d))
y_subsample = np.empty((0, n_task_vars))
for i in range(n):
if i % subsample == 0:
X_subsample = np.r_[X_subsample, state_train[i:(i+1),:]]
y_subsample = np.r_[y_subsample, pose_error[i:(i+1),:]]
## DEFINE parameterized covariance funcrion
covfunc = ['kernels.covSum', ['kernels.covSEiso','kernels.covNoise']]
# sample y for y training
for i_task_var in range(n_task_vars):
### sample observations from the GP
y_task_var = y_subsample[:,i_task_var]
y = pose_error[:,i_task_var]
## SET (hyper)parameters (HACK: don't do the rotation angles right now - it doesn't do anything because the measurements are so bad)
if train_hyper and i_task_var < 3:
## LEARN the hyperparameters if none are provided
print 'GP: ...training variable ', i_task_var
### INITIALIZE (hyper)parameters by -1
d = X.shape[1]
h = hyper_seed[i_task_var]
init = h * np.ones((d,1))
loghyper_var_i = np.array([[h], [h]])
loghyper_var_i = np.vstack((init, loghyper_var_i))[:,0]
print 'initial hyperparameters: ', np.exp(loghyper_var_i)
### TRAINING of (hyper)parameters
loghyper_var_i = gpr.gp_train(loghyper_var_i, covfunc, X_subsample, y_task_var)
print 'trained hyperparameters: ',np.exp(loghyper_var_i)
loghyper.append(loghyper_var_i)
else:
h = hyper_seed[i_task_var]
init = h * np.ones((1,d))
loghyper.append(init)
## PREDICTION precomputation
#IPython.embed()
alphas.append(gp_pred_precompute_alpha(loghyper[i_task_var], covfunc, X, y))
return alphas, loghyper
def gp_correct_poses(gt_poses_train,
poses_train,
state_train,
poses_test,
state_test,
logtheta=None):
print "using gp poses"
pose_error = calc_pose_error(gt_poses_train, poses_train)
n_test = len(poses_test)
n_task_vars = 6
MU = np.empty((n_test, n_task_vars))
S2 = np.empty((n_test, n_task_vars))
for i_task_var in range(n_task_vars):
## data from a noisy GP
X = state_train
## DEFINE parameterized covariance funcrion
covfunc = ['kernels.covSum', ['kernels.covSEiso', 'kernels.covNoise']]
#print 'hyperparameters: ', np.exp(logtheta)
### sample observations from the GP
y = np.array([pose_error[:, i_task_var]]).reshape((-1, 1))
### TEST POINTS
Xstar = state_test
## LEARN hyperparameters if not provided
if logtheta == None:
# ***UNCOMMENT THE FOLLOWING LINES TO DO TRAINING OF HYPERPARAMETERS***
### TRAINING GP
print
print 'GP: ...training'
### INITIALIZE (hyper)parameters by -1
d = X.shape[1]
init = -1.0 * np.ones((d, 1))
loghyper = np.array([[-1.0], [-1.0]])
loghyper = np.vstack((init, loghyper))[:, 0]
print 'initial hyperparameters: ', np.exp(loghyper)
### TRAINING of (hyper)parameters
logtheta = gpr.gp_train(loghyper, covfunc, X, y)
print 'trained hyperparameters: ', np.exp(logtheta)
## PREDICTION
print 'GP: ...prediction'
results = gpr.gp_pred(logtheta, covfunc, X, y,
Xstar) # get predictions for unlabeled data ONLY
MU[:, i_task_var] = results[0][:, 0]
S2[:, i_task_var:i_task_var + 1] = results[1]
est_gt_poses_test = apply_pose_error(poses_test, MU)
return est_gt_poses_test
def gp_correct_poses(gt_poses_train, poses_train, state_train, poses_test, state_test, logtheta=None):
print "using gp poses"
pose_error = calc_pose_error(gt_poses_train, poses_train)
n_test = len(poses_test)
n_task_vars = 6
MU = np.empty((n_test, n_task_vars))
S2 = np.empty((n_test, n_task_vars))
for i_task_var in range(n_task_vars):
## data from a noisy GP
X = state_train
## DEFINE parameterized covariance funcrion
covfunc = ['kernels.covSum', ['kernels.covSEiso','kernels.covNoise']]
#print 'hyperparameters: ', np.exp(logtheta)
### sample observations from the GP
y = np.array([pose_error[:,i_task_var]]).reshape((-1,1))
### TEST POINTS
Xstar = state_test
## LEARN hyperparameters if not provided
if logtheta == None:
