shadow-program-inversion | This repository contains the source code for the paper | Machine Learning library
kandi X-RAY | shadow-program-inversion Summary
kandi X-RAY | shadow-program-inversion Summary
This repository contains the source code for the paper. B. Alt, D. Katic, A. K. Bozcuoglu, R. Jäkel, and M. Beetz, “Robot Program Parameter Inference via Differentiable Shadow Program Inversion,” 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 2021. You can find an abstract, the full-text PDF and video material on the paper website, and an overview of the method in the blog post. shadow_program_inversion/shadow_program.py and shadow_program_inversion/shadow_skill.py contain the core implementation of SPI. shadow_program_inversion/experiments/contact contains code to reproduce experiment B.2) of the paper.
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- Train the neural template .
- Optimizes the model .
- Simulate the model .
- Run loop .
- Plot a list of trajectories .
- Initialize the autoregressive model .
- Optimizes a path to a path .
- Load data from a data file .
- Performs a single training step .
- Set the profile .
shadow-program-inversion Key Features
shadow-program-inversion Examples and Code Snippets
Community Discussions
Trending Discussions on Machine Learning
QUESTION
I have trained an RNN model with pytorch. I need to use the model for prediction in an environment where I'm unable to install pytorch because of some strange dependency issue with glibc. However, I can install numpy and scipy and other libraries. So, I want to use the trained model, with the network definition, without pytorch.
I have the weights of the model as I save the model with its state dict and weights in the standard way, but I can also save it using just json/pickle files or similar.
I also have the network definition, which depends on pytorch in a number of ways. This is my RNN network definition.
...ANSWER
Answered 2022-Feb-17 at 10:47You should try to export the model using torch.onnx. The page gives you an example that you can start with.
An alternative is to use TorchScript, but that requires torch libraries.
Both of these can be run without python. You can load torchscript in a C++ application https://pytorch.org/tutorials/advanced/cpp_export.html
ONNX is much more portable and you can use in languages such as C#, Java, or Javascript https://onnxruntime.ai/ (even on the browser)
A running exampleJust modifying a little your example to go over the errors I found
Notice that via tracing any if/elif/else, for, while will be unrolled
QUESTION
I'm trying to implement a gradient-free optimizer function to train convolutional neural networks with Julia using Flux.jl. The reference paper is this: https://arxiv.org/abs/2005.05955. This paper proposes RSO, a gradient-free optimization algorithm updates single weight at a time on a sampling bases. The pseudocode of this algorithm is depicted in the picture below.
I'm using MNIST dataset.
...ANSWER
Answered 2022-Jan-14 at 23:47Based on the paper you shared, it looks like you need to change the weight arrays per each output neuron per each layer. Unfortunately, this means that the implementation of your optimization routine is going to depend on the layer type, since an "output neuron" for a convolution layer is quite different than a fully-connected layer. In other words, just looping over Flux.params(model)
is not going to be sufficient, since this is just a set of all the weight arrays in the model and each weight array is treated differently depending on which layer it comes from.
Fortunately, Julia's multiple dispatch does make this easier to write if you use separate functions instead of a giant loop. I'll summarize the algorithm using the pseudo-code below:
QUESTION
This question is the same with How can I check a confusion_matrix after fine-tuning with custom datasets?, on Data Science Stack Exchange.
BackgroundI would like to check a confusion_matrix, including precision, recall, and f1-score like below after fine-tuning with custom datasets.
Fine tuning process and the task are Sequence Classification with IMDb Reviews on the Fine-tuning with custom datasets tutorial on Hugging face.
After finishing the fine-tune with Trainer, how can I check a confusion_matrix in this case?
An image of confusion_matrix, including precision, recall, and f1-score original site: just for example output image
...ANSWER
Answered 2021-Nov-24 at 13:26What you could do in this situation is to iterate on the validation set(or on the test set for that matter) and manually create a list of y_true
and y_pred
.
QUESTION
I am trying to train a model using PyTorch. When beginning model training I get the following error message:
RuntimeError: CUDA out of memory. Tried to allocate 5.37 GiB (GPU 0; 7.79 GiB total capacity; 742.54 MiB already allocated; 5.13 GiB free; 792.00 MiB reserved in total by PyTorch)
I am wondering why this error is occurring. From the way I see it, I have 7.79 GiB total capacity. The numbers it is stating (742 MiB + 5.13 GiB + 792 MiB) do not add up to be greater than 7.79 GiB. When I check nvidia-smi
I see these processes running
ANSWER
Answered 2021-Nov-23 at 06:13This is more of a comment, but worth pointing out.
The reason in general is indeed what talonmies commented, but you are summing up the numbers incorrectly. Let's see what happens when tensors are moved to GPU (I tried this on my PC with RTX2060 with 5.8G usable GPU memory in total):
Let's run the following python commands interactively:
QUESTION
I am a bit confusing with comparing best GridSearchCV model and baseline.
For example, we have classification problem.
As a baseline, we'll fit a model with default settings (let it be logistic regression):
ANSWER
Answered 2021-Nov-04 at 21:17No, they aren't comparable.
Your baseline model used X_train
to fit the model. Then you're using the fitted model to score the X_train
sample. This is like cheating because the model is going to already perform the best since you're evaluating it based on data that it has already seen.
The grid searched model is at a disadvantage because:
- It's working with less data since you have split the
X_train
sample. - Compound that with the fact that it's getting trained with even less data due to the 5 folds (it's training with only 4/5 of
X_val
per fold).
