def __init__(self, allObjectsFile, categoryObjects, convnet):
self.allObjects = cu.loadBoxIndexFile(allObjectsFile)
self.categoryObjects = categoryObjects
negativeSamples = reduce(lambda x,y:x+y, map(len,self.allObjects.values()))
positiveSamples = reduce(lambda x,y:x+y, map(len,self.categoryObjects.values()))
self.N = np.zeros( (negativeSamples, 4096), np.float32 )
self.P = np.zeros( (positiveSamples, 4096), np.float32 )
idx = 0
# Populate negative examples
print '# Processing',negativeSamples,'negative prior samples'
for key in self.allObjects.keys():
try:
boxes = self.categoryObjects[key]
cover = True
except:
boxes = self.allObjects[key]
cover = False
convnet.prepareImage(key)
for box in boxes:
if cover:
convnet.coverRegion(box)
activations = convnet.getActivations(box)
self.N[idx,:] = activations[config.get('convnetLayer')]
idx += 1
# Populate positive examples
print '# Processing',positiveSamples,'positive prior samples'
idx = 0
for key in self.categoryObjects.keys():
convnet.prepareImage(key)
for box in self.categoryObjects[key]:
activations = convnet.getActivations(box)
self.P[idx,:] = activations[config.get('convnetLayer')]
class QNetwork(ActionValueInterface):
networkFile = config.get('networkDir') + config.get(
'snapshotPrefix') + '_iter_' + config.get(
'trainingIterationsPerBatch') + '.caffemodel'
def __init__(self):
self.net = None
print 'QNetwork::Init. Loading ', self.networkFile
self.loadNetwork()
self.sampler = defaultSampler
def releaseNetwork(self):
if self.net != None:
del self.net
self.net = None
def loadNetwork(self, definition='deploy.prototxt'):
if os.path.isfile(self.networkFile):
modelFile = config.get('networkDir') + definition
self.net = caffe.Net(modelFile, self.networkFile)
self.net.set_phase_test()
self.net.set_mode_gpu()
print 'QNetwork loaded'
else:
self.net = None
print 'QNetwork not found'
def getMaxAction(self, state):
values = self.getActionValues(state)
return np.argmax(values, 1)
def getActionValues(self, state):
if self.net == None or self.exploreOrExploit() == EXPLORE:
return self.sampler()
else:
return self.getActivations(state)
def getActivations(self, state):
out = self.net.forward_all(
**{
self.net.inputs[0]:
state.reshape((state.shape[0], state.shape[1], 1, 1))
})
return out['qvalues'].squeeze(axis=(2, 3))
def setEpsilonGreedy(self, epsilon, sampler=None):
if sampler is not None:
self.sampler = sampler
self.epsilon = epsilon
def exploreOrExploit(self):
if self.epsilon > 0:
if random.random() < self.epsilon:
return EXPLORE
return EXPLOIT
def __init__(self, mode):
self.mode = mode
cu.mem('Reinforcement Learning Started')
self.environment = BoxSearchEnvironment(config.get(mode+'Database'), mode, config.get(mode+'GroundTruth'))
self.controller = QNetwork()
cu.mem('QNetwork controller created')
self.learner = None
self.agent = BoxSearchAgent(self.controller, self.learner)
self.task = BoxSearchTask(self.environment, config.get(mode+'GroundTruth'))
self.experiment = Experiment(self.task, self.agent)
def loadNetwork(self):
self.imgDim = config.geti('imageDim')
self.cropSize = config.geti('cropSize')
self.contextPad = config.geti('contextPad')
#self.stateContextFactor = config.geti('stateContextFactor')
modelFile = config.get('convnetDir') + config.get('convNetDef')
networkFile = config.get('convnetDir') + config.get('trainedConvNet')
