def create_objects(root_yaml,
be_type='gpu',
batch_size=128,
rng_seed=None,
device_id=0,
default_dtype=np.float32,
stochastic_rounding=False):
"""
Instantiate objects as per the given specifications.
Arguments:
root_yaml (dict): Model definition dictionary parse from YAML file
be_type (str): backend either 'gpu', 'mgpu' or 'cpu'
rng_seed (None or int): random number generator seed
device_id (int): for GPU backends id of device to use
default_dtype (type): numpy data format for default data types,
stochastic_rounding (bool or int): number of bits for stochastic rounding
use False for no rounding
Returns:
tuple: Contains model, cost and optimizer objects.
"""
assert NervanaObject.be is not None, 'Must generate a backend before running this function'
# can give filename or parse dictionary
if type(root_yaml) is str:
with open(root_yaml, 'r') as fid:
root_yaml = yaml.safe_load(fid.read())
# in case references were used
root_yaml = deepcopy(root_yaml)
# initialize layers
yaml_layers = root_yaml['layers']
# currently only support sequential in yaml
layer_dict = {'layers': yaml_layers}
layers = Sequential.gen_class(layer_dict)
# initialize model
model = Model(layers=layers)
# cost (before layers for shortcut derivs)
cost_name = root_yaml['cost']
cost = GeneralizedCost.gen_class({'costfunc': {'type': cost_name}})
# create optimizer
opt = None
if 'optimizer' in root_yaml:
yaml_opt = root_yaml['optimizer']
typ = yaml_opt['type']
opt = getattr(neon.optimizers, typ).gen_class(yaml_opt['config'])
return model, cost, opt
def __init__(self, num_actions, args):
# remember parameters
self.num_actions = num_actions
self.batch_size = args.batch_size
self.discount_rate = args.discount_rate
self.history_length = args.history_length
self.screen_dim = (args.screen_height, args.screen_width)
self.clip_error = args.clip_error
self.min_reward = args.min_reward
self.max_reward = args.max_reward
self.batch_norm = args.batch_norm
# create Neon backend
self.be = gen_backend(backend = args.backend,
batch_size = args.batch_size,
rng_seed = args.random_seed,
device_id = args.device_id,
datatype = np.dtype(args.datatype).type,
stochastic_round = args.stochastic_round)
# prepare tensors once and reuse them
self.input_shape = (self.history_length,) + self.screen_dim + (self.batch_size,)
self.input = self.be.empty(self.input_shape)
self.input.lshape = self.input_shape # HACK: needed for convolutional networks
self.targets = self.be.empty((self.num_actions, self.batch_size))
# create model
layers = self._createLayers(num_actions)
self.model = Model(layers = layers)
self.cost = GeneralizedCost(costfunc = SumSquared())
# Bug fix
for l in self.model.layers.layers:
l.parallelism = 'Disabled'
self.model.initialize(self.input_shape[:-1], self.cost)
if args.optimizer == 'rmsprop':
self.optimizer = RMSProp(learning_rate = args.learning_rate,
decay_rate = args.decay_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adam':
self.optimizer = Adam(learning_rate = args.learning_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adadelta':
self.optimizer = Adadelta(decay = args.decay_rate,
stochastic_round = args.stochastic_round)
else:
assert false, "Unknown optimizer"
# create target model
self.train_iterations = 0
if args.target_steps:
self.target_model = Model(layers = self._createLayers(num_actions))
# Bug fix
for l in self.target_model.layers.layers:
l.parallelism = 'Disabled'
self.target_model.initialize(self.input_shape[:-1])
self.save_weights_prefix = args.save_weights_prefix
else:
self.target_model = self.model
self.callback = None
def __init__(self, env, args, rng, name = "DQNNeon"):
""" Initializes a network based on the Neon framework.
Args:
env (AtariEnv): The envirnoment in which the agent actuates.
args (argparse.Namespace): All settings either with a default value or set via command line arguments.
rng (mtrand.RandomState): initialized Mersenne Twister pseudo-random number generator.
name (str): The name of the network object.
Note:
This function should always call the base class first to initialize
the common values for the networks.
"""
_logger.info("Initializing new object of type " + str(type(self).__name__))
super(DQNNeon, self).__init__(env, args, rng, name)
self.input_shape = (self.sequence_length,) + self.frame_dims + (self.batch_size,)
self.dummy_batch = np.zeros((self.batch_size, self.sequence_length) + self.frame_dims, dtype=np.uint8)
self.batch_norm = args.batch_norm
self.be = gen_backend(
backend = args.backend,
batch_size = args.batch_size,
rng_seed = args.random_seed,
device_id = args.device_id,
datatype = np.dtype(args.datatype).type,
stochastic_round = args.stochastic_round)
# prepare tensors once and reuse them
self.input = self.be.empty(self.input_shape)
self.input.lshape = self.input_shape # HACK: needed for convolutional networks
self.targets = self.be.empty((self.output_shape, self.batch_size))
# create model
layers = self._create_layer()
self.model = Model(layers = layers)
self.cost_func = GeneralizedCost(costfunc = SumSquared())
# Bug fix
for l in self.model.layers.layers:
l.parallelism = 'Disabled'
self.model.initialize(self.input_shape[:-1], self.cost_func)
self._set_optimizer()
if not self.args.load_weights == None:
self.load_weights(self.args.load_weights)
# create target model
if self.target_update_frequency:
layers = self._create_layer()
self.target_model = Model(layers)
# Bug fix
for l in self.target_model.layers.layers:
l.parallelism = 'Disabled'
self.target_model.initialize(self.input_shape[:-1])
else:
self.target_model = self.model
self.callback = None
_logger.debug("%s" % self)
def __init__(self, state_size, num_steers, num_speeds, args):
# remember parameters
self.state_size = state_size
self.num_steers = num_steers
self.num_speeds = num_speeds
self.num_actions = num_steers + num_speeds
self.num_layers = args.hidden_layers
self.hidden_nodes = args.hidden_nodes
self.batch_size = args.batch_size
self.discount_rate = args.discount_rate
self.clip_error = args.clip_error
# create Neon backend
self.be = gen_backend(backend = args.backend,
batch_size = args.batch_size,
rng_seed = args.random_seed,
device_id = args.device_id,
datatype = np.dtype(args.datatype).type,
stochastic_round = args.stochastic_round)
# prepare tensors once and reuse them
self.input_shape = (self.state_size, self.batch_size)
self.input = self.be.empty(self.input_shape)
self.targets = self.be.empty((self.num_actions, self.batch_size))
# create model
self.model = Model(layers = self._createLayers())
self.cost = GeneralizedCost(costfunc = SumSquared())
self.model.initialize(self.input_shape[:-1], self.cost)
if args.optimizer == 'rmsprop':
self.optimizer = RMSProp(learning_rate = args.learning_rate,
decay_rate = args.decay_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adam':
self.optimizer = Adam(learning_rate = args.learning_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adadelta':
self.optimizer = Adadelta(decay = args.decay_rate,
stochastic_round = args.stochastic_round)
else:
assert false, "Unknown optimizer"
# create target model
self.target_steps = args.target_steps
self.train_iterations = 0
if self.target_steps:
self.target_model = Model(layers = self._createLayers())
self.target_model.initialize(self.input_shape[:-1])
self.save_weights_prefix = args.save_weights_prefix
else:
self.target_model = self.model
def __init__(self, num_actions, args):
# remember parameters
self.num_actions = num_actions
self.batch_size = args.batch_size
self.discount_rate = args.discount_rate
self.history_length = args.history_length
self.screen_dim = (args.screen_height, args.screen_width)
self.clip_error = args.clip_error
# create Neon backend
self.be = gen_backend(backend = args.backend,
batch_size = args.batch_size,
rng_seed = args.random_seed,
device_id = args.device_id,
default_dtype = np.dtype(args.datatype).type,
stochastic_round = args.stochastic_round)
# prepare tensors once and reuse them
self.input_shape = (self.history_length,) + self.screen_dim + (self.batch_size,)
self.tensor = self.be.empty(self.input_shape)
self.tensor.lshape = self.input_shape # needed for convolutional networks
self.targets = self.be.empty((self.num_actions, self.batch_size))
# create model
layers = self.createLayers(num_actions)
self.model = Model(layers = layers)
self.cost = GeneralizedCost(costfunc = SumSquared())
self.model.initialize(self.tensor.shape[:-1], self.cost)
self.optimizer = RMSProp(learning_rate = args.learning_rate,
decay_rate = args.rmsprop_decay_rate,
stochastic_round = args.stochastic_round)
# create target model
self.target_steps = args.target_steps
self.train_iterations = 0
if self.target_steps:
self.target_model = Model(layers = self.createLayers(num_actions))
self.target_model.initialize(self.tensor.shape[:-1])
self.save_weights_path = args.save_weights_path
else:
self.target_model = self.model
self.callback = None
def __init__(self, args, max_action_no, batch_dimension):
self.args = args
self.train_batch_size = args.train_batch_size
self.discount_factor = args.discount_factor
self.use_gpu_replay_mem = args.use_gpu_replay_mem
self.be = gen_backend(backend='gpu',
batch_size=self.train_batch_size)
self.input_shape = (batch_dimension[1], batch_dimension[2], batch_dimension[3], batch_dimension[0])
self.input = self.be.empty(self.input_shape)
self.input.lshape = self.input_shape # HACK: needed for convolutional networks
self.targets = self.be.empty((max_action_no, self.train_batch_size))
if self.use_gpu_replay_mem:
self.history_buffer = self.be.zeros(batch_dimension, dtype=np.uint8)
self.input_uint8 = self.be.empty(self.input_shape, dtype=np.uint8)
else:
self.history_buffer = np.zeros(batch_dimension, dtype=np.float32)
self.train_net = Model(self.create_layers(max_action_no))
self.cost = GeneralizedCost(costfunc=SumSquared())
# Bug fix
for l in self.train_net.layers.layers:
l.parallelism = 'Disabled'
self.train_net.initialize(self.input_shape[:-1], self.cost)
self.target_net = Model(self.create_layers(max_action_no))
# Bug fix
for l in self.target_net.layers.layers:
l.parallelism = 'Disabled'
self.target_net.initialize(self.input_shape[:-1])
if self.args.optimizer == 'Adam': # Adam
self.optimizer = Adam(beta_1=args.rms_decay,
beta_2=args.rms_decay,
learning_rate=args.learning_rate)
else: # Neon RMSProp
self.optimizer = RMSProp(decay_rate=args.rms_decay,
learning_rate=args.learning_rate)
self.max_action_no = max_action_no
self.running = True
def main():
# larger batch sizes may not fit on GPU
parser = NeonArgparser(__doc__, default_overrides={'batch_size': 4})
parser.add_argument("--bench", action="store_true", help="run benchmark instead of training")
parser.add_argument("--num_classes", type=int, default=12, help="number of classes in the annotation")
parser.add_argument("--height", type=int, default=256, help="image height")
parser.add_argument("--width", type=int, default=512, help="image width")
args = parser.parse_args(gen_be=False)
# check that image dimensions are powers of 2
if((args.height & (args.height - 1)) != 0):
raise TypeError("Height must be a power of 2.")
if((args.width & (args.width - 1)) != 0):
raise TypeError("Width must be a power of 2.")
(c, h, w) = (args.num_classes, args.height, args.width)
# need to use the backend with the new upsampling layer implementation
be = NervanaGPU_Upsample(rng_seed=args.rng_seed,
device_id=args.device_id)
# set batch size
be.bsz = args.batch_size
# couple backend to global neon object
NervanaObject.be = be
shape = dict(channel_count=3, height=h, width=w, subtract_mean=False)
train_params = ImageParams(center=True, flip=False,
scale_min=min(h, w), scale_max=min(h, w),
aspect_ratio=0, **shape)
test_params = ImageParams(center=True, flip=False,
scale_min=min(h, w), scale_max=min(h, w),
aspect_ratio=0, **shape)
common = dict(target_size=h*w, target_conversion='read_contents',
onehot=False, target_dtype=np.uint8, nclasses=args.num_classes)
train_set = PixelWiseImageLoader(set_name='train', repo_dir=args.data_dir,
media_params=train_params,
shuffle=False, subset_percent=100,
index_file=os.path.join(args.data_dir, 'train_images.csv'),
**common)
val_set = PixelWiseImageLoader(set_name='val', repo_dir=args.data_dir,media_params=test_params,
index_file=os.path.join(args.data_dir, 'val_images.csv'), **common)
# initialize model object
layers = gen_model(c, h, w)
segnet_model = Model(layers=layers)
# configure callbacks
callbacks = Callbacks(segnet_model, eval_set=val_set, **args.callback_args)
opt_gdm = GradientDescentMomentum(1.0e-6, 0.9, wdecay=0.0005, schedule=Schedule())
opt_biases = GradientDescentMomentum(2.0e-6, 0.9, schedule=Schedule())
opt_bn = GradientDescentMomentum(1.0e-6, 0.9, schedule=Schedule())
opt = MultiOptimizer({'default': opt_gdm, 'Bias': opt_biases, 'BatchNorm': opt_bn})
cost = GeneralizedCost(costfunc=CrossEntropyMulti())
if args.bench:
segnet_model.initialize(train_set, cost=cost)
segnet_model.benchmark(train_set, cost=cost, optimizer=opt)
sys.exit(0)
else:
segnet_model.fit(train_set, optimizer=opt, num_epochs=args.epochs, cost=cost, callbacks=callbacks)
# get the trained segnet model outputs for valisation set
outs_val = segnet_model.get_outputs(val_set)
with open('outputs.pkl', 'w') as fid:
pickle.dump(outs_val, fid, -1)
default_dtype=args.datatype)
(X_train, y_train), (X_test, y_test), nclass = load_mnist(path=args.data_dir)
train_set = DataIterator(X_train, y_train, nclass=nclass)
valid_set = DataIterator(X_test, y_test, nclass=nclass)
# weight initialization
init_norm = Gaussian(loc=0.0, scale=0.01)
# initialize model
layers = []
layers.append(
Affine(nout=100, init=init_norm, batch_norm=True, activation=Rectlin()))
layers.append(
Affine(nout=10, init=init_norm, activation=Logistic(shortcut=True)))
cost = GeneralizedCost(costfunc=CrossEntropyBinary())
mlp = Model(layers=layers)
# define stopping function
# it takes as input a tuple (State,val[t])
# which describes the cumulative validation state (generated by this function)
# and the validation error at time t
# and returns as output a tuple (State', Bool),
# which represents the new state and whether to stop
# Stop if validation error ever increases from epoch to epoch
def stopFunc(s, v):
if s is None:
return (v, False)
def main():
# Get command-line parameters
parser = get_p1b3_parser()
args = parser.parse_args()
#print('Args:', args)
# Get parameters from configuration file
fileParameters = p1b3.read_config_file(args.config_file)
#print ('Params:', fileParameters)
# Correct for arguments set by default by neon parser
# (i.e. instead of taking the neon parser default value fall back to the config file,
# if effectively the command-line was used, then use the command-line value)
# This applies to conflictive parameters: batch_size, epochs and rng_seed
if not any("--batch_size" in ag or "-z" in ag for ag in sys.argv):
args.batch_size = fileParameters['batch_size']
if not any("--epochs" in ag or "-e" in ag for ag in sys.argv):
args.epochs = fileParameters['epochs']
if not any("--rng_seed" in ag or "-r" in ag for ag in sys.argv):
args.rng_seed = fileParameters['rng_seed']
# Consolidate parameter set. Command-line parameters overwrite file configuration
gParameters = p1_common.args_overwrite_config(args, fileParameters)
print('Params:', gParameters)
# Determine verbosity level
loggingLevel = logging.DEBUG if args.verbose else logging.INFO
logging.basicConfig(level=loggingLevel, format='')
# Construct extension to save model
ext = p1b3.extension_from_parameters(gParameters, '.neon')
# Get default parameters for initialization and optimizer functions
kerasDefaults = p1_common.keras_default_config()
seed = gParameters['rng_seed']
# Build dataset loader object
loader = p1b3.DataLoader(
seed=seed,
dtype=gParameters['datatype'],
val_split=gParameters['validation_split'],
test_cell_split=gParameters['test_cell_split'],
cell_features=gParameters['cell_features'],
drug_features=gParameters['drug_features'],
feature_subsample=gParameters['feature_subsample'],
scaling=gParameters['scaling'],
scramble=gParameters['scramble'],
min_logconc=gParameters['min_logconc'],
max_logconc=gParameters['max_logconc'],
subsample=gParameters['subsample'],
category_cutoffs=gParameters['category_cutoffs'])
# Re-generate the backend after consolidating parsing and file config
gen_backend(backend=args.backend,
rng_seed=seed,
device_id=args.device_id,
batch_size=gParameters['batch_size'],
datatype=gParameters['datatype'],
max_devices=args.max_devices,
compat_mode=args.compat_mode)
# Initialize weights and learning rule
initializer_weights = p1_common_neon.build_initializer(
gParameters['initialization'], kerasDefaults, seed)
initializer_bias = p1_common_neon.build_initializer(
'constant', kerasDefaults, 0.)
