def loss_func(y_true, y_pred):
out_mu, out_sigma, out_pi = tf.split(y_pred, num_or_size_splits=[num_mixes * output_dim,
num_mixes * output_dim,
num_mixes],
axis=1, name='mdn_coef_split')
cat = Categorical(logits=out_pi)
component_splits = [output_dim] * num_mixes
mus = tf.split(out_mu, num_or_size_splits=component_splits, axis=1)
sigs = tf.split(out_sigma, num_or_size_splits=component_splits, axis=1)
coll = [MultivariateNormalDiag(loc=loc, scale_diag=scale) for loc, scale
in zip(mus, sigs)]
mixture = Mixture(cat=cat, components=coll)
loss = mixture.log_prob(y_true)
loss = tf.negative(loss)
loss = tf.reduce_mean(loss)
return loss
class Model_SF(Model):
""" Prediction model for single future frame """
def __init__(self, args):
super(Model_SF, self).__init__(args)
self.ckpt_dir = os.path.join(self.args.train_dir, 'sf_ckpt')
if not args.test and not args.restore_training and not args.train_condition == 'real_time_play':
if os.path.exists(self.ckpt_dir):
print("Checkpoint file path :%s already exist..." %
self.ckpt_dir)
print(
"Do you want to delete this folder and recreate one? ( \'y\' or \'n\')"
)
while True:
keyboard_input = raw_input("Enter your choice:\n")
if keyboard_input == 'y':
shutil.rmtree(self.ckpt_dir)
break
elif keyboard_input == 'n':
break
else:
print(
"Unrecognized response, please enter \'y\' or \'n\'"
)
self.input = tf.placeholder(
dtype=tf.float32,
shape=[None, self.args.seq_length, self.args.features_dim],
name='input_data')
self.target = tf.placeholder(dtype=tf.float32,
shape=[None, self.args.gaussian_dim],
name='target')
self.build_model()
self.initialize()
def build_model(self):
net = tl.layers.InputLayer(self.input, name='input_layer')
with tf.variable_scope('fc1'):
net = tl.layers.TimeDistributedLayer(
net,
layer_class=tl.layers.DenseLayer,
args={
'n_units': 64,
'act': tf.nn.elu,
'W_init': tf.contrib.layers.variance_scaling_initializer(),
'W_init_args': {
'regularizer':
tf.contrib.layers.l2_regularizer(
self.args.weight_decay)
},
'name': 'fc1_'
},
name='time_dense_fc1')
# net = tl.layers.DropoutLayer(net, keep=self.args.keep_prob, name='fc1_drop')
with tf.variable_scope('highway'):
num_highway = 3
for idx in xrange(num_highway):
highway_args = {
'n_units': 64,
'act': tf.nn.elu,
'W_init': tf.contrib.layers.variance_scaling_initializer(),
'b_init': tf.constant_initializer(value=0.0),
'W_init_args': {
'regularizer':
tf.contrib.layers.l2_regularizer(
self.args.weight_decay)
},
'name': 'highway_%03d_' % idx
}
net = tl.layers.TimeDistributedLayer(
net,
layer_class=utility.Highway,
args=highway_args,
name='time_dense_highway_%d' % idx)
# if idx % 8 == 0:
# net = tl.layers.DropoutLayer(net, keep=self.args.keep_prob, name='highway_drop_%d' % idx)
# net = tl.layers.DropoutLayer(net, keep=self.args.keep_prob, name='highway_drop')
with tf.variable_scope('fc2'):
net = tl.layers.TimeDistributedLayer(
net,
layer_class=tl.layers.DenseLayer,
args={
'n_units': 64,
'act': tf.nn.elu,
'W_init': tf.contrib.layers.variance_scaling_initializer(),
'W_init_args': {
'regularizer':
tf.contrib.layers.l2_regularizer(
self.args.weight_decay)
},
'name': 'highway_to_fc_'
},
name='time_dense_highway_to_fc')
net = tl.layers.DropoutLayer(net,
keep=self.args.keep_prob,
name='hw_to_fc_drop')
with tf.variable_scope('RNN'):
if self.args.rnn_cell == 'lstm':
rnn_cell_fn = tf.contrib.rnn.BasicLSTMCell
elif self.args.rnn_cell == 'gru':
rnn_cell_fn = tf.contrib.rnn.GRUCell
else:
raise ValueError(
'Unimplemented RNN Cell, should be \'lstm\' or \'gru\'')
self.rnn_keep_prob = tf.placeholder(tf.float32)
rnn_layer_name = 'DRNN_layer'
net = tl.layers.DynamicRNNLayer(layer=net,
cell_fn=rnn_cell_fn,
n_hidden=128,
dropout=(1.0, self.rnn_keep_prob),
n_layer=self.args.num_cells,
return_last=True,
name=rnn_layer_name)
rnn_weights_params = [
var for var in net.all_params
if rnn_layer_name in var.name and 'weights' in var.name
]
self.add_regularization_loss(rnn_weights_params)
