Merge pull request #9 from asanolab/add_ml_interfaces

add ml_interfaces
asanolab · Feb 6, 2025 · 86a4e73 · 86a4e73
2 parents 9ba1a54 + d68b922
commit 86a4e73
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diff --git a/bayesopt_ros_bridge/README.md b/bayesopt_ros_bridge/README.md
diff --git a/bayesopt_ros_bridge/bayesopt_ros_bridge/CMakeLists.txt b/bayesopt_ros_bridge/bayesopt_ros_bridge/CMakeLists.txt
diff --git a/bayesopt_ros_bridge/combo_ros_bridge/.gitignore b/bayesopt_ros_bridge/combo_ros_bridge/.gitignore
diff --git a/bayesopt_ros_bridge/combo_ros_bridge/CMakeLists.txt b/bayesopt_ros_bridge/combo_ros_bridge/CMakeLists.txt
diff --git a/bayesopt_ros_bridge/combo_ros_bridge/data/test_candidates.csv b/bayesopt_ros_bridge/combo_ros_bridge/data/test_candidates.csv
diff --git a/bayesopt_ros_bridge/combo_ros_bridge/package.xml b/bayesopt_ros_bridge/combo_ros_bridge/package.xml
diff --git a/bayesopt_ros_bridge/combo_ros_bridge/setup.py b/bayesopt_ros_bridge/combo_ros_bridge/setup.py
diff --git a/bayesopt_ros_bridge/physbo_ros_bridge/.gitignore b/bayesopt_ros_bridge/physbo_ros_bridge/.gitignore
diff --git a/bayesopt_ros_bridge/physbo_ros_bridge/LICENSE b/bayesopt_ros_bridge/physbo_ros_bridge/LICENSE
diff --git a/bayesopt_ros_bridge/physbo_ros_bridge/README.md b/bayesopt_ros_bridge/physbo_ros_bridge/README.md
diff --git a/bayesopt_ros_bridge/physbo_ros_bridge/config/candidates_config.yaml b/bayesopt_ros_bridge/physbo_ros_bridge/config/candidates_config.yaml
diff --git a/bayesopt_ros_bridge/physbo_ros_bridge/package.xml b/bayesopt_ros_bridge/physbo_ros_bridge/package.xml
diff --git a/bayesopt_ros_bridge/physbo_ros_bridge/setup.py b/bayesopt_ros_bridge/physbo_ros_bridge/setup.py
diff --git a/bayesopt_ros_bridge/physbo_ros_bridge/src/physbo_ros_bridge/__init__.py b/bayesopt_ros_bridge/physbo_ros_bridge/src/physbo_ros_bridge/__init__.py
diff --git a/...ros_bridge/bayesopt_ros_bridge/.gitignore → ml_interfaces/bayesopt_interfaces/.gitignore b/...ros_bridge/bayesopt_ros_bridge/.gitignore → ml_interfaces/bayesopt_interfaces/.gitignore
diff --git a/...pt_ros_bridge/bayesopt_ros_bridge/LICENSE → ml_interfaces/bayesopt_interfaces/LICENSE b/...pt_ros_bridge/bayesopt_ros_bridge/LICENSE → ml_interfaces/bayesopt_interfaces/LICENSE
diff --git a/...opt_ros_bridge/combo_ros_bridge/README.md → ml_interfaces/bayesopt_interfaces/README.md b/...opt_ros_bridge/combo_ros_bridge/README.md → ml_interfaces/bayesopt_interfaces/README.md
@@ -1,6 +1,39 @@
-# combo_ros_bridge
+# bayesopt_interfaces
 
-combo_ros_bridge is a package that includes a bridge software to commanding COMBO through ROS msgs.
+## PHYSBO
+PHYSBO is an optimization tools for PHYsics based on Bayesian Optimization
+
+### doc
+https://www.pasums.issp.u-tokyo.ac.jp/physbo/en
+
+### source code
+https://github.com/issp-center-dev/PHYSBO
+
+
+## Install
+- PHYSBO requires python3
+```
+sudo apt install python3-pip
+sudo pip3 install rospkg
+sudo pip3 install numpy
+sudo pip3 install pandas
+sudo pip3 install Cython
+sudo pip3 install matplotlib
+```
+
+- install physbo
+  - https://github.com/issp-center-dev/PHYSBO#install
+
+
+## Usage
+### physbo_interface
+- test program node for only PHYSBO
+- load test candidates (examples/data/candidates.csv)
+- visualize mean, std and scores(acquisition functions)
+```
+cd examples
+./test_physbo_interface.py
+```
 