activation = p1_common_neon.get_function(gParameters['activation'])()
# Define model architecture
layers = []
reshape = None
if 'dense' in gParameters: # Build dense layers
for layer in gParameters['dense']:
if layer:
layers.append(
Affine(nout=layer,
init=initializer_weights,
bias=initializer_bias,
activation=activation))
if gParameters['drop']:
layers.append(Dropout(keep=(1 - gParameters['drop'])))
else: # Build convolutional layers
reshape = (1, loader.input_dim, 1)
layer_list = list(range(0, len(gParameters['conv']), 3))
for l, i in enumerate(layer_list):
nb_filter = gParameters['conv'][i]
filter_len = gParameters['conv'][i + 1]
stride = gParameters['conv'][i + 2]
# print(nb_filter, filter_len, stride)
# fshape: (height, width, num_filters).
layers.append(
Conv((1, filter_len, nb_filter),
strides={
'str_h': 1,
'str_w': stride
},
init=initializer_weights,
activation=activation))
if gParameters['pool']:
layers.append(Pooling((1, gParameters['pool'])))
layers.append(
Affine(nout=1,
init=initializer_weights,
bias=initializer_bias,
activation=neon.transforms.Identity()))
# Build model
model = Model(layers=layers)
# Define neon data iterators
train_samples = int(loader.n_train)
val_samples = int(loader.n_val)
if 'train_samples' in gParameters:
train_samples = gParameters['train_samples']
if 'val_samples' in gParameters:
val_samples = gParameters['val_samples']
train_iter = ConcatDataIter(loader,
ndata=train_samples,
lshape=reshape,
datatype=gParameters['datatype'])
val_iter = ConcatDataIter(loader,
partition='val',
ndata=val_samples,
lshape=reshape,
datatype=gParameters['datatype'])
# Define cost and optimizer
cost = GeneralizedCost(p1_common_neon.get_function(gParameters['loss'])())
optimizer = p1_common_neon.build_optimizer(gParameters['optimizer'],
gParameters['learning_rate'],
kerasDefaults)
callbacks = Callbacks(model, eval_set=val_iter,
eval_freq=1) #**args.callback_args)
model.fit(train_iter,
optimizer=optimizer,
num_epochs=gParameters['epochs'],
cost=cost,
callbacks=callbacks)
def benchmark(self):
for d in self.devices:
b = d if (self.backends is None) or (
"mkl" not in self.backends) else "mkl"
print("Use {} as backend.".format(b))
# Common suffix
suffix = "neon_{}_{}_{}by{}_{}".format(b, self.dataset,
self.resize_size[0],
self.resize_size[1],
self.preprocessing)
# Set up backend
# backend: 'cpu' for single cpu, 'mkl' for cpu using mkl library, and 'gpu' for gpu
be = gen_backend(backend=b,
batch_size=self.batch_size,
rng_seed=542,
datatype=np.float32)
# Prepare training/validation/testing sets
neon_train_set = ArrayIterator(X=np.asarray(
[t.flatten().astype('float32') / 255 for t in self.x_train]),
y=np.asarray(self.y_train),
make_onehot=True,
nclass=self.class_num,
lshape=(3, self.resize_size[0],
self.resize_size[1]))
neon_valid_set = ArrayIterator(X=np.asarray(
[t.flatten().astype('float32') / 255 for t in self.x_valid]),
y=np.asarray(self.y_valid),
make_onehot=True,
nclass=self.class_num,
lshape=(3, self.resize_size[0],
self.resize_size[1]))
neon_test_set = ArrayIterator(X=np.asarray([
t.flatten().astype('float32') / 255 for t in self.testImages
]),
y=np.asarray(self.testLabels),
make_onehot=True,
nclass=self.class_num,
lshape=(3, self.resize_size[0],
self.resize_size[1]))
# Initialize model object
self.neon_model = SelfModel(layers=self.constructCNN())
# Costs
neon_cost = GeneralizedCost(costfunc=CrossEntropyMulti())
# Model summary
self.neon_model.initialize(neon_train_set, neon_cost)
print(self.neon_model)
# Learning rules
neon_optimizer = SGD(0.01,
momentum_coef=0.9,
schedule=ExpSchedule(0.2))
# neon_optimizer = RMSProp(learning_rate=0.0001, decay_rate=0.95)
# # Benchmark for 20 minibatches
# d[b] = self.neon_model.benchmark(neon_train_set, cost=neon_cost, optimizer=neon_optimizer)
# Reset model
# self.neon_model = None
# self.neon_model = Model(layers=layers)
# self.neon_model.initialize(neon_train_set, neon_cost)
# Callbacks: validate on validation set
callbacks = Callbacks(
self.neon_model,
eval_set=neon_valid_set,
metric=Misclassification(3),
output_file="./saved_data/{}/{}/callback_data_{}.h5".format(
self.network_type, d, suffix))
callbacks.add_callback(
SelfCallback(eval_set=neon_valid_set,
test_set=neon_test_set,
epoch_freq=1))
# Fit
start = time.time()
self.neon_model.fit(neon_train_set,
optimizer=neon_optimizer,
num_epochs=self.epoch_num,
cost=neon_cost,
callbacks=callbacks)
print("Neon training finishes in {:.2f} seconds.".format(
time.time() - start))
# Result
# results = self.neon_model.get_outputs(neon_valid_set)
# Print error on validation set
start = time.time()
neon_error_mis = self.neon_model.eval(
neon_valid_set, metric=Misclassification()) * 100
print(
'Misclassification error = {:.1f}%. Finished in {:.2f} seconds.'
.format(neon_error_mis[0],
time.time() - start))
# start = time.time()
# neon_error_top3 = self.neon_model.eval(neon_valid_set, metric=TopKMisclassification(3))*100
# print('Top 3 Misclassification error = {:.1f}%. Finished in {:.2f} seconds.'.format(neon_error_top3[2], time.time() - start))
# start = time.time()
# neon_error_top5 = self.neon_model.eval(neon_valid_set, metric=TopKMisclassification(5))*100
# print('Top 5 Misclassification error = {:.1f}%. Finished in {:.2f} seconds.'.format(neon_error_top5[2], time.time() - start))
self.neon_model.save_params("./saved_models/{}/{}/{}.prm".format(
self.network_type, d, suffix))
# Print error on test set
start = time.time()
neon_error_mis_t = self.neon_model.eval(
neon_test_set, metric=Misclassification()) * 100
print(
'Misclassification error = {:.1f}% on test set. Finished in {:.2f} seconds.'
.format(neon_error_mis_t[0],
time.time() - start))
# start = time.time()
# neon_error_top3_t = self.neon_model.eval(neon_test_set, metric=TopKMisclassification(3))*100
# print('Top 3 Misclassification error = {:.1f}% on test set. Finished in {:.2f} seconds.'.format(neon_error_top3_t[2], time.time() - start))
# start = time.time()
# neon_error_top5_t = self.neon_model.eval(neon_test_set, metric=TopKMisclassification(5))*100
# print('Top 5 Misclassification error = {:.1f}% on test set. Finished in {:.2f} seconds.'.format(neon_error_top5_t[2], time.time() - start))
cleanup_backend()
self.neon_model = None
Conv((4, 4, 32), init=init_uni, activation=Rectlin(), batch_norm=bn),
Pooling(2),
Deconv(fshape=(4, 4, 8),
init=init_uni,
activation=Rectlin(),
batch_norm=bn),
Deconv(fshape=(3, 3, 8),
init=init_uni,
activation=Rectlin(),
strides=2,
batch_norm=bn),
Deconv(fshape=(2, 2, 1), init=init_uni, strides=2, padding=1)
]
# Define the cost
cost = GeneralizedCost(costfunc=SumSquared())
model = Model(layers=layers)
# configure callbacks
callbacks = Callbacks(model, **args.callback_args)
# Fit the model
model.fit(train,
optimizer=opt_gdm,
num_epochs=args.epochs,
cost=cost,
callbacks=callbacks)
# Plot the reconstructed digits
try:
p2 = [
b1,
Affine(nout=16, linear_name="b1_l1", **normrelu),
Affine(nout=10, linear_name="b1_l2", **normsigm)
]
p3 = [
b2,
Affine(nout=16, linear_name="b2_l1", **normrelu),
Affine(nout=10, linear_name="b2_l2", **normsigm)
]
# setup cost function as CrossEntropy
cost = Multicost(costs=[
GeneralizedCost(costfunc=CrossEntropyMulti()),
GeneralizedCost(costfunc=CrossEntropyBinary()),
GeneralizedCost(costfunc=CrossEntropyBinary())
],
weights=[1, 0., 0.])
# setup optimizer
optimizer = GradientDescentMomentum(0.1,
momentum_coef=0.9,
stochastic_round=args.rounding)
# initialize model object
alphas = [1, 0.25, 0.25]
mlp = Model(layers=Tree([p1, p2, p3], alphas=alphas))
# setup standard fit callbacks
def test_conv_rnn(backend_default):
train_shape = (1, 17, 142)
be = backend_default
inp = be.array(be.rng.randn(np.prod(train_shape), be.bsz))
delta = be.array(be.rng.randn(10, be.bsz))
init_norm = Gaussian(loc=0.0, scale=0.01)
bilstm = DeepBiLSTM(128,
init_norm,
activation=Rectlin(),
gate_activation=Rectlin(),
depth=1,
reset_cells=True)
birnn_1 = DeepBiRNN(128,
init_norm,
activation=Rectlin(),
depth=1,
reset_cells=True,
batch_norm=False)
birnn_2 = DeepBiRNN(128,
init_norm,
activation=Rectlin(),
depth=2,
reset_cells=True,
batch_norm=False)
bibnrnn = DeepBiRNN(128,
init_norm,
activation=Rectlin(),
depth=1,
reset_cells=True,
batch_norm=True)
birnnsum = DeepBiRNN(128,
init_norm,
activation=Rectlin(),
depth=1,
reset_cells=True,
batch_norm=False,
bi_sum=True)
rnn = Recurrent(128,
init=init_norm,
activation=Rectlin(),
reset_cells=True)
lstm = LSTM(128,
init_norm,
activation=Rectlin(),
gate_activation=Rectlin(),
reset_cells=True)
gru = GRU(128,
init_norm,
activation=Rectlin(),
gate_activation=Rectlin(),
reset_cells=True)
rlayers = [bilstm, birnn_1, birnn_2, bibnrnn, birnnsum, rnn, lstm, gru]
for rl in rlayers:
layers = [
Conv((2, 2, 4),
init=init_norm,
activation=Rectlin(),
strides=dict(str_h=2, str_w=4)),
Pooling(2, strides=2),
Conv((3, 3, 4),
init=init_norm,
batch_norm=True,
activation=Rectlin(),
strides=dict(str_h=1, str_w=2)),
rl,
RecurrentMean(),
Affine(nout=10, init=init_norm, activation=Rectlin()),
]
model = Model(layers=layers)
cost = GeneralizedCost(costfunc=CrossEntropyBinary())
model.initialize(train_shape, cost)
model.fprop(inp)
model.bprop(delta)
def main():
# Get command-line parameters
parser = get_p1b1_parser()
args = parser.parse_args()
#print('Args:', args)
# Get parameters from configuration file
fileParameters = p1b1.read_config_file(args.config_file)
#print ('Params:', fileParameters)
# Correct for arguments set by default by neon parser
# (i.e. instead of taking the neon parser default value fall back to the config file,
# if effectively the command-line was used, then use the command-line value)
# This applies to conflictive parameters: batch_size, epochs and rng_seed
if not any("--batch_size" in ag or "-z" in ag for ag in sys.argv):
args.batch_size = fileParameters['batch_size']
if not any("--epochs" in ag or "-e" in ag for ag in sys.argv):
args.epochs = fileParameters['epochs']
if not any("--rng_seed" in ag or "-r" in ag for ag in sys.argv):
args.rng_seed = fileParameters['rng_seed']
# Consolidate parameter set. Command-line parameters overwrite file configuration
gParameters = p1_common.args_overwrite_config(args, fileParameters)
print('Params:', gParameters)
# Determine verbosity level
loggingLevel = logging.DEBUG if args.verbose else logging.INFO
logging.basicConfig(level=loggingLevel, format='')
# Construct extension to save model
ext = p1b1.extension_from_parameters(gParameters, '.neon')
# Get default parameters for initialization and optimizer functions
kerasDefaults = p1_common.keras_default_config()
seed = gParameters['rng_seed']
# Load dataset
X_train, X_val, X_test = p1b1.load_data(gParameters, seed)
print("Shape X_train: ", X_train.shape)
print("Shape X_val: ", X_val.shape)
print("Shape X_test: ", X_test.shape)
print("Range X_train --> Min: ", np.min(X_train), ", max: ",
np.max(X_train))
print("Range X_val --> Min: ", np.min(X_val), ", max: ", np.max(X_val))
print("Range X_test --> Min: ", np.min(X_test), ", max: ", np.max(X_test))
input_dim = X_train.shape[1]
output_dim = input_dim
# Re-generate the backend after consolidating parsing and file config
gen_backend(backend=args.backend,
rng_seed=seed,
device_id=args.device_id,
batch_size=gParameters['batch_size'],
datatype=gParameters['datatype'],
max_devices=args.max_devices,
compat_mode=args.compat_mode)
# Set input and target to X_train
train = ArrayIterator(X_train)
val = ArrayIterator(X_val)
test = ArrayIterator(X_test)
# Initialize weights and learning rule
initializer_weights = p1_common_neon.build_initializer(
gParameters['initialization'], kerasDefaults)
initializer_bias = p1_common_neon.build_initializer(
'constant', kerasDefaults, 0.)