self.net = wrapperv0.ImageNetClassifier(modelFile, networkFile, IMAGE_DIM=self.imgDim, CROPPED_DIM=self.cropSize, MEAN_IMAGE=config.get('meanImage'))
self.net.caffenet.set_mode_gpu()
self.net.caffenet.set_phase_test()
self.imageMean = self.net._IMAGENET_MEAN.swapaxes(1, 2).swapaxes(0, 1).astype('float32')
def __init__(self, mode):
self.mode = mode
cu.mem('Reinforcement Learning Started')
self.environment = BoxSearchEnvironment(
config.get(mode + 'Database'), mode,
config.get(mode + 'GroundTruth'))
self.controller = QNetwork()
cu.mem('QNetwork controller created')
self.learner = None
self.agent = BoxSearchAgent(self.controller, self.learner)
self.task = BoxSearchTask(self.environment,
config.get(mode + 'GroundTruth'))
self.experiment = Experiment(self.task, self.agent)
def __init__(self, imageName, randomStart=False, groundTruth=None):
self.imageName = imageName
self.visibleImage = Image.open(
config.get('imageDir') + '/' + self.imageName + '.jpg')
if not randomStart:
self.box = map(float, [
0, 0, self.visibleImage.size[0] - 1,
self.visibleImage.size[1] - 1
])
self.boxW = self.box[2] + 1.0
self.boxH = self.box[3] + 1.0
self.aspectRatio = self.boxH / self.boxW
else:
wlimit = self.visibleImage.size[0] / 4
hlimit = self.visibleImage.size[1] / 4
a = random.randint(wlimit, self.visibleImage.size[0] - wlimit)
b = random.randint(hlimit, self.visibleImage.size[1] - hlimit)
c = random.randint(wlimit, min(self.visibleImage.size[0] - a, a))
d = random.randint(hlimit, min(self.visibleImage.size[1] - b, b))
self.box = map(float, [a - c, b - d, a + c, b + d])
self.boxW = 2.0 * c
self.boxH = 2.0 * d
self.aspectRatio = self.boxH / self.boxW
self.splitsQueue = []
self.actionChosen = 2
self.actionValue = 0
self.groundTruth = groundTruth
if self.groundTruth is not None:
self.task = bst.BoxSearchTask()
self.task.groundTruth = self.groundTruth
self.task.loadGroundTruth(self.imageName)
def __init__(self, imageName, randomStart=False, groundTruth=None):
self.imageName = imageName
self.visibleImage = Image.open(config.get('imageDir') + '/' + self.imageName + '.jpg')
if not randomStart:
self.box = map(float, [0,0,self.visibleImage.size[0]-1,self.visibleImage.size[1]-1])
self.boxW = self.box[2]+1.0
self.boxH = self.box[3]+1.0
self.aspectRatio = self.boxH/self.boxW
else:
wlimit = self.visibleImage.size[0]/4
hlimit = self.visibleImage.size[1]/4
a = random.randint(wlimit, self.visibleImage.size[0] - wlimit)
b = random.randint(hlimit, self.visibleImage.size[1] - hlimit)
c = random.randint(wlimit, min(self.visibleImage.size[0] - a, a) )
d = random.randint(hlimit, min(self.visibleImage.size[1] - b, b) )
self.box = map(float, [a-c, b-d, a+c, b+d] )
self.boxW = 2.0*c
self.boxH = 2.0*d
self.aspectRatio = self.boxH/self.boxW
self.splitsQueue = []
self.actionChosen = 2
self.actionValue = 0
self.groundTruth = groundTruth
if self.groundTruth is not None:
self.task = bst.BoxSearchTask()
self.task.groundTruth = self.groundTruth
self.task.loadGroundTruth(self.imageName)
def loadNetwork(self):
self.imgDim = config.geti('imageDim')
self.cropSize = config.geti('cropSize')
self.contextPad = config.geti('contextPad')
#self.stateContextFactor = config.geti('stateContextFactor')
modelFile = config.get('convnetDir') + config.get('convNetDef')
networkFile = config.get('convnetDir') + config.get('trainedConvNet')
self.net = wrapperv0.ImageNetClassifier(
modelFile,
networkFile,
IMAGE_DIM=self.imgDim,
