From 707aac0d3905c3c1b7ecee0d055fda32e93cba78 Mon Sep 17 00:00:00 2001 From: root Date: Tue, 2 Apr 2024 01:52:50 +0200 Subject: [PATCH 01/17] first rllib modifications --- hydrogym/core.py | 168 +++++++++++++++++++---- hydrogym/firedrake/envs/cavity/flow.py | 19 +-- hydrogym/firedrake/envs/cylinder/flow.py | 58 +++++--- hydrogym/firedrake/envs/pinball/flow.py | 10 +- hydrogym/firedrake/envs/step/flow.py | 19 +-- hydrogym/firedrake/flow.py | 16 ++- hydrogym/firedrake/utils/io.py | 26 ++++ 7 files changed, 250 insertions(+), 66 deletions(-) diff --git a/hydrogym/core.py b/hydrogym/core.py index 62569ce..425ccbd 100644 --- a/hydrogym/core.py +++ b/hydrogym/core.py @@ -1,7 +1,8 @@ import abc from typing import Any, Callable, Iterable, Tuple, TypeVar, Union -import gym +# import gym +import gymnasium as gym import numpy as np from numpy.typing import ArrayLike @@ -52,7 +53,7 @@ def __init__(self, **config): self.reset() if config.get("restart"): - self.load_checkpoint(config["restart"]) + self.load_checkpoint(config["restart"][0]) @property @abc.abstractmethod @@ -272,12 +273,14 @@ def __init__(self, flow: PDEBase, dt: float = None): if dt is None: dt = flow.DEFAULT_DT self.dt = dt + self.t = 0.0 def solve( self, t_span: Tuple[float, float], callbacks: Iterable[CallbackBase] = [], controller: Callable = None, + start_iteration_value: int = 0, ) -> PDEBase: """Solve the initial-value problem for the PDE. @@ -292,6 +295,7 @@ def solve( PDEBase: The state of the PDE at the end of the solve """ for iter, t in enumerate(np.arange(*t_span, self.dt)): + iter = iter + start_iteration_value if controller is not None: y = self.flow.get_observations() u = controller(t, y) @@ -305,6 +309,42 @@ def solve( cb.close() return flow + + def solve_multistep( + self, + num_substeps: int, + callbacks: Iterable[CallbackBase] = [], + controller: Callable = None, + start_iteration_value: int = 0, + ) -> PDEBase: + """Solve the initial-value problem for the PDE. + + Args: + t_span (Tuple[float, float]): Tuple of start and end times + callbacks (Iterable[CallbackBase], optional): + List of callbacks to evaluate throughout the solve. Defaults to []. + controller (Callable, optional): + Feedback/forward controller `u = ctrl(t, y)` + + Returns: + PDEBase: The state of the PDE at the end of the solve + """ + for iter in range(num_substeps): + iter = iter + start_iteration_value + t = iter * self.dt + if controller is not None: + y = self.flow.get_observations() + u = controller(t, y) + else: + u = None + flow = self.step(iter, control=u) + for cb in callbacks: + cb(iter, t, flow) + + for cb in callbacks: + cb.close() + + return flow def step(self, iter: int, control: Iterable[float] = None, **kwargs): """Advance the transient simulation by one time step @@ -317,20 +357,46 @@ def step(self, iter: int, control: Iterable[float] = None, **kwargs): def reset(self, t=0.0): """Reset variables for the timestepper""" - pass + self.t = 0.0 class FlowEnv(gym.Env): def __init__(self, env_config: dict): + self.flow: PDEBase = env_config.get("flow")( **env_config.get("flow_config", {})) + + self.solver: TransientSolver = env_config.get("solver")( self.flow, **env_config.get("solver_config", {})) self.callbacks: Iterable[CallbackBase] = env_config.get("callbacks", []) + self.rewardLogCallback: Iterable[CallbackBase] = env_config.get("actuation_config", {}).get("rewardLogCallback", None) self.max_steps: int = env_config.get("max_steps", int(1e6)) self.iter: int = 0 - self.q0: self.flow.StateType = self.flow.copy_state() + self.restart_ckpts = env_config.get("flow_config", {}).get("restart", None) + if self.restart_ckpts is None: + self.q0: self.flow.StateType = self.flow.copy_state() + + # if len(env_config.get("flow_config", {}).get("restart", None)) > 1: + # self.dummy_flow: PDEBase = env_config.get("flow")(**env_config.get("flow_config", {})) + # self.restart_ckpts = env_config.get("flow_config", {}).get("restart", None) + + # print("Restart ckpts:", self.restart_ckpts, flush=True) + # print("len:", len(self.restart_ckpts), flush=True) + # print("0 ckpt:", self.restart_ckpts[0], flush=True) + + # self.q0s = [] + # for ckpt in range(len(self.restart_ckpts)): + # # self.dummy_flow.mesh = self.dummy_flow.load_mesh(name=env_config.get("flow_config", {}).get("mesh", self.dummy_flow.DEFAULT_MESH)) + + # print("ckpt:", ckpt, self.restart_ckpts[ckpt],flush=True) + # self.dummy_flow.load_checkpoint(self.restart_ckpts[ckpt]) + # self.q0s.append(self.dummy_flow.copy_state()) + + # print("self.q0s