def eval_on_valid(cfg, lbl_name, args):
"""Just perform evaluation on validation set, save the outputs into some file."""
# load the validation set
vdata = np.load(cfg['valid_path'])
if 'valid_x_name' in cfg:
x = vdata[cfg['valid_x_name']]
else:
x = vdata[cfg['x_name']]
uid = cfg['uniqueid']
if args.snn:
mdlfun = modelLoader(cfg['snn_path'])
predy = mdlfun(x)
np.save('data/%s/snn_validation_predict.npy' % uid, predy)
return
# load MoE models from desired directory
result = util.get_clus_reg_by_dir('models/%s/%s' % (uid, lbl_name))
keys = result.keys()
print('existing keys ', keys)
out_dict = {}
for key in keys:
print('For key ', key)
cls, regs = result[key]
net = MoMNet(cls, regs)
predy = net.getPredY(x)
out_dict[str(key)] = predy
np.savez('data/%s/%s_validation_predict.npz' % (uid, lbl_name), **out_dict)
def eval_valid_error(cfg, lbl_name, args):
"""Evaluation of trained models on validation set."""
# load the validation set
vdata = np.load(cfg['valid_path'])
if 'valid_x_name' in cfg:
x = vdata[cfg['valid_x_name']]
else:
x = vdata[cfg['x_name']]
if 'valid_y_name' in cfg:
y = vdata[cfg['valid_y_name']]
else:
y = vdata[cfg['y_name']]
if 'flag' in vdata.keys():
mask = np.where(vdata['flag'] == 1)
x = x[mask]
y = y[mask]
print('validation set size ', x.shape, y.shape)
uid = cfg['uniqueid']
if args.snn:
mdlfun = modelLoader(cfg['snn_path'])
predy = mdlfun(x)
error = np.mean(l1loss(y, predy),
axis=1) # get error for each instance
print(np.mean(error))
fig, ax = plt.subplots()
ax.hist(error, bins=20)
ax.set_yscale('log', nonposy='clip')
ax.set_ylim(1, ax.get_ylim()[1])
ax.legend()
plt.show()
return
# load MoE models from desired directory
result = util.get_clus_reg_by_dir('models/%s/%s' % (uid, lbl_name))
keys = result.keys()
print('existing keys ', keys)
v_error = []
for key in keys:
print('For key ', key)
cls, regs = result[key]
net = MoMNet(cls, regs)
predy = net.getPredY(x)
error = np.mean(l1loss(y, predy),
axis=1) # get error for each instance
v_error.append(error)
v_mean_error = [np.mean(error) for error in v_error]
print('mean error is ', v_mean_error)
# show histogram
fig, ax = plt.subplots()
ax.hist(v_error, bins=20, label=keys)
ax.set_yscale('log', nonposy='clip')
ax.set_ylim(1, ax.get_ylim()[1])
ax.legend()
plt.show()
def show_picky_states(cfg, lbl_name, args):
"""Show a few states and their predictions"""
# play with initial states
use_obs = np.array([0, 4, 4, 3])
use_x0 = np.array([[0, 8, 8], [0, 8, 9]])
n_x0 = use_x0.shape[0]
uid = cfg['uniqueid']
lbl_name = 'pca_kmean_label'
# load functions
snn_fun = modelLoader(cfg['snn_path'])
result = util.get_clus_reg_by_dir('models/%s/%s' % (uid, lbl_name))
cls, regs = result[20] # let me try this one
net = MoMNet(cls, regs)
# load optimal solutions
sol = np.load('data/droneone/the_two_sol.npy')
# create figure
fig, ax = pld.get3dAxis()
pld.addSphere(ax, *use_obs)
legend_sets = []
for i in range(n_x0):
tmp_set = []
x0 = np.concatenate((use_x0[i], use_obs))
y0 = snn_fun(x0)
predy = net.getPredY(x0)
tX, _, _ = parseX(y0)
hi, = ax.plot(tX[:, 0],
tX[:, 1],
tX[:, 2],
ls=':',
color='C%d' % i,
label='SNN %d' % (i + 1))
tXmoe, _, _ = parseX(predy)
hj, = ax.plot(tXmoe[:, 0],
tXmoe[:, 1],
tXmoe[:, 2],
ls='--',
color='C%d' % i,
label='MoE %d' % (i + 1))
true_sol = sol[i]
tXt, _, _ = parseX(true_sol)
hk, = ax.plot(tXt[:, 0],
tXt[:, 1],
tXt[:, 2],
color='C%d' % i,
label='Opt. %d' % (i + 1))
legend_sets.append([hi, hj, hk])
ax.scatter(*use_x0[i], marker='*',
color='C%d' % i) #, label='Start %d' % i)
ax.text(use_x0[i][0], use_x0[i][1], use_x0[i][2], 'Start%d' % (i + 1))
ax.scatter(0, 0, 0, marker='o', color='r') # label='Goal'
ax.text(0, 0, 0, "Goal")
lgd = ax.legend(handles=legend_sets[0], loc=4, bbox_to_anchor=(0.8, 0.1))
ax.add_artist(lgd)
ax.legend(handles=legend_sets[1], loc=2, bbox_to_anchor=(0.15, 0.85))
# ax.legend()
ax.set_xlabel(r'$x$(m)')
ax.set_ylabel(r'$y$(m)')
ax.set_zlabel(r'$z$(m)')
ax.view_init(elev=11, azim=10)
fig.tight_layout()
fig.savefig('gallery/droneone/moe_vs_snn_example.pdf')
plt.show()
def eval_valid_constr_vio(cfg, lbl_name, args):
"""Evaluate models by violation of constraints."""
