Phil 11.6.19

7:00 – 3:00 ASRC GOES

  • Simulation for training ML at UMD: Improved simulation system developed for self-driving cars 
    • University of Maryland computer scientist Dinesh Manocha, in collaboration with a team of colleagues from Baidu Research and the University of Hong Kong, has developed a photo-realistic simulation system for training and validating self-driving vehicles. The new system provides a richer, more authentic simulation than current systems that use game engines or high-fidelity computer graphics and mathematically rendered traffic patterns.
  • Dissertation
    • Send out email setting the date/time to Feb 21, from 11:00 – 1:00. Ask if folks could move the time earlier or later for Wayne – done
    • More human study – I think I finally have a good explanation of the text convergence.
  • Maybe work of the evolver?
    • Add nested variables
    • Look at keras-tuner code to see how GPU assignment is done
      • So it looks like they are using gRPC as a way to communicate between processes? grpc
      • I mean, like separate processes, communicating via ports grpc2
      • Oh. This is why. From the tf.distribute documentation tf.distribute
      • No – wait. This is from the TF distributed training overview pagetf.distribute2
      • And that seems to straight up work (assuming that multiple GPUs can be called. Here’s an example of training:
        strategy = tf.distribute.OneDeviceStrategy(device="/gpu:0")
        with strategy.scope():
            model = tf.keras.Sequential()
            # Adds a densely-connected layer with 64 units to the model:
            model.add(layers.Dense(sequence_length, activation='relu', input_shape=(sequence_length,)))
            # Add another:
            model.add(layers.Dense(200, activation='relu'))
            model.add(layers.Dense(200, activation='relu'))
            # Add a layer with 10 output units:
            model.add(layers.Dense(sequence_length))
        
            loss_func = tf.keras.losses.MeanSquaredError()
            opt_func = tf.keras.optimizers.Adam(0.01)
            model.compile(optimizer= opt_func,
                          loss=loss_func,
                          metrics=['accuracy'])
        
            noise = 0.0
            full_mat, train_mat, test_mat = generate_train_test(num_funcs, rows_per_func, noise)
        
            model.fit(train_mat, test_mat, epochs=70, batch_size=13)
            model.evaluate(train_mat, test_mat)
        
            model.save(model_name)

        And here’s an example of predicting

        strategy = tf.distribute.OneDeviceStrategy(device="/gpu:0")
        with strategy.scope():
            model = tf.keras.models.load_model(model_name)
            full_mat, train_mat, test_mat = generate_train_test(num_funcs, rows_per_func, noise)
        
            predict_mat = model.predict(train_mat)
        
            # Let's try some immediate inference
            for i in range(10):
                pitch = random.random()/2.0 + 0.5
                roll = random.random()/2.0 + 0.5
                yaw = random.random()/2.0 + 0.5
                inp_vec = np.array([[pitch, roll, yaw]])
                eff_mat = model.predict(inp_vec)
                print("input: pitch={:.2f}, roll={:.2f}, yaw={:.2f}  efficiencies: pitch={:.2f}%, roll={:.2f}%, yaw={:.2f}%".
                      format(inp_vec[0][0], inp_vec[0][1], inp_vec[0][2], eff_mat[0][0]*100, eff_mat[0][1]*100, eff_mat[0][2]*100))
    • Look at TF code to see if it makes sense to add to the project. Doesn’t look like it, but I think I can make a nice hyperparameter/architecture search API using this, once validated
  • Mission Drive meeting and demo – went ok. Will Demo at NSOF tomorrow

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