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customized_utils.py
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customized_utils.py
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import os
import sys
import argparse
import socket
import random
import torch
import subprocess
import re
import pickle
import numpy as np
import xml.etree.ElementTree as ET
from psutil import process_iter
from sklearn import tree
from sklearn.preprocessing import StandardScaler, OneHotEncoder
# ---------------- Misc -------------------
class emptyobject():
def __init__(self, **kwargs):
self.__dict__.update(kwargs)
def __str__(self):
return str(self.__dict__)
class arguments_info:
def __init__(self):
self.host = "localhost"
self.port = "2000"
self.sync = False
self.debug = 0
self.spectator = True
self.record = ""
self.timeout = "30.0"
self.challenge_mode = True
self.routes = None
self.scenarios = "leaderboard/data/all_towns_traffic_scenarios_public.json"
self.repetitions = 1
self.agent = "scenario_runner/team_code/image_agent.py"
self.agent_config = "models/epoch=24.ckpt"
self.track = "SENSORS"
self.resume = False
self.checkpoint = ""
self.weather_index = 19
self.save_folder = "carla_lbc/collected_data_customized"
self.deviations_folder = ""
self.background_vehicles = False
self.save_action_based_measurements = 0
self.changing_weather = False
self.record_every_n_step = 2000
def specify_args():
# general parameters
parser = argparse.ArgumentParser()
parser.add_argument(
"--host", default="localhost", help="IP of the host server (default: localhost)"
)
parser.add_argument(
"--port", default="2000", help="TCP port to listen to (default: 2000)"
)
parser.add_argument(
"--sync", action="store_true", help="Forces the simulation to run synchronously"
)
parser.add_argument("--debug", type=int, help="Run with debug output", default=0)
parser.add_argument(
"--spectator", type=bool, help="Switch spectator view on?", default=True
)
parser.add_argument(
"--record",
type=str,
default="",
help="Use CARLA recording feature to create a recording of the scenario",
)
# modification: 30->40
parser.add_argument(
"--timeout",
default="30.0",
help="Set the CARLA client timeout value in seconds",
)
# simulation setup
parser.add_argument(
"--challenge-mode", action="store_true", help="Switch to challenge mode?"
)
parser.add_argument(
"--routes",
help="Name of the route to be executed. Point to the route_xml_file to be executed.",
required=False,
)
parser.add_argument(
"--scenarios",
help="Name of the scenario annotation file to be mixed with the route.",
required=False,
)
parser.add_argument(
"--repetitions", type=int, default=1, help="Number of repetitions per route."
)
# agent-related options
parser.add_argument(
"-a",
"--agent",
type=str,
help="Path to Agent's py file to evaluate",
required=False,
)
parser.add_argument(
"--agent-config",
type=str,
help="Path to Agent's configuration file",
default="",
)
parser.add_argument(
"--track", type=str, default="SENSORS", help="Participation track: SENSORS, MAP"
)
parser.add_argument(
"--resume",
type=bool,
default=False,
help="Resume execution from last checkpoint?",
)
parser.add_argument(
"--checkpoint",
type=str,
default="./simulation_results.json",
help="Path to checkpoint used for saving statistics and resuming",
)
# addition
parser.add_argument(
"--weather-index", type=int, default=0, help="see WEATHER for reference"
)
parser.add_argument(
"--save-folder",
type=str,
default="collected_data",
help="Path to save simulation data",
)
parser.add_argument(
"--deviations-folder",
type=str,
default="",
help="Path to the folder that saves deviations data",
)
parser.add_argument("--save_action_based_measurements", type=int, default=0)
parser.add_argument("--changing_weather", type=int, default=0)
parser.add_argument('--record_every_n_step', type=int, default=2000)
arguments = parser.parse_args()
return arguments
def parse_fuzzing_arguments():
# the default is for carla+lbc stack
default_objective_weights = np.array([-1., 1., 1., 0., 0., 0., 0., 0., 0., 0.])
default_objectives = np.array([0., 20., 1., 7., 7., 0., 0., 0., 0., 0.])
