def conv_neural_network_model(name="conv_neural_network_model",
imconstpar=constantParametersImage(),
netconstpar=constantParametersNetwork()):
convnet = input_data(
shape=[None, imconstpar.height, imconstpar.width, imconstpar.channels],
name='image_input')
convnet = conv_2d(convnet, 32, 8, strides=4, activation='relu')
#convnet = max_pool_2d(convnet, 2)
convnet = conv_2d(convnet, 64, 4, strides=2, activation='relu')
#convnet = max_pool_2d(convnet, 2)
convnet = conv_2d(convnet, 64, 3, strides=1, activation='relu')
#convnet = max_pool_2d(convnet, 2)
convnet = fully_connected(convnet, 512, activation='relu')
convnet = dropout(convnet, .8)
convnet = fully_connected(convnet, 2, activation='softmax')
convnet = regression(convnet,
optimizer='adam',
loss='mean_square',
name='targets')
model = tflearn.DNN(convnet)
return model
def conv_reflectance_neural_network_model5(
n_actions=3,
name="conv_ref4",
shape=None,
imconstpar=constantParametersImage(),
netconstpar=constantParametersNetwork()):
convnet = input_data(
shape=[None, imconstpar.height, imconstpar.width, imconstpar.channels],
name='image_input')
reflectance = tflearn.input_data(shape=[None, 6], name="reflectance_input")
convnet = conv_2d(convnet,
32,
8,
strides=4,
activation='prelu',
name='conv1')
#convnet = max_pool_2d(convnet, 2)
convnet = conv_2d(convnet,
64,
4,
strides=2,
activation='prelu',
name='conv2')
#convnet = max_pool_2d(convnet, 2)
convnet = conv_2d(convnet,
64,
3,
strides=1,
activation='prelu',
name='conv3')
#convnet = max_pool_2d(convnet, 2)
convnet = fully_connected(convnet, 128, activation='softmax', name='fc1')
convnet = dropout(convnet, .8)
convnet = fully_connected(convnet, 3, activation='sigmoid', name='fc2')
merged_net = merge([convnet, reflectance], mode='concat', axis=1)
#convnet = regression(convnet, optimizer='SGD', loss='categorical_crossentropy', name='targets')
merged_net = fully_connected(merged_net,
12,
activation='softmax',
name='m_fc1')
merged_net = fully_connected(merged_net,
n_actions,
activation='linear',
name='m_fc2')
merged_net = regression(merged_net,
optimizer='adam',
learning_rate=netconstpar.l_rate,
loss='mean_square',
name='targets')
model = tflearn.DNN(merged_net)
return model, name
def main():
imgPars = constantParametersImage()
camera = Camera(width=imgPars.width, height=imgPars.height)
camera.sensor_get_value()
find_object = FindObject( , [camera])
#motors = Motors()
#infrared = ReflectanceSensors()
#infrared.calibrate()
#infrared.update()
sleep(5)
print("setup")
# To exit the program properly on keyboardinterrupt
def signal_handler(signal, frame):
#motors.stop()
GPIO.cleanup()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
##motors.forward(dur=1)
iteration = 0
# while(not isGoal(infrared) and iteration < 5):
# motors.forward(dur=1)
# infrared.update()
# sleep(1)
# iteration += 1
#motors.stop()
GPIO.cleanup()
def build_neural_network(self):
param = constantParametersImage()
n_classes = 2
b_size = 128
l_rate = 0.001
convnet = input_data(
shape=[None, param.height, param.width, param.channels],
name='input')
convnet = conv_2d(convnet, 32, 8, strides=4, activation='relu')
#convnet = max_pool_2d(convnet, 2)
convnet = conv_2d(convnet, 64, 4, strides=2, activation='relu')
#convnet = max_pool_2d(convnet, 2)
convnet = conv_2d(convnet, 64, 3, strides=1, activation='relu')
#convnet = max_pool_2d(convnet, 2)
convnet = fully_connected(convnet, 512, activation='relu')
convnet = dropout(convnet, .8)
convnet = fully_connected(convnet, n_classes, activation='softmax')
convnet = regression(convnet,
optimizer='adam',
batch_size=b_size,
learning_rate=l_rate,
loss='categorical_crossentropy',
name='targets')
model = tflearn.DNN(convnet)
model.load('tflearncnnmug.model')
return model
def __main__():
print("start")
discount_factor = 0.8
n_actions = 3
constant = cpi.constantParametersImage()
constantNet = cpi.constantParametersNetwork()
print("setting up model")
q_net, name = neuralnets.ref2(n_actions=n_actions)
print("creating trainer")
trainer = Trainer(q_net, constant, constantNet, n_actions=n_actions)
modelh = ModelHandler()
exph = ExperienceHandler()
if (len(sys.argv) > 1):
print("loading model")
modelh.load(sys.argv[1], q_net)
q_dash = q_net
training = True
experiences = exph.load_experiences()
experi = np.array(experiences).shape
print(experi)
sleep(5)
q_net = trainer.simulate_training(experiences, q_net)
overwrite = False
name += ".model"
if (len(sys.argv) > 2):
if (sys.argv[2] == 'o'):
