diff --git a/analysis/all_results.json b/analysis/average_normalized/all_results.json similarity index 100% rename from analysis/all_results.json rename to analysis/average_normalized/all_results.json diff --git a/analysis/average_normalized_weight_plotter.py b/analysis/average_normalized_weight_plotter.py new file mode 100644 index 0000000..e9eabb4 --- /dev/null +++ b/analysis/average_normalized_weight_plotter.py @@ -0,0 +1,29 @@ +import numpy as np +import matplotlib.pyplot as plt + +# Define time span +t_start, t_end, t_points = 0, 10, 1000 +t_span = np.linspace(t_start, t_end, t_points) + +# Define normalized weight functions +weight_functions = { + 'constant': lambda t: np.ones_like(t) / np.ones_like(t).mean(), + 'linear': lambda t: ((t+1) / (t+1).max()) / ((t+1) / (t+1).max()).mean(), + 'quadratic': lambda t: ((t+1)**2 / ((t+1)**2).max()) / ((t+1)**2 / ((t+1)**2).max()).mean(), + 'cubic': lambda t: ((t+1)**3 / ((t+1)**3).max()) / ((t+1)**3 / ((t+1)**3).max()).mean(), + 'inverse': lambda t: ((t+1)**-1 / ((t+1)**-1).max()) / ((t+1)**-1 / ((t+1)**-1).max()).mean(), + 'inverse_squared': lambda t: ((t+1)**-2 / ((t+1)**-2).max()) / ((t+1)**-2 / ((t+1)**-2).max()).mean(), + 'inverse_cubed': lambda t: ((t+1)**-3 / ((t+1)**-3).max()) / ((t+1)**-3 / ((t+1)**-3).max()).mean() +} + +# Plot all weight functions +plt.figure(figsize=(10, 6)) +for name, func in weight_functions.items(): + plt.plot(t_span, func(t_span), label=name) + +plt.xlabel("Time (s)") +plt.ylabel("Weight Value") +plt.title("Average Normalized Weight Values") +plt.legend() +plt.grid(True) +plt.savefig("average_normalized_weights.png") diff --git a/analysis/average_normalized_weights.png b/analysis/average_normalized_weights.png new file mode 100644 index 0000000..88606db Binary files /dev/null and b/analysis/average_normalized_weights.png differ diff --git a/analysis/max_normalized_weight_plotter.py b/analysis/max_normalized_weight_plotter.py new file mode 100644 index 0000000..2500ddf --- /dev/null +++ b/analysis/max_normalized_weight_plotter.py @@ -0,0 +1,35 @@ +import numpy as np +import matplotlib.pyplot as plt + +# Define time span +t_start, t_end, t_points = 0, 10, 1000 +t_span = np.linspace(t_start, t_end, t_points) + +# Define weight functions +weight_functions = { + 'constant': lambda t: np.ones_like(t), + 'linear': lambda t: (t+1) / (t+1).max(), + 'quadratic': lambda t: (t+1)**2 / ((t+1)**2).max(), + 'cubic': lambda t: (t+1)**3 / ((t+1)**3).max(), + 'inverse': lambda t: (t+1)**-1 / ((t+1)**-1).max(), + 'inverse_squared': lambda t: (t+1)**-2 / ((t+1)**-2).max(), + 'inverse_cubed': lambda t: (t+1)**-3 / ((t+1)**-3).max(), + 'linear_mirrored': lambda t: ((-t+10)+1) / ((-t+10)+1).max(), + 'quadratic_mirrored': lambda t: ((-t+10)+1)**2 / (((-t+10)+1)**2).max(), + 'cubic_mirrored': lambda t: ((-t+10)+1)**3 / (((-t+10)+1)**3).max(), + 'inverse_mirrored': lambda t: ((-t+10)+1)**-1 / (((-t+10)+1)**-1).max(), + 'inverse_squared_mirrored': lambda t: ((-t+10)+1)**-2 / (((-t+10)+1)**-2).max(), + 'inverse_cubed_mirrored': lambda t: ((-t+10)+1)**-3 / (((-t+10)+1)**-3).max() +} + +# Plot all weight functions +plt.figure(figsize=(10, 6)) +for name, func in weight_functions.items(): + plt.plot(t_span, func(t_span), label=name) + +plt.xlabel("Time (s)") +plt.ylabel("Weight Value") +plt.title("Max Normalized Weight Values") +plt.legend() +plt.grid(True) +plt.savefig("max_normalized_weights.png") \ No newline at end of file diff --git a/analysis/max_normalized_weights.png b/analysis/max_normalized_weights.png