default_check_unique_coeff = [0, 0.1, 0.5]
parser = argparse.ArgumentParser()
# general
parser.add_argument("-r", "--route_type", type=str, default='town05_right_0')
parser.add_argument("-c", "--scenario_type", type=str, default='default')
parser.add_argument("-m", "--ego_car_model", type=str, default='lbc')
parser.add_argument('-a','--algorithm_name', type=str, default='nsga2')
parser.add_argument('-p','--ports', nargs='+', type=int, default=[2003], help='TCP port(s) to listen to (default: 2003)')
parser.add_argument("-s", "--scheduler_port", type=int, default=8785)
parser.add_argument("-d", "--dashboard_address", type=int, default=8786)
parser.add_argument('--simulator', type=str, default='carla')
parser.add_argument('--random_seed', type=int, default=0)
# carla specific
parser.add_argument("--has_display", type=str, default='0')
parser.add_argument("--debug", type=int, default=1, help="whether using the debug mode: planned paths will be visualized.")
parser.add_argument('--correct_spawn_locations_after_run', type=int, default=0)
# carla_op specific
parser.add_argument('--carla_path', type=str, default="../carla_0911_rss/CarlaUE4.sh")
# no_simulation specific
parser.add_argument('--no_simulation_data_path', type=str, default=None)
parser.add_argument('--objective_labels', type=str, nargs='+', default=[])
# logistic
parser.add_argument("--root_folder", type=str, default='carla_lbc/run_results')
parser.add_argument("--parent_folder", type=str, default='') # will be automatically created
parser.add_argument("--mean_objectives_across_generations_path", type=str, default='') # will be automatically created
parser.add_argument("--episode_max_time", type=int, default=60)
parser.add_argument('--record_every_n_step', type=int, default=2000)
parser.add_argument('--gpus', type=str, default='0,1')
# algorithm related
parser.add_argument("--n_gen", type=int, default=10, help='the number of generations to run.')
parser.add_argument("--pop_size", type=int, default=50, help='population size at each generation.')
parser.add_argument("--has_run_num", type=int, default=1000, help='the total number of simulations to run before the algorithm ends.')
parser.add_argument("--survival_multiplier", type=int, default=1)
parser.add_argument("--n_offsprings", type=int, default=300)
parser.add_argument('--sample_multiplier', type=int, default=200)
parser.add_argument('--mating_max_iterations', type=int, default=200)
parser.add_argument('--only_run_unique_cases', type=int, default=1)
parser.add_argument('--consider_interested_bugs', type=int, default=1)
parser.add_argument("--outer_iterations", type=int, default=3)
parser.add_argument('--objective_weights', nargs='+', type=float, default=default_objective_weights, help='the weights corresponding to each objective when estimating the fitness function.')
parser.add_argument('--default_objectives', nargs='+', type=float, default=default_objectives)
parser.add_argument("--standardize_objective", type=int, default=1)
parser.add_argument("--normalize_objective", type=int, default=1)
parser.add_argument('--traj_dist_metric', type=str, default='nearest')
parser.add_argument('--check_unique_coeff', nargs='+', type=float, default=default_check_unique_coeff, help='the thresholds (norm, th_2, th_1) used to count unique bugs. Currently, norm is always set to 0. For a given type of traffic violation (collision or out-of-road), two violations caused by specific scenarios x and y are unique if at least th1 of the total number of changeable fields are different between the two. For a continuous field, the corresponding normalized values should be distinguishable by at least th2. (See section 4.1 in our paper for more details.)')
parser.add_argument('--use_single_objective', type=int, default=1)
parser.add_argument('--rank_mode', type=str, default='none')
parser.add_argument('--ranking_model', type=str, default='nn_pytorch')
parser.add_argument('--initial_fit_th', type=int, default=100, help='minimum number of instances needed to train a DNN.')
parser.add_argument('--min_bug_num_to_fit_dnn', type=int, default=10, help='minimum number of bug instances needed to train a DNN.')
