diff --git a/training/no_time_weight/trainer_no_time_weights.py b/training/no_time_weight/trainer_no_time_weights.py new file mode 100644 index 0000000..b2718a2 --- /dev/null +++ b/training/no_time_weight/trainer_no_time_weights.py @@ -0,0 +1,167 @@ +import torch +import torch.nn as nn +import torch.optim as optim +from torchdiffeq import odeint +import numpy as np +import inspect +import time +import csv +import os + +# Specify directory for storing results +output_dir = "training/no_time_weight" +os.makedirs(output_dir, exist_ok=True) # Create directory if it doesn't exist + +# Use a previously generated random seed +random_seed = 4529 + +# Set the seeds for reproducibility +torch.manual_seed(random_seed) +np.random.seed(random_seed) + +# Print the chosen random seed +print(f"Random seed for torch and numpy: {random_seed}") + +# Constants +m = 10.0 +g = 9.81 +R = 1.0 + +# Device setup +device = torch.device("cpu") + +# Time grid +t_start, t_end, t_points = 0, 10, 1000 +t_span = torch.linspace(t_start, t_end, t_points, device=device) + +# Initial conditions (theta0, omega0, alpha0, desired_theta) +state_0 = torch.tensor([ + [1/6 * torch.pi, 0.0, 0.0, 0.0], + [-1/6 * torch.pi, 0.0, 0.0, 0.0], + [2/3 * torch.pi, 0.0, 0.0, 0.0], + [-2/3 * torch.pi, 0.0, 0.0, 0.0], + [0.0, 1/3 * torch.pi, 0.0, 0.0], + [0.0, -1/3 * torch.pi, 0.0, 0.0], + [0.0, 2 * torch.pi, 0.0, 0.0], + [0.0, -2 * torch.pi, 0.0, 0.0], + [0.0, 0.0, 0.0, 2 * torch.pi], + [0.0, 0.0, 0.0, -2 * torch.pi], + [0.0, 0.0, 0.0, 1/2 * torch.pi], + [0.0, 0.0, 0.0, -1/2 * torch.pi], + [0.0, 0.0, 0.0, 1/3 * torch.pi], + [0.0, 0.0, 0.0, -1/3 * torch.pi], + [1/4 * torch.pi, 1 * torch.pi, 0.0, 0.0], + [-1/4 * torch.pi, -1 * torch.pi, 0.0, 0.0], + [1/2 * torch.pi, -1 * torch.pi, 0.0, 1/3 * torch.pi], + [-1/2 * torch.pi, 1 * torch.pi, 0.0, -1/3 * torch.pi], + [1/4 * torch.pi, 1 * torch.pi, 0.0, 2 * torch.pi], + [-1/4 * torch.pi, -1 * torch.pi, 0.0, 2 * torch.pi], + [1/2 * torch.pi, -1 * torch.pi, 0.0, 4 * torch.pi], + [-1/2 * torch.pi, 1 * torch.pi, 0.0, -4 * torch.pi], +], dtype=torch.float32, device=device) + +class PendulumController(nn.Module): + def __init__(self): + super().__init__() + self.net = nn.Sequential( + nn.Linear(4, 64), + nn.ReLU(), + nn.Linear(64, 64), + nn.ReLU(), + nn.Linear(64, 1) + ) + + def forward(self, x): + raw_torque = self.net(x) + return torch.clamp(raw_torque, -250, 250) + +class PendulumDynamics(nn.Module): + def __init__(self, controller): + super().__init__() + self.controller = controller + + def forward(self, t, state): + theta, omega, alpha, desired_theta = state[:, 0], state[:, 1], state[:, 2], state[:, 3] + input = torch.stack([theta, omega, alpha, desired_theta], dim=1) + tau = self.controller(input).squeeze(-1) + alpha_desired = (g / R) * torch.sin(theta) + tau / (m * R**2) + return torch.stack([omega, alpha, alpha_desired - alpha, torch.zeros_like(desired_theta)], dim=1) + +def loss_fn(state_traj): + theta = state_traj[:, :, 0] + desired_theta = state_traj[:, :, 3] + + return 1e3 * torch.mean((theta - desired_theta) ** 2) + +# Initialize controller and dynamics +controller = PendulumController().to(device) +pendulum_dynamics = PendulumDynamics(controller).to(device) + +# Optimizer setup +learning_rate = 1e-1 +weight_decay = 1e-4 +optimizer = optim.Adam(controller.parameters(), lr=learning_rate, weight_decay=weight_decay) + +# Training parameters +num_epochs = 5_000 +print_every = 25 + +# File paths +config_file = os.path.join(output_dir, "training_config.txt") +log_file = os.path.join(output_dir, "training_log.csv") +model_file = os.path.join(output_dir, "controller.pth") + +# Save configuration details +with open(config_file, "w") as f: + f.write(f"Random Seed: {random_seed}\n") + f.write(f"Time Span: {t_start} to {t_end}, Points: {t_points}\n") + f.write(f"Learning Rate: {learning_rate}\n") + f.write(f"Weight Decay: {weight_decay}\n") + f.write("\nLoss Function:\n") + f.write(inspect.getsource(loss_fn)) # Extract and write loss function source code + f.write("\nTraining Cases:\n") + f.write("[theta0, omega0, alpha0, desired_theta]\n") + for case in state_0.cpu().numpy(): + f.write(f"{case.tolist()}\n") + + +# Overwrite the log file at the start +with open(log_file, "w", newline="") as csvfile: + csv_writer = csv.writer(csvfile) + csv_writer.writerow(["Epoch", "Loss", "Elapsed Time (s)"]) + +# Training loop with real-time logging and NaN tracking +start_time = time.time() +with open(log_file, "a", newline="") as csvfile: + csv_writer = csv.writer(csvfile) + + for epoch in range(num_epochs): + epoch_start_time = time.time() + + optimizer.zero_grad() + state_traj = odeint(pendulum_dynamics, state_0, t_span, method='rk4') + loss = loss_fn(state_traj) + + elapsed_time = time.time() - epoch_start_time + + if torch.isnan(loss): + print(f"NaN detected at epoch {epoch}. Skipping step.") + csv_writer.writerow([epoch, "NaN detected", elapsed_time]) + csvfile.flush() # Ensure real-time writing + optimizer.zero_grad() + continue + + loss.backward() + optimizer.step() + + # Log normal loss + csv_writer.writerow([epoch, loss.item(), elapsed_time]) + csvfile.flush() # Ensure real-time writing + + if epoch % print_every == 0: + print(f"Epoch {epoch}/{num_epochs} | Loss: {loss.item():.6f} | Time: {elapsed_time:.4f} sec") + torch.save(controller.state_dict(), model_file) + +# Final save +torch.save(controller.state_dict(), model_file) +print(f"Training complete. Model saved as '{model_file}'. Logs saved in '{log_file}' and configuration in '{config_file}'.") diff --git a/training/no_time_weight/training_config.txt b/training/no_time_weight/training_config.txt new file mode 100644 index 0000000..41f7421 --- /dev/null +++ b/training/no_time_weight/training_config.txt @@ -0,0 +1,36 @@ +Random Seed: 4529 +Time Span: 0 to 10, Points: 1000 +Learning Rate: 0.1 +Weight Decay: 0.0001 + +Loss Function: +def loss_fn(state_traj): + theta = state_traj[:, :, 0] + desired_theta = state_traj[:, :, 3] + + return 1e3 * torch.mean((theta - desired_theta) ** 2) + +Training Cases: +[theta0, omega0, alpha0, desired_theta] +[0.5235987901687622, 0.0, 0.0, 0.0] +[-0.5235987901687622, 0.0, 0.0, 0.0] +[2.094395160675049, 0.0, 0.0, 0.0] +[-2.094395160675049, 0.0, 0.0, 0.0] +[0.0, 1.0471975803375244, 0.0, 0.0] +[0.0, -1.0471975803375244, 0.0, 0.0] +[0.0, 6.2831854820251465, 0.0, 0.0] +[0.0, -6.2831854820251465, 0.0, 0.0] +[0.0, 0.0, 0.0, 6.2831854820251465] +[0.0, 0.0, 0.0, -6.2831854820251465] +[0.0, 0.0, 0.0, 1.5707963705062866] +[0.0, 0.0, 0.0, -1.5707963705062866] +[0.0, 0.0, 0.0, 1.0471975803375244] +[0.0, 0.0, 0.0, -1.0471975803375244] +[0.7853981852531433, 3.1415927410125732, 0.0, 0.0] +[-0.7853981852531433, -3.1415927410125732, 0.0, 0.0] +[1.5707963705062866, -3.1415927410125732, 0.0, 1.0471975803375244] +[-1.5707963705062866, 3.1415927410125732, 0.0, -1.0471975803375244] +[0.7853981852531433, 3.1415927410125732, 0.0, 6.2831854820251465] +[-0.7853981852531433, -3.1415927410125732, 0.0, 6.2831854820251465] +[1.5707963705062866, -3.1415927410125732, 0.0, 12.566370964050293] +[-1.5707963705062866, 3.1415927410125732, 