 
 ## COMBO
@@ -44,19 +77,3 @@ see above link for latest information
 cd scripts
 ./test_combo_interface.py
 ```
-
-### combo_ros_bridge
-- bridge node for communication between COMBO and ROS system
-- publish COMBO data to ROS system (e.g. next_param)
-- subscribe evaluation value or flags to write the value to COMBO
-```
-roslaunch combo_ros_bridge combo_ros_bridge.launch
-```
-
-### memo
-- Result and history data are saved in the dir specified by `policy_save_dir` (`data` dir as defalult).
-- if you want to continue an experiment with the previous/existing data, `use_saved_policy=True` should be used.
-  - The arg with `False` does not consider the existing data and learning history.
-- However, COMBO is not recommended when you want to continue experiments from existing data due to the following issue which was fixed in PHYSBO.
-  - https://github.com/issp-center-dev/PHYSBO/issues/44
-  - PHYSBO is a candidate for this purpose.
diff --git a/...ridge/src/bayesopt_ros_bridge/__init__.py → ...yesopt_interfaces/bayesopt_if/__init__.py b/...ridge/src/bayesopt_ros_bridge/__init__.py → ...yesopt_interfaces/bayesopt_if/__init__.py
diff --git a/...e/src/combo_ros_bridge/combo_interface.py → ...interfaces/bayesopt_if/combo_interface.py b/...e/src/combo_ros_bridge/combo_interface.py → ...interfaces/bayesopt_if/combo_interface.py
diff --git a/...src/physbo_ros_bridge/physbo_interface.py → ...nterfaces/bayesopt_if/physbo_interface.py b/...src/physbo_ros_bridge/physbo_interface.py → ...nterfaces/bayesopt_if/physbo_interface.py
@@ -6,7 +6,7 @@
 import pandas as pd
 import physbo
 import matplotlib.pyplot as plt
-from combo_ros_bridge.combo_interface import ComboInterface
+from .combo_interface import ComboInterface
 
 
 class PhysboInterface(ComboInterface):

diff --git a/ml_interfaces/bayesopt_interfaces/setup.py b/ml_interfaces/bayesopt_interfaces/setup.py
@@ -0,0 +1,10 @@
+from setuptools import setup, find_packages
+
+setup(
+    name='bayesopt_interfaces',
+    version='0.1.0',
+    author='Yuki Asano',
+    author_email='[email protected]',
+    description='',
+    packages=find_packages()
+)
diff --git a/...o_ros_bridge/examples/data/candidates.csv → ...sopt_interfaces/tests/data/candidates.csv b/...o_ros_bridge/examples/data/candidates.csv → ...sopt_interfaces/tests/data/candidates.csv
diff --git a/...ysbo_ros_bridge/examples/data/results.csv → ...ayesopt_interfaces/tests/data/results.csv b/...ysbo_ros_bridge/examples/data/results.csv → ...ayesopt_interfaces/tests/data/results.csv
diff --git a/...os_bridge/scripts/test_combo_interface.py → ..._interfaces/tests/test_combo_interface.py b/...os_bridge/scripts/test_combo_interface.py → ..._interfaces/tests/test_combo_interface.py
@@ -3,15 +3,17 @@
 
 import os
 import random
+import sys
+
 import combo
-from combo_ros_bridge.combo_interface import ComboInterface
+from bayesopt_if.combo_interface import ComboInterface
 
 
 def main():
     # dir setting
-    candidates_path  = '../data/test_candidates.csv'
-    policy_load_dir = '../data/test_result'
-    policy_save_dir = '../data/test_result'
+    candidates_path  = './data/candidates.csv'
+    policy_load_dir = './data/load'
+    policy_save_dir = './data/result'
 
     # Generate combo
     ci = ComboInterface(combo, candidates_path, policy_load_dir, policy_save_dir, use_saved_policy=False)

diff --git a/..._bridge/examples/test_physbo_interface.py → ...interfaces/tests/test_physbo_interface.py b/..._bridge/examples/test_physbo_interface.py → ...interfaces/tests/test_physbo_interface.py
@@ -3,7 +3,9 @@
 
 import csv
 import os
-from physbo_ros_bridge.physbo_interface import PhysboInterface
+import sys
+
+from bayesopt_if.physbo_interface import PhysboInterface
 
 
 def get_data_from_result_list(index):
@@ -21,7 +23,7 @@ def main():
     policy_save_dir = './data/result'
 
     # Generate physbo
-    pi = PhysboInterface(candidates_path, policy_load_dir, policy_save_dir, use_saved_policy=False, search_score='PI')
+    pi = PhysboInterface(candidates_path, policy_load_dir, policy_save_dir, use_saved_policy=False, search_score='EI')
     pi.start_bayesopt()
 
     # Procedure of search and register data to PHYSBO
@@ -34,7 +36,7 @@ def main():
         result = get_data_from_result_list(pi.get_next_index())  # get result/evaluation data from experiment. (Result list is used for this test program).
         pi.write_result(result)  # write result to PHYSBO
     # Search with Bayesian optimization
-    for i in range(17):
+    for i in range(3):
         pi.search_next_param_bayes()
         result = get_data_from_result_list(pi.get_next_index())
         pi.write_result(result)

diff --git a/ml_interfaces/bayesopt_ros_bridge/.gitignore b/ml_interfaces/bayesopt_ros_bridge/.gitignore
@@ -0,0 +1,5 @@
+*.~
+*.pyc
+examples/data/chosen_actions.csv
+examples/data/chosed_actions.csv
+examples/data/result