parser.add_argument('--pgd_eps', type=float, default=1.01)
parser.add_argument('--adv_conf_th', type=float, default=-4)
parser.add_argument('--attack_stop_conf', type=float, default=0.9)
parser.add_argument('--use_single_nn', type=int, default=1)
parser.add_argument('--warm_up_path', type=str, default=None)
parser.add_argument('--warm_up_len', type=int, default=-1)
parser.add_argument('--regression_nn_use_running_data', type=int, default=1)
parser.add_argument('--sample_avoid_ego_position', type=int, default=0)
parser.add_argument('--uncertainty', type=str, default='')
parser.add_argument('--model_type', type=str, default='one_output')
parser.add_argument('--termination_condition', type=str, default='generations')
parser.add_argument('--max_running_time', type=int, default=3600*24)
parser.add_argument('--emcmc', type=int, default=0)
parser.add_argument('--use_unique_bugs', type=int, default=1)
parser.add_argument('--finish_after_has_run', type=int, default=1)
fuzzing_arguments = parser.parse_args()
os.environ['HAS_DISPLAY'] = fuzzing_arguments.has_display
os.environ['CUDA_VISIBLE_DEVICES'] = fuzzing_arguments.gpus
fuzzing_arguments.objective_weights = np.array(fuzzing_arguments.objective_weights)
# ['BNN', 'one_output']
# BALD and BatchBALD only support BNN
if fuzzing_arguments.uncertainty.split('_')[0] in ['BALD', 'BatchBALD']:
fuzzing_arguments.model_type = 'BNN'
if 'un' in fuzzing_arguments.algorithm_name:
fuzzing_arguments.use_unique_bugs = 1
else:
fuzzing_arguments.use_unique_bugs = 0
if fuzzing_arguments.algorithm_name in ['nsga2-emcmc', 'nsga2-un-emcmc']:
fuzzing_arguments.emcmc = 1
else:
fuzzing_arguments.emcmc = 0
return fuzzing_arguments
def make_hierarchical_dir(folder_names):
cur_folder_name = ""
for i in range(len(folder_names)):
cur_folder_name += folder_names[i]
if not os.path.exists(cur_folder_name):
os.mkdir(cur_folder_name)
cur_folder_name += "/"
return cur_folder_name
def is_port_in_use(port):
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
return s.connect_ex(("localhost", int(port))) == 0
def port_to_gpu(port):
n = torch.cuda.device_count()
# n = 2
gpu = port % n
return gpu
# TBD: separate the two exit handlers
def exit_handler(ports):
# carla
for port in ports:
while is_port_in_use(port):
try:
subprocess.run("kill -9 $(lsof -t -i :" + str(port) + ")", shell=True)
# subprocess.run("sudo kill $(lsof -t -i :" + str(port) + ")", shell=True)
print("-" * 20, "kill server at port", port)
except:
continue
# svl
import psutil
PROC_NAME = "mainboard"
for proc in psutil.process_iter():
# check whether the process to kill name matches
if proc.name() == PROC_NAME:
proc.kill()
# subprocess.run("sudo kill -9 " + str(proc.pid), shell=True)
def get_sorted_subfolders(parent_folder, folder_type='all'):
if 'rerun_bugs' in os.listdir(parent_folder):
bug_folder = os.path.join(parent_folder, "rerun_bugs")
non_bug_folder = os.path.join(parent_folder, "rerun_non_bugs")
else:
bug_folder = os.path.join(parent_folder, "bugs")
non_bug_folder = os.path.join(parent_folder, "non_bugs")
if folder_type == 'all':
sub_folders = [
os.path.join(bug_folder, sub_name) for sub_name in os.listdir(bug_folder)
] + [
os.path.join(non_bug_folder, sub_name)
for sub_name in os.listdir(non_bug_folder)
]
elif folder_type == 'bugs':
sub_folders = [
os.path.join(bug_folder, sub_name) for sub_name in os.listdir(bug_folder)
]
elif folder_type == 'non_bugs':
sub_folders = [
os.path.join(non_bug_folder, sub_name) for sub_name in os.listdir(non_bug_folder)
]
else:
raise
ind_sub_folder_list = []
for sub_folder in sub_folders:
if os.path.isdir(sub_folder):
ind = int(re.search(".*bugs/([0-9]*)", sub_folder).group(1))