# ***UNCOMMENT THE FOLLOWING LINES TO DO TRAINING OF HYPERPARAMETERS***
### TRAINING GP
print
print 'GP: ...training'
### INITIALIZE (hyper)parameters by -1
d = X.shape[1]
init = -1.0*np.ones((d,1))
loghyper = np.array([[-1.0], [-1.0]])
loghyper = np.vstack((init, loghyper))[:,0]
print 'initial hyperparameters: ', np.exp(loghyper)
### TRAINING of (hyper)parameters
logtheta = gpr.gp_train(loghyper, covfunc, X, y)
print 'trained hyperparameters: ',np.exp(logtheta)
## PREDICTION
print 'GP: ...prediction'
results = gpr.gp_pred(logtheta, covfunc, X, y, Xstar) # get predictions for unlabeled data ONLY
MU[:,i_task_var] = results[0][:,0]
S2[:,i_task_var:i_task_var+1] = results[1]
est_gt_poses_test = apply_pose_error(poses_test, MU)
return est_gt_poses_test
def train_hyperparams(gt_poses_train, poses_train, state_train): """ Returns the tuned hyper-params for 6 GPs. Hence, returns an 3x6 matrix (3 params per DOF). gt_poses_train, poses_train, state_train are as in the function gp_correct_poses. """ covfunc = ['kernels.covSum', ['kernels.covSEiso','kernels.covNoise']] pose_error = calc_pose_error(gt_poses_train, poses_train) hparams = np.empty((6,3)) n_task_vars = 6 for i_task_var in range(n_task_vars): print i_task_var X = state_train logtheta = np.array([-1,-1,-1]) y = pose_error[:,i_task_var] hparams[i_task_var,:] = gpr.gp_train(logtheta, covfunc, X, np.reshape(y, (y.shape[0], 1))) print 'Tuned hyper-params: ', hparams return hparams
def valid(loghyper, covfunc, X, id, y, X_val, y_val, R_tr, w, R_tr_val, R_val, trafo=None):
'''Do validation on validation dataset
tuning weight parameter of SUM of
parameterized cov **function** AND cov **martix**. '''
## TRAINING the parameters
logtheta = gpr.gp_train(loghyper, covfunc, X, y, R_tr, w)
## GET self covariances for the test cases (needed in covMatrix)
d = diag(R_val).transpose()
R_tr_val = vstack((R_tr_val, d))
## PREDICTION
[MU, S2] = gpr.gp_pred(logtheta, covfunc, X, y, X_val, R_tr, w, R_tr_val)
## VALIDATION for predictions on validation dataset
## DO NOT resacle predictions - rescaling is done in valid_fig if needed!!!
M = valid_fig(y_val, MU, trafo=trafo)
print w
print M
return hstack((M, logtheta))
def k_fold_cv(k, loghyper, covfunc, X, id, y, R, w, trafo=None):
'''Do k-fold cross validation for
tuning weight parameter of SUM of
parameterized cov **function** AND cov **martix**. '''
## TRAINING the parameters
logtheta = gpr.gp_train(loghyper, covfunc, X, y, R, w)
#print exp(logtheta)
MU = zeros((y.shape))
S2 = zeros((y.shape))
n = id.shape[0]
s = floor(n/k)
for j in range(0,k):
# prepare X, y and R according to fold
if j==0: # first fold
X_tr = X[s:n,:]
y_tr = y[s:n,:]
id_tr = id[s:n,:]
X_val = X[0:s,:]
id_val = id[0:s,:]
elif 0<j<k-1:
X_tr = X[0:j*s,:]
X_tr = vstack((X_tr,X[j*s+s:n,:]))
y_tr = y[0:j*s,:]
y_tr = vstack((y_tr,y[j*s+s:n,:]))
id_tr = id[0:j*s,:]
id_tr = vstack((id_tr,id[j*s+s:n,:]))
X_val = X[j*s:j*s+s,:]
id_val = id[j*s:j*s+s,:]
else: # last fold
s1 = s+fmod(n,k)
X_tr = X[0:n-s1,:]
y_tr = y[0:n-s1,:]
id_tr = id[0:n-s1,:]
X_val = X[n-s1:n,:]
id_val = id[n-s1:n,:]
loc_tr = general.get_index_vec(id_tr[:,0], id[:,0])
R_tr = R.take(loc_tr.astype(int),axis=0).take(loc_tr.astype(int),axis=1)
loc_val = general.get_index_vec(id_val[:,0], id[:,0])
R_tr_val = R.take(loc_tr.astype(int),axis=0).take(loc_val.astype(int),axis=1)
## GET self covariances for the test cases (needed in covMatrix)
R_val = R.take(loc_val.astype(int),axis=0).take(loc_val.astype(int),axis=1)
d = diag(R_val).transpose()
R_tr_val = vstack((R_tr_val, d))
## PREDICTION
[MU_temp, S2_temp] = gpr.gp_pred(logtheta, covfunc, X_tr, y_tr, X_val, R_tr, w, R_tr_val)
if j==0: # first fold
MU[0:s,:] = MU_temp
S2[0:s,:] = S2_temp
elif 0<j<k-1:
