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main_single_arm_bandit.py
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main_single_arm_bandit.py
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import numpy as np
import argparse
import os
from copy import deepcopy
from time import time
from pprint import pprint
from utils.data_manipulators import *
from evolution.operators import *
from to.probabilistic_model import ProbabilisticModel
from to.mixture_model import MixtureModel
from evolution.chromosome import *
from utils.kinematic_arm import get_arm, get_distance_func
from utils.data_manipulators import *
def transfer_bandit(problem,
src_models,
n_vars,
psize=100,
sample_size=100,
gen=100,
muc=10,
mum=10,
reps=1,
delta=2,
build_model=False):
if not src_models:
raise ValueError(
'No probabilistic models stored for transfer optimization.')
fitness_hist = np.zeros([reps, gen, psize])
fitness_time = np.zeros((reps, gen,))
alpha = list()
init_func = lambda n: np.random.rand(n)
alpha = list()
prob = list()
model_num = len(src_models)
pop = None
for rep in range(reps):
print('------------------------ rep: {} ---------------------'.format(
rep))
start = time()
alpha_rep = []
pop = get_pop_init(psize, n_vars, init_func, p_type='arm')
for i in range(psize):
pop[i].fitness_calc(*problem)
bestfitness = np.max(pop).fitness
fitness = Chromosome.fitness_to_numpy(pop)
fitness_hist[rep, 0, :] = fitness
prob_rep = np.zeros((gen, model_num))
prob_rep[0, :] = (1 / model_num) * np.ones(
model_num) # Initial uniform probablity of src model selection
cum_rew = np.zeros((model_num)) # Initial source rewards
fitness_time[rep, 0] = time() - start
print('Generation 0 best fitness = %f' % bestfitness)
for i in range(1, gen):
start = time()
if i % delta == 0:
cfitness = np.zeros(sample_size)
# Selecting the the probability model
idx = roulette_wheel_selection(
prob_rep[i - 1, :]
) # Selecting a model using roulette wheel selection technique
sel_model = [src_models[idx]]
# Applying EM algorithm and sampling from the mixture model
mixModel = MixtureModel(sel_model)
mixModel.createTable(Chromosome.genes_to_numpy(pop), True,
'mvarnorm')
mixModel.EMstacking()
alpha_rep.append(mixModel.alpha)
mixModel.mutate(version='bandit')
offsprings_tmp = mixModel.sample(sample_size)
# Calculating Fitness
offsprings = np.array([
ChromosomeKA(offspring_tmp)
for offspring_tmp in offsprings_tmp
])
for j in range(sample_size):
cfitness[j] = offsprings[j].fitness_calc(*problem)
# Getting reward using importance sampling
rew = mixModel.reward(model_num, offsprings_tmp, cfitness)
# Updating probablities and rewards using exp3 algorithm
prob_rep[i, :], cum_rew = EXP3(model_num, rew, idx, cum_rew,
prob_rep[i - 1])
#################################################################
# print('Mixture coefficients: %s' % np.array(mixModel.alpha))
else:
# Crossover & Mutation
randlist = np.random.permutation(psize)
offsprings = np.ndarray(psize, dtype=object)
for j in range(0, psize, 2):
offsprings[j] = ChromosomeKA(n_vars)
offsprings[j + 1] = ChromosomeKA(n_vars)
p1 = randlist[j]
p2 = randlist[j + 1]
offsprings[j].genes, offsprings[j +
1].genes = sbx_crossover(
pop[p1], pop[p2], muc,
n_vars)
offsprings[j].mutation(mum, n_vars)
offsprings[j + 1].mutation(mum, n_vars)
# Fitness Calculation
cfitness = np.zeros(psize)
for j in range(psize):
cfitness[j] = offsprings[j].fitness_calc(*problem)
prob_rep[i, :] = prob_rep[i - 1, :]
if i % delta == 0:
print('cfitness mean: ', np.mean(cfitness))
# Selection
pop, fitness = total_selection(np.concatenate((pop, offsprings)),
np.concatenate((fitness, cfitness)),
psize)
fitness_hist[rep, i, :] = fitness
fitness_time[rep, i] = time() - start
if fitness[0] > bestfitness:
bestfitness = fitness[0]
print('Generation %d best fitness = %f' % (i, bestfitness))
alpha.append(alpha_rep)
prob.append(prob_rep)
return fitness_hist, alpha, prob, fitness_time
def get_args():
pass
def check_args(args):
pass
def main(args):
if hasattr(args, 'src_models'):
src_models = args.src_models
else:
# Loading Source Models
src_models = Tools.load_from_file(args.source_models_path)
print('---------------------- source models loaded---------------------')
angular_range = args.max_angle * np.pi * 2.
n_vars = args.joint_num
arm = get_arm(args.target_length, n_vars)
problem = (arm, angular_range, args.target_pos)
return transfer_bandit(problem, src_models, n_vars, psize=args.psize, sample_size=args.sample_size, gen=args.gen,
delta=args.delta, muc=10, mum=10, reps=args.reps, build_model=args.buildmodel)
if __name__ == '__main__':
args = get_args()
main(args)