CROPPED_DIM=self.cropSize,
MEAN_IMAGE=config.get('meanImage'))
self.net.caffenet.set_mode_gpu()
self.net.caffenet.set_phase_test()
self.imageMean = self.net._IMAGENET_MEAN.swapaxes(1, 2).swapaxes(
0, 1).astype('float32')
def train(self):
networkFile = config.get('networkDir') + config.get(
'snapshotPrefix') + '_iter_' + config.get(
'trainingIterationsPerBatch') + '.caffemodel'
interactions = config.geti('trainInteractions')
minEpsilon = config.getf('minTrainingEpsilon')
epochSize = len(self.environment.imageList) / 1
epsilon = 1.0
self.controller.setEpsilonGreedy(epsilon,
self.environment.sampleAction)
epoch = 1
exEpochs = config.geti('explorationEpochs')
while epoch <= exEpochs:
s = cu.tic()
print 'Epoch', epoch, ': Exploration (epsilon=1.0)'
self.runEpoch(interactions, len(self.environment.imageList))
self.task.flushStats()
s = cu.toc('Epoch done in ', s)
epoch += 1
self.learner = QLearning()
self.agent.learner = self.learner
egEpochs = config.geti('epsilonGreedyEpochs')
while epoch <= egEpochs + exEpochs:
s = cu.tic()
epsilon = epsilon - (1.0 - minEpsilon) / float(egEpochs)
if epsilon < minEpsilon: epsilon = minEpsilon
self.controller.setEpsilonGreedy(epsilon,
self.environment.sampleAction)
print 'Epoch', epoch, '(epsilon-greedy:{:5.3f})'.format(epsilon)
self.runEpoch(interactions, epochSize)
self.task.flushStats()
self.doValidation(epoch)
s = cu.toc('Epoch done in ', s)
epoch += 1
maxEpochs = config.geti('exploitLearningEpochs') + exEpochs + egEpochs
while epoch <= maxEpochs:
s = cu.tic()
print 'Epoch', epoch, '(exploitation mode: epsilon={:5.3f})'.format(
epsilon)
self.runEpoch(interactions, epochSize)
self.task.flushStats()
self.doValidation(epoch)
s = cu.toc('Epoch done in ', s)
shutil.copy(networkFile, networkFile + '.' + str(epoch))
epoch += 1
def loadNetwork(self, definition='deploy.prototxt'):
if os.path.isfile(self.networkFile):
modelFile = config.get('networkDir') + definition
self.net = caffe.Net(modelFile, self.networkFile)
self.net.set_phase_test()
self.net.set_mode_gpu()
print 'QNetwork loaded'
else:
self.net = None
print 'QNetwork not found'
def doValidation(self, epoch):
if epoch % config.geti('validationEpochs') != 0:
return
auxRL = BoxSearchRunner('test')
auxRL.run()
indexType = config.get('evaluationIndexType')
category = config.get('category')
if indexType == 'pascal':
categories, catIndex = bse.get20Categories()
elif indexType == 'relations':
categories, catIndex = bse.getCategories()
elif indexType == 'finetunedRelations':
categories, catIndex = bse.getRelationCategories()
catI = categories.index(category)
scoredDetections = bse.loadScores(config.get('testMemory'), catI)
groundTruthFile = config.get('testGroundTruth')
ps,rs = bse.evaluateCategory(scoredDetections, 'scores', groundTruthFile)
pl,rl = bse.evaluateCategory(scoredDetections, 'landmarks', groundTruthFile)
line = lambda x,y,z: x + '\t{:5.3f}\t{:5.3f}\n'.format(y,z)
print line('Validation Scores:',ps,rs)
print line('Validation Landmarks:',pl,rl)
def train(self):
networkFile = config.get('networkDir') + config.get('snapshotPrefix') + '_iter_' + config.get('trainingIterationsPerBatch') + '.caffemodel'
interactions = config.geti('trainInteractions')
minEpsilon = config.getf('minTrainingEpsilon')
epochSize = len(self.environment.imageList)/1
epsilon = 1.0
self.controller.setEpsilonGreedy(epsilon, self.environment.sampleAction)
