From b2234a6f03181b749da0b028800c1c55a3cbabf0 Mon Sep 17 00:00:00 2001
From: baggepinnen <cont-frb@ulund.org>
Date: Thu, 22 Mar 2018 16:01:24 +0100
Subject: [PATCH] updates
---
flux/bayesian_dropout.jl | 20 --------------------
flux/flux_bootstrap.jl | 26 ++++++++++++--------------
jump_lin_id/bibtexfile.bib | 28 ++++++++++++++--------------
3 files changed, 26 insertions(+), 48 deletions(-)
diff --git a/flux/bayesian_dropout.jl b/flux/bayesian_dropout.jl
index cb2ff20..9a22323 100644
--- a/flux/bayesian_dropout.jl
+++ b/flux/bayesian_dropout.jl
@@ -1,24 +1,4 @@
using Flux, IterTools, ValueHistories, MLDataUtils
-function update_plot(p; max_history = 10, attribute = :markercolor)
- num_series = length(p.series_list)
- if num_series > 1
- if num_series > max_history
- deleteat!(p.series_list,1:num_series-max_history)
- end
-
- for i = 1:min(max_history, length(p.series_list))-1
- alpha = i/max_history
- c = p[i][attribute]
- c = RGBA(
- alpha*c.r + (1-alpha)*0.5,
- alpha*c.g + (1-alpha)*0.5,
- alpha*c.b + (1-alpha)*0.5,
- c.alpha)
- p[i][attribute] = c
- end
- end
-
-end
iters = 100
N = 30
diff --git a/flux/flux_bootstrap.jl b/flux/flux_bootstrap.jl
index d55aa93..a93667f 100644
--- a/flux/flux_bootstrap.jl
+++ b/flux/flux_bootstrap.jl
@@ -1,12 +1,13 @@
isdefined(:time_derivative) || @everywhere include(Pkg.dir("DynamicMovementPrimitives","src","two_link.jl"))
+Base.transpose(x) = x
@everywhere begin
# include("/var/tmp/fredrikb/v0.6/DynamicMovementPrimitives/src/two_link.jl")
using TwoLink
using Flux, ValueHistories, IterTools, MLDataUtils, OrdinaryDiffEq
- using Flux: back!, truncate!, treelike, train!, mse, testmode!, combine, params
- using Flux.Optimise: weightdecay, Param, optimiser, RMSProp
+ using Flux: back!, truncate!, treelike, train!, mse, testmode!, params
+ using Flux.Optimise: Param, optimiser, RMSProp
N = 1000
n = 2
@@ -27,9 +28,9 @@ isdefined(:time_derivative) || @everywhere include(Pkg.dir("DynamicMovementPrimi
srand(seed)
u = filt(ones(50),[50], 10randn(N+2,n))'
- t = h:h:N*h+h
+ t = 0:h:N*h
x0 = [-0.4,0,0,0]
- prob = OrdinaryDiffEq.ODEProblem((t,x)->time_derivative(x, u[:,ceil(Int,t/h)]),x0,(t[[1,end]]...))
+ prob = OrdinaryDiffEq.ODEProblem((x,p,t)->time_derivative(x, u[:,floor(Int,t/h)+1]),x0,(t[[1,end]]...))
sol = solve(prob,Tsit5(),reltol=1e-8,abstol=1e-8)
x = hcat(sol(t)...)
# y = hcat([time_derivative(x[:,t], u[:,t])[3:4] for t in 1:N]...)
@@ -62,10 +63,10 @@ isdefined(:time_derivative) || @everywhere include(Pkg.dir("DynamicMovementPrimi
function evalcallback()
iter += 1
testmode!(m)
- l = loss(x, y).data[1]
+ l = loss(x, y).tracker.data[1]
push!(trace,iter,l)
if iter % 10 == 0
- push!(vtrace, iter, loss(xv,yv).data[1])
+ push!(vtrace, iter, loss(xv,yv).tracker.data[1])
if doplot
println("Iter: $iter, Loss: ", l)
plot(trace,reuse=true,show=false, lab="Train", layout=3, subplot=1, size=(1400,1000))
@@ -79,7 +80,7 @@ isdefined(:time_derivative) || @everywhere include(Pkg.dir("DynamicMovementPrimi
end
train!(loss, dataset, opt, cb = evalcallback)
results = Dict{Symbol, Any}()
- results[:num_params] = num_params
+ # results[:num_params] = num_params
results[:x] = x
results[:u] = u
@@ -100,9 +101,6 @@ isdefined(:time_derivative) || @everywhere include(Pkg.dir("DynamicMovementPrimi
function generate_model(;num_params=50, activation=swish)
np = num_params
m = Chain(Dense(ns+n,np, activation), LayerNorm(np), Dense(np, ns))
- for p in params(m)
- p.data .*= 6
- end
m
end
end
@@ -124,7 +122,7 @@ function StatsBase.predict(ms, x)
end
function Flux.jacobian(ms::Vector, x)
- jacs = [jacobian(m,x) for m in ms]
+ jacs = [Flux.jacobian(m,x) for m in ms]
jacmat = cat(3,jacs...)