ind_sub_folder_list.append((ind, sub_folder))
# print(sub_folder)
ind_sub_folder_list_sorted = sorted(ind_sub_folder_list)
subfolders = [filename for i, filename in ind_sub_folder_list_sorted]
# print('len(subfolders)', len(subfolders))
return subfolders
def load_data(subfolders):
data_list = []
is_bug_list = []
objectives_list = []
mask, labels, cur_info = None, None, None
for sub_folder in subfolders:
if os.path.isdir(sub_folder):
pickle_filename = os.path.join(sub_folder, "cur_info.pickle")
with open(pickle_filename, "rb") as f_in:
cur_info = pickle.load(f_in)
data, objectives, is_bug, mask, labels = cur_info["x"], cur_info["objectives"], int(cur_info["is_bug"]), cur_info["mask"], cur_info["labels"]
# hack: backward compatibility that removes the port info in x
if data.shape[0] == len(labels) + 1:
data = data[:-1]
data_list.append(data)
is_bug_list.append(is_bug)
objectives_list.append(objectives)
return data_list, np.array(is_bug_list), np.array(objectives_list), mask, labels, cur_info
def get_picklename(parent_folder):
pickle_folder = parent_folder + "/bugs/"
if not os.path.isdir(pickle_folder):
pickle_folder = parent_folder + "/0/bugs/"
i = 1
while i < len(os.listdir(pickle_folder)):
if os.path.isdir(pickle_folder + str(i)):
pickle_folder = pickle_folder + str(i) + "/cur_info.pickle"
break
i += 1
return pickle_folder
def set_general_seed(seed=0):
os.environ['PYTHONHASHSEED'] = str(seed)
os.environ['CUBLAS_WORKSPACE_CONFIG'] = ':4096:8'
random.seed(seed)
np.random.seed(seed)
torch.manual_seed(seed)
# torch.set_deterministic(True)
torch.backends.cudnn.benchmark = False
# torch.backends.cudnn.deterministic = True
# torch.backends.cudnn.enabled = False
def rand_real(rng, low, high):
return rng.random() * (high - low) + low
# ---------------- Misc -------------------
# ---------------- Uniqueness -------------------
def is_distinct_vectorized(cur_X, prev_X, mask, xl, xu, p, c, th, verbose=True):
if len(cur_X) == 0:
return []
cur_X = np.array(cur_X)
prev_X = np.array(prev_X)
eps = 1e-10
remaining_inds = np.arange(cur_X.shape[0])
mask = np.array(mask)
xl = np.array(xl)
xu = np.array(xu)
n = len(mask)
variant_fields = (xu - xl) > eps
variant_fields_num = np.sum(variant_fields)
th_num = np.max([np.round(th * variant_fields_num), 1])
mask = mask[variant_fields]
int_inds = mask == "int"
real_inds = mask == "real"
xl = xl[variant_fields]
xu = xu[variant_fields]
xl = np.concatenate([np.zeros(np.sum(int_inds)), xl[real_inds]])
xu = np.concatenate([0.99*np.ones(np.sum(int_inds)), xu[real_inds]])
# hack: backward compatibility with previous run data
# if cur_X.shape[1] == n-1:
# cur_X = np.concatenate([cur_X, np.zeros((cur_X.shape[0], 1))], axis=1)
cur_X = cur_X[:, variant_fields]
cur_X = np.concatenate([cur_X[:, int_inds], cur_X[:, real_inds]], axis=1) / (np.abs(xu - xl) + eps)
if len(prev_X) > 0:
prev_X = prev_X[:, variant_fields]
prev_X = np.concatenate([prev_X[:, int_inds], prev_X[:, real_inds]], axis=1) / (np.abs(xu - xl) + eps)
diff_raw = np.abs(np.expand_dims(cur_X, axis=1) - np.expand_dims(prev_X, axis=0))
diff = np.ones(diff_raw.shape) * (diff_raw > c)
diff_norm = np.linalg.norm(diff, p, axis=2)
equal = diff_norm < th_num
remaining_inds = np.mean(equal, axis=1) == 0
remaining_inds = np.arange(cur_X.shape[0])[remaining_inds]
# print('remaining_inds', remaining_inds, np.arange(cur_X.shape[0])[remaining_inds], cur_X[np.arange(cur_X.shape[0])[remaining_inds]])
if verbose:
print('prev X filtering:',cur_X.shape[0], '->', len(remaining_inds))
if len(remaining_inds) == 0:
return []
cur_X_remaining = cur_X[remaining_inds]
print('len(cur_X_remaining)', len(cur_X_remaining))
unique_inds = []
for i in range(len(cur_X_remaining)-1):
