From f0c0b0730972fdc9e74131994da1dabf737c633d Mon Sep 17 00:00:00 2001 From: Ali Zaidi Date: Thu, 14 Jan 2021 16:58:32 -0800 Subject: [PATCH] refactor: loaders class now only deals with features and labels directly --- base.py | 56 +- csv_data/example_data.csv | 14721 ---------------------------------- loaders.py | 160 +- tests/test_loaders.py | 39 +- tests/test_pytorch_model.py | 4 +- torch_models.py | 2 +- 6 files changed, 175 insertions(+), 14807 deletions(-) delete mode 100644 csv_data/example_data.csv diff --git a/base.py b/base.py index b935d97..889346b 100644 --- a/base.py +++ b/base.py @@ -33,9 +33,9 @@ class BaseModel(abc.ABC): def load_csv( self, dataset_path: str, - input_cols_read: Union[str, List[str]] = "state", + input_cols: Union[str, List[str]] = "state", augm_cols: Union[str, List[str]] = ["action_command"], - output_col: Union[str, List[str]] = "state", + output_cols: Union[str, List[str]] = "state", iteration_order: int = -1, max_rows: Union[int, None] = None, ) -> Tuple[np.ndarray, np.ndarray]: @@ -45,7 +45,7 @@ class BaseModel(abc.ABC): ---------- dataset_path : str path to csv dataset - input_cols_read : Union[str, List[str]], optional + input_cols : Union[str, List[str]], optional list of columns represent the inputs to the dynamical system in the raw dataset. Can either be a string which is then matched for all columns in the dataset, or a list of strings with exact matches, by default "state" augm_cols : Union[str, List[str]], optional Exact match of additional columns to use for modeling, such as the actions of the current iteration and any scenario/config parameters, by default ["action_command"] @@ -72,19 +72,43 @@ class BaseModel(abc.ABC): if not os.path.exists(dataset_path): raise ValueError(f"No data found at {dataset_path}") else: - df = csv_reader.read( - dataset_path, - iteration_order=iteration_order, - feature_cols=input_cols_read, - max_rows=max_rows, - ) - features = csv_reader.feature_cols + augm_cols - if type(output_col) == str: - output_cols = [col for col in df if col.startswith(output_col)] + df = pd.read_csv(dataset_path, nrows=max_rows) + if type(input_cols) == str: + base_features = [col for col in df if col.startswith(input_cols)] + elif type(input_cols) == list: + base_features = input_cols else: - output_cols = output_col - X = df[features].values - y = df[output_cols].values + raise TypeError( + f"input_cols expected type List[str] or str but received type {type(input_cols)}" + ) + if type(augm_cols) == str: + augm_features = [col for col in df if col.startswith(augm_cols)] + elif type(augm_cols) == list: + augm_features = augm_cols + else: + raise TypeError( + f"augm_cols expected type List[str] or str but received type {type(augm_cols)}" + ) + + features = base_features + augm_features + + if type(output_cols) == str: + labels = [col for col in df if col.startswith(output_cols)] + elif type(output_cols) == list: + labels = output_cols + else: + raise TypeError( + f"output_cols expected type List[str] but received type {type(output_cols)}" + ) + + df = csv_reader.read( + df, + iteration_order=iteration_order, + feature_cols=features, + label_cols=labels, + ) + X = df[csv_reader.feature_cols].values + y = df[csv_reader.label_cols].values self.input_dim = X.shape[1] self.output_dim = y.shape[1] @@ -168,7 +192,7 @@ class BaseModel(abc.ABC): if __name__ == "__main__": base_model = BaseModel() - base_model.load_csv( + x, y = base_model.load_csv( dataset_path="csv_data/cartpole-log.csv", max_rows=1000, augm_cols=["action_command", "config_length", "config_masspole"], diff --git a/csv_data/example_data.csv b/csv_data/example_data.csv deleted file mode 100644 index f2bcfb2..0000000 --- a/csv_data/example_data.csv +++ /dev/null @@ -1,14721 +0,0 @@ -state_theta,state_alpha,state_theta_dot,state_alpha_dot,action_Vm,episode,iteration -0.506145483,0.038553787,-0.017385876,0.008773621,-0.65284078,1,1 -0.506380274,0.038924494,0.134699535,0.176485497,-0.997206422,1,2 -0.507359001,0.040099958,0.354599967,0.411214321,0.306137237,1,3 -0.508701038,0.041705293,0.316601753,0.391761011,2.492229717,1,4 -0.509028201,0.042382501,-0.152600367,-0.052578137,-2.165399352,1,5 -0.50932574,0.043107199,0.301086707,0.414584282,-1.115965102,1,6 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--git a/loaders.py b/loaders.py index fece929..bcb15a0 100644 --- a/loaders.py +++ b/loaders.py @@ -8,24 +8,89 @@ logger.setLevel(logging.INFO) class CsvReader(object): - def order_by_time(self, time_col: str = "timestamp"): + def