MU[j*s:j*s+s,:] = MU_temp
S2[j*s:j*s+s,:] = S2_temp
else: # last fold
MU[n-s1:n,:] = MU_temp
S2[n-s1:n,:] = S2_temp
## VALIDATION for predictions on validation dataset
## DO NOT resacle predictions - rescaling is done in valid_fig if needed!!!
M = valid_fig(y, MU, trafo=trafo)
print w
print M
return hstack((M, logtheta))
def gp_correct_poses_precompute(gt_poses_train,
poses_train,
state_train,
train_hyper=True,
hyper_seed=None,
subsample=1):
n_task_vars = pose_error.shape[1]
alphas = []
loghyper = hyper_seed
if train_hyper:
loghyper = []
if hyper_seed == None:
hyper_seed = [-1] * n_task_vars
# sample X for hyperparam training
n = state_train.shape[0]
d = state_train.shape[1]
## data from a noisy GP
X = state_train
X_subsample = np.empty((0, d))
y_subsample = np.empty((0, n_task_vars))
for i in range(n):
if i % subsample == 0:
X_subsample = np.r_[X_subsample, state_train[i:(i + 1), :]]
y_subsample = np.r_[y_subsample, pose_error[i:(i + 1), :]]
## DEFINE parameterized covariance funcrion
covfunc = ['kernels.covSum', ['kernels.covSEiso', 'kernels.covNoise']]
# sample y for y training
for i_task_var in range(n_task_vars):
### sample observations from the GP
y_task_var = y_subsample[:, i_task_var]
y = pose_error[:, i_task_var]
## SET (hyper)parameters (HACK: don't do the rotation angles right now - it doesn't do anything because the measurements are so bad)
if train_hyper and i_task_var < 3:
## LEARN the hyperparameters if none are provided
print 'GP: ...training variable ', i_task_var
### INITIALIZE (hyper)parameters by -1
d = X.shape[1]
h = hyper_seed[i_task_var]
init = h * np.ones((d, 1))
loghyper_var_i = np.array([[h], [h]])
loghyper_var_i = np.vstack((init, loghyper_var_i))[:, 0]
print 'initial hyperparameters: ', np.exp(loghyper_var_i)
### TRAINING of (hyper)parameters
loghyper_var_i = gpr.gp_train(loghyper_var_i, covfunc, X_subsample,
y_task_var)
print 'trained hyperparameters: ', np.exp(loghyper_var_i)
loghyper.append(loghyper_var_i)
else:
h = hyper_seed[i_task_var]
init = h * np.ones((1, d))
loghyper.append(init)
## PREDICTION precomputation
#IPython.embed()
alphas.append(
gp_pred_precompute_alpha(loghyper[i_task_var], covfunc, X, y))
return alphas, loghyper
# ***UNCOMMENT THE FOLLOWING LINES TO DO TRAINING OF HYPERPARAMETERS*** ### TRAINING GP #print 'GP: ...training' ### INITIALIZE (hyper)parameters by -1 #d = X.shape[1] #init = -1*ones((d,1)) #loghyper = array([[-1], [-1]]) #loghyper = vstack((init, loghyper))[:,0] #print 'initial hyperparameters: ', exp(loghyper) ### TRAINING of (hyper)parameters y=array([x*x for x in X]) outputScaler = preprocessing.Scaler(with_std=False).fit(y) scaledy = outputScaler.transform(y) logtheta = gpr.gp_train(loghyper, covfunc, X, scaledy) #print 'trained hyperparameters: ',exp(logtheta) ## to GET prior covariance of Standard GP use: #[Kss, Kstar] = general.feval(covfunc, logtheta, X, Xstar) # Kss = self covariances of test cases, # # Kstar = cov between train and test cases print "loghyper :",loghyper ## PREDICTION print 'GP: ...prediction' results = gpr.gp_pred(logtheta, covfunc, X, scaledy, Xstar) # get predictions for unlabeled data ONLY MU = outputScaler.inverse_transform(results[0]) S2 = results[1]
def k_fold_cv(k, loghyper, covfunc, X, id, y, R, w, trafo=None):