# load violation evaluation function
vio_fun = util.get_xy_vio_fun(cfg)
# get validation dataset
vdata = np.load(cfg['valid_path'])
if 'valid_x_name' in cfg:
x = vdata[cfg['valid_x_name']]
else:
x = vdata[cfg['x_name']]
if 'valid_y_name' in cfg:
y = vdata[cfg['valid_y_name']]
else:
y = vdata[cfg['y_name']]
if 'flag' in vdata.keys():
mask = np.where(vdata['flag'] == 1)
x = x[mask]
y = y[mask]
uid = cfg['uniqueid']
# first we try the snn case
if args.snn:
mdlfun = modelLoader(cfg['snn_path'])
predy = mdlfun(x)
n_data = x.shape[0]
error = np.zeros(n_data)
for i in range(n_data):
error[i] = vio_fun(x[i], predy[i])
print('average is %f' % (np.sum(error[error < 0]) / n_data))
print('max error is ', np.amin(error))
fig, ax = plt.subplots()
ax.hist(error)
plt.show()
return
# load MoE models from desired directory
result = util.get_clus_reg_by_dir('models/%s/%s' % (uid, lbl_name))
keys = result.keys()
print('existing keys ', keys)
v_error = []
fig, ax = plt.subplots()
for key in keys:
print('For key ', key)
cls, regs = result[key]
net = MoMNet(cls, regs)
predy = net.getPredY(x)
n_data = x.shape[0]
error = np.zeros(n_data)
for i in range(n_data):
error[i] = vio_fun(x[i], predy[i])
v_error.append(error)
merror = get_moving_average(error)
ax.plot(merror)
v_mean_error = [np.mean(error) for error in v_error]
print('mean error is ', v_mean_error)
print('mean neg error ',
[np.sum(error[error < 0]) / error.shape[0] for error in v_error])
print('max error is ', [np.amin(error) for error in v_error])
# show histogram
fig, ax = plt.subplots()
ax.hist(v_error, bins=20, label=keys)
ax.set_yscale('log', nonposy='clip')
ax.set_ylim(1, ax.get_ylim()[1])
ax.legend()
ax.set_xlabel('Constraint Violation')
ax.set_ylabel('Count')
fig.savefig('gallery/%s/%s_valid_constr_vio_hist.pdf' % (uid, lbl_name))
plt.show()
def show_picky_states(cfg, lbl_name, args):
"""Select a few states and draw predictions."""