activation = p1_common_neon.get_function(gParameters['activation'])()
# Define Autoencoder architecture
layers = []
reshape = None
# Autoencoder
layers_params = gParameters['dense']
if layers_params != None:
if type(layers_params) != list:
layers_params = list(layers_params)
# Encoder Part
for i, l in enumerate(layers_params):
layers.append(
Affine(nout=l,
init=initializer_weights,
bias=initializer_bias,
activation=activation))
# Decoder Part
for i, l in reversed(list(enumerate(layers_params))):
if i < len(layers) - 1:
layers.append(
Affine(nout=l,
init=initializer_weights,
bias=initializer_bias,
activation=activation))
layers.append(
Affine(nout=output_dim,
init=initializer_weights,
bias=initializer_bias,
activation=activation))
# Build Autoencoder model
ae = Model(layers=layers)
# Define cost and optimizer
cost = GeneralizedCost(p1_common_neon.get_function(gParameters['loss'])())
optimizer = p1_common_neon.build_optimizer(gParameters['optimizer'],
gParameters['learning_rate'],
kerasDefaults)
callbacks = Callbacks(ae, eval_set=val, eval_freq=1)
# Seed random generator for training
np.random.seed(seed)
ae.fit(train,
optimizer=optimizer,
num_epochs=gParameters['epochs'],
cost=cost,
callbacks=callbacks)
# model save
#save_fname = "model_ae_W" + ext
#ae.save_params(save_fname)
# Compute errors
X_pred = ae.get_outputs(test)
scores = p1b1.evaluate_autoencoder(X_pred, X_test)
print('Evaluation on test data:', scores)
diff = X_pred - X_test
# Plot histogram of errors comparing input and output of autoencoder
plt.hist(diff.ravel(), bins='auto')
plt.title("Histogram of Errors with 'auto' bins")
plt.savefig('histogram_neon.png')
layers = [
Affine(nout=50, init=w, bias=b, activation=Rectlin()),
Dropout(keep=0.5),
Affine(nout=50, init=w, bias=b, activation=Rectlin()),
Dropout(keep=0.4),
Affine(nout=3, init=w, bias=b, activation=Softmax()),
Dropout(keep=0.3)
]
# Optimizer
optimizer = GradientDescentMomentum(0.1,
momentum_coef=0.9,
stochastic_round=args.rounding)
# Cost
cost = GeneralizedCost(costfunc=MeanSquared())
model = Model(layers=layers)
callbacks = Callbacks(model, eval_set=val_iter, **args.callback_args)
# Training
model.fit(train_iter,
optimizer=optimizer,
num_epochs=1,
cost=cost,
callbacks=callbacks)
# Evluate
evaluate(model, val_iter, Metric=Misclassification())
def main():
# Get command-line parameters
parser = get_p1b2_parser()
args = parser.parse_args()
#print('Args:', args)
# Get parameters from configuration file
fileParameters = p1b2.read_config_file(args.config_file)
#print ('Params:', fileParameters)
# Correct for arguments set by default by neon parser
# (i.e. instead of taking the neon parser default value fall back to the config file,
# if effectively the command-line was used, then use the command-line value)
# This applies to conflictive parameters: batch_size, epochs and rng_seed
if not any("--batch_size" in ag or "-z" in ag for ag in sys.argv):
args.batch_size = fileParameters['batch_size']
if not any("--epochs" in ag or "-e" in ag for ag in sys.argv):
args.epochs = fileParameters['epochs']
if not any("--rng_seed" in ag or "-r" in ag for ag in sys.argv):
args.rng_seed = fileParameters['rng_seed']
# Consolidate parameter set. Command-line parameters overwrite file configuration
gParameters = p1_common.args_overwrite_config(args, fileParameters)
print('Params:', gParameters)
# Determine verbosity level
loggingLevel = logging.DEBUG if args.verbose else logging.INFO
logging.basicConfig(level=loggingLevel, format='')
# Construct extension to save model
ext = p1b2.extension_from_parameters(gParameters, '.neon')
# Get default parameters for initialization and optimizer functions
kerasDefaults = p1_common.keras_default_config()
seed = gParameters['rng_seed']
# Load dataset
#(X_train, y_train), (X_test, y_test) = p1b2.load_data(gParameters, seed)
(X_train, y_train), (X_val,
y_val), (X_test,
y_test) = p1b2.load_data(gParameters, seed)
print("Shape X_train: ", X_train.shape)
print("Shape X_val: ", X_val.shape)
print("Shape X_test: ", X_test.shape)
print("Shape y_train: ", y_train.shape)
print("Shape y_val: ", y_val.shape)
print("Shape y_test: ", y_test.shape)
print("Range X_train --> Min: ", np.min(X_train), ", max: ",
np.max(X_train))
print("Range X_val --> Min: ", np.min(X_val), ", max: ", np.max(X_val))
print("Range X_test --> Min: ", np.min(X_test), ", max: ", np.max(X_test))
print("Range y_train --> Min: ", np.min(y_train), ", max: ",
np.max(y_train))
print("Range y_val --> Min: ", np.min(y_val), ", max: ", np.max(y_val))
print("Range y_test --> Min: ", np.min(y_test), ", max: ", np.max(y_test))
input_dim = X_train.shape[1]
num_classes = int(np.max(y_train)) + 1
output_dim = num_classes # The backend will represent the classes using one-hot representation (but requires an integer class as input !)
# Re-generate the backend after consolidating parsing and file config
gen_backend(backend=args.backend,
rng_seed=seed,
device_id=args.device_id,
batch_size=gParameters['batch_size'],
datatype=gParameters['data_type'],
max_devices=args.max_devices,
compat_mode=args.compat_mode)
train = ArrayIterator(X=X_train, y=y_train, nclass=num_classes)
val = ArrayIterator(X=X_val, y=y_val, nclass=num_classes)
test = ArrayIterator(X=X_test, y=y_test, nclass=num_classes)
# Initialize weights and learning rule
initializer_weights = p1_common_neon.build_initializer(
gParameters['initialization'], kerasDefaults, seed)
initializer_bias = p1_common_neon.build_initializer(
'constant', kerasDefaults, 0.)
activation = p1_common_neon.get_function(gParameters['activation'])()
# Define MLP architecture
layers = []
reshape = None
for layer in gParameters['dense']:
if layer:
layers.append(
Affine(nout=layer,
init=initializer_weights,
bias=initializer_bias,
activation=activation))
if gParameters['dropout']:
layers.append(Dropout(keep=(1 - gParameters['dropout'])))
layers.append(
Affine(nout=output_dim,
init=initializer_weights,
bias=initializer_bias,
activation=activation))
# Build MLP model
mlp = Model(layers=layers)
# Define cost and optimizer
cost = GeneralizedCost(p1_common_neon.get_function(gParameters['loss'])())
optimizer = p1_common_neon.build_optimizer(gParameters['optimizer'],
gParameters['learning_rate'],
kerasDefaults)
callbacks = Callbacks(mlp, eval_set=val, metric=Accuracy(), eval_freq=1)
# Seed random generator for training
np.random.seed(seed)
mlp.fit(train,
optimizer=optimizer,
num_epochs=gParameters['epochs'],
cost=cost,
callbacks=callbacks)
# model save
#save_fname = "model_mlp_W_" + ext
#mlp.save_params(save_fname)
# Evalute model on test set
print('Model evaluation by neon: ', mlp.eval(test, metric=Accuracy()))
y_pred = mlp.get_outputs(test)
#print ("Shape y_pred: ", y_pred.shape)
scores = p1b2.evaluate_accuracy(p1_common.convert_to_class(y_pred), y_test)
print('Evaluation on test data:', scores)
# setting model layers for AE1
encoder1 = Affine(nout=config.encoder_size[0], init=init_norm,
activation=Logistic(), name='encoder1')
decoder1 = Affine(nout=image_size, init=init_norm, activation=Logistic(),
name='decoder1')
encoder2 = Affine(nout=config.encoder_size[1], init=init_norm,
activation=Logistic(), name='encoder2')
decoder2 = Affine(nout=config.encoder_size[0], init=init_norm,
activation=Logistic(), name='decoder2')
encoder3 = Affine(nout=config.encoder_size[2], init=init_norm,
activation=Logistic(), name='encoder3')
decoder3 = Affine(nout=config.encoder_size[1], init=init_norm,
activation=Logistic(), name='decoder3')
classifier = Affine(nout=config.ydim, init=init_norm, activation=Softmax())
cost_reconst = GeneralizedCost(costfunc=SumSquared())
cost_classification = GeneralizedCost(costfunc=CrossEntropyMulti())
# Setting model layers for AE1
AE1 = Model([encoder1, decoder1])
AE1.cost = cost_reconst
AE1.initialize(data, cost_reconst)
# AE1.optimizer = optimizer_default
measure_time(data, AE1, config, 'AE1')
# Setting model layers for AE2
# It has an extra encoder layer compared to what AE should really be. This is
# done to avoid saving the outputs for each AE.
AE2_mimic = Model([encoder1, encoder2, decoder2])
AE2_mimic.cost = cost_reconst
AE2_mimic.initialize(data, cost_reconst)
from neon.backends import gen_backend
import bot_params as params
import replay_memory as mem
from enemydetector1 import model, predict
params.batch_size = 64
be = gen_backend(backend='cpu', batch_size=params.batch_size)
dataset = mem.load()
opt_gdm = GradientDescentMomentum(learning_rate=0.01,
momentum_coef=0.9,
stochastic_round=0)
cost = GeneralizedCost(costfunc=CrossEntropyMulti(scale=10))
(X_train, y_train), (X_test, y_test) = dataset.get_dataset()
print X_train.shape, y_train.shape, X_test.shape, y_test.shape
train_set = ArrayIterator(X=X_train, y=y_train, nclass=dataset.nclass, lshape=dataset.shape, make_onehot=False)
test = ArrayIterator(X=X_test, y=y_test, nclass=dataset.nclass, lshape=dataset.shape, make_onehot=False)
callbacks = Callbacks(model, eval_set=test, eval_freq=1,)
model.fit(train_set, optimizer=opt_gdm, num_epochs=2, cost=cost, callbacks=callbacks)
model.save_params(params.weigths_path)
def test_example(i):
val = predict(X_train[i])
def create_objects(root_yaml,
be_type='gpu',
batch_size=128,
rng_seed=None,
device_id=0,
default_dtype=np.float32,
stochastic_rounding=False):
"""
Instantiate objects as per the given specifications.
Arguments:
root_yaml (dict): Model definition dictionary parse from YAML file
be_type (str): backend either 'gpu', 'mgpu' or 'cpu'
batch_size (int): Batch size.
rng_seed (None or int): random number generator seed
device_id (int): for GPU backends id of device to use
default_dtype (type): numpy data format for default data types,
stochastic_rounding (bool or int): number of bits for stochastic rounding
use False for no rounding
Returns:
tuple: Contains model, cost and optimizer objects.
