imt-ring 1.3.1__tar.gz → 1.3.3__tar.gz

{imt_ring-1.3.1 → imt_ring-1.3.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.1
+Version: 1.3.3
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.3.1 → imt_ring-1.3.3}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.3.1"
+version = "1.3.3"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.3.1 → imt_ring-1.3.3}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.1
+Version: 1.3.3
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.3.1 → imt_ring-1.3.3}/src/ring/algorithms/custom_joints/__init__.py

@@ -1,6 +1,8 @@
 from .rr_imp_joint import register_rr_imp_joint
 from .rr_joint import register_rr_joint
+from .suntay import ConstantValue_DrawnFnPair
 from .suntay import GP_DrawFnPair
 from .suntay import MLP_DrawnFnPair
+from .suntay import Polynomial_DrawnFnPair
 from .suntay import register_suntay
 from .suntay import SuntayConfig

{imt_ring-1.3.1 → imt_ring-1.3.3}/src/ring/algorithms/custom_joints/suntay.py

@@ -293,6 +293,79 @@ def register_suntay(sconfig: SuntayConfig, name: str = "suntay"):
     ring.register_new_joint_type(name, joint_model, 1, overwrite=True)
 
 
+def Polynomial_DrawnFnPair(
+    order: int = 2,
+    val: float = 2.0,
+    center: bool = False,
+    flexion_center: Optional[float] = None,
+) -> DrawnFnPairFactory:
+    assert val >= 0.0
+
+    # because 0-th order is also counted
+    order += 1
+
+    def factory(xs, mn, mx):
+        nonlocal flexion_center
+
+        flexion_mn = jnp.min(xs)
+        flexion_mx = jnp.max(xs)
+
+        def _apply_poly_factors(poly_factors, q):
+            return poly_factors @ jnp.power(q, jnp.arange(order))
+
+        if flexion_center is None:
+            flexion_center = (flexion_mn + flexion_mx) / 2
+        else:
+            flexion_center = jnp.array(flexion_center)
+
+        def init(key):
+            c1, c2 = jax.random.split(key)
+            poly_factors = jax.random.uniform(
+                c1, shape=(order,), minval=-val, maxval=val
+            )
+            q0 = jax.random.uniform(c2, minval=flexion_mn, maxval=flexion_mx)
+            values = jax.vmap(_apply_poly_factors, in_axes=(None, 0))(
+                poly_factors, xs - q0
+            )
+            eps = 1e-6
+            amin, amax = jnp.min(values), jnp.max(values) + eps
+            return amin, amax, poly_factors, q0
+
+        def _apply(params, q):
+            amin, amax, poly_factors, q0 = params
+            q = q - q0
+            value = _apply_poly_factors(poly_factors, q)
+            return restrict(value, mn, mx, amin, amax)
+
+        if center:
+
+            def apply(params, q):
+                return _apply(params, q) - _apply(params, flexion_center)
+
+        else:
+            apply = _apply
+
+        return DrawnFnPair(init, apply)
+
+    return factory
+
+
+def ConstantValue_DrawnFnPair(value: float) -> DrawnFnPairFactory:
+    value = jnp.array(value)
+
+    def factory(xs, mn, mx):
+
+        def init(key):
+            return {}
+
+        def apply(params, q):
+            return value
+
+        return DrawnFnPair(init, apply)
+
+    return factory
+
+
 def MLP_DrawnFnPair(
     center: bool = False, flexion_center: Optional[float] = None
 ) -> DrawnFnPairFactory:

{imt_ring-1.3.1 → imt_ring-1.3.3}/src/ring/base.py

@@ -929,16 +929,22 @@ def _parse_system_calculate_inertia(sys: System):
 def _scan_sys(sys: System, f: Callable, in_types: str, *args, reverse: bool = False):
     assert len(args) == len(in_types)
     for in_type, arg in zip(in_types, args):
-        B = len(arg)
+
         if in_type == "l":
-            assert B == sys.num_links()
+            required_length = sys.num_links()
         elif in_type == "q":
-            assert B == sys.q_size()
+            required_length = sys.q_size()
         elif in_type == "d":
-            assert B == sys.qd_size()
+            required_length = sys.qd_size()
         else:
             raise Exception("`in_types` must be one of `l` or `q` or `d`")
 
+        B = len(arg)
+        B_re = required_length
+        assert (
+            B == B_re
+        ), f"arg={arg} has a length of B={B} which isn't the required length={B_re}"
+
     order = range(sys.num_links())
     q_idx, qd_idx = 0, 0
     q_idxs, qd_idxs = {}, {}

{imt_ring-1.3.1 → imt_ring-1.3.3}/src/ring/ml/__init__.py

@@ -41,6 +41,7 @@ def RNNO(
     return_quats: bool = False,
     params=None,
     eval: bool = True,
+    samp_freq: float | None = None,
     **kwargs,
 ):
     assert "message_dim" not in kwargs
@@ -57,7 +58,7 @@ def RNNO(
     ringnet = base.NoGraph_FilterWrapper(ringnet, quat_normalize=return_quats)
     ringnet = base.ScaleX_FilterWrapper(ringnet)
     if eval and return_quats:
-        ringnet = base.LPF_FilterWrapper(ringnet, _lpf_cutoff_freq, samp_freq=None)
+        ringnet = base.LPF_FilterWrapper(ringnet, _lpf_cutoff_freq, samp_freq=samp_freq)
     if return_quats:
         ringnet = base.GroundTruthHeading_FilterWrapper(ringnet)
     return ringnet

{imt_ring-1.3.1 → imt_ring-1.3.3}/src/ring/ml/optimizer.py

@@ -14,10 +14,10 @@ from optax._src.transform import AddNoiseState
 def make_optimizer(
     lr: float,
     n_episodes: int,
-    n_steps_per_episode: int,
+    n_steps_per_episode: int = 6,
     adap_clip: Optional[float] = 0.1,
     glob_clip: Optional[float] = 0.2,
-    skip_large_update_max_normsq: float = 5.0,
+    skip_large_update_max_normsq: float = 100.0,
     skip_large_update_warmup: int = 300,
     inner_opt=optax.lamb,
     cos_decay_twice: bool = False,