uid = cfg['uniqueid']
lbl_name = 'pca_kmean_label'
# load all training data and validation data
data = npload(cfg['file_path'], uid)
xname, yname = cfg['x_name'], cfg['y_name']
datax, datay = data[xname], data[yname]
# create a query instance
query = Query(datax, scale=True)
vdata = np.load(cfg['valid_path'])
vx, vy = vdata[xname], vdata[yname]
# snn model
snn_fun = modelLoader(cfg['snn_path'])
# moe model
result = util.get_clus_reg_by_dir('models/%s/%s' % (uid, lbl_name))
cls, regs = result[10] # let me try this one
net = MoMNet(cls, regs)
# load cluster labels
lbl_data_dct = np.load('data/%s/%s.npz' % (uid, lbl_name))
label = lbl_data_dct['10']
# eval snn on validation set and extract the one with largest prediction error
pred_vy = snn_fun(vx)
diff_vy = pred_vy - vy
error_y = np.linalg.norm(diff_vy, axis=1)
error_order = np.argsort(error_y)
for i in range(7, 20):
vx_idx = error_order[-1 - i]
bad_x0 = vx[vx_idx]
bad_sol = vy[vx_idx]
snn_pred = pred_vy[vx_idx]
moe_pred = net.getPredY(bad_x0)
predX, _, _ = parseX(snn_pred)
realX, _, _ = parseX(bad_sol)
predXMoE, _, _ = parseX(moe_pred)
# get neighbors
index = query.getIndex(bad_x0)
print('index ', index, 'label ', label[index])
# draw them
fig, axes = plt.subplots(1, 2)
shown_cluster = []
for ind in index:
nnX, _, _ = parseX(datay[ind])
if label[ind] not in shown_cluster:
axes[1].plot(nnX[:, 0], nnX[:, 1], color='C%d' % label[ind], label='Cluster %d' % label[ind])
shown_cluster.append(label[ind])
else:
axes[1].plot(nnX[:, 0], nnX[:, 1], color='C%d' % label[ind])
axes[0].plot(predX[:, 0], predX[:, 1], color='#ff7f0e', linewidth=2, ls='--', label='SNN')
axes[0].plot(predXMoE[:, 0], predXMoE[:, 1], color='g', linewidth=2, ls='--', label='MoE')
axes[0].plot(realX[:, 0], realX[:, 1], color='k', linewidth=2, label='Opt.')
finalAgl = predX[-1, 2]
direc = [1*np.sin(finalAgl), 1*np.cos(finalAgl)]
xf = predX[-1]
for i in range(2):
ax = axes[i]
if i == 0:
ax.arrow(xf[0], xf[1], direc[0], direc[1], color='#ff7f0e', linewidth=2, width=0.1)
finalAgl = predXMoE[-1, 2]
direc = [1*np.sin(finalAgl), 1*np.cos(finalAgl)]
xf = predXMoE[-1]
ax.arrow(xf[0], xf[1], direc[0], direc[1], color='g', linewidth=2, width=0.1)
ax.scatter(0, 0, s=50, color='r')
ax.annotate('Goal', (0, 0), xytext=(0.2, 0.2), textcoords='data')
ax.scatter(bad_x0[0], bad_x0[1], s=50, color='k', marker='*')
if i == 0:
ax.annotate('Start', (bad_x0[0], bad_x0[1]), xytext=(-1 + bad_x0[0], -0.8 + bad_x0[1]), textcoords='data')
else:
ax.annotate('Start', (bad_x0[0], bad_x0[1]), xytext=(bad_x0[0], 0.3 + bad_x0[1]), textcoords='data')
ax.set_xlabel(r'$x$')
ax.axis('equal')
if i == 0:
xlim = ax.get_xlim()
ax.set_ylabel(r'$y$')
if i == 0:
ax.legend()
else:
ax.legend(loc=4)
if i == 0:
ax.set_xlim(-2.5, xlim[1] + 1)
else:
xlim = ax.get_xlim()
ax.set_xlim(xlim[0] - 1, xlim[1] + 1.5)
fig.tight_layout()
fig.savefig('gallery/car/car_snn_vs_moe_traj.pdf')
plt.show()
def show_picky_examples(cfg):
"""I will use manual labels based on final angle"""
SIZE = 24
font = pld.getSizeFont(SIZE)
N, dimx, dimu = 25, 2, 1
data = np.load(cfg['file_path'])
x0 = data['x0']
Sol = data['Sol']
nData = x0.shape[0]
# find labels
thetaf = (Sol[:, 48] + np.pi) / 2 / np.pi
label = thetaf.astype(int)
print([np.sum(label == i) for i in range(3)])
# we use state (1.0, 0.6)
# first we plot all-black the trajectories
# find the data point
onex0 = np.array([2.4, 1.6])
diff = np.linalg.norm(Sol[:, :dimx] - onex0, axis=1)