loaded", flush=True) + # # self.q0 = self.q0s[-1] + # self.q0: self.flow.StateType = self.flow.copy_state() self.observation_space = gym.spaces.Box( low=-np.inf, @@ -345,53 +411,97 @@ def __init__(self, env_config: dict): dtype=float, ) + self.t = 0. + self.dt = env_config.get("solver_config", {}).get("dt", None) + assert self.dt is not None, f"Error: Solver timestep dt ({self.dt}) must not be None" + self.num_sim_substeps_per_actuation = env_config.get("actuation_config", {}).get("num_sim_substeps_per_actuation", None) + + if self.num_sim_substeps_per_actuation is not None and self.num_sim_substeps_per_actuation > 1: + assert self.rewardLogCallback is not None, f"Error: If num_sim_substeps_per_actuation ({self.num_sim_substeps_per_actuation}) is set a reward callback function must be given, {self.rewardLogCallback}" + self.reward_aggreation_rule = env_config.get("actuation_config", {}).get("reward_aggreation_rule", None) + assert self.reward_aggreation_rule in ['mean', 'sum', 'median'], f"Error: reward aggregation rule ({self.reward_aggreation_rule}) is not given or not implemented yet" + + def constant_action_controller(self, t, y): + return self.action + def set_callbacks(self, callbacks: Iterable[CallbackBase]): self.callbacks = callbacks def step( - self, - action: Iterable[ArrayLike] = None - ) -> Tuple[ArrayLike, float, bool, dict]: - """Advance the state of the environment. See gym.Env documentation + self, action: Iterable[ArrayLike] = None + ) -> Tuple[ArrayLike, float, bool, dict]: + """Advance the state of the environment. See gym.Env documentation Args: - action (Iterable[ArrayLike], optional): Control inputs. Defaults to None. + action (Iterable[ActType], optional): Control inputs. Defaults to None. Returns: - Tuple[ArrayLike, float, bool, dict]: obs, reward, done, info + Tuple[ObsType, float, bool, dict]: obs, reward, done, info """ - self.solver.step(self.iter, control=action) - self.iter += 1 - t = self.iter * self.solver.dt - for cb in self.callbacks: - cb(self.iter, t, self.flow) - obs = self.flow.get_observations() - - reward = self.get_reward() - done = self.check_complete() - info = {} - - obs = self.stack_observations(obs) - - return obs, reward, done, info + if self.num_sim_substeps_per_actuation is not None and self.num_sim_substeps_per_actuation > 1: + self.action = action + self.flow = self.solver.solve_multistep(num_substeps=self.num_sim_substeps_per_actuation, callbacks=[self.rewardLogCallback], controller=self.constant_action_controller, start_iteration_value=self.iter) + if self.reward_aggreation_rule == "mean": + averaged_objective_values = np.mean(self.flow.reward_array, axis=0) + elif self.reward_aggreation_rule == "sum": + averaged_objective_values = np.sum(self.flow.reward_array, axis=0) + elif self.reward_aggreation_rule == "median": + averaged_objective_values = np.median(self.flow.reward_array, axis=0) + else: + raise NotImplementedError(f"The {self.reward_aggreation_rule} function is not implemented yet.") + + self.iter += self.num_sim_substeps_per_actuation + self.t += self.dt * self.num_sim_substeps_per_actuation + reward = self.get_reward(averaged_objective_values) + else: + self.solver.step(self.iter, control=action) + self.iter += 1 + t = self.iter * self.solver.dt + self.t += self.dt + reward = self.get_reward() + + for cb in self.callbacks: + cb(self.iter, self.t, self.flow) + obs = self.flow.get_observations() + + done = self.check_complete() + # print('max_steps', self.max_steps, 'current iter:', self.iter, 'done', done, flush=True) + info = {} + + obs = self.stack_observations(obs) + + return obs, reward, done, info # TODO: Use this to allow for arbitrary returns from collect_observations # That are then converted to a list/tuple/ndarray here def stack_observations(self, obs): return obs - def get_reward(self): - return -self.solver.dt * self.flow.evaluate_objective() + def get_reward(self, averaged_objective_values=None): + if averaged_objective_values is None: + # return -self.solver.dt * self.flow.evaluate_objective() + return -self.flow.evaluate_objective() + else: + # return -self.solver.dt * self.num_sim_substeps_per_actuation * self.flow.evaluate_objective(averaged_objective_values=averaged_objective_values) + return -self.flow.evaluate_objective(averaged_objective_values=averaged_objective_values) def check_complete(self): return self.iter > self.max_steps def reset(self, t=0.0) -> Union[ArrayLike, Tuple[ArrayLike, dict]]: self.iter = 0 - self.flow.reset(q0=self.q0, t=t) - self.solver.reset(t=t) + self.t = 0. + + if self.restart_ckpts is not None: + ckpt_index = np.random.randint(0, len(self.restart_ckpts)) + self.flow.load_checkpoint(self.restart_ckpts[ckpt_index]) + # print("Loaded ckeckpoint:", self.restart_ckpts[ckpt_index], flush=True) + + self.flow.reset(q0=self.flow.copy_state() if self.restart_ckpts is not None else self.q0) + self.solver.reset() + info = {} - return self.flow.get_observations() + return self.flow.get_observations(), info def render(self, mode="human", **kwargs): self.flow.render(mode=mode, **kwargs) diff --git a/hydrogym/firedrake/envs/cavity/flow.py b/hydrogym/firedrake/envs/cavity/flow.py index 04c1b65..496594c 100644 --- a/hydrogym/firedrake/envs/cavity/flow.py +++ b/hydrogym/firedrake/envs/cavity/flow.py @@ -104,14 +104,17 @@ def wall_stress_sensor(self, q=None): m = fd.assemble(-dot(grad(u[0]), self.n) * ds(self.SENSOR)) return (m,) - def evaluate_objective(self, q=None, qB=None): - if q is None: - q = self.q - if qB is None: - qB = self.qB - u = q.subfunctions[0] - uB = qB.subfunctions[0] - KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) + def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None): + if averaged_objective_values is None: + if q is None: + q = self.q + if qB is None: + qB = self.qB + u = q.subfunctions[0] + uB = qB.subfunctions[0] + KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) + else: + KE = averaged_objective_values return KE def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): diff --git a/hydrogym/firedrake/envs/cylinder/flow.py b/hydrogym/firedrake/envs/cylinder/flow.py index fd02b10..5871f43 100644 --- a/hydrogym/firedrake/envs/cylinder/flow.py +++ b/hydrogym/firedrake/envs/cylinder/flow.py @@ -10,26 +10,47 @@ from hydrogym.firedrake import FlowConfig, ObservationFunction, ScaledDirichletBC -# Velocity probes -xp = np.linspace(1.0, 10.0, 16) -yp = np.linspace(-2.0, 2.0, 4) -X, Y = np.meshgrid(xp, yp) -DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] +# # Velocity probes +# xp = np.linspace(1.0, 10.0, 16) +# yp = np.linspace(-2.0, 2.0, 4) +# X, Y = np.meshgrid(xp, yp) +# DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + +# # Pressure probes (spaced equally around the cylinder) +# xp = np.linspace(1.0, 4.0, 4) +# yp = np.linspace(-0.66, 0.66, 3) +# X, Y = np.meshgrid(xp, yp) +# DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + +# RADIUS = 0.5 +# DEFAULT_PRES_PROBES = [ +# (RADIUS * np.cos(theta), RADIUS * np.sin(theta)) +# for theta in np.linspace(0, 2 * np.pi, 20, endpoint=False) +# ] -# Pressure probes (spaced equally around the cylinder) RADIUS = 0.5 -DEFAULT_PRES_PROBES = [ - (RADIUS * np.cos(theta), RADIUS * np.sin(theta)) - for theta in np.linspace(0, 2 * np.pi, 20, endpoint=False) -] class CylinderBase(FlowConfig): + # Velocity probes + xp = np.linspace(1.0, 10.0, 16) + yp = np.linspace(-2.0, 2.0, 4) + X, Y = np.meshgrid(xp, yp) + DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + + # Pressure probes (spaced equally around the cylinder) + xp = np.linspace(1, 4, 4) + yp = np.linspace(-0.66, 0.66, 3) + X, Y = np.meshgrid(xp, yp) + DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + + DEFAULT_VORT_PROBES = DEFAULT_PRES_PROBES + DEFAULT_REYNOLDS = 100 DEFAULT_MESH = "medium" DEFAULT_DT = 1e-2 - MAX_CONTROL = 0.5 * np.pi + # MAX_CONTROL = 0.5 * np.pi # TAU = 0.556 # Time constant for controller damping (0.1*vortex shedding period) TAU = 0.0556 # Time constant for controller damping (0.01*vortex shedding period) @@ -174,10 +195,15 @@ def linearize_bcs(self, function_spaces=None): self.bcu_inflow.set_value(fd.Constant((0, 0))) self.bcu_freestream.set_value(fd.Constant(0.0)) - def evaluate_objective(self, q: fd.Function = None) -> float: + def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None, lambda_value=0.1, return_objective_values=False) -> float: """The objective function for this flow is the drag coefficient""" - CL, CD = self.compute_forces(q=q) - return CD + if averaged_objective_values is None: + CL, CD = self.compute_forces(q=q) + if return_objective_values: + return CL, CD + else: + CL, CD = averaged_objective_values + return CD + lambda_value * CL