So your score for the grid search is going to be worse than your baseline.
Now you might ask, "so what's the point of best_model.best_score_
? Well, that score is used to compare all the models used when searching for the optimal hyperparameters in your search space, but in no way should be used to compare against a model that was trained outside of the grid search context.
So how should one go about conducting a fair comparison?
- Split your training data for both models.
QUESTION
I am not able to access jupyter lab created on google cloud
I created one notebook using Google AI platform. I was able to start it and work but suddenly it stopped and I am not able to start it now. I tried building and restarting the jupyterlab, but of no use. I have checked my disk usages as well, which is only 12%.
I tried the diagnostic tool, which gave the following result:
but didn't fix it.
Thanks in advance.
...ANSWER
Answered 2021-Aug-20 at 14:00You should try this Google Notebook trouble shooting section about 524 errors : https://cloud.google.com/notebooks/docs/troubleshooting?hl=ja#opening_a_notebook_results_in_a_524_a_timeout_occurred_error
QUESTION
I am new to Machine Learning.
Having followed the steps in this simple Maching Learning using the Brain.js library, it beats my understanding why I keep getting the error message below:
I have double-checked my code multiple times. This is particularly frustrating as this is the very first exercise!
Kindly point out what I am missing here!
Find below my code:
...ANSWER
Answered 2021-Sep-29 at 22:47Turns out its just documented incorrectly.
In reality the export from brain.js is this:
QUESTION
IF we are not sure about the nature of categorical features like whether they are nominal or ordinal, which encoding should we use? Ordinal-Encoding or One-Hot-Encoding? Is there a clearly defined rule on this topic?
I see a lot of people using Ordinal-Encoding on Categorical Data that doesn't have a Direction. Suppose a frequency table:
...ANSWER
Answered 2021-Sep-04 at 06:43You're right. Just one thing to consider for choosing OrdinalEncoder
or OneHotEncoder
is that does the order of data matter?
Most ML algorithms will assume that two nearby values are more similar than two distant values. This may be fine in some cases e.g., for ordered categories such as:
quality = ["bad", "average", "good", "excellent"]
orshirt_size = ["large", "medium", "small"]
but it is obviously not the case for the:
color = ["white","orange","black","green"]
column (except for the cases you need to consider a spectrum, say from white to black. Note that in this case, white
category should be encoded as 0
and black
should be encoded as the highest number in your categories), or if you have some cases for example, say, categories 0 and 4 may be more similar than categories 0 and 1. To fix this issue, a common solution is to create one binary attribute per category (One-Hot encoding)
QUESTION
I am using sentence-transformers for semantic search but sometimes it does not understand the contextual meaning and returns wrong result eg. BERT problem with context/semantic search in italian language
by default the vector side of embedding of the sentence is 78 columns, so how do I increase that dimension so that it can understand the contextual meaning in deep.
code:
...ANSWER
Answered 2021-Aug-10 at 07:39Increasing the dimension of a trained model is not possible (without many difficulties and re-training the model). The model you are using was pre-trained with dimension 768, i.e., all weight matrices of the model have a corresponding number of trained parameters. Increasing the dimensionality would mean adding parameters which however need to be learned.
Also, the dimension of the model does not reflect the amount of semantic or context information in the sentence representation. The choice of the model dimension reflects more a trade-off between model capacity, the amount of training data, and reasonable inference speed.
If the model that you are using does not provide representation that is semantically rich enough, you might want to search for better models, such as RoBERTa or T5.
QUESTION
I have a table with features that were used to build some model to predict whether user will buy a new insurance or not. In the same table I have probability of belonging to the class 1 (will buy) and class 0 (will not buy) predicted by this model. I don't know what kind of algorithm was used to build this model. I only have its predicted probabilities.
Question: how to identify what features affect these prediction results? Do I need to build correlation matrix or conduct any tests?
Table example:
...ANSWER
Answered 2021-Aug-11 at 15:55You could build a model like this.
x = features you have. y = true_lable
from that you can extract features importance. also, if you want to go the extra mile,you can do Bootstrapping, so that the features importance would be more stable (statistical).
Community Discussions, Code Snippets contain sources that include Stack Exchange Network
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Install shadow-program-inversion
Clone the repository:
(Optional) SPI requires PyTorch and several other scientific computing and machine learning libraries. To keep dependencies organized, we suggest creating a virtual environment:
Install all dependencies, and optionally install shadow-program-inversion into your virtual environment for easier access.
(Optional) Set up your robot to reproduce the real-world experiments. If you use our provided dataset and pre-trained models, this is not required.
We provide a dataset containing simulated and real robot data for contact motions on foam, rubber and PCB surfaces, as well as trained Shadow Skills for both DMPs and URScript programs. To download the dataset and trained models, cd into the repository root and execute python download_data.py. This will download an archive of ~700MB, which will be decompressed to ~18GB. The dataset can also be found here.
If you want to collect your own data and apply our method directly on your robot, you will need to install ROS (tested with Melodic) and the Universal Robots ROS driver. Make sure to correctly set up the ROS PC and robot. Finally, you need to set ROBOT_IP in shadow_program_inversion/utils/config.py to the IP address of your robot. The scripts which communicate directly with the robot (collect_real_data.py and test_optimized_parameters.py) require ROS to be running and the remote control program to be running on the robot. For a UR5e, you can start ROS by running roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=172.16.53.128 (make sure you substitute your robot's IP) and ROS will automatically try to connect to the remote control program on the robot.
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