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//! Module for optimization with gradient descent. //! //! # Example: Gradient descent //! //! The following example minimizes the function f(x) = (x-2)² with gradient //! descent. //! //! ``` //! # extern crate rustml; //! # extern crate num; //! use rustml::opt::*; //! use num::pow; //! //! # fn main() { //! let opts = empty_opts() //! .iter(10) // set the number of iterations to 10 //! .alpha(0.1) // set the learning reate //! .eps(0.001); // stopping criterion //! //! let r = opt( //! &|p| pow(p[0] - 2.0, 2), // objective to be minimized: (x-2)^2 //! &|p| vec![2.0 * (p[0] - 2.0)], // derivative //! &[4.0], // initial parameters //! opts // optimization options //! ); //! //! for (iter, i) in r.fvals.iter().enumerate() { //! println!("error after iteration {} was {}", iter + 1, i.1); //! } //! println!("solution: {:?}", r.params); //! assert!(r.params[0] - 2.0 <= 0.3); //! # } //! ``` //! //! See [here](https://github.com/daniel-e/rustml/blob/master/examples/gradient_descent.rs) for //! another example. extern crate num; extern crate rand; use self::rand::{thread_rng, Rng}; use ops::*; use regression::*; use matrix::Matrix; use opencv::{Window, RgbImage}; use octave::builder; /// Creates a container that holds the parameters for an optimization algorithm. #[derive(Copy, Clone)] pub struct OptParams<T: Clone> { /// learning rate pub alpha: Option<T>, /// number of iterations pub iter: Option<usize>, /// stopping criterion pub eps: Option<T>, } impl <T: Clone> OptParams<T> { /// Creates a new container with no parameters. /// /// # Example /// /// ``` /// use rustml::opt::*; /// let opts = OptParams::<f64>::new(); /// assert!(opts.alpha.is_none()); /// ``` pub fn new() -> OptParams<T> { OptParams { alpha: None, iter: None, eps: None, } } /// Sets the learning rate. /// /// # Example /// /// ``` /// use rustml::opt::*; /// let opts = empty_opts().alpha(0.2); /// assert_eq!(opts.alpha.unwrap(), 0.2); /// ``` pub fn alpha(&self, val: T) -> OptParams<T> { OptParams { alpha: Some(val), iter: self.iter.clone(), eps: self.eps.clone(), } } /// Sets the maximum number of iterations. /// /// # Example /// /// ``` /// use rustml::opt::*; /// let opts = empty_opts().iter(100); /// assert_eq!(opts.iter.unwrap(), 100); /// ``` pub fn iter(&self, val: usize) -> OptParams<T> { OptParams { alpha: self.alpha.clone(), iter: Some(val), eps: self.eps.clone(), } } /// Sets the stopping criterion. /// /// # Example /// /// ``` /// use rustml::opt::*; /// let opts = empty_opts().eps(0.01); /// assert_eq!(opts.eps.unwrap(), 0.01); /// ``` pub fn eps(&self, val: T) -> OptParams<T> { OptParams { alpha: self.alpha.clone(), iter: self.iter.clone(), eps: Some(val), } } } /// Returns an empty set of options for optimization algorithms. pub fn empty_opts() -> OptParams<f64> { OptParams::new() } /// The result of an optimization. pub struct OptResult<T> { /// TODO pub fvals: Vec<(Vec<T>, T)>, /// The parameters after the last iteration. pub params: Vec<T>, /// True if the stopping criterion is fulfilled. pub stopped: bool } impl <T: Clone + Copy> OptResult<T> { /// Creates a matrix from the intermediate parameters and /// values of the objective funciton after each iteration. pub fn matrix(&self) -> Matrix<T> { if self.fvals.len() == 0 { return Matrix::new(); } let mut m: Matrix<T> = Matrix::new(); for &(ref v, f) in self.fvals.iter() { let mut x = v.clone(); x.push(f); m.add_row(&x); } m } } /// Minimizes an objective using gradient descent. /// /// The objective `f` is minimized using a standard gradient descent algorithm. The /// argument `fd` must return the values of the derivatives for each parameter /// and is executed in each iteration for the current parameters. The argument /// `init` contains the initial parameters and `opts` contains the options /// for the gradient descent algorithm. /// /// <script type="text/javascript" /// src="http://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-AMS-MML_HTMLorMML"> /// </script> /// <script type="text/x-mathjax-config"> /// MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\\(','\\)']]}}); /// </script> /// /// If $f(\theta_0, \dots, \theta_n)$ is the objective that is to be minimized with /// the parameters $\theta_0, \dots, \theta_n$ the algorithm works as follows: /// /// <div style="padding-left: 10px; background: #eeeeee"> /// $[\theta_0, \dots, \theta_n] \leftarrow$ init <br> /// $\alpha \leftarrow$ opts.alpha <br> /// $\epsilon \leftarrow$ opts.epsilon <br> /// <br> /// for i = 1 to opts.iter do <br> /// <div style="padding-left:20px"> /// $tmp \leftarrow /// [\theta_0, \dots, \theta_n] - \alpha /// \left[ \frac{d}{\partial \theta_0} f(\theta_0, \dots, \theta_n) /// , \dots, /// \frac{d}{\partial \theta_n} f(\theta_0, \dots, \theta_n) \right]$ <br> /// /// if for all $|{tmp}_i - \theta_i| \leq \epsilon \rightarrow$ stop <br> /// /// $[\theta_0, \dots, \theta_n] \leftarrow tmp$ <br> /// </div> /// done <br> /// </div> /// /// The vector $\left[ \frac{d}{\partial \theta_0} f(\theta_0, \dots, \theta_n) /// , \dots, /// \frac{d}{\partial \theta_n} f(\theta_0, \dots, \theta_n) \right]$ needs to be /// returned by `fd`. /// /// If `alpha` is not specified in `opts` the value 0.1 is used. If the number of /// iterations is not specified in `opts` the value 1000 is used. If `epsilon` is /// not specified in `opts` no stopping criterion is checked. /// /// # Example /// /// ``` /// # extern crate rustml; /// # extern crate num; /// use rustml::opt::*; /// use num::pow; /// /// # fn main() { /// // set the number of iterations to 10 /// let opts = empty_opts().iter(10); /// /// let r = opt( /// &|p| pow(p[0] - 2.0, 2), // objective to be minimized: (x-2)^2 /// &|p| vec![2.0 * (p[0] - 2.0)], // derivative /// &[4.0], // initial parameters /// opts // optimization options /// ); /// /// for (iter, i) in r.fvals.iter().enumerate() { /// println!("error after iteration {} was {}", iter + 1, i.1); /// } /// println!("solution: {:?}", r.params); /// assert!(r.params[0] - 2.0 <= 0.3); /// # } /// ``` pub fn opt<O, D>(f: &O, fd: &D, init: &[f64], opts: OptParams<f64>) -> OptResult<f64> where O: Fn(&[f64]) -> f64, D: Fn(&[f64]) -> Vec<f64> { let alpha = opts.alpha.unwrap_or(0.1); let iter = opts.iter.unwrap_or(1000); let eps = opts.eps; let mut r = vec![]; let mut p = init.to_vec(); let mut stopped = false; for _ in (0..iter) { let i = p.sub(&fd(&p).mul_scalar(alpha)); r.push((i.clone(), f(&i))); stopped = eps.is_some() && i.iter().zip(p.iter()).all(|(&x, &y)| num::abs(x - y) <= eps.unwrap()); p = i; if stopped { break; } } OptResult { params: p.to_vec(), fvals: r, stopped: stopped } } // TODO duplicated code pub fn opt_hypothesis(h: &Hypothesis, x: &Matrix<f64>, y: &[f64], opts: OptParams<f64>) -> OptResult<f64> { let alpha = opts.alpha.unwrap_or(0.1); let iter = opts.iter.unwrap_or(1000); let eps = opts.eps; let mut r = vec![]; let mut p = h.params(); let mut stopped = false; let mut hx = Hypothesis::from_params(&p); for _ in (0..iter) { let d = hx.derivatives(x, y); let i = p.sub(&d.mul_scalar(alpha)); hx = Hypothesis::from_params(&i); r.push((i.clone(), hx.error(&x, &y))); stopped = eps.is_some() && i.iter().zip(p.iter()).all(|(&x, &y)| num::abs(x - y) <= eps.unwrap()); p = i; if stopped { break; } } OptResult { params: p.to_vec(), fvals: r, stopped: stopped } } /// Plots the learning curve from an optimization result. /// pub fn plot_learning_curve(r: &OptResult<f64>, w: &Window) -> Result<(String, String), &'static str> { let errors = r.fvals.iter().map(|&(_, ref y)| y).cloned().collect::<Vec<f64>>(); let mut prfx = "/tmp/".to_string(); prfx.extend(thread_rng().gen_ascii_chars().take(16)); let script_file = prfx.clone() + ".m"; let image_file = prfx + ".png"; let r = builder() .add_vector("y = $$", &errors) .add("x = 1:size(y, 2)") .add("plot(x, y, 'linewidth', 2)") .add("grid on") .add("title('learning curve')") .add("xlabel('iteration')") .add("ylabel('error')") .add(&("print -r100 -dpng '".to_string() + &image_file + "'")) .run(&script_file); match r { Ok(_) => { let img = RgbImage::from_file(&image_file); match img { Some(i) => { w.show_image(&i); Ok((script_file, image_file)) }, _ => Err("Could not load image.") } }, _ => Err("Could not run octave.") } }