epoch = 1
exEpochs = config.geti('explorationEpochs')
while epoch <= exEpochs:
s = cu.tic()
print 'Epoch',epoch,': Exploration (epsilon=1.0)'
self.runEpoch(interactions, len(self.environment.imageList))
self.task.flushStats()
s = cu.toc('Epoch done in ',s)
epoch += 1
self.learner = QLearning()
self.agent.learner = self.learner
egEpochs = config.geti('epsilonGreedyEpochs')
while epoch <= egEpochs + exEpochs:
s = cu.tic()
epsilon = epsilon - (1.0-minEpsilon)/float(egEpochs)
if epsilon < minEpsilon: epsilon = minEpsilon
self.controller.setEpsilonGreedy(epsilon, self.environment.sampleAction)
print 'Epoch',epoch ,'(epsilon-greedy:{:5.3f})'.format(epsilon)
self.runEpoch(interactions, epochSize)
self.task.flushStats()
self.doValidation(epoch)
s = cu.toc('Epoch done in ',s)
epoch += 1
maxEpochs = config.geti('exploitLearningEpochs') + exEpochs + egEpochs
while epoch <= maxEpochs:
s = cu.tic()
print 'Epoch',epoch,'(exploitation mode: epsilon={:5.3f})'.format(epsilon)
self.runEpoch(interactions, epochSize)
self.task.flushStats()
self.doValidation(epoch)
s = cu.toc('Epoch done in ',s)
shutil.copy(networkFile, networkFile + '.' + str(epoch))
epoch += 1
def getSensors(self):
# Compute features of visible region (4096)
activations = self.cnn.getActivations(self.state.box)
# Action history (90)
actions = np.ones((ACTION_HISTORY_SIZE)) * self.state.actionHistory
# Concatenate all info in the state representation vector
state = np.hstack((activations[config.get('convnetLayer')], actions))
self.scores = activations['prob'][0:21].tolist()
return {
'image': self.imageList[self.idx],
'state': state,
'negEpisode': self.negativeEpisode
}
def coverRegion(self, box, otherImg=None):
if otherImg is not None:
boxes = [map(int,box)]
self.net.caffenet.CoverRegions(boxes, config.get('imageDir') + otherImg + '.jpg', self.id)
else:
# Create two perpendicular boxes
w = box[2]-box[0]
h = box[3]-box[1]
b1 = map(int, [box[0] + w*0.5 - w*MARK_WIDTH, box[1], box[0] + w*0.5 + w*MARK_WIDTH, box[3]])
b2 = map(int, [box[0], box[1] + h*0.5 - h*MARK_WIDTH, box[2], box[1] + h*0.5 + h*MARK_WIDTH])
boxes = [b1, b2]
self.net.caffenet.CoverRegions(boxes, '', self.id)
self.id += 1
return True
def doValidation(self, epoch):
if epoch % config.geti('validationEpochs') != 0:
return
auxRL = BoxSearchRunner('test')
auxRL.run()
indexType = config.get('evaluationIndexType')
category = config.get('category')
if indexType == 'pascal':
categories, catIndex = bse.get20Categories()
elif indexType == 'relations':
categories, catIndex = bse.getCategories()
elif indexType == 'finetunedRelations':
categories, catIndex = bse.getRelationCategories()
catI = categories.index(category)
scoredDetections = bse.loadScores(config.get('testMemory'), catI)
groundTruthFile = config.get('testGroundTruth')
ps, rs = bse.evaluateCategory(scoredDetections, 'scores',
groundTruthFile)
pl, rl = bse.evaluateCategory(scoredDetections, 'landmarks',
groundTruthFile)
line = lambda x, y, z: x + '\t{:5.3f}\t{:5.3f}\n'.format(y, z)
print line('Validation Scores:', ps, rs)
print line('Validation Landmarks:', pl, rl)
def writeSolverFile(self):
out = open(self.directory + '/solver.prototxt','w')
out.write('train_net: "' + self.directory + 'train.prototxt"\n')
out.write('base_lr: ' + config.get('learningRate') + '\n')
out.write('lr_policy: "step"\n')
out.write('gamma: ' + config.get('gamma') + '\n')