diff_raw = np.abs(np.expand_dims(cur_X_remaining[i], axis=0) - cur_X_remaining[i+1:])
diff = np.ones(diff_raw.shape) * (diff_raw > c)
diff_norm = np.linalg.norm(diff, p, axis=1)
equal = diff_norm < th_num
if np.mean(equal) == 0:
unique_inds.append(i)
unique_inds.append(len(cur_X_remaining)-1)
if verbose:
print('cur X filtering:',cur_X_remaining.shape[0], '->', len(unique_inds))
if len(unique_inds) == 0:
return []
remaining_inds = remaining_inds[np.array(unique_inds)]
return remaining_inds
def eliminate_repetitive_vectorized(cur_X, mask, xl, xu, p, c, th, verbose=True):
cur_X = np.array(cur_X)
eps = 1e-8
verbose = False
remaining_inds = np.arange(cur_X.shape[0])
if len(cur_X) == 0:
return remaining_inds
else:
mask = np.array(mask)
xl = np.array(xl)
xu = np.array(xu)
variant_fields = (xu - xl) > eps
variant_fields_num = np.sum(variant_fields)
th_num = np.max([np.round(th * variant_fields_num), 1])
mask = mask[variant_fields]
xl = xl[variant_fields]
xu = xu[variant_fields]
cur_X = cur_X[:, variant_fields]
int_inds = mask == "int"
real_inds = mask == "real"
xl = np.concatenate([np.zeros(np.sum(int_inds)), xl[real_inds]])
xu = np.concatenate([0.99*np.ones(np.sum(int_inds)), xu[real_inds]])
cur_X = np.concatenate([cur_X[:, int_inds], cur_X[:, real_inds]], axis=1) / (np.abs(xu - xl) + eps)
unique_inds = []
for i in range(len(cur_X)-1):
diff_raw = np.abs(np.expand_dims(cur_X[i], axis=0) - cur_X[i+1:])
diff = np.ones(diff_raw.shape) * (diff_raw > c)
diff_norm = np.linalg.norm(diff, p, axis=1)
equal = diff_norm < th_num
if np.mean(equal) == 0:
unique_inds.append(i)
if len(unique_inds) == 0:
return []
remaining_inds = np.array(unique_inds)
if verbose:
print('cur X filtering:',cur_X.shape[0], '->', len(remaining_inds))
return remaining_inds
# ---------------- Uniqueness -------------------
from sklearn.preprocessing import MinMaxScaler
# ---------------- Bug, Objective -------------------
def get_F(current_objectives, all_objectives, objective_weights, use_single_objective, standardize=False, normalize=False):
# standardize current objectives using all objectives so far
all_objectives = np.stack(all_objectives)
current_objectives = np.stack(current_objectives).astype(np.float64)
# standardize objectives
if standardize:
standardizer = StandardScaler()
standardizer.fit(all_objectives)
all_objectives_std = standardizer.transform(all_objectives)
current_objectives_std = standardizer.transform(current_objectives)
else:
all_objectives_std = all_objectives
current_objectives_std = current_objectives
# normalize objectives
if normalize:
normalizer = MinMaxScaler()
normalizer.fit(all_objectives_std)
current_objectives_norm = normalizer.transform(current_objectives_std)
else:
current_objectives_norm = current_objectives_std
print('current_objectives')
print(current_objectives)
print('current_objectives_norm')
print(current_objectives_norm)
current_Fs = current_objectives_norm * objective_weights
if use_single_objective:
current_F = np.expand_dims(np.sum(current_Fs, axis=1), axis=1)
else:
current_F = np.row_stack(current_Fs)
return current_F
# ---------------- Bug, Objective -------------------
# ---------------- NN -------------------
# dependent on description labels
def encode_fields(x, labels, labels_to_encode, keywords_dict):
x = np.array(x).astype(np.float)
encode_fields = []
inds_to_encode = []
for label in labels_to_encode:
for k, v in keywords_dict.items():
if k in label:
ind = labels.index(label)
inds_to_encode.append(ind)
encode_fields.append(v)
break
inds_non_encode = list(set(range(x.shape[1])) - set(inds_to_encode))
enc = OneHotEncoder(handle_unknown="ignore", sparse=False)
embed_dims = int(np.sum(encode_fields))