def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): if clim is None: @@ -200,7 +226,7 @@ def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): class RotaryCylinder(CylinderBase): - MAX_CONTROL = 0.5 * np.pi + MAX_CONTROL = 4.0 DEFAULT_DT = 1e-2 @property @@ -213,7 +239,7 @@ def cyl_velocity_field(self): class Cylinder(CylinderBase): - MAX_CONTROL = 0.1 + MAX_CONTROL = 0.5 DEFAULT_DT = 1e-2 @property diff --git a/hydrogym/firedrake/envs/pinball/flow.py b/hydrogym/firedrake/envs/pinball/flow.py index 888d837..5eb9ad8 100644 --- a/hydrogym/firedrake/envs/pinball/flow.py +++ b/hydrogym/firedrake/envs/pinball/flow.py @@ -113,9 +113,13 @@ def get_observations(self): CL, CD = self.compute_forces() return [*CL, *CD] - def evaluate_objective(self, q=None): - CL, CD = self.compute_forces(q=q) - return sum(CD) + def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None) -> float: + """The objective function for this flow is the drag coefficient""" + if averaged_objective_values is None: + CL, CD = self.compute_forces(q=q) + else: + CL, CD = averaged_objective_values[:3], averaged_objective_values[3:] + return sum(np.square(CD)) def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): if clim is None: diff --git a/hydrogym/firedrake/envs/step/flow.py b/hydrogym/firedrake/envs/step/flow.py index aecfc73..e346746 100644 --- a/hydrogym/firedrake/envs/step/flow.py +++ b/hydrogym/firedrake/envs/step/flow.py @@ -150,14 +150,17 @@ def wall_stress_sensor(self, q=None): m = fd.assemble(-dot(grad(u[0]), self.n) * ds(self.SENSOR)) return (m,) - def evaluate_objective(self, q=None, qB=None): - if q is None: - q = self.q - if qB is None: - qB = self.qB - u = q.subfunctions[0] - uB = qB.subfunctions[0] - KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) + def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None): + if averaged_objective_values is None: + if q is None: + q = self.q + if qB is None: + qB = self.qB + u = q.subfunctions[0] + uB = qB.subfunctions[0] + KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) + else: + KE = averaged_objective_values return KE def render( diff --git a/hydrogym/firedrake/flow.py b/hydrogym/firedrake/flow.py index 5595362..ce9f4b5 100644 --- a/hydrogym/firedrake/flow.py +++ b/hydrogym/firedrake/flow.py @@ -50,7 +50,17 @@ def __init__(self, velocity_order=None, **config): velocity_order = self.DEFAULT_VELOCITY_ORDER self.velocity_order = velocity_order - probes = config.pop("probes", None) + obs_type = config.pop("observation_type", None) + if obs_type == "velocity_probes": + probes = config.pop("probes", self.DEFAULT_VEL_PROBES) + elif obs_type == "pressure_probes": + probes = config.pop("probes", self.DEFAULT_PRES_PROBES) + elif obs_type == "vorticity_probes": + probes = config.pop("probes", self.DEFAULT_VORT_PROBES) + else: + probes = config.pop("probes", None) + + # print("Probes are", probes, self.DEFAULT_PRES_PROBES, flush=True) if probes is None: probes = [] @@ -68,7 +78,7 @@ def __init__(self, velocity_order=None, **config): } self.obs_fun = self.configure_observations( - obs_type=config.pop("observation_type", None), + obs_type=obs_type, probe_obs_types=probe_obs_types, ) @@ -348,6 +358,7 @@ def velocity_probe(self, probes, q: fd.Function = None) -> list[float]: def pressure_probe(self, probes, q: fd.Function = None) -> list[float]: """Probe pressure around the cylinder""" + # print("pressure probing at:", probes, flush=True) if q is None: q = self.q p = q.subfunctions[1] @@ -355,6 +366,7 @@ def pressure_probe(self, probes, q: fd.Function = None) -> list[float]: def vorticity_probe(self, probes, q: fd.Function = None) -> list[float]: """Probe vorticity in the wake.""" + # print("vorticity probing at:", probes, flush=True) if q is None: u = None else: diff --git a/hydrogym/firedrake/utils/io.py b/hydrogym/firedrake/utils/io.py index 41fcf10..0979978 100644 --- a/hydrogym/firedrake/utils/io.py +++ b/hydrogym/firedrake/utils/io.py @@ -81,6 +81,32 @@ def __call__(self, iter: int, t: float, flow: Tuple[fd.Function]): if self.print_fmt is not None: print(self.print_fmt.format(*new_data.ravel())) +def log_postprocess(flow): + obs = flow.evaluate_objective(return_objective_values=True) + return obs + +class RewardCallback(CallbackBase): + def __init__( + self, + num_sim_substeps_per_actuation: int, + postprocess: Callable = log_postprocess, + interval: Optional[int] = 1, + ): + super().