new file mode 100644 index 0000000..410f919 Binary files /dev/null and b/analysis/max_normalized_weights.png differ diff --git a/training/average_normalized/constant/training_config.txt b/training/average_normalized/constant/training_config.txt index cca7dc1..dc7d6c0 100644 --- a/training/average_normalized/constant/training_config.txt +++ b/training/average_normalized/constant/training_config.txt @@ -1,4 +1,4 @@ -Random Seed: 4529 +Base controller path: /home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/controller_base.pth Time Span: 0 to 10, Points: 1000 Learning Rate: 0.1 Weight Decay: 0.0001 @@ -15,6 +15,8 @@ Loss Function: # Calculate the weighted loss return torch.mean(weights * (theta - desired_theta) ** 2) +Weight Description: Constant weight: All weights are 1, normalized by the average (remains 1) + Training Cases: [theta0, omega0, alpha0, desired_theta] [0.5235987901687622, 0.0, 0.0, 0.0] diff --git a/training/average_normalized/constant/training_log.csv b/training/average_normalized/constant/training_log.csv index f088b8e..b31fc07 100644 --- a/training/average_normalized/constant/training_log.csv +++ b/training/average_normalized/constant/training_log.csv @@ -1,1002 +1,1002 @@ Epoch,Loss -0,1054.400634765625 -1,761.4313354492188 -2,547.9044799804688 -3,227.15199279785156 -4,148.319580078125 -5,90.2012939453125 -6,66.56349182128906 -7,59.21733093261719 -8,57.360450744628906 -9,45.62622833251953 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b/training/average_normalized/inverse/training_config.txt @@ -1,4 +1,4 @@ -Random Seed: 4529 +Base controller path: /home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/controller_base.pth Time Span: 0 to 10, Points: 1000 Learning Rate: 0.1 Weight Decay: 0.0001 @@ -15,6 +15,8 @@ Loss Function: # Calculate the weighted loss return torch.mean(weights * (theta - desired_theta) ** 2) +Weight Description: Inverse weight: Weights decrease inversely, normalized by the average weight + Training Cases: [theta0, omega0, alpha0, desired_theta] [0.5235987901687622, 0.0, 0.0, 0.0] diff --git a/training/average_normalized/inverse/training_log.csv b/training/average_normalized/inverse/training_log.csv index 772ecfd..8998ef4 100644 --- a/training/average_normalized/inverse/training_log.csv +++ b/training/average_normalized/inverse/training_log.csv @@ -1,1002 +1,1002 @@ Epoch,Loss -0,1451.442138671875 -1,1789.11474609375 -2,556.2006225585938 -3,247.4580841064453 -4,105.7378158569336 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a/training/average_normalized/inverse_cubed/training_config.txt +++ b/training/average_normalized/inverse_cubed/training_config.txt @@ -1,4 +1,4 @@ -Random Seed: 4529 +Base controller path: /home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/controller_base.pth Time Span: 0 to 10, Points: 1000 Learning Rate: 0.1 Weight Decay: 0.0001 @@ -15,6 +15,8 @@ Loss Function: # Calculate the weighted loss return torch.mean(weights * (theta - desired_theta) ** 2) +Weight Description: Inverse cubed weight: Weights decrease inversely cubed, normalized by the average weight + Training Cases: [theta0, omega0, alpha0, desired_theta] [0.5235987901687622, 0.0, 0.0, 0.0] diff --git a/training/average_normalized/inverse_cubed/training_log.csv b/training/average_normalized/inverse_cubed/training_log.csv index 9871164..b7b001c 100644 --- a/training/average_normalized/inverse_cubed/training_log.csv +++ b/training/average_normalized/inverse_cubed/training_log.csv @@ -1,1002 +1,1002 @@ Epoch,Loss 