'''Do k-fold cross validation for
tuning weight parameter of SUM of
parameterized cov **function** AND cov **martix**. '''
## TRAINING the parameters
logtheta = gpr.gp_train(loghyper, covfunc, X, y, R, w)
#print exp(logtheta)
MU = zeros((y.shape))
S2 = zeros((y.shape))
n = id.shape[0]
s = floor(n / k)
for j in range(0, k):
# prepare X, y and R according to fold
if j == 0: # first fold
X_tr = X[s:n, :]
y_tr = y[s:n, :]
id_tr = id[s:n, :]
X_val = X[0:s, :]
id_val = id[0:s, :]
elif 0 < j < k - 1:
X_tr = X[0:j * s, :]
X_tr = vstack((X_tr, X[j * s + s:n, :]))
y_tr = y[0:j * s, :]
y_tr = vstack((y_tr, y[j * s + s:n, :]))
id_tr = id[0:j * s, :]
id_tr = vstack((id_tr, id[j * s + s:n, :]))
X_val = X[j * s:j * s + s, :]
id_val = id[j * s:j * s + s, :]
else: # last fold
s1 = s + fmod(n, k)
X_tr = X[0:n - s1, :]
y_tr = y[0:n - s1, :]
id_tr = id[0:n - s1, :]
X_val = X[n - s1:n, :]
id_val = id[n - s1:n, :]
loc_tr = general.get_index_vec(id_tr[:, 0], id[:, 0])
R_tr = R.take(loc_tr.astype(int), axis=0).take(loc_tr.astype(int),
axis=1)
loc_val = general.get_index_vec(id_val[:, 0], id[:, 0])
R_tr_val = R.take(loc_tr.astype(int), axis=0).take(loc_val.astype(int),
axis=1)
## GET self covariances for the test cases (needed in covMatrix)
R_val = R.take(loc_val.astype(int), axis=0).take(loc_val.astype(int),
axis=1)
d = diag(R_val).transpose()
R_tr_val = vstack((R_tr_val, d))
## PREDICTION
[MU_temp, S2_temp] = gpr.gp_pred(logtheta, covfunc, X_tr, y_tr, X_val,
R_tr, w, R_tr_val)
if j == 0: # first fold
MU[0:s, :] = MU_temp
S2[0:s, :] = S2_temp
elif 0 < j < k - 1:
MU[j * s:j * s + s, :] = MU_temp
S2[j * s:j * s + s, :] = S2_temp
else: # last fold
MU[n - s1:n, :] = MU_temp
S2[n - s1:n, :] = S2_temp
## VALIDATION for predictions on validation dataset
## DO NOT resacle predictions - rescaling is done in valid_fig if needed!!!
M = valid_fig(y, MU, trafo=trafo)
print w
print M
return hstack((M, logtheta))
### TRAINING GP #print 'GP: ...training' ### INITIALIZE (hyper)parameters by -1 d = X.shape[1] init = -1*ones((d,1)) loghyper = array([[-1], [-1]]) loghyper = vstack((init, loghyper))[:,0] print 'LOG-HYPER: ',loghyper print 'INIT : ',init print 'initial hyperparameters: ', exp(loghyper) ## TRAINING of (hyper)parameters print loghyper.shape print X.shape print y.shape logtheta = gpr.gp_train(loghyper, covfunc, X, y) print 'trained shape: ', logtheta.shape print 'trained hyperparameters: ',exp(logtheta) ## to GET prior covariance of Standard GP use: #[Kss, Kstar] = general.feval(covfunc, logtheta, X, Xstar) # Kss = self covariances of test cases, # # Kstar = cov between train and test cases ## PREDICTION print 'GP: ...prediction' results = gpr.gp_pred(logtheta, covfunc, X, y, Xstar) # get predictions for unlabeled data ONLY MU = results[0] S2 = results[1]