0.0, -12.566370964050293] diff --git a/training/no_time_weight/training_log.csv b/training/no_time_weight/training_log.csv new file mode 100644 index 0000000..b3aac31 --- /dev/null +++ b/training/no_time_weight/training_log.csv @@ -0,0 +1,3060 @@ +Epoch,Loss,Elapsed Time (s) +0,1087949.25,1.5338268280029297 +1,476474.40625,1.47159743309021 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+import torch +import torch.nn as nn +import numpy as np +import matplotlib.pyplot as plt +import pandas as pd + +# Load Controller +controller_file_name = "controller.pth" + +class PendulumController(nn.Module): + def __init__(self): + super().__init__() + self.net = nn.Sequential( + nn.Linear(4, 64), + nn.ReLU(), + nn.Linear(64, 64), + nn.ReLU(), + nn.Linear(64, 1) + ) + + def forward(self, x): + return self.net(x) + +controller = PendulumController() +controller.load_state_dict(torch.load(controller_file_name)) +controller.eval() +print(f"{controller_file_name} loaded.") + +# Constants +m = 10.0 +g = 9.81 +R = 1.0 + +# Time step settings +dt = 0.01 # Fixed time step +T = 20.0 # Total simulation time +num_steps = int(T / dt) +t_eval = np.linspace(0, T, num_steps) + +# Define ODE System (RK4) - Also Returns Torque +def pendulum_ode_step(state, dt, desired_theta): + theta, omega, alpha = state + + def compute_torque(th, om, al): + # Evaluate NN -> torque + inp = torch.tensor([[th, om, al, desired_theta]], dtype=torch.float32) + with torch.no_grad(): + torque = controller(inp) + torque = torch.clamp(torque, -250, 250) + return float(torque) + + def derivatives(state, torque): + th, om, al = state + a = (g / R) * np.sin(th) + torque / (m * R**2) + return np.array([om, a, 0]) # dtheta, domega, dalpha + + # Compute k1 + torque1 = compute_torque(theta, omega, alpha) + k1 = dt * derivatives(state, torque1) + + # Compute k2 + state_k2 = state + 0.5 * k1 + torque2 = compute_torque(state_k2[0], state_k2[1], state_k2[2]) + k2 = dt * derivatives(state_k2, torque2) + + # Compute k3 + state_k3 = state + 0.5 * k2 + torque3 = compute_torque(state_k3[0], state_k3[1], state_k3[2]) + k3 = dt * derivatives(state_k3, torque3) + + # Compute k4 + state_k4 = state + k3 + torque4 = compute_torque(state_k4[0], state_k4[1], state_k4[2]) + k4 = dt * derivatives(state_k4, torque4) + + # Update state using RK4 formula + new_state = state + (k1 + 2*k2 + 2*k3 + k4) / 6.0 + + # Compute weighted final torque + final_torque = (torque1 + 2*torque2 + 2*torque3 + torque4) / 6.0 + + return new_state, final_torque + + + + +# Run Simulations for Different Initial Conditions +# [theta0, omega0, alpha0, desired_theta] +in_sample_cases = [ + # Theta perturbations + (1/6 * np.pi, 0.0, 0.0, 0.0), + (-1/6 * np.pi, 0.0, 0.0, 0.0), + (2/3 * np.pi, 0.0, 0.0, 0.0), + (-2/3 * np.pi, 0.0, 0.0, 0.0), + + # Omega perturbations + (0.0, 1/3 * np.pi, 0.0, 0.0), + (0.0, -1/3 * np.pi, 0.0, 0.0), + (0.0, 2 * np.pi, 0.0, 0.0), + (0.0, -2 * np.pi, 0.0, 0.0), + + # Return to non-zero theta + (0.0, 0.0, 0.0, 2*np.pi), + (0.0, 0.0, 0.0, -2*np.pi), + (0.0, 0.0, 0.0, 1/2 * np.pi), + (0.0, 0.0, 0.0, -1/2 *np.pi), + (0.0, 0.0, 0.0, 1/3 * np.pi), + (0.0, 0.0, 0.0, -1/3 *np.pi), + + # Mix cases + (1/4 * np.pi, 1 * np.pi, 0.0, 0.0), + (-1/4 * np.pi, -1 * np.pi, 0.0, 0.0), + (1/2 * np.pi, -1 * np.pi, 0.0, 1/3 * np.pi), + (-1/2 * np.pi, 1 * np.pi, 0.0, -1/3 *np.pi), + (1/4 * np.pi, 1 * np.pi, 0.0, 2 * np.pi), + (-1/4 * np.pi, -1 * np.pi, 0.0, 2 * np.pi), + (1/2 * np.pi, -1 * np.pi, 0.0, 4 * np.pi), + (-1/2 * np.pi, 1 * np.pi, 0.0, -4 *np.pi), +] + +# Validation in-sample cases +print("Performing in-sample validation") + +losses = [] +final_thetas = [] + +for idx, (theta0, omega0, alpha0, desired_theta) in enumerate(in_sample_cases): + state = np.array([theta0, omega0, alpha0]) + + theta_vals, omega_vals, alpha_vals, torque_vals = [], [], [], [] + + for _ in range(num_steps): + # Save values + theta_vals.append(state[0]) + omega_vals.append(state[1]) + alpha_vals.append(state[2]) + + # Compute ODE step with real state + state, torque = pendulum_ode_step(state, dt, desired_theta) + + # Store torque + torque_vals.append(torque) + + # Convert lists to arrays + theta_vals = np.array(theta_vals) + omega_vals = np.array(omega_vals) + alpha_vals = np.array(alpha_vals) + torque_vals = np.array(torque_vals) + + # Get the final theta of the system at t=t_final + final_theta = theta_vals[-1] + final_thetas.append(final_theta) + + # Calculate this specific condition's loss + loss = 1e3 * np.mean((theta_vals - desired_theta)**2) + losses.append(loss) + + # Plot Results + fig, ax1 = plt.subplots(figsize=(10, 6)) + ax1.plot(t_eval, theta_vals, label="theta", color="blue") + ax1.plot(t_eval, omega_vals, label="omega", color="green") + ax1.plot(t_eval, alpha_vals, label="alpha", color="red") + ax1.axhline(desired_theta, label="Desired Theta", color="black") + + # Draw horizontal lines at theta = 2n*pi (as many as fit within range) + y_min = min(np.min(theta_vals), np.min(omega_vals), np.min(alpha_vals)) + y_max = max(np.max(theta_vals), np.max(omega_vals), np.max(alpha_vals)) + + n_min = int(np.ceil(y_min / (2 * np.pi))) + n_max = int(np.floor(y_max / (2 * np.pi))) + theta_lines = [2 * n * np.pi for n in range(n_min, n_max + 1)] + + ax1.set_xlabel("time [s]") + ax1.set_ylabel("theta, omega, alpha") + ax1.grid(True) + ax1.legend(loc="upper left") + + ax2 = ax1.twinx() + ax2.plot(t_eval, torque_vals, label="torque", color="purple", linestyle="--") + ax2.set_ylabel("Torque [Nm]") + ax2.legend(loc="upper right") + + plt.title(f"IC (theta={theta0:.3f}, omega={omega0:.3f}, alpha={alpha0:.3f})") + plt.tight_layout() + + filename = f"{idx+1}_theta0_{theta0:.3f}_omega0_{omega0:.3f}_alpha0_{alpha0:.3f}_desiredtheta_{desired_theta:.3f}_finaltheta_{final_theta:.3f}.png" + plt.savefig(f"validation/in-sample/{filename}") + plt.close() + + print(f"Saved in-sample validation case {idx+1}") + +# Create a DataFrame for tabular representation +df_losses = pd.DataFrame(in_sample_cases, columns=["theta0", "omega0", "alpha0", "desired_theta"]) +df_losses["final_theta"] = final_thetas +df_losses["loss"] = losses + +# Add run # column +df_losses.insert(0, "Run #", range(1, len(in_sample_cases) + 1)) + +# Print the table +print(df_losses.to_string(index=False)) +print(f"\nAverage Loss for In-Sample Validation: {np.mean(losses):.4f}") + +desired_thetas = np.array([case[3] for case in in_sample_cases]) +final_thetas = np.array(final_thetas) +print(f"\nAverage abs(Final Theta - Desired Theta) for In-Sample Validation: {np.mean(np.abs(final_thetas - desired_thetas)):.4f}") + + +# Out-of-sample validation +print("\nPerforming out-of-sample validation") + +# Out of sample cases previously generated by numpy +out_sample_cases = [ + (-2.198958, -4.428501, 0.450833, 0.000000), + (1.714196, -0.769896, 0.202738, 0.000000), + (0.241195, -5.493715, 0.438996, 0.000000), + (0.030605, 4.901513, -0.479243, 0.000000), + (1.930445, -1.301926, -0.454050, 0.000000), + (-0.676063, 4.246865, 0.036303, 0.000000), + (0.734920, -5.925202, 0.047097, 0.000000), + (-3.074471, -3.535424, 0.315438, 0.000000), + (-0.094486, 6.111091, 