#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 has not been optimized for multhreaded computing # this module learns from its mistakes far faster than 2022's captains #setup: __version__ = "1.0.0.001" #changelog should be viewed using print(analysis.__changelog__) __changelog__ = """changelog: 1.0.0.xxx: -added generation of ANNS, basic SGD training""" __author__ = ( "Arthur Lu , " "Jacob Levine ," ) __all__ = [ 'linear_nn', 'train_sgd_minibatch', 'train_sgd_simple' ] #imports import torch import warnings from collections import OrderedDict from sklearn import metrics, datasets import numpy as np import matplotlib.pyplot as plt import math import time #enable CUDA if possible device = torch.device("cpu") #linear_nn: creates a fully connected network given params def linear_nn(in_dim, hidden_dim, out_dim, num_hidden, act_fn="tanh", end="none"): if act_fn.lower()=="tanh": k=OrderedDict([("in", torch.nn.Linear(in_dim,hidden_dim))]) for i in range(num_hidden): k.update({"lin"+str(i+1): torch.nn.Linear(hidden_dim,hidden_dim), "tanh"+str(i+1):torch.nn.Tanh()}) elif act_fn.lower()=="sigmoid": k=OrderedDict([("in", torch.nn.Linear(in_dim,hidden_dim))]) for i in range(num_hidden): k.update({"lin"+str(i+1): torch.nn.Linear(hidden_dim,hidden_dim), "sig"+str(i+1):torch.nn.Sigmoid()}) elif act_fn.lower()=="relu": k=OrderedDict([("in", torch.nn.Linear(in_dim,hidden_dim))]) for i in range(num_hidden): k.update({"lin"+str(i+1): torch.nn.Linear(hidden_dim,hidden_dim), "relu"+str(i+1):torch.nn.ReLU()}) elif act_fn.lower()=="leaky relu": k=OrderedDict([("in", torch.nn.Linear(in_dim,hidden_dim))]) for i in range(num_hidden): k.update({"lin"+str(i+1): torch.nn.Linear(hidden_dim,hidden_dim), "lre"+str(i+1):torch.nn.LeakyReLU()}) else: warnings.warn("Did not specify a valid inner activation function. Returning nothing.") return None if end.lower()=="softmax": k.update({"out": torch.nn.Linear(hidden_dim,out_dim), "softmax": torch.nn.Softmax()}) elif end.lower()=="none": k.update({"out": torch.nn.Linear(hidden_dim,out_dim)}) elif end.lower()=="sigmoid": k.update({"out": torch.nn.Linear(hidden_dim,out_dim), "sigmoid": torch.nn.Sigmoid()}) else: warnings.warn("Did not specify a valid final activation function. Returning nothing.") return None return torch.nn.Sequential(k) #train_sgd_simple: trains network using SGD def train_sgd_simple(net, evalType, data, ground, dev=None, devg=None, iters=1000, learnrate=1e-4, testevery=1, graphsaveloc=None, modelsaveloc=None, loss="mse"): model=net.to(device) data=data.to(device) ground=ground.to(device) if dev != None: dev=dev.to(device) losses=[] dev_losses=[] if loss.lower()=="mse": loss_fn = torch.nn.MSELoss() elif loss.lower()=="cross entropy": loss_fn = torch.nn.CrossEntropyLoss() elif loss.lower()=="nll": loss_fn = torch.nn.NLLLoss() elif loss.lower()=="poisson nll": loss_fn = torch.nn.PoissonNLLLoss() else: warnings.warn("Did not specify a valid loss function. Returning nothing.") return None optimizer=torch.optim.SGD(model.parameters(), lr=learnrate) for i in range(iters): if i%testevery==0: with torch.no_grad(): output = model(data) if evalType == "ap": ap = metrics.average_precision_score(ground.cpu().numpy(), output.cpu().numpy()) if evalType == "regression": ap = metrics.explained_variance_score(ground.cpu().numpy(), output.cpu().numpy()) losses.append(ap) print(str(i)+": "+str(ap)) plt.plot(np.array(range(0,i+1,testevery)),np.array(losses), label="train AP") if dev != None: output = model(dev) print(evalType) if evalType == "ap": ap = metrics.average_precision_score(devg.numpy(), output.numpy()) dev_losses.append(ap) plt.plot(np.array(range(0,i+1,testevery)),np.array(losses), label="dev AP") elif evalType == "regression": ev = metrics.explained_variance_score(devg.numpy(), output.numpy()) dev_losses.append(ev) plt.plot(np.array(range(0,i+1,testevery)),np.array(losses), label="dev EV") if graphsaveloc != None: plt.savefig(graphsaveloc+".pdf") with torch.enable_grad(): optimizer.zero_grad() output = model(data) loss = loss_fn(output, ground) print(loss.item()) loss.backward() optimizer.step() if modelsaveloc != None: torch.save(model, modelsaveloc) plt.show() return model #train_sgd_minibatch: same as above, but with minibatches def train_sgd_minibatch(net, data, ground, dev=None, devg=None, epoch=100, batchsize=20, learnrate=1e-4, testevery=20, graphsaveloc=None, modelsaveloc=None, loss="mse"): model=net.to(device) data=data.to(device) ground=ground.to(device) if dev != None: dev=dev.to(device) losses=[] dev_losses=[] if loss.lower()=="mse": loss_fn = torch.nn.MSELoss() elif loss.lower()=="cross entropy": loss_fn = torch.nn.CrossEntropyLoss() elif loss.lower()=="nll": loss_fn = torch.nn.NLLLoss() elif loss.lower()=="poisson nll": loss_fn = torch.nn.PoissonNLLLoss() else: warnings.warn("Did not specify a valid loss function. Returning nothing.") return None optimizer=torch.optim.LBFGS(model.parameters(), lr=learnrate) itercount=0 for i in range(epoch): print("EPOCH "+str(i)+" OF "+str(epoch-1)) batches=math.ceil(data.size()[0].item()/batchsize) for j in range(batches): batchdata=[] batchground=[] for k in range(j*batchsize, min((j+1)*batchsize, data.size()[0].item()),1): batchdata.append(data[k]) batchground.append(ground[k]) batchdata=torch.stack(batchdata) batchground=torch.stack(batchground) if itercount%testevery==0: with torch.no_grad(): output = model(data) ap = metrics.average_precision_score(ground.numpy(), output.numpy()) losses.append(ap) print(str(i)+": "+str(ap)) plt.plot(np.array(range(0,i+1,testevery)),np.array(losses)) if dev != None: output = model(dev) ap = metrics.average_precision_score(devg.numpy(), output.numpy()) dev_losses.append(ap) plt.plot(np.array(range(0,i+1,testevery)),np.array(losses), label="dev AP") if graphsaveloc != None: plt.savefig(graphsaveloc+".pdf") with torch.enable_grad(): optimizer.zero_grad() output = model(batchdata) loss = loss_fn(output, ground) loss.backward() optimizer.step() itercount +=1 if modelsaveloc != None: torch.save(model, modelsaveloc) plt.show() return model def retyuoipufdyu(): data = torch.tensor(datasets.fetch_california_housing()['data']).to(torch.float) ground = datasets.fetch_california_housing()['target'] ground = torch.tensor(ground).to(torch.float) model = linear_nn(8, 100, 1, 20, act_fn = "relu") print(model) return train_sgd_simple(model,"regression", data, ground, learnrate=1e-4, iters=1000) start = time.time() retyuoipufdyu() end = time.time() print(end-start)