def test_reconnect_model(self):
network = Network(
model_fn='../ggcnn/data/networks/ggcnn_rss/epoch_29_model.hdf5')
layer = keras.layers.Conv2D(8,
kernel_size=(3, 3),
strides=(2, 2),
padding='same',
activation='relu',
name='test_layer')
layer2 = keras.layers.Conv2D(8,
kernel_size=(3, 3),
strides=(2, 2),
padding='same',
activation='relu',
name='test_layer')
layer3 = keras.layers.Conv2D(32,
kernel_size=(3, 3),
strides=(2, 2),
padding='same',
activation='relu',
name='test_layer')
network1 = Network(model=network.reconnect_model(3, [layer]))
self.assertTrue(
str(network1) ==
'C9x9x32_C5x5x16_C3x3x8_C3x3x8_T3x3x8_T5x5x16_T9x9x32')
network2 = Network(
model=network.reconnect_model(3, [layer2], replace=True))
self.assertTrue(
str(network2) == 'C9x9x32_C5x5x16_C3x3x8_T3x3x8_T5x5x16_T9x9x32')
network3 = Network(model=network.reconnect_model(6, [layer3]))
self.assertTrue(
str(network3) ==
'C9x9x32_C5x5x16_C3x3x8_T3x3x8_T5x5x16_T9x9x32_C3x3x32')
def test_train(self):
network = Network(
model_fn='../ggcnn/data/networks/ggcnn_rss/epoch_29_model.hdf5')
train_generator = DatasetGenerator(
'../data/datasets/preprocessed/jacquard_samples.hdf5', 4)
network.train(train_generator, 4, 2)
network.train(train_generator, 4, 0)
def main():
# Open a serial port to give the Arduino commands
ser = serial.Serial(
port="/dev/ttyACM0",
baudrate=9600,
)
start = datetime.datetime.now()
# Create a network that can read in packets of length 1024 bytes or less
# and that stores the last 10 messages ir received.
network = Network(1024, 10)
# Start listening for messages (UDP packets).
network.start_listening(socket.SOCK_DGRAM)
try:
while True:
time = datetime.datetime.now() - start
incoming_message = network.read(network.buffer_size)
for message in incoming_message:
try:
print("Message from: " + message.find_values("f"))
print("Steering: " + message.find_values("command").split(".")[1])
print("Throttle: " + message.find_values("command").split(".")[0])
print("Time since startup: " + str(time))
except Exception:
pass
"""incoming_command = network.read(network.buffer_size)
if len(incoming_command) > 0:
incoming_command = incoming_command[0].find_values("command")
if len(incoming_command) > 0:
tmp = incoming_command[0].split(".")
esc = tmp[0].strip()
steer = tmp[1].strip()
ser.write(("e" + esc + "s" + steer).encode('utf-8'))
time.sleep(0.01)"""
except KeyboardInterrupt:
network.stop_listening()
def init(data, names):
# load data.xyz as appropriate
data.game = GameState(names)
data.controller = Controller()
data.network = Network()
data.game_list = [data.game]
def test_get_connectivity(self):
network = Network(
model_fn='../ggcnn/data/networks/ggcnn_rss/epoch_29_model.hdf5')
connectivity = network.get_connectivity()
connectivity2 = network.get_connectivity(layer_idx=3)
self.assertTrue(connectivity == [-1, 0, 1, 2, 3, 4, 5, 6, 6, 6, 6])
self.assertTrue(connectivity2 == [-1, 0, 1, 2, 3, 3, 3, 3])
def test_wider(self):
layer = 1
layer2 = 4
layer3 = 6
network = Network(
model_fn='../ggcnn/data/networks/ggcnn_rss/epoch_29_model.hdf5')
network2 = network.wider(layer=layer)
network3 = network.wider(layer=layer2)
network4 = network.wider(layer=layer3)
input_img = np.expand_dims(np.load('depth_inpainted.npy'), axis=2)