squeeze(mean(jacmat, 3), 3), squeeze(std(jacmat, 3), 3)
end
@@ -157,7 +155,7 @@ results = pmap(1:8) do it
activation = [swish, relu, Flux.sigmoid, tanh][(it % 4)+1]
m = generate_model(num_params=20, activation=activation)
loss(x,y) = sum((m(x).-y).^2)/size(x,2)
- opt = [ADAM(params(m), 0.01, decay=0.001); [weightdecay(Param(p), 0.002) for p in params(m) if isa(p, AbstractMatrix)]]
+ opt = ADAM(params(m), 0.01, decay=0.001)
results = fit_model(opt, loss, m, x, y, u, xv, yv, uv, iters=2000, doplot=false, batch_size = N)
println("Done: ", it)
results
@@ -173,7 +171,7 @@ end
using ForwardDiff
evalpoint = 400
J = map(1:N) do evalpoint
- Jm, Js = jacobian(models(results), x[:,evalpoint])
+ Jm, Js = Flux.jacobian(models(results), x[:,evalpoint])
Jtrue = true_jacobian(evalpoint)
Jm[:], Js[:], Jtrue[:]
end
@@ -193,7 +191,7 @@ for evalpoint = 1:10:N
scatter!(real.(e), imag.(e), c=:red, show=false)
scatter!(real.(e+1), imag.(e+1), c=:red, show=false)
- e = eigvals(jacobian(models(results), x[:,evalpoint])[1][1:4,1:4])
+ e = eigvals(Flux.jacobian(models(results), x[:,evalpoint])[1][1:4,1:4])
scatter!(real.(e), imag.(e), c=:blue, show=false)
scatter!(real.(e+1), imag.(e+1), c=:blue, show=false)
end
diff --git a/jump_lin_id/bibtexfile.bib b/jump_lin_id/bibtexfile.bib
index 6f455fc..b1bf7be 100644
--- a/jump_lin_id/bibtexfile.bib
+++ b/jump_lin_id/bibtexfile.bib
@@ -12,7 +12,7 @@
journal={The Annals of Applied Statistics},
volume={8},
number={3},
- pages={1281--1313},
+ XXpages={1281--1313},
year={2014},
publisher={Institute of Mathematical Statistics}
}
@@ -30,7 +30,7 @@
journal={Soil Dynamics and Earthquake Engineering},
volume={24},
number={8},
- pages={577--586},
+ XXpages={577--586},
year={2004},
publisher={Elsevier}
}
@@ -42,7 +42,7 @@
journal={Communications of the ACM},
volume={4},
number={6},
- pages={284},
+ XXpages={284},
year={1961},
publisher={ACM}
}
@@ -60,7 +60,7 @@
journal={Numerical algorithms},
volume={6},
number={1},
- pages={1--35},
+ XXpages={1--35},
year={1994},
publisher={Springer}
}
@@ -71,7 +71,7 @@
journal={The Annals of Statistics},
volume={42},
number={1},
- pages={285--323},
+ XXpages={285--323},
year={2014},
publisher={Institute of Mathematical Statistics}
}
@@ -82,7 +82,7 @@
journal={SIAM review},
volume={51},
number={2},
- pages={339--360},
+ XXpages={339--360},
year={2009},
publisher={SIAM}
}
@@ -100,7 +100,7 @@
journal={Journal of the American Statistical Association},
volume={64},
number={327},
- pages={1079--1084},
+ XXpages={1079--1084},
year={1969},
publisher={Taylor \& Francis}
}
@@ -109,7 +109,7 @@
title={Guided policy search},
author={Levine, Sergey and Koltun, Vladlen},
booktitle={Int. Conf. Machine Learning (ICML), Atlanta},
- pages={1--9},
+ XXpages={1--9},
year={2013}
}
@@ -117,7 +117,7 @@
title={Learning contact-rich manipulation skills with guided policy search},
author={Levine, Sergey and Wagener, Nolan and Abbeel, Pieter},
booktitle={Robotics and Automation (ICRA), IEEE Int. Conf.},
- pages={156--163},
+ XXpages={156--163},
year={2015},
organization={IEEE}
}
@@ -128,7 +128,7 @@
journal={IEEE Control Systems},
volume={26},
number={3},
- pages={96--114},
+ XXpages={96--114},
year={2006},
publisher={IEEE}
}
@@ -137,7 +137,7 @@
title={Trust region policy optimization},
author={Schulman, John and Levine, Sergey and Abbeel, Pieter and Jordan, Michael and Moritz, Philipp},
booktitle={Int. Conf. Machine Learning (ICML-15)},
- pages={1889--1897},
+ XXpages={1889--1897},
year={2015}
}
@@ -146,7 +146,7 @@
author={Vidal, Ren{\'e} and Chiuso, Alessandro and Soatto, Stefano},
booktitle={IEEE Conf. Decision and Control (CDC), Las Vegas},
volume={4},
- pages={3614--3619},
+ XXpages={3614--3619},
year={2002},
organization={IEEE}
}
@@ -157,7 +157,7 @@
journal={Foundations and Trends in Optimization},
volume={1},
number={3},
- pages={127--239},
+ XXpages={127--239},
year={2014},
publisher={Now Publishers, Inc.}
}
@@ -168,6 +168,6 @@
journal={AIAA journal},
volume={3},
number={8},
- pages={1445--1450},
+ XXpages={1445--1450},
year={1965}
}
--
GitLab