__init__(interval=interval) + self.postprocess = postprocess + self.num_sim_substeps_per_actuation = num_sim_substeps_per_actuation + self.data = [] + + def __call__(self, iter: int, t: float, flow: Tuple[fd.Function]): + if iter % self.interval == 0: + # self.data.append([self.postprocess(flow)]) + self.data.append([*self.postprocess(flow)]) + # if ((iter + 1) * self.dt * 10e6) % (self.DT * 10e6) == 0: + if (iter + 1) % self.num_sim_substeps_per_actuation == 0: + self.data = np.array(self.data) + flow.reward_array = self.data + self.data = [] + class SnapshotCallback(CallbackBase): From 6932f6262c1abe1319d1a99b2a226b3e114bc2c6 Mon Sep 17 00:00:00 2001 From: root Date: Sun, 7 Apr 2024 17:50:24 +0200 Subject: [PATCH 02/17] fix probes locations --- examples/cylinder/output/pressure.dat | 11 ++++++ examples/cylinder/pressure-probes.py | 21 +++++++---- hydrogym/firedrake/envs/cavity/flow.py | 14 ++++++++ hydrogym/firedrake/envs/cylinder/flow.py | 12 ++++--- hydrogym/firedrake/envs/pinball/flow.py | 45 ++++++++++++++++++++---- hydrogym/firedrake/envs/step/flow.py | 14 ++++++++ hydrogym/firedrake/flow.py | 7 ++-- 7 files changed, 105 insertions(+), 19 deletions(-) create mode 100644 examples/cylinder/output/pressure.dat diff --git a/examples/cylinder/output/pressure.dat b/examples/cylinder/output/pressure.dat new file mode 100644 index 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-1.462593124003440750e-04 -5.532152007206079386e-02 -6.506826913445622196e-02 -4.975238732111044587e-02 -3.549340784796474468e-02 -2.397855009799357631e-02 -1.617447805245416509e-02 -1.085138064439746322e-02 -7.358434841514747277e-03 -4.929265757801211921e-03 -3.400455047233474221e-03 -2.226055191272066115e-03 -1.532418650116019196e-03 -1.042368915912291003e-03 -7.432861109597352269e-04 -4.943387507694013824e-04 -3.429537450645823039e-04 9.300000000000000711e+00 diff --git a/examples/cylinder/pressure-probes.py b/examples/cylinder/pressure-probes.py index 1c98b54..52cb0e0 100644 --- a/examples/cylinder/pressure-probes.py +++ b/examples/cylinder/pressure-probes.py @@ -21,16 +21,25 @@ method = "BDF" # Configure pressure probes - evenly spaced around the cylinder -n_probes = 8 -R = 0.5 -probes = [(R * np.cos(theta), R * np.sin(theta)) - for theta in np.linspace(0, 2 * np.pi, n_probes, endpoint=False)] +# n_probes = 8 +# R = 0.5 +# probes = [(R * np.cos(theta), R * np.sin(theta)) +# for theta in np.linspace(0, 2 * np.pi, n_probes, endpoint=False)] + +observation_type = "velocity_probes" + +# Velocity probes +xp = np.linspace(1.0, 10.0, 16) +yp = np.linspace(-2.0, 2.0, 4) +X, Y = np.meshgrid(xp, yp) +probes = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] +n_probes = len(probes) flow = hgym.Cylinder( Re=100, mesh=mesh, velocity_order=velocity_order, - observation_type="pressure_probes", + observation_type=observation_type, probes=probes, ) @@ -49,7 +58,7 @@ def log_postprocess(flow): print_fmt = "t: {0:0.2f},\t\t p[4]: {5}" # This will format the output log = hgym.utils.io.LogCallback( postprocess=log_postprocess, - nvals=n_probes + 1, + nvals=n_probes*2 + 1 if observation_type == "velocity_probes" else n_probes + 1, interval=1, print_fmt=print_fmt, filename=data_file, diff --git a/hydrogym/firedrake/envs/cavity/flow.py b/hydrogym/firedrake/envs/cavity/flow.py index 496594c..116254c 100644 --- a/hydrogym/firedrake/envs/cavity/flow.py +++ b/hydrogym/firedrake/envs/cavity/flow.py @@ -11,6 +11,20 @@ class Cavity(FlowConfig): + # Velocity probes + xp = np.linspace(0.1, 0.9, 4) + yp = np.linspace(-0.1, 0.1, 3) + X, Y = np.meshgrid(xp, yp) + DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + + # Pressure probes (spaced equally around the cylinder) + xp = np.linspace(0.1, 0.9, 4) + yp = np.linspace(-0.1, 0.1, 3) + X, Y = np.meshgrid(xp, yp) + DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + + DEFAULT_VORT_PROBES = DEFAULT_PRES_PROBES + DEFAULT_REYNOLDS = 7500 DEFAULT_MESH = "fine" DEFAULT_DT = 1e-4 diff --git a/hydrogym/firedrake/envs/cylinder/flow.py b/hydrogym/firedrake/envs/cylinder/flow.py index 5871f43..83a457d 100644 --- a/hydrogym/firedrake/envs/cylinder/flow.py +++ b/hydrogym/firedrake/envs/cylinder/flow.py @@ -39,12 +39,16 @@ class CylinderBase(FlowConfig): DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] # Pressure probes (spaced equally around the cylinder) - xp = np.linspace(1, 4, 4) + xp = np.linspace(1.0, 4.0, 4) yp = np.linspace(-0.66, 