Merge branch 'main' of github.com:lasgroup/simulation_transfer

lasgroup · Jan 29, 2024 · ecebb0e · ecebb0e
2 parents c1dc56b + a05da7e
commit ecebb0e
Showing 1 changed file with 20 additions and 16 deletions.
diff --git a/experiments/sim_real_transfer_exp/run_regression_exp.py b/experiments/sim_real_transfer_exp/run_regression_exp.py
@@ -30,7 +30,7 @@
     'swish': jax.nn.swish,
 }
 
-OUTPUTSCALES_RCCAR = [0.008, 0.008, 0.009, 0.009, 0.05, 0.05, 0.2]
+
 
 
 def regression_experiment(
@@ -89,8 +89,8 @@ def regression_experiment(
     # provide data and sim
     x_train, y_train, x_test, y_test, sim = provide_data_and_sim(
         data_source=data_source,
-        data_spec={'num_samples_train': 6500, 'sampling': 'iid',
-                   'use_hf_sim': bool(use_hf_sim), 'num_samples_test': 6000},
+        data_spec={'num_samples_train': 6500, 'sampling': 'iid', 'use_hf_sim': bool(use_hf_sim),
+                   'num_samples_test': 6000},
         data_seed=data_seed)
     x_train = x_train[:num_samples_train]
     y_train = y_train[:num_samples_train]
@@ -184,7 +184,7 @@ def regression_experiment(
             base_bnn=base_bnn,
             sim=sim,
             use_base_bnn=(model == 'GreyBox'),
-            num_sim_model_train_steps=20_000,
+            num_sim_model_train_steps=5_000,
         )
     elif model == 'BNN_MMD_SimPrior':
         model = BNN_MMD_SimPrior(domain=sim.domain,
@@ -238,6 +238,11 @@ def main(args):
         print(f"Setting likelihood_std to data_source default value from DATASET_CONFIGS "
               f"which is {exp_params['likelihood_std']}")
 
+    if args.use_hf_sim:
+        OUTPUTSCALES_RCCAR = [0.008, 0.008, 0.009, 0.009, 0.05, 0.05, 0.2]
+    else:
+        OUTPUTSCALES_RCCAR = [0.008, 0.008, 0.03, 0.03, 0.3, 0.3, 1.5]
+
     # custom gp outputscale for racecar_hf
     if 'real_racecar' in exp_params['data_source']:
         outputscales_racecar = exp_params['added_gp_outputscale'] * jnp.array(OUTPUTSCALES_RCCAR)
@@ -309,17 +314,17 @@ def main(args):
     # data parameters
     parser.add_argument('--data_source', type=str, default='real_racecar_v3')
     parser.add_argument('--pred_diff', type=int, default=1)
-    parser.add_argument('--num_samples_train', type=int, default=50)
-    parser.add_argument('--data_seed', type=int, default=77698)
+    parser.add_argument('--num_samples_train', type=int, default=6400)
+    parser.add_argument('--data_seed', type=int, default=127748)
 
     # standard BNN parameters
-    parser.add_argument('--model', type=str, default='SysID')
-    parser.add_argument('--model_seed', type=int, default=892616)
+    parser.add_argument('--model', type=str, default='BNN_FSVGD_SimPrior_gp')
+    parser.add_argument('--model_seed', type=int, default=2342)
     parser.add_argument('--likelihood_std', type=float, default=None)
     parser.add_argument('--learn_likelihood_std', type=int, default=1)
-    parser.add_argument('--likelihood_reg', type=float, default=0.0)
+    parser.add_argument('--likelihood_reg', type=float, default=10.0)
     parser.add_argument('--data_batch_size', type=int, default=8)
-    parser.add_argument('--min_train_steps', type=int, default=2500)
+    parser.add_argument('--min_train_steps', type=int, default=8_000)
     parser.add_argument('--num_epochs', type=int, default=60)
     parser.add_argument('--lr', type=float, default=1e-3)
     parser.add_argument('--hidden_activation', type=str, default='leaky_relu')
@@ -330,26 +335,25 @@ def main(args):
 
     # SVGD parameters
     parser.add_argument('--num_particles', type=int, default=20)
-    parser.add_argument('--bandwidth_svgd', type=float, default=10.0)
+    parser.add_argument('--bandwidth_svgd', type=float, default=10.)
     parser.add_argument('--weight_prior_std', type=float, default=0.5)
     parser.add_argument('--bias_prior_std', type=float, default=1.0)
 
     # FSVGD parameters
-    parser.add_argument('--bandwidth_gp_prior', type=float, default=0.1)
-    parser.add_argument('--outputscale_gp_prior', type=float, default=1.0)
+    parser.add_argument('--bandwidth_gp_prior', type=float, default=0.4)
+    parser.add_argument('--outputscale_gp_prior', type=float, default=0.1)
     parser.add_argument('--num_measurement_points', type=int, default=32)
 
     # FSVGD_SimPrior parameters
     parser.add_argument('--bandwidth_score_estim', type=float, default=None)
     parser.add_argument('--ssge_kernel_type', type=str, default='IMQ')
-    parser.add_argument('--num_f_samples', type=int, default=128)
+    parser.add_argument('--num_f_samples', type=int, default=1028)
     parser.add_argument('--switch_score_estimator_frac', type=float, default=0.6667)
     parser.add_argument('--use_hf_sim', type=int, default=1)
 
-
     # Additive SimPrior GP parameters
     parser.add_argument('--added_gp_lengthscale', type=float, default=5.)
-    parser.add_argument('--added_gp_outputscale', type=float, default=1.0)
+    parser.add_argument('--added_gp_outputscale', type=float, default=20.)
 
     # FSVGD_SimPrior parameters
     parser.add_argument('--num_distill_steps', type=int, default=50000)