input_img = np.expand_dims(input_img, axis=0)
output1 = network.predict(input_img)
output2 = network2.predict(input_img)
output3 = network3.predict(input_img)
output4 = network4.predict(input_img)
self.assertTrue(
len(network2.model.layers) == len(network.model.layers))
self.assertTrue(network2.model.layers[layer].filters ==
network.model.layers[layer].filters * 2)
self.assertTrue(network2.model.layers[layer + 1].output.shape ==
network2.model.layers[layer + 1].output.shape)
import pylab as plt
plt.figure()
plt.subplot(2, 2, 1)
plt.imshow(output1[0].squeeze())
plt.subplot(2, 2, 2)
plt.imshow(output2[0].squeeze())
plt.subplot(2, 2, 3)
plt.imshow(output3[0].squeeze())
plt.subplot(2, 2, 4)
plt.imshow(output4[0].squeeze())
plt.show()
def test_conv_layer_idxs(self):
network = Network(
model_fn='../ggcnn/data/networks/ggcnn_rss/epoch_29_model.hdf5')
layers = network.conv_layer_idxs
self.assertTrue([1, 2, 3] == layers)
deeper = network.deeper(3)
layers2 = deeper.conv_layer_idxs
self.assertTrue(layers2 == [1, 2, 3, 4])
def test_evaluate_loss(self):
node = Network(
model_fn='../data/networks/ggcnn_rss/epoch_29_model.hdf5')
op = NetworkOptimization(
eval_method='loss',
dataset_fn='../data/datasets/preprocessed/jacquard_samples.hdf5',
epochs=1,
debug=True)
op.evaluate(node)
def test_get_expandable_layer_idxs(self):
network = Network(
model_fn='../ggcnn/data/networks/ggcnn_rss/epoch_29_model.hdf5')
layers = network.get_expandable_layer_idxs()
self.assertTrue([1, 2, 3] == layers)
deeper = network.deeper(3)
layers2 = deeper.conv_layer_idxs
self.assertTrue(layers2 == [1, 2, 3, 4])
layers = network.get_expandable_layer_idxs(transpose=True)
self.assertTrue([1, 2, 3, 4, 5, 6] == layers)
def test_layer_sizes(self):
test_netowrk = Network(cf, interaction_map)
input_to_layer = tf.sparse_placeholder(
tf.float32,
shape=[None, interaction_map.interaction_class_cnt],
name="interaction_feature")
out_layer = test_netowrk.predict(input_to_layer)
out_layer_shape = out_layer.get_shape().as_list()
self.assertTrue(out_layer_shape == [None, cf.embedding_size],
msg="layer shape")
def test_expand(self):
node = Network(
model_fn='../data/networks/ggcnn_rss/epoch_29_model.hdf5')
op = NetworkOptimization(
eval_method='iou',
dataset_fn='../data/datasets/preprocessed/jacquard_samples.hdf5')
children, scores, actions = op.expand(node)
self.assertTrue(len(children) == 6)
self.assertTrue((actions == [
'deeper_conv_1', 'wider_conv_1', 'deeper_conv_2', 'wider_conv_2',
'deeper_conv_3', 'wider_conv_3'
]))
def test_run_short_transpose(self):
node = Network(model_fn='../data/networks/shallow/epoch_50_model.hdf5')
op = NetworkOptimization(
eval_method='iou',
dataset_fn='../data/datasets/preprocessed/jacquard_samples.hdf5',
epochs=0,
debug=True,
expand_transpose=True)
[nodes, scores, actions] = op.run(node, depth=2, k=1)
print 'Nodes: {}'.format(nodes)
print 'Scores: {}'.format(scores)
print 'Actions: {}'.format(actions)
def test_evaluate(self):
node = Network(
model_fn='../data/networks/ggcnn_rss/epoch_29_model.hdf5')
op = NetworkOptimization(
eval_method='iou',
dataset_fn='../data/datasets/preprocessed/jacquard_samples.hdf5')
op.min_iou = 0.
ev1 = op.evaluate(node)
op.min_iou = 1.