"""
assert NervanaObject.be is not None, 'Must generate a backend before running this function'
# can give filename or parse dictionary
if type(root_yaml) is str:
with open(root_yaml, 'r') as fid:
root_yaml = yaml.safe_load(fid.read())
# in case references were used
root_yaml = deepcopy(root_yaml)
# initialize layers
yaml_layers = root_yaml['layers']
# currently only support sequential in yaml
layer_dict = {'layers': yaml_layers}
layers = Sequential.gen_class(layer_dict)
# initialize model
model = Model(layers=layers)
# cost (before layers for shortcut derivs)
cost_name = root_yaml['cost']
cost = GeneralizedCost.gen_class({'costfunc': {'type': cost_name}})
# create optimizer
opt = None
if 'optimizer' in root_yaml:
yaml_opt = root_yaml['optimizer']
typ = yaml_opt['type']
opt = getattr(neon.optimizers, typ).gen_class(yaml_opt['config'])
return model, cost, opt
def main():
parser = NeonArgparser(__doc__)
args = parser.parse_args(gen_be=False)
#mat_data = sio.loadmat('../data/timeseries/02_timeseries.mat')
#ts = V1TimeSeries(mat_data['timeseries'], mat_data['stim'], binning=10)
seq_len = 30
hidden = 20
be = gen_backend(**extract_valid_args(args, gen_backend))
kohn = KohnV1Dataset(path='../tmp/')
kohn.gen_iterators(seq_len)
import pdb; pdb.set_trace()
train_spike_set = V1IteratorSequence(ts.train, seq_len, return_sequences=False)
valid_spike_set = V1IteratorSequence(ts.test, seq_len, return_sequences=False)
init = GlorotUniform()
# dataset = MNIST(path=args.data_dir)
# (X_train, y_train), (X_test, y_test), nclass = dataset.load_data()
# train_set = ArrayIterator([X_train, X_train], y_train, nclass=nclass, lshape=(1, 28, 28))
# valid_set = ArrayIterator([X_test, X_test], y_test, nclass=nclass, lshape=(1, 28, 28))
# # weight initialization
# init_norm = Gaussian(loc=0.0, scale=0.01)
# # initialize model
# path1 = Sequential(layers=[Affine(nout=100, init=init_norm, activation=Rectlin()),
# Affine(nout=100, init=init_norm, activation=Rectlin())])
# path2 = Sequential(layers=[Affine(nout=100, init=init_norm, activation=Rectlin()),
# Affine(nout=100, init=init_norm, activation=Rectlin())])
# layers = [MergeMultistream(layers=[path1, path2], merge="stack"),
# Affine(nout=10, init=init_norm, activation=Logistic(shortcut=True))]
spike_rnn_path = Sequential( layers = [
LSTM(hidden, init, activation=Logistic(),
gate_activation=Logistic(), reset_cells=False),
Dropout(keep=0.5),
LSTM(hidden, init, activation=Logistic(),
gate_activation=Logistic(), reset_cells=False),
#Dropout(keep=0.85),
RecurrentLast(),
Affine(train_set.nfeatures, init, bias=init, activation=Identity(), name='spike_in')])
stim_rnn_path = Sequential( layers = [
LSTM(hidden, init, activation=Logistic(),
gate_activation=Logistic(), reset_cells=False),
Dropout(keep=0.5),
RecurrentLast(),
Affine(1, init, bias=init, activation=Identity(), name='stim')])
layers = [
MergeMultiStream(
layers = [
spike_rnn_path,
stim_rnn_path],
merge="stack"),
Affine(train_set.nfeatures, init, bias=init, activation=Identity(), name='spike_out'),
Round()
]
model = Model(layers=layers)
sched = ExpSchedule(decay=0.7)
# cost = GeneralizedCost(SumSquared())
cost = GeneralizedCost(MeanSquared())
optimizer_two = RMSProp(stochastic_round=args.rounding)
optimizer_one = GradientDescentMomentum(learning_rate=0.1, momentum_coef=0.9, schedule=sched)
opt = MultiOptimizer({'default': optimizer_one,
'Bias': optimizer_two,
'special_linear': optimizer_two})
callbacks = Callbacks(model, eval_set=valid_set, **args.callback_args)
callbacks.add_hist_callback(filter_key = ['W'])
#callbacks.add_callback(MetricCallback(eval_set=valid_set, metric=FractionExplainedVariance(), epoch_freq=args.eval_freq))
#callbacks.add_callback(MetricCallback(eval_set=valid_set,metric=Accuracy(), epoch_freq=args.eval_freq))
model.fit(train_set,
optimizer=opt,
num_epochs=args.epochs,
cost=cost,
callbacks=callbacks)
train_output = model.get_outputs(
train_set).reshape(-1, train_set.nfeatures)
valid_output = model.get_outputs(
valid_set).reshape(-1, valid_set.nfeatures)
train_target = train_set.y_series
valid_target = valid_set.y_series
tfev = fev(train_output, train_target, train_set.mean)
vfev = fev(valid_output, valid_target, valid_set.mean)
neon_logger.display('Train FEV: %g, Valid FEV: %g' % (tfev, vfev))
# neon_logger.display('Train Mean: %g, Valid Mean: %g' % (train_set.mean, valid_set.mean))
plt.figure()
plt.plot(train_output[:, 0], train_output[
:, 1], 'bo', label='prediction')
plt.plot(train_target[:, 0], train_target[:, 1], 'r.', label='target')
plt.legend()
plt.title('Neon on training set')
plt.savefig('neon_series_training_output.png')
plt.figure()
plt.plot(valid_output[:, 0], valid_output[
:, 1], 'bo', label='prediction')
plt.plot(valid_target[:, 0], valid_target[:, 1], 'r.', label='target')
plt.legend()
plt.title('Neon on validation set')
plt.savefig('neon_series_validation_output.png')
def test_model_serialize(backend_default, data):
dataset = MNIST(path=data)
(X_train, y_train), (X_test, y_test), nclass = dataset.load_data()
train_set = ArrayIterator([X_train, X_train],
y_train,
nclass=nclass,
lshape=(1, 28, 28))
init_norm = Gaussian(loc=0.0, scale=0.01)
# initialize model
path1 = Sequential([
Conv((5, 5, 16),
init=init_norm,
bias=Constant(0),
activation=Rectlin()),
Pooling(2),
Affine(nout=20, init=init_norm, bias=init_norm, activation=Rectlin())
])
path2 = Sequential([
Affine(nout=100,
init=init_norm,
bias=Constant(0),
activation=Rectlin()),
Dropout(keep=0.5),
Affine(nout=20, init=init_norm, bias=init_norm, activation=Rectlin())
])
layers = [
MergeMultistream(layers=[path1, path2], merge="stack"),
Affine(nout=20, init=init_norm, batch_norm=True, activation=Rectlin()),
Affine(nout=10, init=init_norm, activation=Logistic(shortcut=True))
]
tmp_save = 'test_model_serialize_tmp_save.pickle'
mlp = Model(layers=layers)
mlp.optimizer = GradientDescentMomentum(learning_rate=0.1,
momentum_coef=0.9)
mlp.cost = GeneralizedCost(costfunc=CrossEntropyBinary())
mlp.initialize(train_set, cost=mlp.cost)
n_test = 3
num_epochs = 3
# Train model for num_epochs and n_test batches
for epoch in range(num_epochs):
for i, (x, t) in enumerate(train_set):
x = mlp.fprop(x)
delta = mlp.cost.get_errors(x, t)
mlp.bprop(delta)
mlp.optimizer.optimize(mlp.layers_to_optimize, epoch=epoch)
if i > n_test:
break
# Get expected outputs of n_test batches and states of all layers
outputs_exp = []
pdicts_exp = [l.get_params_serialize() for l in mlp.layers_to_optimize]
for i, (x, t) in enumerate(train_set):
outputs_exp.append(mlp.fprop(x, inference=True))
if i > n_test:
break
# Serialize model
mlp.save_params(tmp_save, keep_states=True)
# Load model
mlp = Model(tmp_save)
mlp.initialize(train_set)
outputs = []
pdicts = [l.get_params_serialize() for l in mlp.layers_to_optimize]
for i, (x, t) in enumerate(train_set):
outputs.append(mlp.fprop(x, inference=True))
if i > n_test:
break
# Check outputs, states, and params are the same
for output, output_exp in zip(outputs, outputs_exp):
assert np.allclose(output.get(), output_exp.get())
for pd, pd_exp in zip(pdicts, pdicts_exp):
for s, s_e in zip(pd['states'], pd_exp['states']):
if isinstance(s, list): # this is the batch norm case
for _s, _s_e in zip(s, s_e):
assert np.allclose(_s, _s_e)
else:
assert np.allclose(s, s_e)
for p, p_e in zip(pd['params'], pd_exp['params']):
assert type(p) == type(p_e)
if isinstance(p, list): # this is the batch norm case
for _p, _p_e in zip(p, p_e):
assert np.allclose(_p, _p_e)
elif isinstance(p, np.ndarray):
assert np.allclose(p, p_e)
else:
assert p == p_e
os.remove(tmp_save)
class DeepQNetwork:
def __init__(self, num_actions, args):
# remember parameters
self.num_actions = num_actions
self.batch_size = args.batch_size
self.discount_rate = args.discount_rate
self.history_length = args.history_length
self.screen_dim = (args.screen_height, args.screen_width)
self.clip_error = args.clip_error
self.min_reward = args.min_reward
self.max_reward = args.max_reward
self.batch_norm = args.batch_norm
# create Neon backend
self.be = gen_backend(backend=args.backend,
batch_size=args.batch_size,
rng_seed=args.random_seed,
device_id=args.device_id,
datatype=np.dtype(args.datatype).type,
stochastic_round=args.stochastic_round)
# prepare tensors once and reuse them
self.input_shape = (self.history_length, ) + self.screen_dim + (
self.batch_size, )
self.input = self.be.empty(self.input_shape)
self.input.lshape = self.input_shape # HACK: needed for convolutional networks
self.targets = self.be.empty((self.num_actions, self.batch_size))
# create model
layers = self._createLayers(num_actions)
self.model = Model(layers=layers)
self.cost = GeneralizedCost(costfunc=SumSquared())
# Bug fix
for l in self.model.layers.layers:
l.parallelism = 'Disabled'
self.model.initialize(self.input_shape[:-1], self.cost)
if args.optimizer == 'rmsprop':
self.optimizer = RMSProp(learning_rate=args.learning_rate,
decay_rate=args.decay_rate,
stochastic_round=args.stochastic_round)
elif args.optimizer == 'adam':
self.optimizer = Adam(learning_rate=args.learning_rate,
stochastic_round=args.stochastic_round)
elif args.optimizer == 'adadelta':
self.optimizer = Adadelta(decay=args.decay_rate,
stochastic_round=args.stochastic_round)
else:
assert false, "Unknown optimizer"
# create target model
self.target_steps = args.target_steps
self.train_iterations = 0
if self.target_steps:
self.target_model = Model(layers=self._createLayers(num_actions))
# Bug fix
for l in self.target_model.layers.layers:
l.parallelism = 'Disabled'
self.target_model.initialize(self.input_shape[:-1])
self.save_weights_prefix = args.save_weights_prefix
else:
self.target_model = self.model
self.callback = None
def _createLayers(self, num_actions):
# create network
init_xavier_conv = Xavier(local=True)
init_xavier_affine = Xavier(local=False)
layers = []
# The first hidden layer convolves 32 filters of 8x8 with stride 4 with the input image and applies a rectifier nonlinearity.
layers.append(
Conv((8, 8, 32),
strides=4,
init=init_xavier_conv,
activation=Rectlin(),
batch_norm=self.batch_norm))
# The second hidden layer convolves 64 filters of 4x4 with stride 2, again followed by a rectifier nonlinearity.
layers.append(
Conv((4, 4, 64),
strides=2,
init=init_xavier_conv,
activation=Rectlin(),
batch_norm=self.batch_norm))
# This is followed by a third convolutional layer that convolves 64 filters of 3x3 with stride 1 followed by a rectifier.
layers.append(
Conv((3, 3, 64),
strides=1,
init=init_xavier_conv,
activation=Rectlin(),
batch_norm=self.batch_norm))
# The final hidden layer is fully-connected and consists of 512 rectifier units.
layers.append(
Affine(nout=512,
init=init_xavier_affine,
activation=Rectlin(),
batch_norm=self.batch_norm))
# The output layer is a fully-connected linear layer with a single output for each valid action.
layers.append(Affine(nout=num_actions, init=init_xavier_affine))
return layers
def _setInput(self, states):
# change order of axes to match what Neon expects
states = np.transpose(states, axes=(1, 2, 3, 0))
# copy() shouldn't be necessary here, but Neon doesn't work otherwise
self.input.set(states.copy())
# normalize network input between 0 and 1
self.be.divide(self.input, 255, self.input)
def train(self, minibatch, epoch):
# expand components of minibatch
prestates, actions, rewards, poststates, terminals = minibatch
assert len(prestates.shape) == 4
assert len(poststates.shape) == 4
assert len(actions.shape) == 1
assert len(rewards.shape) == 1
assert len(terminals.shape) == 1
assert prestates.shape == poststates.shape
assert prestates.shape[0] == actions.shape[0] == rewards.shape[
0] == poststates.shape[0] == terminals.shape[0]
if self.target_steps and self.train_iterations % self.target_steps == 0:
# have to serialize also states for batch normalization to work
pdict = self.model.get_description(get_weights=True,
keep_states=True)
self.target_model.deserialize(pdict, load_states=True)
# feed-forward pass for poststates to get Q-values
self._setInput(poststates)
postq = self.target_model.fprop(self.input, inference=True)
assert postq.shape == (self.num_actions, self.batch_size)
# calculate max Q-value for each poststate
maxpostq = self.be.max(postq, axis=0).asnumpyarray()
assert maxpostq.shape == (1, self.batch_size)
# feed-forward pass for prestates
self._setInput(prestates)
preq = self.model.fprop(self.input, inference=False)
assert preq.shape == (self.num_actions, self.batch_size)
# make copy of prestate Q-values as targets
targets = preq.asnumpyarray().copy()
# clip rewards between -1 and 1
rewards = np.clip(rewards, self.min_reward, self.max_reward)
# update Q-value targets for actions taken
for i, action in enumerate(actions):
if terminals[i]:
targets[action, i] = float(rewards[i])
else:
targets[action, i] = float(
rewards[i]) + self.discount_rate * maxpostq[0, i]
# copy targets to GPU memory
self.targets.set(targets)
# calculate errors
deltas = self.cost.get_errors(preq, self.targets)
assert deltas.shape == (self.num_actions, self.batch_size)
#assert np.count_nonzero(deltas.asnumpyarray()) == 32
# calculate cost, just in case
cost = self.cost.get_cost(preq, self.targets)
assert cost.shape == (1, 1)
# clip errors
if self.clip_error:
self.be.clip(deltas, -self.clip_error, self.clip_error, out=deltas)
# perform back-propagation of gradients
self.model.bprop(deltas)
# perform optimization
self.optimizer.optimize(self.model.layers_to_optimize, epoch)
# increase number of weight updates (needed for target clone interval)
self.train_iterations += 1
# calculate statistics
if self.callback:
self.callback.on_train(cost[0, 0])
def predict(self, states):
# minibatch is full size, because Neon doesn't let change the minibatch size
assert states.shape == ((
self.batch_size,
self.history_length,
) + self.screen_dim)
# calculate Q-values for the states
self._setInput(states)
qvalues = self.model.fprop(self.input, inference=True)
assert qvalues.shape == (self.num_actions, self.batch_size)
if logger.isEnabledFor(logging.DEBUG):
logger.debug("Q-values: " + str(qvalues.asnumpyarray()[:, 0]))
# transpose the result, so that batch size is first dimension
return qvalues.T.asnumpyarray()
def load_weights(self, load_path):
self.model.load_params(load_path)
def save_weights(self, save_path):
self.model.save_params(save_path)
def main():
# setup the model and run for num_epochs saving the last state only
# this is at the top so that the be is generated
model = gen_model(args.backend)
# setup data iterators
(X_train, y_train), (X_test, y_test), nclass = load_mnist(path=args.data_dir)
NN = batch_size*5 # avoid partial mini batches
if args.backend == 'nervanacpu' or args.backend == 'cpu':
# limit data since cpu backend runs slower
train = ArrayIterator(X_train[:NN], y_train[:NN],
nclass=nclass, lshape=(1, 28, 28))
valid = ArrayIterator(X_test[:NN], y_test[:NN],
nclass=nclass, lshape=(1, 28, 28))
else:
train = ArrayIterator(X_train, y_train, nclass=nclass, lshape=(1, 28, 28))
valid = ArrayIterator(X_test, y_test, nclass=nclass, lshape=(1, 28, 28))
# serialization related
cost = GeneralizedCost(costfunc=CrossEntropyBinary())
opt_gdm = GradientDescentMomentum(learning_rate=0.1, momentum_coef=0.9)
checkpoint_model_path = os.path.join('./', 'test_oneshot.pkl')
checkpoint_schedule = 1 # save at every step