0.66, 3) X, Y = np.meshgrid(xp, yp) DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] - DEFAULT_VORT_PROBES = DEFAULT_PRES_PROBES + # Vorticity probes (spaced equally around the cylinder) + xp = np.linspace(1.0, 4.0, 4) + yp = np.linspace(-0.66, 0.66, 3) + X, Y = np.meshgrid(xp, yp) + DEFAULT_VORT_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] DEFAULT_REYNOLDS = 100 DEFAULT_MESH = "medium" @@ -195,7 +199,7 @@ def linearize_bcs(self, function_spaces=None): self.bcu_inflow.set_value(fd.Constant((0, 0))) self.bcu_freestream.set_value(fd.Constant(0.0)) - def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None, lambda_value=0.1, return_objective_values=False) -> float: + def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None, lambda_value=0.33, return_objective_values=False) -> float: """The objective function for this flow is the drag coefficient""" if averaged_objective_values is None: CL, CD = self.compute_forces(q=q) @@ -203,7 +207,7 @@ def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=No return CL, CD else: CL, CD = averaged_objective_values - return CD + lambda_value * CL + return np.square(CD) + lambda_value * np.square(CL) def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): if clim is None: diff --git a/hydrogym/firedrake/envs/pinball/flow.py b/hydrogym/firedrake/envs/pinball/flow.py index 5eb9ad8..af555ae 100644 --- a/hydrogym/firedrake/envs/pinball/flow.py +++ b/hydrogym/firedrake/envs/pinball/flow.py @@ -13,6 +13,38 @@ class Pinball(FlowConfig): + rad = 0.5 + + # Velocity probes + xp = np.linspace(rad * 1.5 * 1.866 + 1.5, rad * 1.5 * 1.866 + 4.5, 4) + yp = np.linspace(-(1.5 * rad + 0.75), (1.5 * rad + 0.75), 4) + X, Y = np.meshgrid(xp, yp) + DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + + # Pressure probes (spaced equally around the cylinder) + xp = np.linspace(1, 4, 4) + yp = np.linspace(-0.66, 0.66, 3) + X, Y = np.meshgrid(xp, yp) + + DEFAULT_PRES_PROBES = [ + (rad * 1.5 * 1.866 - 0.51, 1.5 * rad), + (rad * 1.5 * 1.866, 1.5 * rad + 0.51), + (rad * 1.5 * 1.866 + 0.5, 1.5 * rad+ 0.51), + (rad * 1.5 * 1.866 - 0.51, -1.5 * rad), + (rad * 1.5 * 1.866, -(1.5 * rad + 0.51)), + (rad * 1.5 * 1.866 + 0.5, -(1.5 * rad+ 0.51)), + (rad * 1.5 * 1.866 + 1.5, 1.5 * rad - 0.5), + (rad * 1.5 * 1.866 + 2.5, 1.5 * rad - 0.25), + (rad * 1.5 * 1.866 + 1.5, 1.5 * rad + 0.5), + (rad * 1.5 * 1.866 + 2.5, 1.5 * rad + 0.75), + (rad * 1.5 * 1.866 + 1.5, -(1.5 * rad - 0.5)), + (rad * 1.5 * 1.866 + 2.5, -(1.5 * rad - 0.25)), + (rad * 1.5 * 1.866 + 1.5, -(1.5 * rad + 0.5)), + (rad * 1.5 * 1.866 + 2.5, -(1.5 * rad + 0.75)) + ] + + DEFAULT_VORT_PROBES = DEFAULT_PRES_PROBES + DEFAULT_REYNOLDS = 30 DEFAULT_MESH = "fine" DEFAULT_DT = 1e-2 @@ -23,11 +55,10 @@ class Pinball(FlowConfig): OUTLET = 4 CYLINDER = (5, 6, 7) - rad = 0.5 x0 = [0.0, rad * 1.5 * 1.866, rad * 1.5 * 1.866] y0 = [0.0, 1.5 * rad, -1.5 * rad] - MAX_CONTROL = 0.5 * np.pi + MAX_CONTROL = 4.0 #0.5 * np.pi TAU = 1.0 # TODO: Tune this based on vortex shedding period MESH_DIR = os.path.abspath(f"{__file__}/..") @@ -109,14 +140,16 @@ def linearize_bcs(self, function_spaces=None): self.bcu_inflow.set_value(fd.Constant((0, 0))) self.bcu_freestream.set_value(fd.Constant(0.0)) - def get_observations(self): - CL, CD = self.compute_forces() - return [*CL, *CD] + # def get_observations(self): + # CL, CD = self.compute_forces() + # return [*CL, *CD] - def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None) -> float: + def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None, return_objective_values=False) -> float: """The objective function for this flow is the drag coefficient""" if averaged_objective_values is None: CL, CD = self.compute_forces(q=q) + if return_objective_values: + return [*CL, *CD] else: CL, CD = averaged_objective_values[:3], averaged_objective_values[3:] return sum(np.square(CD)) diff --git a/hydrogym/firedrake/envs/step/flow.py b/hydrogym/firedrake/envs/step/flow.py index e346746..4ceb140 100644 --- a/hydrogym/firedrake/envs/step/flow.py +++ b/hydrogym/firedrake/envs/step/flow.py @@ -25,6 +25,20 @@ class Step(FlowConfig): (Boujo & Gallaire 2015, DOI:10.1017/jfm.2014.656) """ + # Velocity probes + xp = np.linspace(0.1, 0.9, 4) + yp = np.linspace(-0.1, 0.1, 3) + X, Y = np.meshgrid(xp, yp) + DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + + # Pressure probes (spaced equally around the cylinder) + xp = np.linspace(2.5, 