ev2 = op.evaluate(node)
self.assertTrue(ev1 > 0)
self.assertTrue(ev2 == 0)
def test_run_short(self):
node = Network(
model_fn='../data/networks/ggcnn_rss/epoch_29_model.hdf5')
op = NetworkOptimization(
eval_method='iou',
dataset_fn='../data/datasets/preprocessed/jacquard_samples.hdf5',
epochs=0,
debug=True)
[nodes, scores, actions] = op.run(node)
print 'Nodes: {}'.format(nodes)
print 'Scores: {}'.format(scores)
print 'Actions: {}'.format(actions)
def test_layer_sizes(self):
cf = Config()
cf.n_chars = 33
cf.string_length = 199
cf.n_syllables = 11
cf.syllable_length = 3
cf.word_length = 2
cf.n_words = 7
cf.output_number = 101
cf.n_classes = 11
cf.strides1 = 1
cf.strides2 = 1
test_netowrk = Network(cf)
# layer 0 --------------------------
input_to_layer = tf.placeholder(tf.float32, [None, 199, 33])
out_layer = test_netowrk.layer0(input_to_layer)
out_layer_shape = out_layer.get_shape().as_list()
self.assertTrue(out_layer_shape == [None, 199, 33, 1],
msg="layer 0 shape comp")
# layer 1 --------------------------
input_to_layer = tf.placeholder(tf.float32, [None, 199, 33, 1])
out_layer = test_netowrk.layer1(input_to_layer)
out_layer_shape = out_layer.get_shape().as_list()
self.assertTrue(out_layer_shape == [None, 197, 1, 11],
msg="layer 1 shape comp")
# layer 2 --------------------------
input_to_layer = tf.placeholder(tf.float32, [None, 197, 1, 11])
out_layer = test_netowrk.layer2(input_to_layer)
out_layer_shape = out_layer.get_shape().as_list()
self.assertTrue(out_layer_shape == [None, 196, 1, 7],
msg="layer 2 shape comp")
# layer 3 --------------------------
input_to_layer = tf.placeholder(tf.float32, [None, 196, 1, 7])
out_layer = test_netowrk.layer3(input_to_layer)
out_layer_shape = out_layer.get_shape().as_list()
self.assertTrue(out_layer_shape == [None, 101],
msg="layer 3 shape comp")
# layer 4 --------------------------
input_to_layer = tf.placeholder(tf.float32, [None, 101])
out_layer = test_netowrk.layer4(input_to_layer)
out_layer_shape = out_layer.get_shape().as_list()
self.assertTrue(out_layer_shape == [None, 11],
msg="layer 3 shape comp")
def main(args):
np.random.seed(0xC0FFEE)
n = Network()
n.layers.append(Fullconnect(2, 10, ReLu.function, ReLu.derivative))
n.layers.append(Fullconnect(10, 2))
x = np.array([[1, 2, 1, 2, 5, 6, 5, 6], [5, 4, 4, 5, 1, 2, 2, 1]])
t = np.array([[1, 1, 1, 1, 0, 0, 0, 0], [0, 0, 0, 0, 1, 1, 1, 1]])
for epoch in range(0, 20):
loss = n.train(x, t)
pkl.dump(n.dump_params().copy(), open(args.dump_params, 'wb'))
logging.info('pickle dump done')
nn = Network()
nn.layers.append(Fullconnect(2, 10, ReLu.function, ReLu.derivative))
nn.layers.append(Fullconnect(10, 2))
nn.load_params(pkl.load(open('test.pkl', 'rb')).copy())
logging.info('pickle load done')
print 'before:', [['%.2f' % _ for _ in v] for v in n.predict(x)]
print 'after: ', [['%.2f' % _ for _ in v] for v in nn.predict(x)]
def main():
"""A simple test to calculate the round trip time of
packets
This test was performed on: 3/21/2018
Results: Overwhelmingly successful. See a fuller description
on the log page:
(https://classes.engineering.wustl.edu/ese205/core/index.php?title=Pi_Car_Comm_Log#Timing_Test_.28Finally.29)
:return: None
"""
network = Network(1024, 10)
while True:
message = "<token>Token data</token>" # send token data every 2 seconds
network.broadcast(message)
time.sleep(2)
def main():
"""A receiver module for the travel_time test. This module will
receive packets and compare their timestamp to the current
time to see how long they spent in transit. It will write these
data to an output file for viewing.