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Loss Function: # Calculate the weighted loss return torch.mean(weights * (theta - desired_theta) ** 2) +Weight Description: Inverse squared weight: Weights decrease inversely squared, normalized by the average weight + Training Cases: [theta0, omega0, alpha0, desired_theta] [0.5235987901687622, 0.0, 0.0, 0.0] diff --git a/training/average_normalized/inverse_squared/training_log.csv b/training/average_normalized/inverse_squared/training_log.csv index 7574fee..10ae236 100644 --- a/training/average_normalized/inverse_squared/training_log.csv +++ b/training/average_normalized/inverse_squared/training_log.csv @@ -1,1002 +1,1002 @@ Epoch,Loss -0,207.94223022460938 -1,191.69454956054688 -2,69.06658172607422 -3,43.48870849609375 -4,29.469846725463867 -5,22.833677291870117 -6,18.6555233001709 -7,17.490985870361328 -8,16.739255905151367 -9,15.988656044006348 -10,15.448429107666016 -11,14.97050952911377 -12,14.550261497497559 -13,14.34079360961914 -14,14.135517120361328 -15,13.94046401977539 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torch.mean(weights * (theta - desired_theta) ** 2) +Weight Description: Linear weight: Weights increase linearly from 0 to 1, normalized by the average weight + Training Cases: [theta0, omega0, alpha0, desired_theta] [0.5235987901687622, 0.0, 0.0, 0.0] diff --git a/training/average_normalized/linear/training_log.csv b/training/average_normalized/linear/training_log.csv index 2f4ad4a..7aaa044 100644 --- a/training/average_normalized/linear/training_log.csv +++ b/training/average_normalized/linear/training_log.csv @@ -1,1002 +1,1002 @@ Epoch,Loss -0,1514.9293212890625 -1,788.2183837890625 -2,120.43505859375 -3,49.81243133544922 -4,30.679851531982422 -5,22.141517639160156 -6,15.593602180480957 -7,15.261213302612305 -8,14.578600883483887 -9,11.948136329650879 -10,10.807184219360352 -11,9.762499809265137 -12,9.038025856018066 -13,8.600564956665039 -14,8.246169090270996 -15,7.942603588104248 -16,7.694074630737305 -17,7.345479488372803 -18,6.829004287719727 -19,6.345245838165283 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-Random Seed: 4529 +Base controller path: /home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/controller_base.pth Time Span: 0 to 10, Points: 1000 Learning Rate: 0.1 Weight Decay: 0.0001 @@ -15,6 +15,8 @@ Loss Function: # Calculate the weighted loss return torch.mean(weights * (theta - desired_theta) ** 2) +Weight Description: Quadratic weight: Weights increase quadratically from 0 to 1, normalized by the average weight + Training Cases: [theta0, omega0, alpha0, desired_theta] [0.5235987901687622, 0.0, 0.0, 0.0] diff --git a/training/average_normalized/quadratic/training_log.csv b/training/average_normalized/quadratic/training_log.csv index 99b7ffb..7e79622 100644 --- a/training/average_normalized/quadratic/training_log.csv +++ b/training/average_normalized/quadratic/training_log.csv @@ -1,1002 +1,1002 @@ Epoch,Loss -0,1902.08544921875 -1,3120.23828125 -2,703.2879028320312 -3,164.55470275878906 -4,96.33732604980469 -5,60.24449920654297 -6,46.39125061035156 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+997,0.1812227964401245 +998,0.18120551109313965 +999,0.18119119107723236 +1000,0.18117788434028625 diff --git a/training/average_normalized_trainer.py b/training/average_normalized_trainer.py index 957b7ba..60f7394 100644 --- a/training/average_normalized_trainer.py +++ b/training/average_normalized_trainer.py @@ -28,7 +28,7 @@ t_start, t_end, t_points = 0, 10, 1000 t_span = torch.linspace(t_start, t_end, t_points, device=device) # Specify directory for storing results -output_dir = "max_normalized" +output_dir = "average_normalized" os.makedirs(output_dir, exist_ok=True) # Optimizer values @@ -54,34 +54,61 @@ def make_loss_fn(weight_fn): return loss_fn # Define and store weight functions with descriptions, normalized by average weight +# weight_functions = { +# 'constant': { +# 'function': lambda t: torch.ones_like(t) / torch.ones_like(t).mean(), +# 'description': 'Constant weight: All weights are 1, normalized by the average (remains 1)' +# }, +# 'linear': { +# 'function': lambda t: ((t+1) / (t+1).max()) / ((t+1) / (t+1).max()).mean(), +# 'description': 'Linear weight: Weights increase linearly from 0 to 1, normalized by the average weight' +# }, +# 'quadratic': { +# 'function': lambda t: ((t+1)**2 / ((t+1)**2).max()) / ((t+1)**2 / ((t+1)**2).max()).mean(), +# 'description': 'Quadratic weight: Weights increase quadratically from 0 to 1, normalized by the average weight' +# }, +# 'cubic': { +# 'function': lambda t: ((t+1)**3 / ((t+1)**3).max()) / ((t+1)**3 / ((t+1)**3).max()).mean(), +# 'description': 'Quadratic weight: Weights increase cubically from 0 to 1, normalized by the average weight' +# }, +# 'inverse': { +# 'function': lambda t: ((t+1)**-1 / ((t+1)**-1).max()) / ((t+1)**-1 / ((t+1)**-1).max()).mean(), +# 'description': 'Inverse weight: Weights decrease inversely, normalized by the average weight' +# }, +# 'inverse_squared': { +# 'function': lambda t: ((t+1)**-2 / ((t+1)**-2).max()) / ((t+1)**-2 / ((t+1)**-2).max()).mean(), +# 'description': 'Inverse squared weight: Weights decrease inversely squared, normalized by the average weight' +# }, +# 'inverse_cubed': { +# 'function': lambda t: ((t+1)**-3 / ((t+1)**-3).max()) / ((t+1)**-3 / ((t+1)**-3).max()).mean(), +# 'description': 'Inverse cubed weight: Weights decrease inversely cubed, normalized by the average weight' +# } +# } + weight_functions = { - 'constant': { - 'function': lambda t: torch.ones_like(t) / torch.ones_like(t).mean(), - 'description': 'Constant weight: All weights are 1, normalized by the average (remains 1)' + 'linear_mirrored': { + 'function': lambda t: (((-t+10)+1) / ((-t+10)+1).max()) / (((-t+10)+1) / ((-t+10)+1).max()).mean(), + 'description': 'Linear mirrored weight: Weights decrease linearly from 0 to 1, normalized by the average weight' }, - 'linear': { - 'function': lambda t: ((t+1) / (t+1).max()) / ((t+1) / (t+1).max()).mean(), - 'description': 'Linear weight: Weights increase linearly from 0 to 1, normalized by the average weight' + 'quadratic_mirrored': { + 'function': lambda t: (((-t+10)+1)**2 / (((-t+10)+1)**2).max()) / (((-t+10)+1)**2 / (((-t+10)+1)**2).max()).mean(), + 'description': 'Quadratic mirrored weight: Weights decrease quadratically from 0 to 1, normalized by the average weight' }, - 'quadratic': { - 'function': lambda t: ((t+1)**2 / ((t+1)**2).max()) / ((t+1)**2 / ((t+1)**2).max()).mean(), - 'description': 'Quadratic weight: Weights increase quadratically from 0 to 1, normalized by the average weight' + 'cubic_mirrored': { + 'function': lambda t: (((-t+10)+1)**3 / (((-t+10)+1)**3).max()) / (((-t+10)+1)**3 / (((-t+10)+1)**3).max()).mean(), + 'description': 'Quadratic mirrored weight: Weights decrease cubically from 0 to 1, normalized by the average weight' }, - 'cubic': { - 'function': lambda t: ((t+1)**3 / ((t+1)**3).max()) / ((t+1)**3 / ((t+1)**3).max()).mean(), - 'description': 'Quadratic