out.write('stepsize: ' + config.get('stepSize') + '\n')
out.write('display: 1\n')
out.write('max_iter: ' + config.get('trainingIterationsPerBatch') + '\n')
out.write('momentum: ' + config.get('momentum') + '\n')
out.write('weight_decay: ' + config.get('weightDecay') + '\n')
out.write('snapshot: ' + config.get('trainingIterationsPerBatch') + '\n')
out.write('snapshot_prefix: "' + self.directory + 'multilayer_qlearner"\n')
out.close()
def __init__(self, imageName, boxReset='Full', groundTruth=None):
self.imageName = imageName
self.visibleImage = Image.open(config.get('imageDir') + '/' + self.imageName + '.jpg')
self.box = [0,0,0,0]
self.resets = 1
self.reset(boxReset)
self.landmarkIndex = {}
self.actionChosen = 2
self.actionValue = 0
self.groundTruth = groundTruth
if self.groundTruth is not None:
self.taskSimulator = bst.BoxSearchTask()
self.taskSimulator.groundTruth = self.groundTruth
self.taskSimulator.loadGroundTruth(self.imageName)
self.stepsWithoutLandmark = 0
self.actionHistory = [0 for i in range(NUM_ACTIONS*config.geti('actionHistoryLength'))]
def __init__(self, imageList, mode, groundTruthFile=None):
self.mode = mode
self.cnn = cn.ConvNet()
self.testRecord = None
self.idx = -1
self.imageList = [x.strip() for x in open(imageList)]
self.groundTruth = cu.loadBoxIndexFile(groundTruthFile)
#self.imageList = self.rankImages()
#self.imageList = self.imageList[0:10]
allImgs = set([x.strip() for x in open(config.get('allImagesList'))])
self.negativeSamples = list(
allImgs.difference(set(self.groundTruth.keys())))
self.negativeEpisode = False
if self.mode == 'train':
self.negativeProbability = config.getf('negativeEpisodeProb')
random.shuffle(self.imageList)
#self.priorMemory = PriorMemory(config.get('allObjectsBoxes'), self.groundTruth, self.cnn)
self.loadNextEpisode()
def writeSolverFile(self):
out = open(self.directory + '/solver.prototxt', 'w')
out.write('train_net: "' + self.directory + 'train.prototxt"\n')
out.write('base_lr: ' + config.get('learningRate') + '\n')
out.write('lr_policy: "step"\n')
out.write('gamma: ' + config.get('gamma') + '\n')
out.write('stepsize: ' + config.get('stepSize') + '\n')
out.write('display: 1\n')
out.write('max_iter: ' + config.get('trainingIterationsPerBatch') +
'\n')
out.write('momentum: ' + config.get('momentum') + '\n')
out.write('weight_decay: ' + config.get('weightDecay') + '\n')
out.write('snapshot: ' + config.get('trainingIterationsPerBatch') +
'\n')
out.write('snapshot_prefix: "' + self.directory +
'multilayer_qlearner"\n')
out.close()
def loadNextEpisode(self):
self.episodeDone = False
self.extraSteps = 5
self.negativeEpisode = False
if self.selectNegativeSample(): return
# Save actions performed during this episode
if self.mode == 'test' and self.testRecord != None:
with open(
config.get('testMemory') + self.imageList[self.idx] +
'.txt', 'w') as outfile:
json.dump(self.testRecord, outfile)
# Load a new episode
self.idx += 1
if self.idx < len(self.imageList):
# Initialize state
self.cnn.prepareImage(self.imageList[self.idx])
restartMode = {'train': 'Random', 'test': 'Full'}
self.state = bs.BoxSearchState(self.imageList[self.idx],
groundTruth=self.groundTruth,
boxReset=restartMode[self.mode])
print 'Environment::LoadNextEpisode => Image', self.idx, self.imageList[
self.idx], '(' + str(
self.state.visibleImage.size[0]) + ',' + str(
self.state.visibleImage.size[1]) + ')'