:return: None
"""
network = Network(1024, 10)
network.start_listening(socket.SOCK_DGRAM)
out_file = open("timing_output.log", "w")
start = datetime.datetime.now()
while (datetime.datetime.now() - start) < datetime.timedelta(seconds=30):
try:
unreads = network.read(network.buffer_size) # read out all unread messages
for unread in unreads:
# noinspection PyBroadException
try:
str_time_sent = unread.find_values("s")[0].split("_") # read in the timestamp
time_sent = datetime.datetime(
year = int(str_time_sent[0]),
month = int(str_time_sent[1]),
day = int(str_time_sent[2]),
hour = int(str_time_sent[3]),
minute = int(str_time_sent[4]),
second = int(str_time_sent[5]),
microsecond = int(str_time_sent[6])
)
current_time = datetime.datetime.now()
delta_time = (current_time - time_sent).total_seconds() # compare timestamp with current time
out_file.write( # log the incoming message to a file
"Received message: "
+ unread.content
+ "At time: "
+ str(current_time)
+ ". The time of flight was: "
+ str(delta_time)
+ " seconds"
+ "\n"
)
except Exception: # Ignore corrupted messages
continue
except KeyboardInterrupt: # Allow the user to stop execution with the keyboard.
network.stop_listening()
out_file.close()
network.stop_listening()
out_file.close()
def main(args):
logging.info('load data start')
train_lex, train_y = pkl.load(open('datas/kowiki_spacing_train.pkl', 'r'))
words2idx = pkl.load(open('datas/kowiki_dict.pkl', 'r'))
logging.info('load data done')
index2words = {value: key for key, value in words2idx.iteritems()}
vocsize = len(words2idx) + 1
nclasses = 2
nsentences = len(train_lex)
max_iter = min(args.samples, nsentences)
logging.info(
'vocsize:%d, nclasses:%d, nsentences:%d, samples:%d, max_iter:%d' %
(vocsize, nclasses, nsentences, args.samples, max_iter))
context_window_size = args.window_size
n = Network()
n.layers.append(Fullconnect(vocsize, 256, Tanh.function))
n.layers.append(Recurrent(256, 256, ReLU.function))
n.layers.append(Fullconnect(256, 256, ReLU.function))
n.layers.append(Fullconnect(256, nclasses))
n.activation = Softmax(is_zero_pad=True)
if not os.path.isfile(args.params):
logging.error('not exist parameter file: %s' % args.params)
return
n.load_params(pkl.load(open(args.params, 'rb')))
for i in xrange(max_iter):
cwords = contextwin(train_lex[i], context_window_size)
words, labels = onehotvector(cwords, vocsize)
y_list = [np.argmax(_) for _ in n.predict(words)]
result_list = []
for idx, y in zip(train_lex[i], y_list):
if y == 1:
result_list.append(' ')
result_list.append(index2words[idx].encode('utf8'))
print ''.join(result_list)
def test_wider_on_smaller_network(self):
input = np.reshape(np.array([[7, 8, 9], [5, 6, 4], [4, 1, 3]]),
(1, 3, 3, 1)).astype(np.float64)
n_filters = 2
i = keras.layers.Input((3, 3, 1))
l1 = keras.layers.Conv2D(n_filters,
padding='same',
kernel_size=(3, 3),
activation='relu')(i)
l2 = keras.layers.Conv2D(n_filters * 2,
padding='same',
kernel_size=(3, 3),
activation='relu')(l1)
l3 = keras.layers.Conv2DTranspose(n_filters,
padding='same',
kernel_size=(3, 3),
activation='relu')(l2)
model = keras.models.Model(i, l3)
network = Network(model=model)
network2 = network.wider(1)
model2 = network2.copy_model()
# Hidden outputs
modelh1 = keras.models.Model(model.layers[0].output,
model.layers[2].output)
modelh2 = keras.models.Model(model2.layers[0].output,
model2.layers[2].output)
hidden1 = modelh1.predict(input)
hidden2 = modelh2.predict(input)
self.assertTrue((np.round(hidden1, 3) == np.round(hidden2, 3)).all())
final1 = model.predict(input)
final2 = model2.predict(input)
self.assertTrue((np.round(final1, 3) == np.round(final2, 3)).all())
def test_wider_at_hidden(self):
layer = 2
network = Network(
model_fn='../ggcnn/data/networks/ggcnn_rss/epoch_29_model.hdf5')