0.150525, 0.000000), + (-1.647671, 5.720526, 0.334181, 0.000000), + (-2.611260, 5.087704, 0.045460, -3.610785), + (1.654137, 0.982081, -0.192725, 1.003872), + (-2.394899, 3.550547, -0.430938, 3.261897), + (0.474917, 0.555166, -0.285173, 1.866752), + (-0.640369, -4.678490, -0.340663, 3.150098), + (1.747517, -3.248204, -0.001520, 1.221787), + (2.505283, -2.875006, -0.065617, -3.690269), + (1.337244, 2.221707, 0.044979, -2.459730), + (1.531012, 2.230981, -0.291206, -1.924535), + (-1.065792, 4.320740, 0.075405, -1.550644), +] + + +losses = [] +final_thetas = [] + +for idx, (theta0, omega0, alpha0, desired_theta) in enumerate(out_sample_cases): + state = np.array([theta0, omega0, alpha0]) + + theta_vals, omega_vals, alpha_vals, torque_vals = [], [], [], [] + + for _ in range(num_steps): + # Save values + theta_vals.append(state[0]) + omega_vals.append(state[1]) + alpha_vals.append(state[2]) + + # Compute ODE step with real state + state, torque = pendulum_ode_step(state, dt, desired_theta) + + # Store torque + torque_vals.append(torque) + + # Convert lists to arrays + theta_vals = np.array(theta_vals) + omega_vals = np.array(omega_vals) + alpha_vals = np.array(alpha_vals) + torque_vals = np.array(torque_vals) + + # Get the final theta of the system at t=t_final + final_theta = theta_vals[-1] + final_thetas.append(final_theta) + + # Calculate this specific condition's loss + loss = 1e3 * np.mean((theta_vals - desired_theta)**2) + losses.append(loss) + + # Plot Results + fig, ax1 = plt.subplots(figsize=(10, 6)) + ax1.plot(t_eval, theta_vals, label="theta", color="blue") + ax1.plot(t_eval, omega_vals, label="omega", color="green") + ax1.plot(t_eval, alpha_vals, label="alpha", color="red") + ax1.axhline(desired_theta, label="Desired Theta", color="black") + + # Draw horizontal lines at theta = 2n*pi (as many as fit within range) + y_min = min(np.min(theta_vals), np.min(omega_vals), np.min(alpha_vals)) + y_max = max(np.max(theta_vals), np.max(omega_vals), np.max(alpha_vals)) + + n_min = int(np.ceil(y_min / (2 * np.pi))) + n_max = int(np.floor(y_max / (2 * np.pi))) + theta_lines = [2 * n * np.pi for n in range(n_min, n_max + 1)] + + ax1.set_xlabel("time [s]") + ax1.set_ylabel("theta, omega, alpha") + ax1.grid(True) + ax1.legend(loc="upper left") + + ax2 = ax1.twinx() + ax2.plot(t_eval, torque_vals, label="torque", color="purple", linestyle="--") + ax2.set_ylabel("Torque [Nm]") + ax2.legend(loc="upper right") + + plt.title(f"IC (theta={theta0:.3f}, omega={omega0:.3f}, alpha={alpha0:.3f})") + plt.tight_layout() + + filename = f"{idx+1}_theta0_{theta0:.3f}_omega0_{omega0:.3f}_alpha0_{alpha0:.3f}_desiredtheta_{desired_theta:.3f}_finaltheta_{final_theta:.3f}.png" + plt.savefig(f"validation/out-of-sample/{filename}") + plt.close() + + print(f"Saved out-of-sample validation case {idx+1}") + + +# Create a DataFrame for tabular representation +df_losses = pd.DataFrame(out_sample_cases, columns=["theta0", "omega0", "alpha0", "desired_theta"]) +df_losses["final_theta"] = final_thetas +df_losses["loss"] = losses + +# Add run # column +df_losses.insert(0, "Run #", range(1, len(out_sample_cases) + 1)) + +# Print the table +print(df_losses.to_string(index=False)) +print(f"\nAverage Loss for Out-of-Sample Validation: {np.mean(losses):.4f}") + +desired_thetas = np.array([case[3] for case in out_sample_cases]) +final_thetas = np.array(final_thetas) +print(f"\nAverage abs(Final Theta - Desired Theta) for Out-of-Sample Validation: {np.mean(np.abs(final_thetas - desired_thetas)):.4f}") \ No newline at end of file