# net = tl.layers.DenseLayer(net,
# n_units=50,
# act=tf.nn.elu,
# W_init=tf.contrib.layers.variance_scaling_initializer(),
# name='fc1')
# with tf.variable_scope('Highway'):
# num_highway = 15
# for idx in xrange(num_highway - 1):
# net = utility.Highway(net,
# n_units=64,
# act=tf.nn.elu,
# W_init=tf.contrib.layers.variance_scaling_initializer(),
# b_init=tf.constant_initializer(value=0.0),
# W_init_args={'regularizer': tf.contrib.layers.l2_regularizer(self.args.weight_decay)},
# reuse=False,
# name='highway_%d'%idx)
net = tl.layers.DenseLayer(
net,
n_units=64,
act=tf.nn.elu,
W_init=tf.contrib.layers.variance_scaling_initializer(),
W_init_args={
'regularizer':
tf.contrib.layers.l2_regularizer(self.args.weight_decay)
},
name='fc_3')
mus_num = self.args.num_mixtures * self.args.gaussian_dim
sigmas_num = self.args.num_mixtures * self.args.gaussian_dim
weights_num = self.args.num_mixtures
num_output = mus_num + sigmas_num + weights_num
self.net = tl.layers.DenseLayer(
net,
n_units=num_output,
act=tf.identity,
W_init=tf.contrib.layers.variance_scaling_initializer(),
W_init_args={
'regularizer':
tf.contrib.layers.l2_regularizer(self.args.weight_decay)
},
name='nn_output')
output = self.net.outputs
with tf.variable_scope('MDN'):
mus = output[:, :mus_num]
sigmas = tf.exp(output[:, mus_num:mus_num + sigmas_num])
self.weight_logits = output[:, mus_num + sigmas_num:]
self.mus = tf.reshape(
mus, (-1, self.args.num_mixtures, self.args.gaussian_dim))
self.sigmas = tf.reshape(
sigmas, (-1, self.args.num_mixtures, self.args.gaussian_dim))
self.weights = tf.nn.softmax(self.weight_logits)
cat = Categorical(logits=self.weight_logits)
components = [
MultivariateNormalDiag(mu=mu, diag_stdev=sigma)
for mu, sigma in zip(
tf.unstack(tf.transpose(self.mus, (
1, 0,
2))), tf.unstack(tf.transpose(self.sigmas, (1, 0, 2))))
]
self.y_mix = Mixture(cat=cat, components=components)
self.loss = self.get_loss()
def get_loss(self):
with tf.variable_scope('Loss'):
loss = -self.y_mix.log_prob(self.target)
loss = tf.reduce_mean(loss) + tf.losses.get_total_loss()
return loss
def print_stats(self,
distances,
title=None,
draw=True,
save_to_file=False):
if len(distances.shape) == 2:
distances = np.average(distances, axis=1)
from scipy import stats
n, min_max, mean, var, skew, kurt = stats.describe(distances)
median = np.median(distances)
first_quartile = np.percentile(distances, 25)
third_quartile = np.percentile(distances, 75)
print('\nDistances statistics:')
print("Minimum: {0:9.4f} Maximum: {1:9.4f}".format(
min_max[0], min_max[1]))
print("Mean: {0:9.4f}".format(mean))
print("Variance: {0:9.4f}".format(var))
print("Median: {0:9.4f}".format(median))
print("First quartile: {0:9.4f}".format(first_quartile))
print("Third quartile: {0:9.4f}".format(third_quartile))
threshold = 0.01
percentage_thr = (distances <= threshold).sum() / float(
distances.size) * 100.0
percentage_double_thr = (distances <= 2 * threshold).sum() / float(
distances.size) * 100.0
percentage_triple_thr = (distances <= 3 * threshold).sum() / float(
distances.size) * 100.0
print(
"Percentage of testing with distance less than {0:.3f}m is: {1:4.2f} %"
.format(threshold, percentage_thr))
print(
"Percentage of testing with distance less than {0:.3f}m is: {1:4.2f} %"
.format(2 * threshold, percentage_double_thr))
print(
"Percentage of testing with distance less than {0:.3f}m is: {1:4.2f} %"
.format(3 * threshold, percentage_triple_thr))
if draw:
try:
import seaborn as sns
import matplotlib.pyplot as plt
sns.set_style("whitegrid")
plt.figure()
vio_ax = sns.violinplot(x=distances, cut=0)
vio_ax.set_xlabel('distances_error')
if title is not None:
plt.title(title)
plt.figure()
strip_ax = sns.stripplot(x=distances)
strip_ax.set_xlabel('distances_error')
if title is not None:
plt.title(title)
except ImportError:
pass
if save_to_file:
import csv
filename = os.path.join(self.ckpt_dir, 'error_stats.csv')
with open(filename, 'a+') as f:
csv_writer = csv.writer(f,
delimiter=',',
quoting=csv.QUOTE_ALL)
data = [
percentage_thr, percentage_double_thr,
percentage_triple_thr
]
csv_writer.writerow(data)