weight: Weights increase cubically from 0 to 1, normalized by the average weight' + 'inverse_mirrored': { + 'function': lambda t: (((-t+10)+1)**-1 / (((-t+10)+1)**-1).max()) / (((-t+10)+1)**-1 / (((-t+10)+1)**-1).max()).mean(), + 'description': 'Inverse mirrored weight: Weights increase inversely, normalized by the average weight' }, - 'inverse': { - 'function': lambda t: ((t+1)**-1 / ((t+1)**-1).max()) / ((t+1)**-1 / ((t+1)**-1).max()).mean(), - 'description': 'Inverse weight: Weights decrease inversely, normalized by the average weight' + 'inverse_squared_mirrored': { + 'function': lambda t: (((-t+10)+1)**-2 / (((-t+10)+1)**-2).max()) / (((-t+10)+1)**-2 / (((-t+10)+1)**-2).max()).mean(), + 'description': 'Inverse squared mirrored weight: Weights increase inversely squared, normalized by the average weight' }, - 'inverse_squared': { - 'function': lambda t: ((t+1)**-2 / ((t+1)**-2).max()) / ((t+1)**-2 / ((t+1)**-2).max()).mean(), - 'description': 'Inverse squared weight: Weights decrease inversely squared, normalized by the average weight' - }, - 'inverse_cubed': { - 'function': lambda t: ((t+1)**-3 / ((t+1)**-3).max()) / ((t+1)**-3 / ((t+1)**-3).max()).mean(), - 'description': 'Inverse cubed weight: Weights decrease inversely cubed, normalized by the average weight' + 'inverse_cubed_mirrored': { + 'function': lambda t: (((-t+10)+1)**-3 / (((-t+10)+1)**-3).max()) / (((-t+10)+1)**-3 / (((-t+10)+1)**-3).max()).mean(), + 'description': 'Inverse cubed mirrored weight: Weights increase inversely cubed, normalized by the average weight' } } diff --git a/training/max_normalized/constant/training_config.txt b/training/max_normalized/constant/training_config.txt index 9091b81..7ef6614 100644 --- a/training/max_normalized/constant/training_config.txt +++ b/training/max_normalized/constant/training_config.txt @@ -1,3 +1,4 @@ +Base controller path: /home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/controller_base.pth Time Span: 0 to 10, Points: 1000 Learning Rate: 0.1 Weight Decay: 0.0001 diff --git a/training/max_normalized/constant/training_log.csv 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b/training/max_normalized/cubic/training_config.txt @@ -1,3 +1,4 @@ +Base controller path: /home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/controller_base.pth Time Span: 0 to 10, Points: 1000 Learning Rate: 0.1 Weight Decay: 0.0001 diff --git a/training/max_normalized/cubic/training_log.csv b/training/max_normalized/cubic/training_log.csv index d44e6ec..356eec1 100644 --- a/training/max_normalized/cubic/training_log.csv +++ b/training/max_normalized/cubic/training_log.csv @@ -5,3 +5,998 @@ Epoch,Loss 3,1248.2943115234375 4,100.79420471191406 5,27.224851608276367 +6,9.562512397766113 +7,7.608825206756592 +8,7.862037658691406 +9,7.170462131500244 +10,7.097181797027588 +11,8.166483879089355 +12,6.741175651550293 +13,6.505483150482178 +14,5.274458408355713 +15,4.75758171081543 +16,3.9476306438446045 +17,3.4390869140625 +18,3.3028292655944824 +19,3.227116584777832 +20,3.1127116680145264 +21,3.0625529289245605 +22,3.0853347778320312 +23,3.1513702869415283 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Decay: 0.0001 + +Loss Function: + def loss_fn(state_traj, t_span): + theta = state_traj[:, :, 0] # Size: [batch_size, t_points] + desired_theta = state_traj[:, :, 3] # Size: [batch_size, t_points] + weights = weight_fn(t_span) # Initially Size: [t_points] + + # Reshape or expand weights to match theta dimensions + weights = weights.view(-1, 1) # Now