network2 = network.wider(layer=layer)
input_img = np.expand_dims(np.load('depth_inpainted.npy'), axis=2)
input_img = np.expand_dims(input_img, axis=0)
input_img = np.ones(input_img.shape)
m1 = network.model
m2 = network2.model
hidden1 = m1.layers[layer + 1](m1.layers[layer].output)
hidden2 = m2.layers[layer + 1](m2.layers[layer].output)
mh1 = keras.models.Model(m1.layers[0].output, hidden1)
mh2 = keras.models.Model(m2.layers[0].output, hidden2)
o1 = mh1.predict(input_img)
o2 = mh2.predict(input_img)
for i in range(o1.shape[3]):
print i, np.amax(np.abs(o1[:, :, :, i] - o2[:, :, :, i]))
def test__initialize_params_(self):
preheated_embeddings = np.array([
np.array([-1.0, -1.0, -6.0]),
np.array([-1.0, -1.0, 5.0]),
np.array([-1.0, -1.0, 4.0]),
np.array([-1.0, 3.0, -1.0]),
np.array([1.0, 1.0, -1.0]),
np.array([2.0, 1.0, -1.0]),
np.array([1.0, -1.0, 1.0]),
np.array([1.0, -1.0, -1.0])
])
interaction_sparse_tensor = interaction_map.idxs_to_tf([2])
test_netowrk = Network(cf, interaction_map, preheated_embeddings)
with tf.Session() as sess:
sess.run(tf.global_variables_initializer())
result = sess.run(
test_netowrk.embedd_interaction_sparse_tensor(
interaction_sparse_tensor))
np.testing.assert_array_equal(result, [[-1.0, -1.0, 4.0]])
def main():
# Create a serial port with which to communicate with an Arduino
ser = serial.Serial(
port='/dev/ttyACM0',
baudrate=9600,
)
# Create a `Network` that can read in packets that are less than
# or equal to 1024 bytes, and that stores the last 10 messages
# it received.
network = Network(1024, 10)
try:
while True:
# noinspection PyBroadException
try:
# Decode the info coming from the Arduino
command = ser.readline().decode('utf-8')
# Broadcast the command to any Raspberry Pi's that are
# listening.
network.broadcast("<command>" + command + "</command>")
except Exception:
pass
except KeyboardInterrupt:
network.close_broadcast()
def test_deeper(self):
network = Network(
model_fn='../ggcnn/data/networks/ggcnn_rss/epoch_29_model.hdf5')
network2 = network.deeper(layer=2)
network3 = network.deeper(layer=5)
network4 = network.deeper(layer=6)
input_img = np.expand_dims(np.load('depth_inpainted.npy'), axis=2)
input_img = np.expand_dims(input_img, axis=0)
output1 = network.predict(input_img)
output2 = network2.predict(input_img)
output3 = network3.predict(input_img)
output4 = network4.predict(input_img)
self.assertTrue(
str(network2) ==
'C9x9x32_C5x5x16_C5x5x16_C3x3x8_T3x3x8_T5x5x16_T9x9x32')
self.assertTrue(
str(network3) ==
'C9x9x32_C5x5x16_C3x3x8_T3x3x8_T5x5x16_T5x5x16_T9x9x32')
self.assertTrue(
str(network4) ==
'C9x9x32_C5x5x16_C3x3x8_T3x3x8_T5x5x16_T9x9x32_T9x9x32')
for o in [output2, output3, output4]:
self.assertTrue((o[0] == output1[0]).all())
class VirtualMachinesPool(object):
pool = list()
using = list()
network = Network()
lock = Lock()
platforms = Platforms
preloader = None
artifact_collector = None
def __str__(self):
return str(self.pool)
def __init__(self, app):
self.app = app
self.platforms()
self.start_workers(app)
@classmethod
def start_workers(cls, app):
cls.app = app
cls.artifact_collector = ArtifactCollector(cls)
cls.preloader = VirtualMachinesPoolPreloader(cls)
cls.preloader.start()
@classmethod
def stop_workers(cls):
if cls.preloader:
cls.preloader.stop()
if cls.artifact_collector:
cls.artifact_collector.close()
@classmethod
def remove_vm(cls, vm):
if vm in list(cls.using):
try:
cls.using.remove(vm)
except ValueError:
log.warning("VM %s not found in using" % vm.name)
if vm in list(cls.pool):
try:
cls.pool.remove(vm)
except ValueError:
log.warning("VM %s not found in pool" % vm.name)
@classmethod
def add_vm(cls, vm, to=None):
if to is None:
to = cls.pool
to.append(vm)
@classmethod
def free(cls):
log.info("Deleting using machines...")