embed_fields_num = len(encode_fields)
data_for_fit_encode = np.zeros((embed_dims, embed_fields_num))
counter = 0
for i, encode_field in enumerate(encode_fields):
for j in range(encode_field):
data_for_fit_encode[counter, i] = j
counter += 1
enc.fit(data_for_fit_encode)
embed = np.array(x[:, inds_to_encode].astype(np.int))
embed = enc.transform(embed)
x = np.concatenate([embed, x[:, inds_non_encode]], axis=1).astype(np.float)
return x, enc, inds_to_encode, inds_non_encode, encode_fields
# dependent on description labels
def get_labels_to_encode(labels, keywords_for_encode):
labels_to_encode = []
for label in labels:
for keyword in keywords_for_encode:
if keyword in label:
labels_to_encode.append(label)
return labels_to_encode
def max_one_hot_op(images, encode_fields):
m = np.sum(encode_fields)
one_hotezed_images_embed = np.zeros([images.shape[0], m])
s = 0
for field_len in encode_fields:
max_inds = np.argmax(images[:, s : s + field_len], axis=1)
one_hotezed_images_embed[np.arange(images.shape[0]), s + max_inds] = 1
s += field_len
images[:, :m] = one_hotezed_images_embed
def customized_fit(X_train, standardize, one_hot_fields_len, partial=True):
# print('\n'*2, 'customized_fit X_train.shape', X_train.shape, '\n'*2)
if partial:
standardize.fit(X_train[:, one_hot_fields_len:])
else:
standardize.fit(X_train)
def customized_standardize(X, standardize, m, partial=True, scale_only=False):
# print(X[:, :m].shape, standardize.transform(X[:, m:]).shape)
if partial:
if scale_only:
res_non_encode = X[:, m:] * standardize.scale_
else:
res_non_encode = standardize.transform(X[:, m:])
res = np.concatenate([X[:, :m], standardize.transform(X[:, m:])], axis=1)
else:
if scale_only:
res = X * standardize.scale_
else:
res = standardize.transform(X)
return res
def customized_inverse_standardize(X, standardize, m, partial=True, scale_only=False):
if partial:
if scale_only:
res_non_encode = X[:, m:] * standardize.scale_
else:
res_non_encode = standardize.inverse_transform(X[:, m:])
res = np.concatenate([X[:, :m], res_non_encode], axis=1)
else:
if scale_only:
res = X * standardize.scale_
else:
res = standardize.inverse_transform(X)
return res
def decode_fields(x, enc, inds_to_encode, inds_non_encode, encode_fields, adv=False):
n = x.shape[0]
m = len(inds_to_encode) + len(inds_non_encode)
embed_dims = np.sum(encode_fields)
embed = x[:, :embed_dims]
kept = x[:, embed_dims:]
if adv:
one_hot_embed = np.zeros(embed.shape)
s = 0
for field_len in encode_fields:
max_inds = np.argmax(x[:, s : s + field_len], axis=1)
one_hot_embed[np.arange(x.shape[0]), s + max_inds] = 1
s += field_len
embed = one_hot_embed
x_encoded = enc.inverse_transform(embed)
# print('encode_fields', encode_fields)
# print('embed', embed[0], x_encoded[0])
x_decoded = np.zeros([n, m])
x_decoded[:, inds_non_encode] = kept
x_decoded[:, inds_to_encode] = x_encoded
return x_decoded
def remove_fields_not_changing(x, embed_dims=0, xl=[], xu=[]):
eps = 1e-8
if len(xl) > 0:
cond = xu - xl > eps
else:
cond = np.std(x, axis=0) > eps
kept_fields = np.where(cond)[0]
if embed_dims > 0:
kept_fields = list(set(kept_fields).union(set(range(embed_dims))))
removed_fields = list(set(range(x.shape[1])) - set(kept_fields))
x_removed = x[:, removed_fields]
x = x[:, kept_fields]
return x, x_removed, kept_fields, removed_fields
def recover_fields_not_changing(x, x_removed, kept_fields, removed_fields):
n = x.shape[0]
m = len(kept_fields) + len(removed_fields)
# this is True usually when adv is used
if x_removed.shape[0] != n:
x_removed = np.array([x_removed[0] for _ in range(n)])
x_recovered = np.zeros([n, m])
x_recovered[:, kept_fields] = x
x_recovered[:, removed_fields] = x_removed