Size: [batch_size, t_points] + + # Calculate the weighted loss + return torch.mean(weights * (theta - desired_theta) ** 2) + +Weight Description: Linear mirrored weight: Weights decrease linearly, normalized by max + +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/max_normalized/linear_mirrored/training_log.csv b/training/max_normalized/linear_mirrored/training_log.csv new file mode 100644 index 0000000..7345d55 --- /dev/null +++ b/training/max_normalized/linear_mirrored/training_log.csv @@ -0,0 +1,67 @@ +Epoch,Loss +0,318.63848876953125 +1,169.25245666503906 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b/training/max_normalized_trainer.py index 7b51217..fee5cfc 100644 --- a/training/max_normalized_trainer.py +++ b/training/max_normalized_trainer.py @@ -54,34 +54,61 @@ def make_loss_fn(weight_fn): return loss_fn # Define and store weight functions with descriptions +# weight_functions = { +# 'constant': { +# 'function': lambda t: torch.ones_like(t), +# 'description': 'Constant weight: All weights are 1' +# }, +# 'linear': { +# 'function': lambda t: (t+1) / (t+1).max(), +# 'description': 'Linear weight: Weights increase linearly, normalized by max' +# }, +# 'quadratic': { +# 'function': lambda t: (t+1)**2 / ((t+1)**2).max(), +# 'description': 'Quadratic weight: Weights increase quadratically, normalized by max' +# }, +# 'cubic': { +# 'function': lambda t: (t+1)**3 / ((t+1)**3).max(), +# 'description': 'Quadratic weight: Weights increase cubically, normalized by max' +# }, +# 'inverse': { +# 'function': lambda t: (t+1)**-1 / ((t+1)**-1).max(), +# 'description': 'Inverse weight: Weights decrease inversely, normalized by max' +# }, +# 'inverse_squared': { +# 'function': lambda t: (t+1)**-2 / ((t+1)**-2).max(), +# 'description': 'Inverse squared weight: Weights decrease inversely squared, normalized by max' +# }, +# 'inverse_cubed': { +# 'function': lambda t: (t+1)**-3 / ((t+1)**-3).max(), +# 'description': 'Inverse cubed weight: Weights decrease inversely cubed, normalized by max' +# } +# } + weight_functions = { - 'constant': { - 'function': lambda t: torch.ones_like(t), - 'description': 'Constant weight: All weights are 1' + 'linear_mirrored': { + 'function': lambda t: ((-t+10)+1) / ((-t+10)+1).max(), + 'description': 'Linear mirrored weight: Weights decrease linearly, normalized by max' }, - 'linear': { - 'function': lambda t: (t+1) / (t+1).max(), - 'description': 'Linear weight: Weights increase linearly, normalized by max' + 'quadratic_mirrored': { + 'function': lambda t: ((-t+10)+1)**2 / (((-t+10)+1)**2).max(), + 'description': 'Quadratic mirrored weight: Weights decrease quadratically, normalized by max' }, - 'quadratic': { - 'function': lambda t: (t+1)**2 / ((t+1)**2).max(), - 'description': 'Quadratic weight: Weights increase quadratically, normalized by max' + 'cubic_mirrored': { + 'function': lambda t: ((-t+10)+1)**3 / (((-t+10)+1)**3).max(), + 'description': 'Quadratic mirrored weight: Weights decrease cubically, normalized by max' }, - 'cubic': { - 'function': lambda t: (t+1)**3 / ((t+1)**3).max(), - 'description': 'Quadratic weight: Weights increase cubically, normalized by max' + 'inverse_mirrored': { + 'function': lambda t: ((-t+10)+1)**-1 / (((-t+10)+1)**-1).max(), + 'description': 'Inverse mirrored weight: Weights increase inversely, normalized by max' }, - 'inverse': { - 'function': lambda t: (t+1)**-1 / ((t+1)**-1).max(), - 'description': 'Inverse weight: Weights decrease inversely, normalized by max' + 'inverse_squared_mirrored': { + 