callbacks = Callbacks(model)
callbacks.add_callback(SerializeModelCallback(checkpoint_model_path,
checkpoint_schedule,
history=2))
# run the fit all the way through saving a checkpoint e
model.fit(train,
optimizer=opt_gdm,
num_epochs=num_epochs,
cost=cost,
callbacks=callbacks)
# setup model with same random seed run epoch by epoch
# serializing and deserializing at each step
model = gen_model(args.backend)
cost = GeneralizedCost(costfunc=CrossEntropyBinary())
opt_gdm = GradientDescentMomentum(learning_rate=0.1, momentum_coef=0.9)
# reset data iterators
train.reset()
valid.reset()
checkpoint_model_path = os.path.join('./', 'test_manyshot.pkl')
checkpoint_schedule = 1 # save at evey step
for epoch in range(num_epochs):
# _0 points to state at end of epoch 0
callbacks = Callbacks(model)
callbacks.add_callback(SerializeModelCallback(checkpoint_model_path,
checkpoint_schedule,
history=num_epochs))
model.fit(train,
optimizer=opt_gdm,
num_epochs=epoch+1,
cost=cost,
callbacks=callbacks)
# load saved file
prts = os.path.splitext(checkpoint_model_path)
fn = prts[0] + '_%d' % epoch + prts[1]
model.load_params(fn) # load the saved weights
# compare test_oneshot_<num_epochs>.pkl to test_manyshot_<num_epochs>.pkl
if not compare_model_pickles('test_oneshot_%d.pkl' % (num_epochs-1),
'test_manyshot_%d.pkl' % (num_epochs-1)):
print 'No Match'
sys.exit(1)
else:
print 'Match'
def __init__(self, num_actions, args):
# remember parameters
self.num_actions = num_actions
self.batch_size = args.batch_size
self.discount_rate = args.discount_rate
self.history_length = args.history_length
self.screen_dim = (args.screen_height, args.screen_width)
self.clip_error = args.clip_error
self.min_reward = args.min_reward
self.max_reward = args.max_reward
self.batch_norm = args.batch_norm
# create Neon backend
self.be = gen_backend(backend=args.backend,
batch_size=args.batch_size,
rng_seed=args.random_seed,
device_id=args.device_id,
datatype=np.dtype(args.datatype).type,
stochastic_round=args.stochastic_round)
# prepare tensors once and reuse them
self.input_shape = (self.history_length, ) + self.screen_dim + (
self.batch_size, )
self.input = self.be.empty(self.input_shape)
self.input.lshape = self.input_shape # HACK: needed for convolutional networks
self.targets = self.be.empty((self.num_actions, self.batch_size))
# create model
layers = self._createLayers(num_actions)
self.model = Model(layers=layers)
self.cost = GeneralizedCost(costfunc=SumSquared())
# Bug fix
for l in self.model.layers.layers:
l.parallelism = 'Disabled'
self.model.initialize(self.input_shape[:-1], self.cost)
if args.optimizer == 'rmsprop':
self.optimizer = RMSProp(learning_rate=args.learning_rate,
decay_rate=args.decay_rate,
stochastic_round=args.stochastic_round)
elif args.optimizer == 'adam':
self.optimizer = Adam(learning_rate=args.learning_rate,
stochastic_round=args.stochastic_round)
elif args.optimizer == 'adadelta':
self.optimizer = Adadelta(decay=args.decay_rate,
stochastic_round=args.stochastic_round)
else:
assert false, "Unknown optimizer"
# create target model
self.target_steps = args.target_steps
self.train_iterations = 0
if self.target_steps:
self.target_model = Model(layers=self._createLayers(num_actions))
# Bug fix
for l in self.target_model.layers.layers:
l.parallelism = 'Disabled'
self.target_model.initialize(self.input_shape[:-1])
self.save_weights_prefix = args.save_weights_prefix
else:
self.target_model = self.model
self.callback = None
train_set = ArrayIterator(X=X_train, y=y_train, make_onehot=False)
val_set = ArrayIterator(X=X_val, y=y_val, make_onehot=False)
# setup weight initialization function
init = Uniform(-1, 1)
# setup layers
layers = [
BinaryAffine(nout=4096, init=init, batch_norm=True, activation=Sign()),
BinaryAffine(nout=4096, init=init, batch_norm=True, activation=Sign()),
BinaryAffine(nout=4096, init=init, batch_norm=True, activation=Sign()),
BinaryAffine(nout=2, init=init, batch_norm=True, activation=Identity())
]
# setup cost function as Square Hinge Loss
cost = GeneralizedCost(costfunc=SquareHingeLoss())
# setup optimizer
LR_start = 1.65e-2
def ShiftAdaMax_with_Scale(LR=1):
return ShiftAdaMax(learning_rate=LR_start * LR,
schedule=ShiftSchedule(2, shift_size=1))
optimizer = MultiOptimizer({
'default': ShiftAdaMax_with_Scale(),
'BinaryLinear_0': ShiftAdaMax_with_Scale(57.038),
'BinaryLinear_1': ShiftAdaMax_with_Scale(73.9008),
'BinaryLinear_2': ShiftAdaMax_with_Scale(73.9008),
class DeepQNetwork:
def __init__(self, state_size, num_actions, args):
# remember parameters
self.state_size = state_size
self.num_actions = num_actions
self.batch_size = args.batch_size
self.discount_rate = args.discount_rate
self.clip_error = args.clip_error
self.action_count = np.zeros(21)
# create Neon backend
self.be = gen_backend(backend = args.backend,
batch_size = args.batch_size,
rng_seed = args.random_seed,
device_id = args.device_id,
datatype = np.dtype(args.datatype).type,
stochastic_round = args.stochastic_round)
# prepare tensors once and reuse them
self.input_shape = (self.state_size, self.batch_size)
self.input = self.be.empty(self.input_shape)
self.targets = self.be.empty((self.num_actions, self.batch_size))
# create model
layers = self._createLayers(num_actions)
self.model = Model(layers = layers)
self.cost = GeneralizedCost(costfunc = SumSquared())
self.model.initialize(self.input_shape[:-1], self.cost)
if args.optimizer == 'rmsprop':
self.optimizer = RMSProp(learning_rate = args.learning_rate,
decay_rate = args.decay_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adam':
self.optimizer = Adam(learning_rate = args.learning_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adadelta':
self.optimizer = Adadelta(decay = args.decay_rate,
stochastic_round = args.stochastic_round)
else:
assert False, "Unknown optimizer"
# create target model
self.target_steps = args.target_steps
self.train_iterations = 0
if self.target_steps:
self.target_model = Model(layers = self._createLayers(num_actions))
self.target_model.initialize(self.input_shape[:-1])
self.save_weights_prefix = args.save_weights_prefix
else:
self.target_model = self.model
def _createLayers(self, num_actions):
# create network
init_norm = Gaussian(loc=0.0, scale=0.01)
layers = []
# The final hidden layer is fully-connected and consists of 512 rectifier units.
layers.append(Affine(nout=64, init=init_norm, bias=init_norm, activation=Rectlin()))
# The output layer is a fully-connected linear layer with a single output for each valid action.
layers.append(Affine(nout=num_actions, init=init_norm, bias=init_norm))
return layers
def _setInput(self, states):
# change order of axes to match what Neon expects
states = np.transpose(states)
# copy() shouldn't be necessary here, but Neon doesn't work otherwise
self.input.set(states.copy())
# normalize network input between 0 and 1
# self.be.divide(self.input, 255, self.input)
def train(self, minibatch, epoch):
# expand components of minibatch
prestates, actions, speed_actions, rewards, poststates, terminals = minibatch
assert len(prestates.shape) == 2
assert len(poststates.shape) == 2
assert len(actions.shape) == 1
assert len(rewards.shape) == 1
assert len(terminals.shape) == 1
assert prestates.shape == poststates.shape
assert prestates.shape[0] == actions.shape[0] == rewards.shape[0] == poststates.shape[0] == terminals.shape[0]
#print "WE ARE ACTUALLY TRAINING IN HERE"
if self.target_steps and self.train_iterations % self.target_steps == 0:
# HACK: serialize network to disk and read it back to clone
filename = self.save_weights_prefix + "_target.pkl"
save_obj(self.model.serialize(keep_states = False), filename)
self.target_model.load_weights(filename)
# feed-forward pass for poststates to get Q-values
self._setInput(poststates)
postq = self.target_model.fprop(self.input, inference = True)
assert postq.shape == (self.num_actions, self.batch_size)
# calculate max Q-value for each poststate
postq = postq.asnumpyarray()
maxpostq = np.max(postq, axis=0)
#print maxpostq.shape
assert maxpostq.shape == (self.batch_size,)
# feed-forward pass for prestates
self._setInput(prestates)
preq = self.model.fprop(self.input, inference = False)
assert preq.shape == (self.num_actions, self.batch_size)
# make copy of prestate Q-values as targets
targets = preq.asnumpyarray().copy()
# update Q-value targets for actions taken
for i, action in enumerate(actions):
self.action_count[action] += 1
if terminals[i]:
targets[action, i] = float(rewards[i])
if rewards[i] == -1000:
print "######################### action ", action, "should never be sampled again"
print "sampled_terminal"
else:
targets[action, i] = float(rewards[i]) + self.discount_rate * maxpostq[i]
#targets[i,action] = float(rewards[i]) + self.discount_rate * maxpostq[i]
#print "action count", self.action_count
# copy targets to GPU memory
self.targets.set(targets)
# calculate errors
deltas = self.cost.get_errors(preq, self.targets)
assert deltas.shape == (self.num_actions, self.batch_size)
#assert np.count_nonzero(deltas.asnumpyarray()) == 32
print "nonzero deltas", np.count_nonzero(deltas.asnumpyarray())
# calculate cost, just in case
cost = self.cost.get_cost(preq, self.targets)
assert cost.shape == (1,1)
print "cost:", cost.asnumpyarray()
# clip errors
#if self.clip_error:
# self.be.clip(deltas, -self.clip_error, self.clip_error, out = deltas)
# perform back-propagation of gradients
self.model.bprop(deltas)
# perform optimization
self.optimizer.optimize(self.model.layers_to_optimize, epoch)
# increase number of weight updates (needed for target clone interval)
self.train_iterations += 1
def predict(self, states):
# minibatch is full size, because Neon doesn't let change the minibatch size
assert states.shape == (self.batch_size, self.state_size)
# calculate Q-values for the states
self._setInput(states)
qvalues = self.model.fprop(self.input, inference = True)
assert qvalues.shape == (self.num_actions, self.batch_size)
if logger.isEnabledFor(logging.DEBUG):
logger.debug("Q-values: " + str(qvalues.asnumpyarray()[:,0]))
# transpose the result, so that batch size is first dimension
return qvalues.T.asnumpyarray()
def load_weights(self, load_path):
self.model.load_weights(load_path)
def save_weights(self, save_path):
save_obj(self.model.serialize(keep_states = True), save_path)
momentum_coef=0.9,
stochastic_round=args.rounding)
elif args.datatype in [np.float16]:
opt_gdm = GradientDescentMomentum(learning_rate=0.01 / cost_scale,
momentum_coef=0.9,
stochastic_round=args.rounding)
bn = True
layers = [Conv((5, 5, 16), init=init_uni, activation=Rectlin(), batch_norm=bn),
Pooling((2, 2)),
Conv((5, 5, 32), init=init_uni, activation=Rectlin(), batch_norm=bn),
Pooling((2, 2)),
Affine(nout=500, init=init_uni, activation=Rectlin(), batch_norm=bn),
Affine(nout=10, init=init_uni, activation=Softmax())]
if args.datatype in [np.float32, np.float64]:
cost = GeneralizedCost(costfunc=CrossEntropyMulti())
elif args.datatype in [np.float16]:
cost = GeneralizedCost(costfunc=CrossEntropyMulti(scale=cost_scale))
model = Model(layers=layers)
# configure callbacks
callbacks = Callbacks(model, eval_set=test, **args.callback_args)
model.fit(train, optimizer=opt_gdm, num_epochs=num_epochs,
cost=cost, callbacks=callbacks)
error_rate = model.eval(test, metric=Misclassification())
neon_logger.display('Misclassification error = %.1f%%' % (error_rate * 100))
padding=1),
Conv((3, 3, 512),
init=Gaussian(scale=0.01),
activation=Rectlin(),
padding=1),
Pooling(2, strides=2),
Conv((3, 3, 512),
init=Gaussian(scale=0.01),
activation=Rectlin(),
padding=1),
Conv((3, 3, 512),
init=Gaussian(scale=0.01),
activation=Rectlin(),
padding=1),
Pooling(2, strides=2),
Affine(nout=4096, init=Gaussian(scale=0.01), activation=Rectlin()),
Affine(nout=4096, init=Gaussian(scale=0.01), activation=Rectlin()),
Affine(nout=1000, init=Gaussian(scale=0.01), activation=Softmax())
]
model = Model(layers=layers)
weight_sched = Schedule([22, 44, 65], (1 / 250.)**(1 / 3.))
opt_gdm = GradientDescentMomentum(0.01,
0.0,
wdecay=0.0005,
schedule=weight_sched)
opt = MultiOptimizer({'default': opt_gdm})
cost = GeneralizedCost(costfunc=CrossEntropyMulti())
model.benchmark(train, cost=cost, optimizer=opt, niterations=10, nskip=1)
# setup optimizer
opt_w = GradientDescentMomentum(0.001 * learning_rate_scale, 0.9, wdecay=0.0005)
opt_b = GradientDescentMomentum(0.002 * learning_rate_scale, 0.9)
optimizer = MultiOptimizer({'default': opt_w, 'Bias': opt_b})
# setup model
model = Model(layers=Tree([frcn_layers, bb_layers]))
# if training a new model, seed the Alexnet conv layers with pre-trained weights
# otherwise, just load the model file
if args.model_file is None:
load_imagenet_weights(model, args.data_dir)
cost = Multicost(costs=[GeneralizedCost(costfunc=CrossEntropyMulti()),
GeneralizedCostMask(costfunc=SmoothL1Loss())],
weights=[1, 1])
callbacks = Callbacks(model, **args.callback_args)
model.fit(train_set, optimizer=optimizer,
num_epochs=num_epochs, cost=cost, callbacks=callbacks)
print 'running eval on the training set...'
metric_train = model.eval(train_set, metric=ObjectDetection())
print 'Train: label accuracy - {}%, object deteciton SmoothL1Loss - {}'.format(
metric_train[0]*100,
metric_train[1])
def create_network_lrn():
init1 = Gaussian(scale=0.01)
init2 = Gaussian(scale=0.005)
layers = [
Conv((11, 11, 96),
padding=0,
strides=4,
init=init1,
bias=Constant(0),
activation=Rectlin(),
name='conv1'),
Pooling(3, strides=2, name='pool1'),
LRN(5, ascale=0.0001, bpower=0.75, name='norm1'),
Conv((5, 5, 256),
padding=2,
init=init1,
bias=Constant(1.0),
activation=Rectlin(),
name='conv2'),
Pooling(3, strides=2, name='pool2'),
LRN(5, ascale=0.0001, bpower=0.75, name='norm2'),
Conv((3, 3, 384),
padding=1,
init=init1,
bias=Constant(0),
activation=Rectlin(),
name='conv3'),
Conv((3, 3, 384),
padding=1,
init=init1,
bias=Constant(1.0),
activation=Rectlin(),
name='conv4'),
Conv((3, 3, 256),
padding=1,
init=init1,
bias=Constant(1.0),
activation=Rectlin(),
name='conv5'),
Pooling(3, strides=2, name='pool5'),
Affine(nout=4096,
init=init2,
bias=Constant(1.0),
activation=Rectlin(),
name='fc6'),
Dropout(keep=0.5, name='drop6'),
Affine(nout=4096,
init=init2,
bias=Constant(1.0),
activation=Rectlin(),
name='fc7'),
Dropout(keep=0.5, name='drop7'),
Affine(nout=1000,
init=init1,
bias=Constant(0.0),
activation=Softmax(),
name='fc8')
]
return Model(layers=layers), GeneralizedCost(costfunc=CrossEntropyMulti())
DeepBiRNN(hidden_size,
init=glorot,
activation=Rectlinclip(),
batch_norm=True,
reset_cells=True,
depth=depth),
Affine(hidden_size, init=glorot, activation=Rectlinclip()),
Affine(nout=nout, init=glorot, activation=Identity())
]
model = Model(layers=layers)
opt = GradientDescentMomentumNesterov(learning_rate,
momentum,
gradient_clip_norm=gradient_clip_norm,
stochastic_round=False)
callbacks = Callbacks(model, eval_set=dev, **args.callback_args)
# Print validation set word error rate at the end of every epoch
pcb = WordErrorRateCallback(dev, argmax_decoder, max_tscrpt_len, epoch_freq=1)
callbacks.add_callback(pcb)
cost = GeneralizedCost(costfunc=CTC(max_tscrpt_len, nout=nout))
# Fit the model
model.fit(train,
optimizer=opt,
num_epochs=args.epochs,
cost=cost,
callbacks=callbacks)
class DQNNeon(Learner):
""" This class is an implementation of the DQN network based on Neon.