return x_recovered
def process_X(
initial_X,
labels,
xl_ori,
xu_ori,
cutoff,
cutoff_end,
partial,
unique_bugs_len,
keywords_dict,
standardize_prev=None,
):
keywords_for_encode = list(keywords_dict.keys())
labels_to_encode = get_labels_to_encode(labels, keywords_for_encode)
X, enc, inds_to_encode, inds_non_encode, encoded_fields = encode_fields(
initial_X, labels, labels_to_encode, keywords_dict
)
one_hot_fields_len = np.sum(encoded_fields)
xl, xu = encode_bounds(
xl_ori, xu_ori, inds_to_encode, inds_non_encode, encoded_fields
)
labels_non_encode = np.array(labels)[inds_non_encode]
# print(np.array(X).shape)
X, X_removed, kept_fields, removed_fields = remove_fields_not_changing(
X, one_hot_fields_len, xl=xl, xu=xu
)
# print(np.array(X).shape)
param_for_recover_and_decode = (
X_removed,
kept_fields,
removed_fields,
enc,
inds_to_encode,
inds_non_encode,
encoded_fields,
xl_ori,
xu_ori,
unique_bugs_len,
)
xl = xl[kept_fields]
xu = xu[kept_fields]
kept_fields_non_encode = kept_fields - one_hot_fields_len
kept_fields_non_encode = kept_fields_non_encode[kept_fields_non_encode >= 0]
labels_used = labels_non_encode[kept_fields_non_encode]
X_train, X_test = X[:cutoff], X[cutoff:cutoff_end]
# print('X_train.shape, X_test.shape', X_train.shape, X_test.shape, one_hot_fields_len)
if standardize_prev:
standardize = standardize_prev
else:
standardize = StandardScaler()
customized_fit(X_train, standardize, one_hot_fields_len, partial)
X_train = customized_standardize(X_train, standardize, one_hot_fields_len, partial)
if len(X_test) > 0:
X_test = customized_standardize(X_test, standardize, one_hot_fields_len, partial)
xl = customized_standardize(
np.array([xl]), standardize, one_hot_fields_len, partial
)[0]
xu = customized_standardize(
np.array([xu]), standardize, one_hot_fields_len, partial
)[0]
return (
X_train,
X_test,
xl,
xu,
labels_used,
standardize,
one_hot_fields_len,
param_for_recover_and_decode,
)
def inverse_process_X(
initial_test_x_adv_list,
standardize,
one_hot_fields_len,
partial,
X_removed,
kept_fields,
removed_fields,
enc,
inds_to_encode,
inds_non_encode,
encoded_fields,
):
test_x_adv_list = customized_inverse_standardize(
initial_test_x_adv_list, standardize, one_hot_fields_len, partial
)
X = recover_fields_not_changing(
test_x_adv_list, X_removed, kept_fields, removed_fields
)
X_final_test = decode_fields(
X, enc, inds_to_encode, inds_non_encode, encoded_fields, adv=True
)
return X_final_test
# ---------------- NN -------------------
# ---------------- ADV -------------------
def if_violate_constraints_vectorized(X, customized_constraints, labels, ego_start_position=None, verbose=False):
labels_to_id = {label: i for i, label in enumerate(labels)}
keywords = ["coefficients", "labels", "value"]
extra_keywords = ["power"]
if_violate = False
violated_constraints = []
involved_labels = set()
X = np.array(X)
remaining_inds = np.arange(X.shape[0])
for i, constraint in enumerate(customized_constraints):
for k in keywords:
assert k in constraint
assert len(constraint["coefficients"]) == len(constraint["labels"])
ids = np.array([labels_to_id[label] for label in constraint["labels"]])
# x_ids = [x[id] for id in ids]
if "powers" in constraint:
powers = np.array(constraint["powers"])
else:
powers = np.array([1 for _ in range(len(ids))])
coeff = np.array(constraint["coefficients"])
if_violate_current = (
np.sum(coeff * np.power(X[remaining_inds[:, None], ids], powers), axis=1) > constraint["value"]
)
remaining_inds = remaining_inds[if_violate_current==0]
# beta: eliminate NPC vehicles having generation collision with the ego car
# TBD: consider customized_center_transforms, customizable NPC vehicle size
# also only consider OP for now
print('remaining_inds before', len(remaining_inds))