'function': lambda t: ((-t+10)+1)**-2 / (((-t+10)+1)**-2).max(), + 'description': 'Inverse squared mirrored weight: Weights increase inversely squared, normalized by max' }, - 'inverse_squared': { - 'function': lambda t: (t+1)**-2 / ((t+1)**-2).max(), - 'description': 'Inverse squared weight: Weights decrease inversely squared, normalized by max' - }, - 'inverse_cubed': { - 'function': lambda t: (t+1)**-3 / ((t+1)**-3).max(), - 'description': 'Inverse cubed weight: Weights decrease inversely cubed, normalized by max' + 'inverse_cubed_mirrored': { + 'function': lambda t: ((-t+10)+1)**-3 / (((-t+10)+1)**-3).max(), + 'description': 'Inverse cubed mirrored weight: Weights increase inversely cubed, normalized by max' } } diff --git a/training/nohup.out b/training/nohup.out index 132f6a8..eace167 100644 --- a/training/nohup.out +++ b/training/nohup.out @@ -1,5 +1,7015 @@ -Random seed for torch and numpy: 4529 -Traceback (most recent call last): - File "/home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/max_normalized_trainer.py", line 148, in - print(f"{model_file} saved with loss: {loss}") -NameError: name 'loss' is not defined +Loaded /home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/controller_base.pth as base controller +average_normalized/constant/controllers/controller_0.pth saved with loss: 1087.9490966796875 +average_normalized/constant/controllers/controller_1.pth saved with loss: 490.75341796875 +average_normalized/constant/controllers/controller_2.pth saved with loss: 312.3319396972656 +average_normalized/constant/controllers/controller_3.pth saved with loss: 207.35940551757812 +average_normalized/constant/controllers/controller_4.pth saved with loss: 141.8478240966797 +average_normalized/constant/controllers/controller_5.pth saved with loss: 153.2593536376953 +average_normalized/constant/controllers/controller_6.pth saved with loss: 183.9130859375 +average_normalized/constant/controllers/controller_7.pth saved with loss: 182.892333984375 +average_normalized/constant/controllers/controller_8.pth saved with loss: 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saved with loss: 6.746214389801025 +average_normalized/inverse/controllers/controller_938.pth saved with loss: 6.746151447296143 +average_normalized/inverse/controllers/controller_939.pth saved with loss: 6.746082305908203 +average_normalized/inverse/controllers/controller_940.pth saved with loss: 6.746009826660156 +average_normalized/inverse/controllers/controller_941.pth saved with loss: 6.745945930480957 +average_normalized/inverse/controllers/controller_942.pth saved with loss: 6.745877742767334 +average_normalized/inverse/controllers/controller_943.pth saved with loss: 6.745809078216553 +average_normalized/inverse/controllers/controller_944.pth saved with loss: 6.7457451820373535 +average_normalized/inverse/controllers/controller_945.pth saved with loss: 6.745676040649414 +average_normalized/inverse/controllers/controller_946.pth saved with loss: 6.745607376098633 +average_normalized/inverse/controllers/controller_947.pth saved with loss: 6.745539665222168 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saved with loss: 6.743447303771973 +average_normalized/inverse/controllers/controller_980.pth saved with loss: 6.743382930755615 +average_normalized/inverse/controllers/controller_981.pth saved with loss: 6.743319034576416 +average_normalized/inverse/controllers/controller_982.pth saved with loss: 6.743256568908691 +average_normalized/inverse/controllers/controller_983.pth