The modules that interact with the agent, the replay memory and the
statistic calls are implemented here, taking the individual requirements
of the Lasagne framework into account. The code is adapted from:
https://github.com/tambetm/simple_dqn
Attributes:
input_shape (tuple[int]): Dimension of the network input.
dummy_batch (numpy.ndarray): Dummy batche used to calculate Q-values for single states.
batch_norm (bool): Indicates if normalization is wanted for a certain layer (default=False).
be (neon.backends.nervanagpu.NervanaGPU): Describes the backend for the Neon implementation.
input (neon.backends.nervanagpu.GPUTensor): Definition of network input shape.
targets(neon.backends.nervanagpu.GPUTensor): Definition of network output shape.
model (neon.models.model.Model): Generated Neon model.
target_model (neon.models.model.Model): Generated target Neon model.
cost_func (neon.layers.layer.GeneralizedCost): Cost function for model training.
callback (Statistics): Hook for the statistics object to pass train and test information.
Note:
More attributes of this class are defined in the base class Learner.
"""
def __init__(self, env, args, rng, name = "DQNNeon"):
""" Initializes a network based on the Neon framework.
Args:
env (AtariEnv): The envirnoment in which the agent actuates.
args (argparse.Namespace): All settings either with a default value or set via command line arguments.
rng (mtrand.RandomState): initialized Mersenne Twister pseudo-random number generator.
name (str): The name of the network object.
Note:
This function should always call the base class first to initialize
the common values for the networks.
"""
_logger.info("Initializing new object of type " + str(type(self).__name__))
super(DQNNeon, self).__init__(env, args, rng, name)
self.input_shape = (self.sequence_length,) + self.frame_dims + (self.batch_size,)
self.dummy_batch = np.zeros((self.batch_size, self.sequence_length) + self.frame_dims, dtype=np.uint8)
self.batch_norm = args.batch_norm
self.be = gen_backend(
backend = args.backend,
batch_size = args.batch_size,
rng_seed = args.random_seed,
device_id = args.device_id,
datatype = np.dtype(args.datatype).type,
stochastic_round = args.stochastic_round)
# prepare tensors once and reuse them
self.input = self.be.empty(self.input_shape)
self.input.lshape = self.input_shape # HACK: needed for convolutional networks
self.targets = self.be.empty((self.output_shape, self.batch_size))
# create model
layers = self._create_layer()
self.model = Model(layers = layers)
self.cost_func = GeneralizedCost(costfunc = SumSquared())
# Bug fix
for l in self.model.layers.layers:
l.parallelism = 'Disabled'
self.model.initialize(self.input_shape[:-1], self.cost_func)
self._set_optimizer()
if not self.args.load_weights == None:
self.load_weights(self.args.load_weights)
# create target model
if self.target_update_frequency:
layers = self._create_layer()
self.target_model = Model(layers)
# Bug fix
for l in self.target_model.layers.layers:
l.parallelism = 'Disabled'
self.target_model.initialize(self.input_shape[:-1])
else:
self.target_model = self.model
self.callback = None
_logger.debug("%s" % self)
def _create_layer(self):
""" Build a network consistent with the DeepMind Nature paper. """
_logger.debug("Output shape = %d" % self.output_shape)
# create network
init_norm = Gaussian(loc=0.0, scale=0.01)
layers = []
# The first hidden layer convolves 32 filters of 8x8 with stride 4 with the input image and applies a rectifier nonlinearity.
layers.append(
Conv((8, 8, 32),
strides=4,
init=init_norm,
activation=Rectlin(),
batch_norm=self.batch_norm))
# The second hidden layer convolves 64 filters of 4x4 with stride 2, again followed by a rectifier nonlinearity.
layers.append(
Conv((4, 4, 64),
strides=2,
init=init_norm,
activation=Rectlin(),
batch_norm=self.batch_norm))
# This is followed by a third convolutional layer that convolves 64 filters of 3x3 with stride 1 followed by a rectifier.
layers.append(
Conv((3, 3, 64),
strides=1,
init=init_norm,
activation=Rectlin(),
batch_norm=self.batch_norm))
# The final hidden layer is fully-connected and consists of 512 rectifier units.
layers.append(
Affine(
nout=512,
init=init_norm,
activation=Rectlin(),
batch_norm=self.batch_norm))
# The output layer is a fully-connected linear layer with a single output for each valid action.
layers.append(
Affine(
nout= self.output_shape,
init = init_norm))
return layers
def _set_optimizer(self):
""" Initializes the selected optimization algorithm. """
_logger.debug("Optimizer = %s" % str(self.args.optimizer))
if self.args.optimizer == 'rmsprop':
self.optimizer = RMSProp(
learning_rate = self.args.learning_rate,
decay_rate = self.args.decay_rate,
stochastic_round = self.args.stochastic_round)
elif self.args.optimizer == 'adam':
self.optimizer = Adam(
learning_rate = self.args.learning_rate,
stochastic_round = self.args.stochastic_round)
elif self.args.optimizer == 'adadelta':
self.optimizer = Adadelta(
decay = self.args.decay_rate,
stochastic_round = self.args.stochastic_round)
else:
assert false, "Unknown optimizer"
def _prepare_network_input(self, states):
""" Transforms and normalizes the states from one minibatch.
Args:
states (): a set of states with the size of minibatch
"""
_logger.debug("Normalizing and transforming input")
# change order of axes to match what Neon expects
states = np.transpose(states, axes = (1, 2, 3, 0))
# copy() shouldn't be necessary here, but Neon doesn't work otherwise
self.input.set(states.copy())
# normalize network input between 0 and 1
self.be.divide(self.input, self.grayscales, self.input)
def train(self, minibatch, epoch):
""" Prepare, perform and document a complete train step for one minibatch.
Args:
minibatch (numpy.ndarray): Mini-batch of states, shape=(batch_size,sequence_length,frame_width,frame_height)
epoch (int): Current train epoch
"""
_logger.debug("Complete trainig step for one minibatch")
prestates, actions, rewards, poststates, terminals = minibatch
assert len(prestates.shape) == 4
assert len(poststates.shape) == 4
assert len(actions.shape) == 1
assert len(rewards.shape) == 1
assert len(terminals.shape) == 1
assert prestates.shape == poststates.shape
assert prestates.shape[0] == actions.shape[0] == rewards.shape[0] == poststates.shape[0] == terminals.shape[0]
# feed-forward pass for poststates to get Q-values
self._prepare_network_input(poststates)
postq = self.target_model.fprop(self.input, inference = True)
assert postq.shape == (self.output_shape, self.batch_size)
# calculate max Q-value for each poststate
maxpostq = self.be.max(postq, axis=0).asnumpyarray()
assert maxpostq.shape == (1, self.batch_size)
# average maxpostq for stats
maxpostq_avg = maxpostq.mean()
# feed-forward pass for prestates
self._prepare_network_input(prestates)
preq = self.model.fprop(self.input, inference = False)
assert preq.shape == (self.output_shape, self.batch_size)
# make copy of prestate Q-values as targets
targets = preq.asnumpyarray()
# clip rewards between -1 and 1
rewards = np.clip(rewards, self.min_reward, self.max_reward)
# update Q-value targets for each state only at actions taken
for i, action in enumerate(actions):
if terminals[i]:
targets[action, i] = float(rewards[i])
else:
targets[action, i] = float(rewards[i]) + self.discount_rate * maxpostq[0,i]
# copy targets to GPU memory
self.targets.set(targets)
# calculate errors
errors = self.cost_func.get_errors(preq, self.targets)
assert errors.shape == (self.output_shape, self.batch_size)
# average error where there is a error (should be 1 in every row)
#TODO: errors_avg = np.sum(errors)/np.size(errors[errors>0.])
# clip errors
if self.clip_error:
self.be.clip(errors, -self.clip_error, self.clip_error, out = errors)
# calculate cost, just in case
cost = self.cost_func.get_cost(preq, self.targets)
assert cost.shape == (1,1)
# perform back-propagation of gradients
self.model.bprop(errors)
# perform optimization
self.optimizer.optimize(self.model.layers_to_optimize, epoch)
# increase number of weight updates (needed for target clone interval)
self.update_iterations += 1
if self.target_update_frequency and self.update_iterations % self.target_update_frequency == 0:
self._copy_theta()
_logger.info("Network update #%d: Cost = %s, Avg Max Q-value = %s" % (self.update_iterations, str(cost.asnumpyarray()[0][0]), str(maxpostq_avg)))
# update statistics
if self.callback:
self.callback.from_learner(cost.asnumpyarray()[0,0], maxpostq_avg)
def get_Q(self, state):
""" Calculates the Q-values for one mini-batch.
Args:
state(numpy.ndarray): Single state, shape=(sequence_length,frame_width,frame_height).
Returns:
q_values (numpy.ndarray): Results for first element of mini-batch from one forward pass through the network, shape=(self.output_shape,)
"""
_logger.debug("State shape = %s" % str(state.shape))
# minibatch is full size, because Neon doesn't let change the minibatch size
# so we need to run 32 forward steps to get the one we actually want
self.dummy_batch[0] = state
states = self.dummy_batch
assert states.shape == ((self.batch_size, self.sequence_length,) + self.frame_dims)
# calculate Q-values for the states
self._prepare_network_input(states)
qvalues = self.model.fprop(self.input, inference = True)
assert qvalues.shape == (self.output_shape, self.batch_size)
_logger.debug("Qvalues: %s" % (str(qvalues.asnumpyarray()[:,0])))
return qvalues.asnumpyarray()[:,0]
def _copy_theta(self):
""" Copies the weights of the current network to the target network. """
_logger.debug("Copying weights")
pdict = self.model.get_description(get_weights=True, keep_states=True)
self.target_model.deserialize(pdict, load_states=True)
def save_weights(self, target_dir, epoch):
""" Saves the current network parameters to disk.
Args:
target_dir (str): Directory where the network parameters are stored for each episode.
epoch (int): Current epoch.
"""
filename = "%s_%s_%s_%d.prm" % (str(self.args.game.lower()), str(self.args.net_type.lower()), str(self.args.optimizer.lower()), (epoch + 1))
self.model.save_params(os.path.join(target_dir, filename))
def load_weights(self, source_file):
""" Loads the network parameters from a given file.
Args:
source_file (str): Complete path to a file with network parameters.
"""
self.model.load_params(source_file)
else:
rlayer1 = GRU(hidden_size,
init,
activation=Tanh(),
gate_activation=Logistic())
rlayer2 = GRU(hidden_size,
init,
activation=Tanh(),
gate_activation=Logistic())
layers = [
rlayer1, rlayer2,
Affine(len(train_set.vocab), init, bias=init, activation=Softmax())
]
cost = GeneralizedCost(costfunc=CrossEntropyMulti(usebits=True))
model = Model(layers=layers)
learning_rate_sched = Schedule(list(range(10, args.epochs)), .97)
optimizer = RMSProp(gradient_clip_value=gradient_clip_value,
stochastic_round=args.rounding,
schedule=learning_rate_sched)
# configure callbacks
callbacks = Callbacks(model, eval_set=valid_set, **args.callback_args)
# train model
model.fit(train_set,
optimizer=optimizer,
num_epochs=args.epochs,
class DeepQNetwork:
def __init__(self, num_actions, args):
# create Neon backend
self.be = gen_backend(backend = args.backend,
batch_size = args.batch_size,
rng_seed = args.random_seed,
device_id = args.device_id,
default_dtype = np.dtype(args.datatype).type,
stochastic_round = args.stochastic_round)
# create model
layers = self.createLayers(num_actions)
self.model = Model(layers = layers)
self.cost = GeneralizedCost(costfunc = SumSquared())
self.optimizer = RMSProp(learning_rate = args.learning_rate,
decay_rate = args.rmsprop_decay_rate,
stochastic_round = args.stochastic_round)
# create target model
self.target_steps = args.target_steps
self.train_iterations = 0
if self.target_steps:
self.target_model = Model(layers = self.createLayers(num_actions))
self.save_weights_path = args.save_weights_path
else:
self.target_model = self.model
# remember parameters
self.num_actions = num_actions
self.batch_size = args.batch_size
self.discount_rate = args.discount_rate
self.history_length = args.history_length
self.screen_dim = (args.screen_height, args.screen_width)
self.clip_error = args.clip_error
# prepare tensors once and reuse them
self.input_shape = (self.history_length,) + self.screen_dim + (self.batch_size,)
self.tensor = self.be.empty(self.input_shape)
self.tensor.lshape = self.input_shape # needed for convolutional networks
self.targets = self.be.empty((self.num_actions, self.batch_size))
self.callback = None
def createLayers(self, num_actions):
# create network
init_norm = Gaussian(loc=0.0, scale=0.01)
layers = []
# The first hidden layer convolves 32 filters of 8x8 with stride 4 with the input image and applies a rectifier nonlinearity.
layers.append(Conv((8, 8, 32), strides=4, init=init_norm, activation=Rectlin()))
# The second hidden layer convolves 64 filters of 4x4 with stride 2, again followed by a rectifier nonlinearity.
layers.append(Conv((4, 4, 64), strides=2, init=init_norm, activation=Rectlin()))
# This is followed by a third convolutional layer that convolves 64 filters of 3x3 with stride 1 followed by a rectifier.