else:
if self.mode == 'train':
random.shuffle(self.imageList)
self.idx = -1
self.loadNextEpisode()
else:
print 'No more images available'
# Restart record for new episode
if self.mode == 'test':
self.testRecord = {
'boxes': [],
'actions': [],
'values': [],
'rewards': [],
'scores': []
}
def coverRegion(self, box, otherImg=None):
if otherImg is not None:
boxes = [map(int, box)]
self.net.caffenet.CoverRegions(
boxes,
config.get('imageDir') + otherImg + '.jpg', self.id)
else:
# Create two perpendicular boxes
w = box[2] - box[0]
h = box[3] - box[1]
b1 = map(int, [
box[0] + w * 0.5 - w * MARK_WIDTH, box[1],
box[0] + w * 0.5 + w * MARK_WIDTH, box[3]
])
b2 = map(int, [
box[0], box[1] + h * 0.5 - h * MARK_WIDTH, box[2],
box[1] + h * 0.5 + h * MARK_WIDTH
])
boxes = [b1, b2]
self.net.caffenet.CoverRegions(boxes, '', self.id)
self.id += 1
return True
def __init__(self, alpha=0.5):
ValueBasedLearner.__init__(self)
self.alpha = alpha
self.gamma = config.getf('gammaDiscountReward')
self.netManager = CaffeMultiLayerPerceptronManagement(config.get('networkDir'))
def __init__(self, alpha=0.5):
ValueBasedLearner.__init__(self)
self.alpha = alpha
self.gamma = config.getf('gammaDiscountReward')
self.netManager = CaffeMultiLayerPerceptronManagement(
config.get('networkDir'))
__author__ = "Juan C. Caicedo, [email protected]" import os import utils.utils as cu import numpy as np import caffe from caffe import wrapperv0 import learn.rl.RLConfig as config LAYER = config.get('convnetLayer') MARK_WIDTH = config.getf('markWidth') class ConvNet(): def __init__(self): self.net = None self.image = '' self.id = 0 self.loadNetwork() def loadNetwork(self): self.imgDim = config.geti('imageDim') self.cropSize = config.geti('cropSize') self.contextPad = config.geti('contextPad') #self.stateContextFactor = config.geti('stateContextFactor') modelFile = config.get('convnetDir') + config.get('convNetDef') networkFile = config.get('convnetDir') + config.get('trainedConvNet') self.net = wrapperv0.ImageNetClassifier(modelFile, networkFile, IMAGE_DIM=self.imgDim, CROPPED_DIM=self.cropSize, MEAN_IMAGE=config.get('meanImage')) self.net.caffenet.set_mode_gpu()
def prepareImage(self, image):
if self.image != '':
self.net.caffenet.ReleaseImageData()
self.image = config.get('imageDir') + image + '.jpg'
self.net.caffenet.InitializeImage(self.image, self.imgDim,
self.imageMean, self.cropSize)
__author__ = "Juan C. Caicedo, [email protected]" import os import utils.utils as cu import numpy as np import caffe from caffe import wrapperv0 import learn.rl.RLConfig as config LAYER = config.get('convnetLayer') MARK_WIDTH = config.getf('markWidth') class ConvNet(): def __init__(self): self.net = None self.image = '' self.id = 0 self.loadNetwork() def loadNetwork(self): self.imgDim = config.geti('imageDim') self.cropSize = config.geti('cropSize') self.contextPad = config.geti('contextPad') #self.stateContextFactor = config.geti('stateContextFactor') modelFile = config.get('convnetDir') + config.get('convNetDef') networkFile = config.get('convnetDir') + config.get('trainedConvNet') self.net = wrapperv0.ImageNetClassifier( modelFile,
def prepareImage(self, image):
if self.image != '':
self.net.caffenet.ReleaseImageData()
self.image = config.get('imageDir') + image + '.jpg'
self.net.caffenet.InitializeImage(self.image, self.imgDim, self.imageMean, self.cropSize)