thetaf = np.reshape(Sol[:, 48], (61, 21)).T
theind = np.argmin(diff)
thex0 = Sol[theind, :dimx]
print('x0 is {}'.format(thex0))
blackName = 'gallery/pen/blackPendulum.pdf'
if True:
fig, ax = plt.subplots()
for i in range(nData):
row, col = np.unravel_index(i, (21, 61), order='F')
todo = False
if row == 0 or row == 20:
todo = True
elif col == 0 or col == 60:
todo = True
if not todo:
neighborthetaf = [thetaf[row-1,col], thetaf[row+1, col], thetaf[row, col-1], thetaf[row, col+1]]
if not np.allclose(neighborthetaf, thetaf[row, col]):
todo = True
if todo:
tX, _, _ = parseX(Sol[i], N, dimx, dimu)
ax.plot(tX[:, 0], tX[:, 1], color='k')
# draw the target
ax.plot(np.pi, 0, color='r', marker='o', markersize=5)
ax.plot(-np.pi, 0, color='r', marker='o', markersize=5)
ax.plot(3*np.pi, 0, color='r', marker='o', markersize=5)
pld.setTickSize(ax, SIZE)
ax.set_xlabel(r'$\theta$', fontproperties=font)
ax.set_ylabel(r'$\omega$', fontproperties=font)
pld.savefig(fig, blackName)
colorName = 'gallery/pen/colorPendulum.pdf'
if True:
ncluster = 3
colors = pld.getColorCycle()
fig, ax = plt.subplots()
for k in range(ncluster):
mask = label == k
x0_ = x0[mask]
Sol_ = Sol[mask]
ndata = len(x0_)
for i in range(ndata):
# check if it is at boundary
todo = False
theta, omega = x0_[i]
# find with the same theta, if omega is at boundary
vind = np.where(np.abs(x0_[:, 0] - theta) < 1e-2)[0]
omegas = x0_[vind, 1]
if omega < omegas.min() + 1e-4 or omega > omegas.max() - 1e-4:
todo = True
if not todo:
# find same omega, check theta
vind = np.where(np.abs(x0_[:, 1] - omega) < 1e-2)[0]
thetas = x0_[vind, 0]
if theta < thetas.min() + 1e-4 or theta > thetas.max() - 1e-4:
todo = True
if todo:
tX, _, _ = parseX(Sol_[i], N, dimx, dimu)
ax.plot(tX[:, 0], tX[:, 1], color=colors[k])
# draw the target
ax.plot(np.pi, 0, color='r', marker='o', markersize=5)
ax.plot(-np.pi, 0, color='r', marker='o', markersize=5)
ax.plot(3*np.pi, 0, color='r', marker='o', markersize=5)
ax.set_xlabel(r'$\theta$', fontproperties=font)
ax.set_ylabel(r'$\omega$', fontproperties=font)
pld.setTickSize(ax, SIZE)
pld.savefig(fig, colorName)
snnbadName = 'gallery/pen/penSNNbadPred.pdf'
if True:
mdl = modelLoader(cfg['snn_path'])
# find the one closest to one
fig, ax = plt.subplots()
tX, _, _ = parseX(Sol[theind], N, dimx, dimu)
ax.plot(tX[:, 0], tX[:, 1], color='k', label='Optimal')
# make prediction
predy = mdl(thex0)
tX, _, _ = parseX(predy, N, dimx, dimu)
ax.plot(tX[:, 0], tX[:, 1], color='k', linestyle='--', label='SNN Pred.')
ax.plot(3*np.pi, 0, color='r', marker='o', markersize=5)
ax.set_xlabel(r'$\theta$', fontproperties=font)
ax.set_ylabel(r'$\omega$', fontproperties=font)
ax.legend(fontsize=SIZE)
pld.setTickSize(ax, SIZE)
pld.savefig(fig, snnbadName)
momgoodName = 'gallery/pen/penMoMgoodPred.pdf'
lbl_name = 'pca_kmean_label'
result = util.get_clus_reg_by_dir('models/pen/pca_kmean_label')
cls, regs = result[5]
net = MoMNet(cls, regs)
if True:
fig, ax = plt.subplots()
tX, _, _ = parseX(Sol[theind], N, dimx, dimu)
ax.plot(tX[:, 0], tX[:, 1], color='k', label='Optimal')
# make prediction
predy = net.getPredY(thex0)
tX, _, _ = parseX(predy, N, dimx, dimu)
ax.plot(tX[:, 0], tX[:, 1], color='k', linestyle='--', label='MoE Pred.')
ax.plot(3*np.pi, 0, color='r', marker='o', markersize=5)
ax.set_xlabel(r'$\theta$', fontproperties=font)
ax.set_ylabel(r'$\omega$', fontproperties=font)
ax.legend(fontsize=SIZE)
pld.setTickSize(ax, SIZE)
pld.savefig(fig, momgoodName)
plt.show()