layers.append(Conv((3, 3, 64), strides=1, init=init_norm, activation=Rectlin()))
# The final hidden layer is fully-connected and consists of 512 rectifier units.
layers.append(Affine(nout=512, init=init_norm, activation=Rectlin()))
# The output layer is a fully-connected linear layer with a single output for each valid action.
layers.append(Affine(nout = num_actions, init = init_norm))
return layers
def setTensor(self, states):
# change order of axes to match what Neon expects
states = np.transpose(states, axes = (1, 2, 3, 0))
# copy() shouldn't be necessary here, but Neon doesn't work otherwise
self.tensor.set(states.copy())
# normalize network input between 0 and 1
self.be.divide(self.tensor, 255, self.tensor)
def train(self, minibatch, epoch):
# expand components of minibatch
prestates, actions, rewards, poststates, terminals = minibatch
assert len(prestates.shape) == 4
assert len(poststates.shape) == 4
assert len(actions.shape) == 1
assert len(rewards.shape) == 1
assert len(terminals.shape) == 1
assert prestates.shape == poststates.shape
assert prestates.shape[0] == actions.shape[0] == rewards.shape[0] == poststates.shape[0] == terminals.shape[0]
if self.target_steps and self.train_iterations % self.target_steps == 0:
# HACK: push something through network, so that weights exist
self.model.fprop(self.tensor)
# HACK: serialize network to disk and read it back to clone
filename = os.path.join(self.save_weights_path, "target_network.pkl")
save_obj(self.model.serialize(keep_states = False), filename)
self.target_model.load_weights(filename)
# feed-forward pass for poststates to get Q-values
self.setTensor(poststates)
postq = self.target_model.fprop(self.tensor, inference = True)
assert postq.shape == (self.num_actions, self.batch_size)
# calculate max Q-value for each poststate
maxpostq = self.be.max(postq, axis=0).asnumpyarray()
assert maxpostq.shape == (1, self.batch_size)
# feed-forward pass for prestates
self.setTensor(prestates)
preq = self.model.fprop(self.tensor, inference = False)
assert preq.shape == (self.num_actions, self.batch_size)
# make copy of prestate Q-values as targets
targets = preq.asnumpyarray()
# update Q-value targets for actions taken
for i, action in enumerate(actions):
if terminals[i]:
targets[action, i] = float(rewards[i])
else:
targets[action, i] = float(rewards[i]) + self.discount_rate * maxpostq[0,i]
# copy targets to GPU memory
self.targets.set(targets)
# calculate errors
deltas = self.cost.get_errors(preq, self.targets)
assert deltas.shape == (self.num_actions, self.batch_size)
#assert np.count_nonzero(deltas.asnumpyarray()) == 32
# calculate cost, just in case
cost = self.cost.get_cost(preq, self.targets)
assert cost.shape == (1,1)
# clip errors
if self.clip_error:
self.be.clip(deltas, -self.clip_error, self.clip_error, out = deltas)
# perform back-propagation of gradients
self.model.bprop(deltas)
# perform optimization
self.optimizer.optimize(self.model.layers_to_optimize, epoch)
# increase number of weight updates (needed for target clone interval)
self.train_iterations += 1
# calculate statistics
if self.callback:
self.callback.on_train(cost.asnumpyarray()[0,0])
def predict(self, states):
# minibatch is full size, because Neon doesn't let change the minibatch size
assert states.shape == ((self.batch_size, self.history_length,) + self.screen_dim)
# calculate Q-values for the states
self.setTensor(states)
qvalues = self.model.fprop(self.tensor, inference = True)
assert qvalues.shape == (self.num_actions, self.batch_size)
if logger.isEnabledFor(logging.DEBUG):
logger.debug("Q-values: " + str(qvalues.asnumpyarray()[:,0]))
# find the action with highest q-value
actions = self.be.argmax(qvalues, axis = 0)
assert actions.shape == (1, self.batch_size)
# take only the first result
return actions.asnumpyarray()[0,0]
def getMeanQ(self, states):
assert states.shape == ((self.batch_size, self.history_length,) + self.screen_dim)
# calculate Q-values for the states
self.setTensor(states)
qvalues = self.model.fprop(self.tensor, inference = True)
assert qvalues.shape == (self.num_actions, self.batch_size)
# take maximum Q-value for each state
actions = self.be.max(qvalues, axis = 0)
assert actions.astensor().shape == (1, self.batch_size)
# calculate mean Q-value of all states
meanq = self.be.mean(actions, axis = 1)
assert meanq.astensor().shape == (1, 1)
# return the mean
return meanq.asnumpyarray()[0,0]
def load_weights(self, load_path):
self.model.load_weights(load_path)
def save_weights(self, save_path):
save_obj(self.model.serialize(keep_states = True), save_path)
class DeepQNetwork:
def __init__(self, state_size, num_steers, num_speeds, args):
# remember parameters
self.state_size = state_size
self.num_steers = num_steers
self.num_speeds = num_speeds
self.num_actions = num_steers + num_speeds
self.num_layers = args.hidden_layers
self.hidden_nodes = args.hidden_nodes
self.batch_size = args.batch_size
self.discount_rate = args.discount_rate
self.clip_error = args.clip_error
# create Neon backend
self.be = gen_backend(backend = args.backend,
batch_size = args.batch_size,
rng_seed = args.random_seed,
device_id = args.device_id,
datatype = np.dtype(args.datatype).type,
stochastic_round = args.stochastic_round)
# prepare tensors once and reuse them
self.input_shape = (self.state_size, self.batch_size)
self.input = self.be.empty(self.input_shape)
self.targets = self.be.empty((self.num_actions, self.batch_size))
# create model
self.model = Model(layers = self._createLayers())
self.cost = GeneralizedCost(costfunc = SumSquared())
self.model.initialize(self.input_shape[:-1], self.cost)
if args.optimizer == 'rmsprop':
self.optimizer = RMSProp(learning_rate = args.learning_rate,
decay_rate = args.decay_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adam':
self.optimizer = Adam(learning_rate = args.learning_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adadelta':
self.optimizer = Adadelta(decay = args.decay_rate,
stochastic_round = args.stochastic_round)
else:
assert false, "Unknown optimizer"
# create target model
self.target_steps = args.target_steps
self.train_iterations = 0
if self.target_steps:
self.target_model = Model(layers = self._createLayers())
self.target_model.initialize(self.input_shape[:-1])
self.save_weights_prefix = args.save_weights_prefix
else:
self.target_model = self.model
def _createLayers(self):
# create network
init_norm = Gaussian(loc=0.0, scale=0.01)
layers = []
for i in xrange(self.num_layers):
layers.append(Affine(nout=self.hidden_nodes, init=init_norm, activation=Rectlin()))
layers.append(Affine(nout=self.num_actions, init = init_norm))
return layers
def _setInput(self, states):
# change order of axes to match what Neon expects
states = np.transpose(states)
# copy() shouldn't be necessary here, but Neon doesn't work otherwise
self.input.set(states.copy())
# normalize network input between 0 and 1
#self.be.divide(self.input, 200, self.input)
def train(self, minibatch, epoch = 0):
# expand components of minibatch
prestates, steers, speeds, rewards, poststates, terminals = minibatch
assert len(prestates.shape) == 2
assert len(poststates.shape) == 2
assert len(steers.shape) == 1
assert len(speeds.shape) == 1
assert len(rewards.shape) == 1
assert len(terminals.shape) == 1
assert prestates.shape == poststates.shape
assert prestates.shape[0] == steers.shape[0] == speeds.shape[0] == rewards.shape[0] == poststates.shape[0] == terminals.shape[0]
if self.target_steps and self.train_iterations % self.target_steps == 0:
# HACK: serialize network to disk and read it back to clone
filename = self.save_weights_prefix + "_target.pkl"
save_obj(self.model.serialize(keep_states = False), filename)
self.target_model.load_weights(filename)
# feed-forward pass for poststates to get Q-values
self._setInput(poststates)
postq = self.target_model.fprop(self.input, inference = True)
assert postq.shape == (self.num_actions, self.batch_size)
# calculate max Q-value for each poststate
postq = postq.asnumpyarray()
maxsteerq = np.max(postq[:self.num_steers,:], axis=0)
assert maxsteerq.shape == (self.batch_size,), "size: %s" % str(maxsteerq.shape)
maxspeedq = np.max(postq[-self.num_speeds:,:], axis=0)
assert maxspeedq.shape == (self.batch_size,)
# feed-forward pass for prestates
self._setInput(prestates)
preq = self.model.fprop(self.input, inference = False)
assert preq.shape == (self.num_actions, self.batch_size)
# make copy of prestate Q-values as targets
# HACK: copy() was needed to make it work on CPU
targets = preq.asnumpyarray().copy()
# update Q-value targets for actions taken
for i, (steer, speed) in enumerate(zip(steers, speeds)):
if terminals[i]:
targets[steer, i] = float(rewards[i])
targets[self.num_steers + speed, i] = float(rewards[i])
else:
targets[steer, i] = float(rewards[i]) + self.discount_rate * maxsteerq[i]
targets[self.num_steers + speed, i] = float(rewards[i]) + self.discount_rate * maxspeedq[i]
# copy targets to GPU memory
self.targets.set(targets)
# calculate errors
deltas = self.cost.get_errors(preq, self.targets)
assert deltas.shape == (self.num_actions, self.batch_size)
#assert np.count_nonzero(deltas.asnumpyarray()) == 2 * self.batch_size, str(np.count_nonzero(deltas.asnumpyarray()))
# calculate cost, just in case
cost = self.cost.get_cost(preq, self.targets)
assert cost.shape == (1,1)
#print "cost:", cost.asnumpyarray()
# clip errors
if self.clip_error:
self.be.clip(deltas, -self.clip_error, self.clip_error, out = deltas)
# perform back-propagation of gradients
self.model.bprop(deltas)
# perform optimization
self.optimizer.optimize(self.model.layers_to_optimize, epoch)
'''
if np.any(rewards < 0):
preqq = preq.asnumpyarray().copy()
self._setInput(prestates)
qvalues = self.model.fprop(self.input, inference = True).asnumpyarray().copy()
indexes = rewards < 0
print "indexes:", indexes
print "preq:", preqq[:, indexes].T
print "preq':", qvalues[:, indexes].T
print "diff:", (qvalues[:, indexes]-preqq[:, indexes]).T
print "steers:", steers[indexes]
print "speeds:", speeds[indexes]
print "rewards:", rewards[indexes]
print "terminals:", terminals[indexes]
print "preq[0]:", preqq[:, 0]
print "preq[0]':", qvalues[:, 0]
print "diff:", qvalues[:, 0] - preqq[:, 0]
print "deltas:", deltas.asnumpyarray()[:, indexes].T
raw_input("Press Enter to continue...")
'''
# increase number of weight updates (needed for target clone interval)
self.train_iterations += 1
def predict(self, states):
# minibatch is full size, because Neon doesn't let change the minibatch size
assert states.shape == (self.batch_size, self.state_size)
# calculate Q-values for the states
self._setInput(states)
qvalues = self.model.fprop(self.input, inference = True)
assert qvalues.shape == (self.num_actions, self.batch_size)
if logger.isEnabledFor(logging.DEBUG):
logger.debug("Q-values: " + str(qvalues.asnumpyarray()[:,0]))
# transpose the result, so that batch size is first dimension
return qvalues.T.asnumpyarray()
def load_weights(self, load_path):
self.model.load_weights(load_path)
def save_weights(self, save_path):
save_obj(self.model.serialize(keep_states = True), save_path)
wdecay=args.weight_decay,
schedule=weight_sched,
stochastic_round=args.rounding)
opt_biases = GradientDescentMomentum(args.rate_init[1],
args.momentum[1],
schedule=weight_sched,
stochastic_round=args.rounding)
opt_fixed = GradientDescentMomentum(0.0, 1.0, wdecay=0.0)
opt = MultiOptimizer({
'default': opt_gdm,
'Bias': opt_biases,
'DOG': opt_fixed
})
# configure cost and test metrics
cost = GeneralizedCost(costfunc=(CrossEntropyBinary() \
if train.parser.independent_labels else CrossEntropyMulti()))
metric = EMMetric(
oshape=test.parser.oshape,
use_softmax=not train.parser.independent_labels) if test else None
# configure callbacks
if not args.neon_progress:
args.callback_args['progress_bar'] = False
callbacks = Callbacks(model,
eval_set=test,
metric=metric,
**args.callback_args)
if not args.neon_progress:
callbacks.add_callback(EMEpochCallback(
args.callback_args['eval_freq'], train.nmacrobatches),
insert_pos=None)
class ModelRunnerNeon():
def __init__(self, args, max_action_no, batch_dimension):
self.args = args
self.train_batch_size = args.train_batch_size
self.discount_factor = args.discount_factor
self.use_gpu_replay_mem = args.use_gpu_replay_mem
self.be = gen_backend(backend='gpu', batch_size=self.train_batch_size)
self.input_shape = (batch_dimension[1], batch_dimension[2],
batch_dimension[3], batch_dimension[0])
self.input = self.be.empty(self.input_shape)
self.input.lshape = self.input_shape # HACK: needed for convolutional networks
self.targets = self.be.empty((max_action_no, self.train_batch_size))
if self.use_gpu_replay_mem:
self.history_buffer = self.be.zeros(batch_dimension,
dtype=np.uint8)
self.input_uint8 = self.be.empty(self.input_shape, dtype=np.uint8)
else:
self.history_buffer = np.zeros(batch_dimension, dtype=np.float32)
self.train_net = Model(self.create_layers(max_action_no))
self.cost = GeneralizedCost(costfunc=SumSquared())
# Bug fix
for l in self.train_net.layers.layers:
l.parallelism = 'Disabled'
self.train_net.initialize(self.input_shape[:-1], self.cost)
self.target_net = Model(self.create_layers(max_action_no))
# Bug fix
for l in self.target_net.layers.layers:
l.parallelism = 'Disabled'
self.target_net.initialize(self.input_shape[:-1])
if self.args.optimizer == 'Adam': # Adam
self.optimizer = Adam(beta_1=args.rms_decay,
beta_2=args.rms_decay,
learning_rate=args.learning_rate)
else: # Neon RMSProp
self.optimizer = RMSProp(decay_rate=args.rms_decay,
learning_rate=args.learning_rate)
self.max_action_no = max_action_no
self.running = True
def get_initializer(self, input_size):
dnnInit = self.args.dnn_initializer
if dnnInit == 'xavier':
initializer = Xavier()
elif dnnInit == 'fan_in':
std_dev = 1.0 / math.sqrt(input_size)
initializer = Uniform(low=-std_dev, high=std_dev)
else:
initializer = Gaussian(0, 0.01)
return initializer
def create_layers(self, max_action_no):
layers = []
initializer = self.get_initializer(input_size=4 * 8 * 8)
layers.append(
Conv(fshape=(8, 8, 32),
strides=4,
init=initializer,
bias=initializer,
activation=Rectlin()))
initializer = self.get_initializer(input_size=32 * 4 * 4)
layers.append(
Conv(fshape=(4, 4, 64),
strides=2,
init=initializer,
bias=initializer,
activation=Rectlin()))
initializer = self.get_initializer(input_size=64 * 3 * 3)
layers.append(
Conv(fshape=(3, 3, 64),
strides=1,
init=initializer,
bias=initializer,
activation=Rectlin()))
initializer = self.get_initializer(input_size=7 * 7 * 64)
layers.append(
Affine(nout=512,
init=initializer,
bias=initializer,
activation=Rectlin()))
initializer = self.get_initializer(input_size=512)
layers.append(
Affine(nout=max_action_no, init=initializer, bias=initializer))
return layers
def clip_reward(self, reward):
if reward > self.args.clip_reward_high:
return self.args.clip_reward_high
elif reward < self.args.clip_reward_low:
return self.args.clip_reward_low
else:
return reward
def set_input(self, data):
if self.use_gpu_replay_mem:
self.be.copy_transpose(data, self.input_uint8, axes=(1, 2, 3, 0))
self.input[:] = self.input_uint8 / 255
else:
self.input.set(data.transpose(1, 2, 3, 0).copy())
self.be.divide(self.input, 255, self.input)
def predict(self, history_buffer):
self.set_input(history_buffer)
output = self.train_net.fprop(self.input, inference=True)
return output.T.asnumpyarray()[0]
def print_weights(self):
pass
def train(self, minibatch, replay_memory, learning_rate, debug):
if self.args.prioritized_replay == True:
prestates, actions, rewards, poststates, terminals, replay_indexes, heap_indexes, weights = minibatch
else:
prestates, actions, rewards, poststates, terminals = minibatch
# Get Q*(s, a) with targetNet
self.set_input(poststates)
post_qvalue = self.target_net.fprop(self.input,
inference=True).T.asnumpyarray()
if self.args.double_dqn == True:
# Get Q*(s, a) with trainNet
post_qvalue2 = self.train_net.fprop(
self.input, inference=True).T.asnumpyarray()
# Get Q(s, a) with trainNet
self.set_input(prestates)
pre_qvalue = self.train_net.fprop(self.input, inference=False)
label = pre_qvalue.asnumpyarray().copy()
for i in range(0, self.train_batch_size):
if self.args.clip_reward:
reward = self.clip_reward(rewards[i])
else:
reward = rewards[i]
if terminals[i]:
label[actions[i], i] = reward
else:
if self.args.double_dqn == True:
max_index = np.argmax(post_qvalue2[i])
label[actions[i],
i] = reward + self.discount_factor * post_qvalue[i][
max_index]
else:
label[actions[i],
i] = reward + self.discount_factor * np.max(
post_qvalue[i])
# copy targets to GPU memory
self.targets.set(label)
delta = self.cost.get_errors(pre_qvalue, self.targets)
if self.args.prioritized_replay == True:
delta_value = delta.asnumpyarray()
for i in range(self.train_batch_size):
if debug:
print 'weight[%s]: %.5f, delta: %.5f, newDelta: %.5f' % (
i, weights[i], delta_value[actions[i], i],
weights[i] * delta_value[actions[i], i])
replay_memory.update_td(heap_indexes[i],
abs(delta_value[actions[i], i]))
delta_value[actions[i],
i] = weights[i] * delta_value[actions[i], i]
delta.set(delta_value.copy())
if self.args.clip_loss:
self.be.clip(delta, -1.0, 1.0, out=delta)
self.train_net.bprop(delta)
self.optimizer.optimize(self.train_net.layers_to_optimize, epoch=0)
def update_model(self):
# have to serialize also states for batch normalization to work
pdict = self.train_net.get_description(get_weights=True,
keep_states=True)
self.target_net.deserialize(pdict, load_states=True)
#print ('Updated target model')
def finish_train(self):
self.running = False
def load(self, file_name):
self.train_net.load_params(file_name)
self.update_model()
def save(self, file_name):
self.train_net.save_params(file_name)
]
else:
layers = [
LSTM(recurrent_units,
init,
activation=Logistic(),
gate_activation=Tanh(),
reset_cells=True),
RecurrentLast(),
Affine(train_set.nfeatures, init, bias=init, activation=Identity())
]
model = Model(layers=layers)
# cost and optimizer
cost = GeneralizedCost(MeanSquared())
optimizer = RMSProp(stochastic_round=args.rounding)
callbacks = Callbacks(model, eval_set=valid_set, **args.callback_args)
# fit model
model.fit(train_set,
optimizer=optimizer,
num_epochs=args.epochs,
cost=cost,
callbacks=callbacks)
# =======visualize how the model does on validation set==============
# run the trained model on train and valid dataset and see how the outputs
# match
train_output = model.get_outputs(train_set).reshape(-1, train_set.nfeatures)
class DeepQNetwork:
def __init__(self, num_actions, args):
# remember parameters
self.num_actions = num_actions
self.batch_size = args.batch_size
self.discount_rate = args.discount_rate
self.history_length = args.history_length
self.screen_dim = (args.screen_height, args.screen_width)
self.clip_error = args.clip_error
self.min_reward = args.min_reward
self.max_reward = args.max_reward
self.batch_norm = args.batch_norm
# create Neon backend
self.be = gen_backend(backend = args.backend,
batch_size = args.batch_size,
rng_seed = args.random_seed,
device_id = args.device_id,
datatype = np.dtype(args.datatype).type,
stochastic_round = args.stochastic_round)
# prepare tensors once and reuse them
self.input_shape = (self.history_length,) + self.screen_dim + (self.batch_size,)
self.input = self.be.empty(self.input_shape)
self.input.lshape = self.input_shape # HACK: needed for convolutional networks
self.targets = self.be.empty((self.num_actions, self.batch_size))
# create model
layers = self._createLayers(num_actions)
self.model = Model(layers = layers)
self.cost = GeneralizedCost(costfunc = SumSquared())
# Bug fix
for l in self.model.layers.layers:
l.parallelism = 'Disabled'
self.model.initialize(self.input_shape[:-1], self.cost)
if args.optimizer == 'rmsprop':
self.optimizer = RMSProp(learning_rate = args.learning_rate,
decay_rate = args.decay_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adam':
self.optimizer = Adam(learning_rate = args.learning_rate,
stochastic_round = args.stochastic_round)
elif args.optimizer == 'adadelta':
self.optimizer = Adadelta(decay = args.decay_rate,
stochastic_round = args.stochastic_round)
else:
assert false, "Unknown optimizer"
# create target model
self.target_steps = args.target_steps
self.train_iterations = 0
if self.target_steps:
self.target_model = Model(layers = self._createLayers(num_actions))
# Bug fix
for l in self.target_model.layers.layers:
l.parallelism = 'Disabled'
self.target_model.initialize(self.input_shape[:-1])
self.save_weights_prefix = args.save_weights_prefix
else:
self.target_model = self.model
self.callback = None
def _createLayers(self, num_actions):
# create network
init_norm = Gaussian(loc=0.0, scale=0.01)
layers = []
# The first hidden layer convolves 32 filters of 8x8 with stride 4 with the input image and applies a rectifier nonlinearity.
