tra-analysis/analysis-master/tra_analysis/titanlearn.py

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# Titan Robotics Team 2022: ML Module
# Written by Arthur Lu & Jacob Levine
# Notes:
# this should be imported as a python module using 'import titanlearn'
# this should be included in the local directory or environment variable
# this module is optimized for multhreaded computing
# this module learns from its mistakes far faster than 2022's captains
# setup:
__version__ = "1.1.1"
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#changelog should be viewed using print(analysis.__changelog__)
__changelog__ = """changelog:
1.1.1:
- removed matplotlib import
- removed graphloss()
1.1.0:
- added net, dataset, dataloader, and stdtrain template definitions
- added graphloss function
1.0.1:
- added clear functions
1.0.0:
- complete rewrite planned
- depreciated 1.0.0.xxx versions
- added simple training loop
0.0.x:
-added generation of ANNS, basic SGD training
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"""
__author__ = (
"Arthur Lu <arthurlu@ttic.edu>,"
"Jacob Levine <jlevine@ttic.edu>,"
)
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__all__ = [
'clear',
'net',
'dataset',
'dataloader',
'train',
'stdtrainer',
]
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import torch
from os import system, name
import numpy as np
def clear():
if name == 'nt':
_ = system('cls')
else:
_ = system('clear')
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class net(torch.nn.Module): #template for standard neural net
def __init__(self):
super(Net, self).__init__()
def forward(self, input):
pass
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class dataset(torch.utils.data.Dataset): #template for standard dataset
def __init__(self):
super(torch.utils.data.Dataset).__init__()
def __getitem__(self, index):
pass
def __len__(self):
pass
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def dataloader(dataset, batch_size, num_workers, shuffle = True):
return torch.utils.data.DataLoader(dataset, batch_size=batch_size, shuffle=shuffle, num_workers=num_workers)
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def train(device, net, epochs, trainloader, optimizer, criterion): #expects standard dataloader, whch returns (inputs, labels)
dataset_len = trainloader.dataset.__len__()
iter_count = 0
running_loss = 0
running_loss_list = []
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for epoch in range(epochs): # loop over the dataset multiple times
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for i, data in enumerate(trainloader, 0):
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inputs = data[0].to(device)
labels = data[1].to(device)
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optimizer.zero_grad()
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outputs = net(inputs)
loss = criterion(outputs, labels.to(torch.float))
loss.backward()
optimizer.step()
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# monitoring steps below
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iter_count += 1
running_loss += loss.item()
running_loss_list.append(running_loss)
clear()
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print("training on: " + device)
print("iteration: " + str(i) + "/" + str(int(dataset_len / trainloader.batch_size)) + " | " + "epoch: " + str(epoch) + "/" + str(epochs))
print("current batch loss: " + str(loss.item))
print("running loss: " + str(running_loss / iter_count))
return net, running_loss_list
print("finished training")
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def stdtrainer(net, criterion, optimizer, dataloader, epochs, batch_size):
device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
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net = net.to(device)
criterion = criterion.to(device)
optimizer = optimizer.to(device)
trainloader = dataloader
return train(device, net, epochs, trainloader, optimizer, criterion)