overwrite = True
if (sys.argv[1] != name):
print("input name does not match net name")
name = sys.argv[1]
modelh.save(name, q_net, overwrite=overwrite)
def __main__():
#initialize all components
def signal_handler(signal, frame):
print("free resources")
motors.stop()
camera.close()
GPIO.cleanup()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
discount_factor = 0.9
constant = cpi.constantParametersImage()
constNet = cpi.constantParametersNetwork()
motors = Motors()
camera = None
reflectance_sensors = None
if constNet.has_camera:
camera = Camera(constant.width, constant.height, save=True)
print("completed stting up cam")
print(camera)
if constNet.has_ref:
reflectance_sensors = ReflectanceSensors(motob=motors,
auto_calibrate=True)
reward_function = LineFollowerRewardFunction(RewardFunction,
reflectance_sensors)
action_executor = RobotActionExecutor(motors)
q_net, name = neuralnets.cam1(n_actions=action_executor.n_actions)
trainer = Trainer(q_net,
constant,
constNet,
n_actions=action_executor.n_actions)
modelh = ModelHandler()
# check if we want to load some previous model or start
# with a fresh one
if (len(sys.argv) > 1):
modelh.load(sys.argv[1], q_net)
q_dash = q_net
#train_y = train_y.reshape([-1, 2])
episodes = 20
max_step = 1000
sec_cd = 5
experience = []
current_cam_state = False
updated_cam_state = False
training = True
for i in range(episodes): # epiode for loop
motors.stop()
print("get ready for the next episode(" + str(i) + ")...")
print(sec_cd)
sleep(sec_cd)
is_final_state = False
step = 0
reflectance_sensors.update()
updated_ref_state = reflectance_sensors.get_value()
print(updated_ref_state)
camera.update()
updated_cam_state = camera.get_value()
while step < max_step and not (is_final_state): #main while loop
# Store current state
action = -1
print("step " + str(step))
print(updated_ref_state)
current_ref_state = updated_ref_state
current_cam_state = updated_cam_state
# Chose action randomly or pick best action
was_random = True
if (rdm.random() < (.1 + (1 / (1 + step * i))) and training):
action = rdm.randint(0, action_executor.n_actions - 1)
else:
q_values = q_net.predict({
#'reflectance_input': current_ref_state.reshape([-1, 6])
#,
'image_input':
current_cam_state.reshape([
-1, constant.height, constant.width, constant.channels
])
})
print("q_values for actions are:")
print(q_values)
was_random = False
action = np.argmax(q_values)
#end random if-else
# get reward for current state
# Do selected action (update state)
action_executor.do_action(action)
sleep(0.1)
motors.stop()
step += 1
reflectance_sensors.update()
camera.update()
updated_ref_state = reflectance_sensors.get_value()
updated_cam_state = camera.get_value()
reward, is_final_state = reward_function.calculate_reward(
updated_ref_state, action, was_random)
# Store transition of (current_state, action, reward, updated_state)
# Change to append if you want to store all experiences
if (training):
q_net = trainer.train(q_net, [
action, reward, current_ref_state, updated_ref_state,
is_final_state, current_cam_state, updated_cam_state
],
step,
i,
discount_factor,
motors=motors)
#end main while
#end episode for loop
if (training):
print("save from main")
trainer.save_experiences_to_file()
motors.stop()
overwrite = False
if (len(sys.argv) > 2):
if (sys.argv[2] == 'o'):
overwrite = True
print("saving as")
print(name)
modelh.save(name + ".model", q_net, overwrite=overwrite)
print("free resources")
motors.stop()
if (constNet.has_camera):
camera.close()
GPIO.cleanup()
sys.exit(0)
print("done")
import tflearn
import tensorflow as tf
from tflearn.layers.conv import conv_2d, max_pool_2d
from tflearn.layers.core import input_data, dropout, fully_connected
from tflearn.layers.estimator import regression
from create_image_data_set import create_feature_sets_and_labels
import numpy as np
import sys
import os
from constparimg import constantParametersImage, constantParametersNetwork
# with open( "image_dataset.pickle", "rb" ) as f: # b for binary
# train_x, train_y, test_x, test_y = pickle.load(f)
tf.logging.set_verbosity(tf.logging.ERROR)
constantsImg = constantParametersImage()
constantsNet = constantParametersNetwork()
train_x, train_y, test_x, test_y = create_feature_sets_and_labels(
'posBat', 'negBat')
print(len(train_y[0]))
n_classes = len(train_y[0])
n_epochs = constantsNet.n_epochs
b_size = constantsNet.batch_size
l_rate = constantsNet.learning_rate
shape = train_x[0].shape
print("shape")
print(shape)