split( + self, + df, + iteration_col, + episode_col, + iteration_order, + lagger_str, + current_row, + feature_cols, + label_cols, + ): + """Split the dataset by features and labels - pass + Parameters + ---------- + df : [type] + [description] + iteration_col : [type] + [description] + episode_col : [type] + [description] + iteration_order : [type] + [description] + lagger_str : [type] + [description] + current_row : [type] + [description] + feature_cols : [type] + [description] + label_cols : [type] + [description] + + Returns + ------- + [type] + [description] + """ + logger.info( + f"Iteration order set to {iteration_order} so using {current_row} from {lagger_str} {iteration_order} row" + ) + + # We group by episode and iteration indices to make dataset episodic + df = df.sort_values(by=[episode_col, iteration_col]) + # Create a lagged dataframe for capturing inputs and outputs + lagged_df = df.groupby(by=episode_col, as_index=False).shift( + iteration_order * -1 + ) + lagged_df = lagged_df.drop([iteration_col], axis=1) + + features_df = lagged_df[feature_cols] + + # eventually we will join the labels_df with the features_df + # if any columns are matching then rename them + if bool(set(feature_cols) & set(label_cols)): + features_df = features_df.rename(columns=lambda x: lagger_str[:4] + "_" + x) + + logger.info( + f"{lagger_str.title()} states are being added to same row with prefix {lagger_str[:4]}" + ) + self.feature_cols = list(features_df.columns.values) + self.label_cols = list(label_cols) + logger.info(f"Feature columns are: {self.feature_cols}") + logger.info(f"Label columns are: {self.label_cols}") + # joined_df = df.join(features_df) + vars_to_keep = ( + [episode_col, iteration_col] + self.feature_cols + self.label_cols + ) + return df.join(features_df)[vars_to_keep] def read( self, - filename: str, + df: pd.DataFrame, iteration_order: int = -1, episode_col: str = "episode", iteration_col: str = "iteration", - feature_cols: Union[List, str] = "state_", - max_rows: Union[int, None] = None, + feature_cols: List[str] = ["state_x_position", "action_command"], + label_cols: List[str] = ["state_x_position"], ): """Read episodic data where each row contains either inputs and its preceding output output or the causal inputs/outputs relationship Parameters ---------- - filename : str + df : pdf.DataFrame [description] iteration_order : int, optional [description], by default -1 @@ -35,8 +100,6 @@ class CsvReader(object): [description], by default "iteration" feature_cols : Union[List, str], optional [description], by default "state_" - max_rows : Union[int, None], optional - [description], by default None Returns ------- @@ -44,37 +107,25 @@ class CsvReader(object): [description] """ - logger.info(f"Reading data from {filename}") - df = pd.read_csv(filename, nrows=max_rows) - # CASE 1: rows are of the form {st+1, at} # Append st into next row # if iteration_order < 0 then drop the iteration - iteration_order iteration from each episode # and append previous state columns into each row: {st+1, at} -> {st, at, st+1} if all([episode_col, iteration_col, iteration_order < 0]): - logger.info( - f"Iteration order set to {iteration_order} so using inputs from previous {iteration_order} row" + lagger_str = "previous" + current_row = "inputs" + + joined_df = self.split( + df, + iteration_col, + episode_col, + iteration_order, + lagger_str, + current_row, + feature_cols, + label_cols, ) - df = df.sort_values(by=[episode_col, iteration_col]) - lagged_df = df.groupby(by=episode_col, as_index=False).shift( - iteration_order * -1 - ) - lagged_df = lagged_df.drop([iteration_col], axis=1) - if type(feature_cols) == list: - self.feature_cols = feature_cols - lagged_df = lagged_df[feature_cols] - else: - self.feature_cols = [ - col for col in lagged_df if col.startswith(feature_cols) - ] - lagged_df = lagged_df[self.feature_cols] - lagged_df = lagged_df.rename(columns=lambda x: "prev_" + x) - logger.info( - f"Previous states are being added to same row with prefix prev_" - ) - self.feature_cols = list(lagged_df.columns.values) - logger.info(f"Feature columns are: {self.feature_cols}") - joined_df = df.join(lagged_df) + # skip the first row of each episode since we do not have its st joined_df = ( joined_df.groupby(by=episode_col, as_index=False) @@ -82,30 +133,23 @@ class CsvReader(object): .reset_index() ) return joined_df.drop(["level_0", "level_1"], axis=1) + # CASE 2: rows of the form {st, at} # Append st+1 from next row into current row {st, at, st+1} elif