for vm in list(cls.using):
cls.using.remove(vm)
vm.delete(try_to_rebuild=False)
log.info("Deleting pool...")
for vm in list(cls.pool):
cls.pool.remove(vm)
vm.delete(try_to_rebuild=False)
cls.network.delete()
@classmethod
def count(cls):
return len(cls.pool) + len(cls.using)
@classmethod
def can_produce(cls, platform):
platform_limit = cls.platforms.get_limit(platform)
if platform_limit is UnlimitedCount:
return True
if cls.count() >= platform_limit:
log.debug('Can\'t produce new virtual machine with platform %s: '
'not enough Instances resources' % platform)
return False
else:
return True
@classmethod
def has(cls, platform):
for vm in cls.pool:
if vm.platform == platform and vm.ready and not vm.checking:
return True
return False
@classmethod
def get_by_platform(cls, platform):
res = None
with cls.lock:
if not cls.has(platform):
return None
for vm in sorted(cls.pool, key=lambda v: v.created, reverse=True):
if vm.platform == platform and vm.ready and not vm.checking:
log.info("Got VM %s (ip=%s, ready=%s, checking=%s)" %
(vm.name, vm.ip, vm.ready, vm.checking))
cls.pool.remove(vm)
cls.using.append(vm)
res = vm
break
if not res:
return None
if res.ping_vm():
return res
else:
cls.using.remove(res)
res.delete()
return None
@classmethod
def get_by_name(cls, _name=None):
# TODO: remove get_by_name
if _name:
log.debug('Getting VM: %s' % _name)
for vm in cls.pool + cls.using:
if vm.name == _name:
return vm
@classmethod
def count_virtual_machines(cls, it):
result = defaultdict(int)
for vm in it:
result[vm.platform] += 1
return result
@classmethod
def pooled_virtual_machines(cls):
return cls.count_virtual_machines(cls.pool)
@classmethod
def using_virtual_machines(cls):
return cls.count_virtual_machines(cls.using)
@classmethod
def add(cls, platform, prefix="ondemand", to=None):
if prefix == "preloaded":
log.info("Preloading %s." % platform)
if to is None:
to = cls.using
with cls.lock:
if not cls.can_produce(platform):
return None
origin = cls.platforms.get(platform)
try:
clone = origin.make_clone(origin, prefix, cls)
except Exception as e:
log.exception('Exception during initializing vm object: %s' %
e.message)
return None
cls.add_vm(clone, to)
try:
clone.create()
except Exception as e:
log.exception("Error creating vm: %s" % e.message)
clone.delete()
try:
to.remove(clone)
except ValueError:
log.warning("VM %s not found while removing" % clone.name)
return None
return clone
@classmethod
def get_vm(cls, platform):
vm = cls.get_by_platform(platform)
if vm:
return vm
vm = cls.add(platform)
if vm:
return vm
@classmethod
def save_artifact(cls, session_id, artifacts):
return cls.artifact_collector.add_tasks(session_id, artifacts)
@classmethod
def preload(cls, origin_name, prefix=None):
return cls.add(origin_name, prefix, to=cls.pool)
@classmethod
def return_vm(cls, vm):
cls.using.remove(vm)
cls.pool.append(vm)
@property
def info(self):
def print_view(lst):
return [{
"name": l.name,
"ip": l.ip,
"ready": l.ready,
"checking": l.checking,
"created": l.created
} for l in lst]
return {
"pool": {
'count': self.pooled_virtual_machines(),
'list': print_view(self.pool),
},
"using": {
'count': self.using_virtual_machines(),
'list': print_view(self.using),
},
"already_use": self.count(),
}
for idx, image_fn in enumerate(image_fns):
# Upscale images to 300x300
images[idx] = resize(io.imread(image_fn, as_gray=True), (300, 300),
anti_aliasing=True,
mode='constant')
images[idx] = gaussian(grey_closing(images[idx], (7, 7)),
1,
preserve_range=True)
# Reverse values to denote distance from camera
images[idx] = np.max(images[idx]) - images[idx]
# if idx == 19:
# break
for model_fn in MODEL_FNS:
model_name = model_fn.split('/')[-2]
rss = Network(model_fn)
pos, ang, wid = rss.predict(images)
for idx in range(images.shape[0]):
output_fn = os.path.join(RESULTS_PATH, model_name, image_ids[idx])
output_path = '/'.join(output_fn.split('/')[:-1])
if not os.path.exists(output_path):
os.makedirs(output_path)
network.save_output_plot(images[idx],
pos[idx],
ang[idx],
wid[idx],
filename=output_fn)
if args.gui:
import pylab as plt
plt.figure()
if args.debug:
plt.ion()
sim = Simulator(use_egl=False, gui=args.gui) # Change to no gui
sim.cam.pos = [
0.,
np.cos(np.deg2rad(args.angle)) * args.distance,
np.sin(np.deg2rad(args.angle)) * args.distance
]
sim.add_gripper(os.environ['GRIPPER_PATH'])
net = Network(model_fn=args.network)
_global_start = time.time()
for scene_idx in range(len(scenes)):
try:
scene_name = scenes_ds['name'][scene_idx]
logging.debug('Testing scene %s' % scene_name)
sim.restore(scenes[scene_idx], os.environ['MODELS_PATH'])
# Get the gripper out of the way so it doesn't interfere with camera
sim.teleport_to_pose([0., 0., 10.], [0., 0., 0.], 0.)