tmp_remaining_inds = remaining_inds.copy()
if ego_start_position:
j = 0
ego_x, ego_y, ego_yaw = ego_start_position
ego_w = 0.93
vehicle_w_j = 0.93
ego_l = 2.35
vehicle_l_j = 2.35
dw = ego_w + vehicle_w_j
dl = ego_l + vehicle_l_j
while 'vehicle_x_'+str(j) in labels:
remaining_inds_i = remaining_inds.copy()
x_ind = labels.index('vehicle_x_'+str(j))
y_ind = labels.index('vehicle_y_'+str(j))
vehicle_x_j = X[remaining_inds_i, x_ind]
vehicle_y_j = X[remaining_inds_i, y_ind]
dx_rel = vehicle_x_j
dy_rel = vehicle_y_j
x_far_inds = remaining_inds_i[np.abs(dx_rel) > dw]
x_close_inds = remaining_inds_i[np.abs(dx_rel) <= dw]
y_far_inds = x_close_inds[np.abs(dy_rel[x_close_inds]) > dl]
remaining_inds_i = np.concatenate([x_far_inds, y_far_inds])
tmp_remaining_inds = np.intersect1d(tmp_remaining_inds, remaining_inds_i)
j += 1
remaining_inds = tmp_remaining_inds
if verbose:
print('constraints filtering', len(X), '->', len(remaining_inds))
return remaining_inds
def rotate_via_numpy(xy, radians):
"""Use numpy to build a rotation matrix and take the dot product."""
x, y = xy
c, s = np.cos(radians), np.sin(radians)
j = np.array([[c, -s], [s, c]])
m = np.dot(j, np.array([x, y]))
return m[0], m[1]
def if_violate_constraints(x, customized_constraints, labels, verbose=False):
labels_to_id = {label: i for i, label in enumerate(labels)}
keywords = ["coefficients", "labels", "value"]
extra_keywords = ["power"]
if_violate = False
violated_constraints = []
involved_labels = set()
for i, constraint in enumerate(customized_constraints):
for k in keywords:
assert k in constraint
assert len(constraint["coefficients"]) == len(constraint["labels"])
ids = [labels_to_id[label] for label in constraint["labels"]]
x_ids = [x[id] for id in ids]
if "powers" in constraint:
powers = np.array(constraint["powers"])
else:
powers = np.array([1 for _ in range(len(ids))])
coeff = np.array(constraint["coefficients"])
features = np.array(x_ids)
if_violate_current = (
np.sum(coeff * np.power(features, powers)) > constraint["value"]
)
if if_violate_current:
if_violate = True
violated_constraints.append(constraint)
involved_labels = involved_labels.union(set(constraint["labels"]))
if verbose:
print("\n" * 1, "violate_constraints!!!!", "\n" * 1)
print(
coeff,
features,
powers,
np.sum(coeff * np.power(features, powers)),
constraint["value"],
constraint["labels"],
)
return if_violate, [violated_constraints, involved_labels]
def encode_bounds(xl, xu, inds_to_encode, inds_non_encode, encode_fields):
m1 = np.sum(encode_fields)
m2 = len(inds_non_encode)
m = m1 + m2
xl_embed, xu_embed = np.zeros(m1), np.ones(m1)
xl_new = np.concatenate([xl_embed, xl[inds_non_encode]])
xu_new = np.concatenate([xu_embed, xu[inds_non_encode]])
return xl_new, xu_new
# ---------------- ADV -------------------
# ---------------- NSGA2-DT -------------------
# check if x is in critical regions of the tree
def is_critical_region(x, estimator, critical_unique_leaves):
leave_id = estimator.apply(x.reshape(1, -1))[0]
print(leave_id, critical_unique_leaves)
return leave_id in critical_unique_leaves
def filter_critical_regions(X, y):
print("\n" * 20)
print("+" * 100, "filter_critical_regions", "+" * 100)
min_samples_split = np.max([int(0.1 * X.shape[0]), 2])
# estimator = tree.DecisionTreeClassifier(min_samples_split=min_samples_split, min_impurity_decrease=0.01, random_state=0)
estimator = tree.DecisionTreeClassifier(
min_samples_split=min_samples_split,
min_impurity_decrease=0.0001,
random_state=0,
)
print(X.shape, y.shape)
# print(X, y)
estimator = estimator.fit(X, y)
leave_ids = estimator.apply(X)
print("leave_ids", leave_ids)