all([episode_col, iteration_col, iteration_order > 0]): - logger.info( - f"Iteration order set to {iteration_order} so using outputs from next {iteration_order} row" + lagger_str = "next" + current_row = "outputs" + + joined_df = self.split( + df, + iteration_col, + episode_col, + iteration_order, + lagger_str, + current_row, + feature_cols, + label_cols, ) - df = df.sort_values(by=[episode_col, iteration_col]) - lagged_df = df.groupby(by=episode_col, as_index=False).shift( - iteration_order * -1 - ) - lagged_df = lagged_df.drop([iteration_col], axis=1) - if type(feature_cols) == list: - lagged_df = lagged_df[feature_cols] - else: - self.feature_cols = [ - col for col in lagged_df if col.startswith(feature_cols) - ] - lagged_df = lagged_df[self.feature_cols] - lagged_df = lagged_df.rename(columns=lambda x: "next_" + x) - self.feature_cols = list(lagged_df.columns.values) - logger.info( - f"Next states are being added to same row with prefix next_" - ) - joined_df = df.join(lagged_df) # truncate before the end of iteration_order for complete observations only joined_df = ( joined_df.groupby(by=episode_col, as_index=False) @@ -123,9 +167,7 @@ if __name__ == "__main__": logger.info(f"Using data saved in directory {data_dir}") csv_reader = CsvReader() - df = csv_reader.read( - os.path.join(data_dir, "cartpole-log.csv"), iteration_order=-1, max_rows=1000 - ) - df2 = csv_reader.read( - os.path.join(data_dir, "cartpole_at_st.csv"), iteration_order=1, max_rows=1000 - ) + df = pd.read_csv(os.path.join(data_dir, "cartpole-log.csv"), nrows=1000) + df = csv_reader.read(df, iteration_order=-1) + df2 = pd.read_csv(os.path.join(data_dir, "cartpole_at_st.csv"), nrows=1000) + df2 = csv_reader.read(df2, iteration_order=1) diff --git a/tests/test_loaders.py b/tests/test_loaders.py index 85ca9dd..490983d 100644 --- a/tests/test_loaders.py +++ b/tests/test_loaders.py @@ -1,9 +1,28 @@ import os import pytest +import pandas as pd from loaders import CsvReader from base import BaseModel data_dir = "csv_data" +df = pd.read_csv(os.path.join(data_dir, "cartpole-log.csv"), nrows=1000) +df2 = pd.read_csv(os.path.join(data_dir, "cartpole_at_st.csv"), nrows=1000) +features = [ + "state_x_position", + "state_x_velocity", + "state_angle_position", + "state_angle_velocity", + "action_command", + "config_length", + "config_masspole", +] + +labels = [ + "state_x_position", + "state_x_velocity", + "state_angle_position", + "state_angle_velocity", +] @pytest.fixture @@ -15,7 +34,7 @@ def csv_reader(): def test_cartpole_at_st1(csv_reader): cp_df = csv_reader.read( - os.path.join(data_dir, "cartpole-log.csv"), max_rows=1000, iteration_order=-1 + df, iteration_order=-1, feature_cols=features, label_cols=labels ) assert cp_df.shape[0] == 980 assert cp_df.shape[1] == 13 @@ -27,7 +46,7 @@ def test_cartpole_at_st1(csv_reader): def test_cartpole_at_st(csv_reader): cp2_df = csv_reader.read( - os.path.join(data_dir, "cartpole_at_st.csv"), iteration_order=1, max_rows=1000 + df2, feature_cols=features, label_cols=labels, iteration_order=1 ) assert cp2_df.shape[0] == 980 @@ -52,11 +71,15 @@ def test_base_reader(): assert y.shape[1] == 4 -# def test_diff_names(): +def test_diff_names(): -# base_model = BaseModel() -# X, y = base_model.load_csv( -# dataset_path=os.path.join(data_dir, "off_names.csv"), max_rows=1000 -# ) + base_model = BaseModel() + X, y = base_model.load_csv( + dataset_path=os.path.join(data_dir, "off_names.csv"), + input_cols=["x_position", "x_velocity", "angle_position", "angle_velocity",], + output_cols=["angle_position", "angle_velocity"], + augm_cols=["command", "length", "masspole"], + max_rows=1000, + ) -# assert X.shape[0] == 980 == y.shape[0] + assert X.shape[0] == 980 == y.shape[0] diff --git a/tests/test_pytorch_model.py b/tests/test_pytorch_model.py index e884b90..9f0664c 100644 --- a/tests/test_pytorch_model.py +++ b/tests/test_pytorch_model.py @@ -4,8 +4,8 @@ import os torch_model = PyTorchModel() X, y = torch_model.load_csv( - input_cols_read="state", - output_col="state", + input_cols="state", + output_cols="state", dataset_path="csv_data/cartpole-log.csv", max_rows=1000, augm_cols=["action_command", "config_length", "config_masspole"], diff --git a/torch_models.py b/torch_models.py index 35519db..45f612c 100644 --- a/torch_models.py +++ b/torch_models.py @@ -13,7 +13,7 @@ from base import BaseModel class MVRegressor(nn.Module): def __init__( self, - num_units=50, + num_units: int = 50, input_dim: int = 28, output_dim: int = 18, p_dropout: float = 0.5,