saved with loss: 6.74319314956665 +average_normalized/inverse/controllers/controller_984.pth saved with loss: 6.743130683898926 +average_normalized/inverse/controllers/controller_985.pth saved with loss: 6.743066787719727 +average_normalized/inverse/controllers/controller_986.pth saved with loss: 6.743005752563477 +average_normalized/inverse/controllers/controller_987.pth saved with loss: 6.742943286895752 +average_normalized/inverse/controllers/controller_988.pth saved with loss: 6.742879867553711 +average_normalized/inverse/controllers/controller_989.pth saved with loss: 6.742818355560303 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with loss: 12.132102012634277 +average_normalized/inverse_squared/controllers/controller_988.pth saved with loss: 12.132102012634277 +average_normalized/inverse_squared/controllers/controller_989.pth saved with loss: 12.132104873657227 +average_normalized/inverse_squared/controllers/controller_990.pth saved with loss: 12.131681442260742 +average_normalized/inverse_squared/controllers/controller_991.pth saved with loss: 12.131589889526367 +average_normalized/inverse_squared/controllers/controller_992.pth saved with loss: 12.131680488586426 +average_normalized/inverse_squared/controllers/controller_993.pth saved with loss: 12.131387710571289 +average_normalized/inverse_squared/controllers/controller_994.pth saved with loss: 12.1309175491333 +average_normalized/inverse_squared/controllers/controller_995.pth saved with loss: 12.130919456481934 +average_normalized/inverse_squared/controllers/controller_996.pth saved with loss: 12.130786895751953 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saved with loss: 16.095806121826172 +average_normalized/inverse_cubed/controllers/controller_984.pth saved with loss: 16.095800399780273 +average_normalized/inverse_cubed/controllers/controller_985.pth saved with loss: 16.095792770385742 +average_normalized/inverse_cubed/controllers/controller_986.pth saved with loss: 16.095788955688477 +average_normalized/inverse_cubed/controllers/controller_987.pth saved with loss: 16.095787048339844 +average_normalized/inverse_cubed/controllers/controller_988.pth saved with loss: 16.095779418945312 +average_normalized/inverse_cubed/controllers/controller_989.pth saved with loss: 16.09577178955078 +average_normalized/inverse_cubed/controllers/controller_990.pth saved with loss: 16.095766067504883 +average_normalized/inverse_cubed/controllers/controller_991.pth saved with loss: 16.095760345458984 +average_normalized/inverse_cubed/controllers/controller_992.pth saved with loss: 16.09575653076172 +average_normalized/inverse_cubed/controllers/controller_993.pth saved with loss: 16.095752716064453 +average_normalized/inverse_cubed/controllers/controller_994.pth saved with loss: 16.095748901367188 +average_normalized/inverse_cubed/controllers/controller_995.pth saved with loss: 16.095752716064453 +average_normalized/inverse_cubed/controllers/controller_996.pth saved with loss: 16.095748901367188 +average_normalized/inverse_cubed/controllers/controller_997.pth saved with loss: 16.09574317932129 +average_normalized/inverse_cubed/controllers/controller_998.pth saved with loss: 16.095746994018555 +average_normalized/inverse_cubed/controllers/controller_999.pth saved with loss: 16.095752716064453 +average_normalized/inverse_cubed/controllers/controller_1000.pth saved with loss: 16.09573745727539 +Training complete. Models and logs are saved under respective directories for each loss function.