_, depth = sim.cam.snap()
logging.debug('Predicting')
_start = time.time()
from keras.utils import np_utils
# Load MNIST
(x_train, y_train), (x_test, y_test) = mnist.load_data()
x_train = x_train.reshape(x_train.shape[0], 1, 28 * 28)
x_train = x_train.astype("float32")
x_train /= 255
y_train = np_utils.to_categorical(y_train)
x_test = x_test.reshape(x_test.shape[0], 1, 28 * 28)
x_test = x_test.astype("float32")
x_test /= 255
y_test = np_utils.to_categorical(y_test)
# Model
nn = Network()
nn.add(Dense(28 * 28, 100))
nn.add(Activation(Tanh, dTanh))
nn.add(Dense(100, 50))
nn.add(Activation(Tanh, dTanh))
nn.add(Dense(50, 10))
nn.add(Activation(Tanh, dTanh))
# Training
nn.useLoss(MSE, dMSE)
nn.useOptimizer(RMSProp(),learning_rate=config.learning_rate, beta=config.beta)
nn.fit(x_train[0:2000], y_train[0:2000], epochs=config.epochs)
# Prediction
from core.network import Network
with open('snek-learning.yaml', 'r') as file:
data = yaml.load(file)
#data = data[:1000]
learning_data = [{'inputs': list(row[:5]), 'outputs': [row[5]]} for row in data]
inputs = InputLayer([1, 1, 1, 1, 1])
middle = Layer(5)
middle3 = Layer(3)
output = OutputLayer([1])
network = Network([inputs, middle, middle3, output], 'snek')
network.connect()
network.load_learning_data(learning_data)
network.print_data()
folds = 4
result = [0]
i = 0
start_time = time()
while sum(result) / folds < 90:
results = network.learn_kfolds(folds, times=1)
scores = [(n, [round(x) for x in out] == check) for n, out, check in results]
stuff = Counter(scores)
result = [stuff[(i, True)] / (stuff[(i, False)] + stuff[(i, True)]) * 100 for i in range(folds)]
print("folds results: ", result)
i += 1
learning_data = []
with open('../data/training_data/iris.data', newline='') as csvfile:
reader = csv.reader(csvfile)
for row in reader:
learning_data.append({
'inputs': [float(x) for x in row[0:4]],
'outputs': iris_map[row[4]]
})
inputs = InputLayer([1, 1, 1, 1])
middle = Layer(5)
middle2 = Layer(3)
output = OutputLayer([1, 1, 1])
network = Network([inputs, middle, middle2, output], 'iris')
network.connect()
network.load_learning_data(learning_data)
network.normalize_learning_data()
print("------- learn -------")
network.print_data()
folds = 4
results = network.learn_kfolds(folds, times=1000)
scores = [(n, [round(x) for x in out] == check) for n, out, check in results]
stuff = Counter(scores)
print("folds results: ", [stuff[(i, True)] / (stuff[(i, False)] + stuff[(i, True)]) * 100 for i in range(folds)])
i = [
[6.9, 3.1, 5.1, 2.3], # Iris-virginica