layers.append(Conv((8, 8, 32), strides=4, init=init_norm, activation=Rectlin(), batch_norm=self.batch_norm))
# The second hidden layer convolves 64 filters of 4x4 with stride 2, again followed by a rectifier nonlinearity.
layers.append(Conv((4, 4, 64), strides=2, init=init_norm, activation=Rectlin(), batch_norm=self.batch_norm))
# This is followed by a third convolutional layer that convolves 64 filters of 3x3 with stride 1 followed by a rectifier.
layers.append(Conv((3, 3, 64), strides=1, init=init_norm, activation=Rectlin(), batch_norm=self.batch_norm))
# The final hidden layer is fully-connected and consists of 512 rectifier units.
layers.append(Affine(nout=512, init=init_norm, activation=Rectlin(), batch_norm=self.batch_norm))
# The output layer is a fully-connected linear layer with a single output for each valid action.
layers.append(Affine(nout=num_actions, init = init_norm))
return layers
def _setInput(self, states):
# change order of axes to match what Neon expects
states = np.transpose(states, axes = (1, 2, 3, 0))
# copy() shouldn't be necessary here, but Neon doesn't work otherwise
self.input.set(states.copy())
# normalize network input between 0 and 1
self.be.divide(self.input, 255, self.input)
def train(self, minibatch, epoch):
# expand components of minibatch
prestates, actions, rewards, poststates, terminals = minibatch
assert len(prestates.shape) == 4
assert len(poststates.shape) == 4
assert len(actions.shape) == 1
assert len(rewards.shape) == 1
assert len(terminals.shape) == 1
assert prestates.shape == poststates.shape
assert prestates.shape[0] == actions.shape[0] == rewards.shape[0] == poststates.shape[0] == terminals.shape[0]
if self.target_steps and self.train_iterations % self.target_steps == 0:
# have to serialize also states for batch normalization to work
pdict = self.model.get_description(get_weights=True, keep_states=True)
self.target_model.deserialize(pdict, load_states=True)
# feed-forward pass for poststates to get Q-values
self._setInput(poststates)
postq = self.target_model.fprop(self.input, inference = True)
assert postq.shape == (self.num_actions, self.batch_size)
# calculate max Q-value for each poststate
maxpostq = self.be.max(postq, axis=0).asnumpyarray()
assert maxpostq.shape == (1, self.batch_size)
# feed-forward pass for prestates
self._setInput(prestates)
preq = self.model.fprop(self.input, inference = False)
assert preq.shape == (self.num_actions, self.batch_size)
# make copy of prestate Q-values as targets
# It seems neccessary for cpu backend.
targets = preq.asnumpyarray().copy()
# clip rewards between -1 and 1
rewards = np.clip(rewards, self.min_reward, self.max_reward)
# update Q-value targets for actions taken
for i, action in enumerate(actions):
if terminals[i]:
targets[action, i] = float(rewards[i])
else:
targets[action, i] = float(rewards[i]) + self.discount_rate * maxpostq[0,i]
# copy targets to GPU memory
self.targets.set(targets)
# calculate errors
deltas = self.cost.get_errors(preq, self.targets)
assert deltas.shape == (self.num_actions, self.batch_size)
#assert np.count_nonzero(deltas.asnumpyarray()) == 32
# calculate cost, just in case
cost = self.cost.get_cost(preq, self.targets)
assert cost.shape == (1,1)
# clip errors
if self.clip_error:
self.be.clip(deltas, -self.clip_error, self.clip_error, out = deltas)
# perform back-propagation of gradients
self.model.bprop(deltas)
# perform optimization
self.optimizer.optimize(self.model.layers_to_optimize, epoch)
# increase number of weight updates (needed for target clone interval)
self.train_iterations += 1
# calculate statistics
if self.callback:
self.callback.on_train(cost[0,0])
def predict(self, states):
# minibatch is full size, because Neon doesn't let change the minibatch size
assert states.shape == ((self.batch_size, self.history_length,) + self.screen_dim)
# calculate Q-values for the states
self._setInput(states)
qvalues = self.model.fprop(self.input, inference = True)
assert qvalues.shape == (self.num_actions, self.batch_size)
if logger.isEnabledFor(logging.DEBUG):
logger.debug("Q-values: " + str(qvalues.asnumpyarray()[:,0]))
# transpose the result, so that batch size is first dimension
return qvalues.T.asnumpyarray()
def load_weights(self, load_path):
self.model.load_params(load_path)
def save_weights(self, save_path):
self.model.save_params(save_path)
class ModelRunnerNeon():
def __init__(self, args, max_action_no, batch_dimension):
self.args = args
self.train_batch_size = args.train_batch_size
self.discount_factor = args.discount_factor
self.use_gpu_replay_mem = args.use_gpu_replay_mem
self.be = gen_backend(backend='gpu',
batch_size=self.train_batch_size)
self.input_shape = (batch_dimension[1], batch_dimension[2], batch_dimension[3], batch_dimension[0])
self.input = self.be.empty(self.input_shape)
self.input.lshape = self.input_shape # HACK: needed for convolutional networks
self.targets = self.be.empty((max_action_no, self.train_batch_size))
if self.use_gpu_replay_mem:
self.history_buffer = self.be.zeros(batch_dimension, dtype=np.uint8)
self.input_uint8 = self.be.empty(self.input_shape, dtype=np.uint8)
else:
self.history_buffer = np.zeros(batch_dimension, dtype=np.float32)
self.train_net = Model(self.create_layers(max_action_no))
self.cost = GeneralizedCost(costfunc=SumSquared())
# Bug fix
for l in self.train_net.layers.layers:
l.parallelism = 'Disabled'
self.train_net.initialize(self.input_shape[:-1], self.cost)
self.target_net = Model(self.create_layers(max_action_no))
# Bug fix
for l in self.target_net.layers.layers:
l.parallelism = 'Disabled'
self.target_net.initialize(self.input_shape[:-1])
if self.args.optimizer == 'Adam': # Adam
self.optimizer = Adam(beta_1=args.rms_decay,
beta_2=args.rms_decay,
learning_rate=args.learning_rate)
else: # Neon RMSProp
self.optimizer = RMSProp(decay_rate=args.rms_decay,
learning_rate=args.learning_rate)
self.max_action_no = max_action_no
self.running = True
def get_initializer(self, input_size):
dnnInit = self.args.dnn_initializer
if dnnInit == 'xavier':
initializer = Xavier()
elif dnnInit == 'fan_in':
std_dev = 1.0 / math.sqrt(input_size)
initializer = Uniform(low=-std_dev, high=std_dev)
else:
initializer = Gaussian(0, 0.01)
return initializer
def create_layers(self, max_action_no):
layers = []
initializer = self.get_initializer(input_size = 4 * 8 * 8)
layers.append(Conv(fshape=(8, 8, 32), strides=4, init=initializer, bias=initializer, activation=Rectlin()))
initializer = self.get_initializer(input_size = 32 * 4 * 4)
layers.append(Conv(fshape=(4, 4, 64), strides=2, init=initializer, bias=initializer, activation=Rectlin()))
initializer = self.get_initializer(input_size = 64 * 3 * 3)
layers.append(Conv(fshape=(3, 3, 64), strides=1, init=initializer, bias=initializer, activation=Rectlin()))
initializer = self.get_initializer(input_size = 7 * 7 * 64)
layers.append(Affine(nout=512, init=initializer, bias=initializer, activation=Rectlin()))
initializer = self.get_initializer(input_size = 512)
layers.append(Affine(nout=max_action_no, init=initializer, bias=initializer))
return layers
def clip_reward(self, reward):
if reward > self.args.clip_reward_high:
return self.args.clip_reward_high
elif reward < self.args.clip_reward_low:
return self.args.clip_reward_low
else:
return reward
def set_input(self, data):
if self.use_gpu_replay_mem:
self.be.copy_transpose(data, self.input_uint8, axes=(1, 2, 3, 0))
self.input[:] = self.input_uint8 / 255
else:
self.input.set(data.transpose(1, 2, 3, 0).copy())
self.be.divide(self.input, 255, self.input)
def predict(self, history_buffer):
self.set_input(history_buffer)
output = self.train_net.fprop(self.input, inference=True)
return output.T.asnumpyarray()[0]
def print_weights(self):
pass
def train(self, minibatch, replay_memory, learning_rate, debug):
if self.args.prioritized_replay == True:
prestates, actions, rewards, poststates, terminals, replay_indexes, heap_indexes, weights = minibatch
else:
prestates, actions, rewards, poststates, terminals = minibatch
# Get Q*(s, a) with targetNet
self.set_input(poststates)
post_qvalue = self.target_net.fprop(self.input, inference=True).T.asnumpyarray()
if self.args.double_dqn == True:
# Get Q*(s, a) with trainNet
post_qvalue2 = self.train_net.fprop(self.input, inference=True).T.asnumpyarray()
# Get Q(s, a) with trainNet
self.set_input(prestates)
pre_qvalue = self.train_net.fprop(self.input, inference=False)
label = pre_qvalue.asnumpyarray().copy()
for i in range(0, self.train_batch_size):
if self.args.clip_reward:
reward = self.clip_reward(rewards[i])
else:
reward = rewards[i]
if terminals[i]:
label[actions[i], i] = reward
else:
if self.args.double_dqn == True:
max_index = np.argmax(post_qvalue2[i])
label[actions[i], i] = reward + self.discount_factor* post_qvalue[i][max_index]
else:
label[actions[i], i] = reward + self.discount_factor* np.max(post_qvalue[i])
# copy targets to GPU memory
self.targets.set(label)
delta = self.cost.get_errors(pre_qvalue, self.targets)
if self.args.prioritized_replay == True:
delta_value = delta.asnumpyarray()
for i in range(self.train_batch_size):
if debug:
print 'weight[%s]: %.5f, delta: %.5f, newDelta: %.5f' % (i, weights[i], delta_value[actions[i], i], weights[i] * delta_value[actions[i], i])
replay_memory.update_td(heap_indexes[i], abs(delta_value[actions[i], i]))
delta_value[actions[i], i] = weights[i] * delta_value[actions[i], i]
delta.set(delta_value.copy())
if self.args.clip_loss:
self.be.clip(delta, -1.0, 1.0, out = delta)
self.train_net.bprop(delta)
self.optimizer.optimize(self.train_net.layers_to_optimize, epoch=0)
def update_model(self):
# have to serialize also states for batch normalization to work
pdict = self.train_net.get_description(get_weights=True, keep_states=True)
self.target_net.deserialize(pdict, load_states=True)
#print ('Updated target model')
def finish_train(self):
self.running = False
def load(self, file_name):
self.train_net.load_params(file_name)
self.update_model()
def save(self, file_name):
self.train_net.save_params(file_name)