5.0, 4) + yp = np.linspace(-0.45, 0.45,3) + X, Y = np.meshgrid(xp, yp) + DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + + DEFAULT_VORT_PROBES = DEFAULT_PRES_PROBES + DEFAULT_REYNOLDS = 600 DEFAULT_MESH = "fine" DEFAULT_DT = 1e-2 diff --git a/hydrogym/firedrake/flow.py b/hydrogym/firedrake/flow.py index ce9f4b5..319d424 100644 --- a/hydrogym/firedrake/flow.py +++ b/hydrogym/firedrake/flow.py @@ -161,6 +161,8 @@ def initialize_state(self): self.split_solution() # Break out and rename main solution + self._vorticity = fd.Function(self.pressure_space, name="vort") + def set_state(self, q: fd.Function): """Set the current state fields @@ -217,9 +219,8 @@ def vorticity(self, u: fd.Function = None) -> fd.Function: """ if u is None: u = self.u - vort = fd.project(curl(u), self.pressure_space) - vort.rename("vort") - return vort + self._vorticity.project(curl(u)) + return self._vorticity def function_spaces(self, mixed: bool = True): """Function spaces for velocity and pressure From 727beba90c966a87f8219621b1a7151d4c1e3e63 Mon Sep 17 00:00:00 2001 From: root Date: Sun, 7 Apr 2024 17:53:23 +0200 Subject: [PATCH 03/17] rm output --- examples/cylinder/output/pressure.dat | 11 ----------- 1 file changed, 11 deletions(-) delete mode 100644 examples/cylinder/output/pressure.dat diff --git a/examples/cylinder/output/pressure.dat b/examples/cylinder/output/pressure.dat deleted file mode 100644 index a8c7447..0000000 --- a/examples/cylinder/output/pressure.dat +++ /dev/null @@ -1,11 +0,0 @@ -0.000000000000000000e+00 1.042466635673134689e+00 1.018593156607929595e+00 1.006098318266811509e+00 1.000597786242909182e+00 9.990026802434027742e-01 9.985251142469990793e-01 9.987795780864663353e-01 9.989950363083655027e-01 9.992710989975854829e-01 9.994604264413731176e-01 9.996118084556455674e-01 9.997357796083181647e-01 9.998126507136286811e-01 9.998718948776474935e-01 9.999110666998021202e-01 9.999396019758362009e-01 9.356258221197324421e-01 9.440806753195496448e-01 9.649491343444474012e-01 9.781574684320981650e-01 9.860762312917797923e-01 9.909674879866321451e-01 9.940273391409761850e-01 9.960039373328326562e-01 9.973066340331228075e-01 9.981755419915342431e-01 9.987587497468486397e-01 9.991536494600612439e-01 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-5.548852439175181415e-03 -3.512106071013913148e-03 -2.289115193372982110e-03 -1.516662901596879838e-03 -1.012707069131075490e-03 -6.800389112872060656e-04 -4.591357821150363104e-04 -3.135786431486054567e-04 -2.148130326304751767e-04 -1.462593124003440750e-04 -5.532152007206079386e-02 -6.506826913445622196e-02 -4.975238732111044587e-02 -3.549340784796474468e-02 -2.397855009799357631e-02 -1.617447805245416509e-02 -1.085138064439746322e-02 -7.358434841514747277e-03 -4.929265757801211921e-03 -3.400455047233474221e-03 -2.226055191272066115e-03 -1.532418650116019196e-03 -1.042368915912291003e-03 -7.432861109597352269e-04 -4.943387507694013824e-04 -3.429537450645823039e-04 9.300000000000000711e+00 From bb2688bc3b7ce28548698f42b4518eaedd10083e Mon Sep 17 00:00:00 2001 From: root Date: Fri, 12 Apr 2024 01:28:28 +0200 Subject: [PATCH 04/17] update probe positions --- hydrogym/firedrake/envs/cavity/flow.py | 15 +++++++++------ hydrogym/firedrake/envs/cylinder/flow.py | 16 +++++++++------- hydrogym/firedrake/envs/step/flow.py | 2 +- 3 files changed, 19 insertions(+), 14 deletions(-) diff --git a/hydrogym/firedrake/envs/cavity/flow.py b/hydrogym/firedrake/envs/cavity/flow.py index 116254c..fe8a25a 100644 --- a/hydrogym/firedrake/envs/cavity/flow.py +++ b/hydrogym/firedrake/envs/cavity/flow.py @@ -12,18 +12,21 @@ class Cavity(FlowConfig): # Velocity probes - xp = np.linspace(0.1, 0.9, 4) - yp = np.linspace(-0.1, 0.1, 3) + xp = np.linspace(0.5, 0.95, 4) + yp = np.linspace(-0.05, 0.05, 4) X, Y = np.meshgrid(xp, yp) DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] # Pressure probes (spaced equally around the cylinder) - xp = np.linspace(0.1, 0.9, 4) - yp = np.linspace(-0.1, 0.1, 3) + xp = np.linspace(0.25, 0.95, 4) + yp = np.linspace(-0.075, 0.075, 3) X, Y = np.meshgrid(xp, yp) DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + DEFAULT_PRES_PROBES.extend([(0.4833333, -0.15), (0.4833333, -0.225), + (0.7166666, -0.15), (0.7166666, -0.225)]) + DEFAULT_PRES_PROBES.extend([(1.05, 0.005), (1.2, 0.005), (1.35, 0.005), (1.5, 0.005)]) - DEFAULT_VORT_PROBES = DEFAULT_PRES_PROBES + DEFAULT_VORT_PROBES = DEFAULT_VEL_PROBES DEFAULT_REYNOLDS = 7500 DEFAULT_MESH = "fine" @@ -118,7 +121,7 @@ def wall_stress_sensor(self, q=None): m = fd.assemble(-dot(grad(u[0]), self.n) * ds(self.SENSOR)) return (m,) - def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None): + def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None, return_objective_values=False): if averaged_objective_values is None: if q is None: q = self.q diff --git a/hydrogym/firedrake/envs/cylinder/flow.py b/hydrogym/firedrake/envs/cylinder/flow.py index 83a457d..7bb58d9 100644 --- a/hydrogym/firedrake/envs/cylinder/flow.py +++ b/hydrogym/firedrake/envs/cylinder/flow.py @@ -33,8 +33,8 @@ class CylinderBase(FlowConfig): # Velocity probes - xp = np.linspace(1.0, 10.0, 16) - yp = np.linspace(-2.0, 2.0, 4) + xp = np.linspace(1.0, 4.0, 4) + yp = np.linspace(-0.66, 0.66, 3) X, Y = np.meshgrid(xp, yp) DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] @@ -56,7 +56,8 @@ class CylinderBase(FlowConfig): # MAX_CONTROL = 0.5 * np.pi # TAU = 0.556 # Time constant for controller damping (0.1*vortex shedding period) - TAU = 0.0556 # Time constant for controller damping (0.01*vortex shedding period) + TAU = 0.278 # Time constant for controller damping (0.05*vortex shedding period) + # TAU = 0.0556 # Time constant for controller damping (0.01*vortex shedding period) # Domain labels FLUID = 1 @@ -199,7 +200,7 @@ def linearize_bcs(self, function_spaces=None): self.bcu_inflow.set_value(fd.Constant((0, 0))) self.bcu_freestream.set_value(fd.Constant(0.0)) - def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None, lambda_value=0.33, return_objective_values=False) -> float: + def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None, lambda_value=0.2, return_objective_values=False) -> float: """The objective function for this flow is the drag coefficient""" if averaged_objective_values is None: CL, CD = self.compute_forces(q=q) @@ -207,7 +208,8 @@ def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=No return CL, CD else: CL, CD = averaged_objective_values - return np.square(CD) + lambda_value * np.square(CL) + # return np.square(CD) + lambda_value * np.square(CL) + return np.abs(CD) + lambda_value * np.abs(CL) def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): if clim is None: @@ -243,7 +245,7 @@ def cyl_velocity_field(self): class Cylinder(CylinderBase): - MAX_CONTROL = 0.5 + MAX_CONTROL = 0.15 DEFAULT_DT = 1e-2 @property @@ -272,7 +274,7 @@ def cyl_velocity_field(self): theta_lo = -0.5 * pi A_lo = ufl.conditional( abs(theta - theta_lo) < omega / 2, - pi / (2 * omega * self.rad**2) * ufl.cos( + -pi / (2 * omega * self.rad**2) * ufl.cos( (pi / omega) * (theta - theta_lo)), 0.0, ) diff --git a/hydrogym/firedrake/envs/step/flow.py b/hydrogym/firedrake/envs/step/flow.py index 4ceb140..b72af5f 100644 --- a/hydrogym/firedrake/envs/step/flow.py +++ b/hydrogym/firedrake/envs/step/flow.py @@ -164,7 +164,7 @@ def wall_stress_sensor(self, q=None): m = fd.assemble(-dot(grad(u[0]), self.n) * ds(self.SENSOR)) return (m,) - def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None): + def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None, return_objective_values=False): if averaged_objective_values is None: if q is None: q = self.q From 805fa5e9085b68d04bed1e8f7d1302bec032edbe Mon Sep 17 00:00:00 2001 From: root Date: Sun, 16 Jun 2024 01:46:32 +0200 Subject: [PATCH 05/17] Add 1D environments --- hydrogym/__init__.py | 5 +- hydrogym/core.py | 14 +- hydrogym/core_1DEnvs.py | 194 + hydrogym/firedrake/envs/cavity/flow.py | 22 +- hydrogym/firedrake/envs/cylinder/flow.py | 10 +- hydrogym/firedrake/envs/pinball/flow.py | 14 +- .../envs/step/coarse_mesh_sensors.msh | 119560 +++++++++++ hydrogym/firedrake/envs/step/flow.py | 58 +- .../envs/step/medium_mesh_sensors.msh | 162724 +++++++++++++++ hydrogym/firedrake/flow.py | 14 +- hydrogym/firedrake/utils/io.py | 6 +- hydrogym/torch_env/__init__.py | 6 + hydrogym/torch_env/burgers/__init__.py | 1 + hydrogym/torch_env/burgers/flow.py | 181 + hydrogym/torch_env/burgers/ks_init.tensor | Bin 0 -> 192760 bytes hydrogym/torch_env/core_1DEnvs.py | 187 + .../kuramoto_sivashinsky/__init__.py | 1 + .../torch_env/kuramoto_sivashinsky/flow.py | 191 + .../kuramoto_sivashinsky/ks_init.tensor | Bin 0 -> 192760 bytes 19 files changed, 283150 insertions(+), 38 deletions(-) create mode 100644 hydrogym/core_1DEnvs.py create mode 100644 hydrogym/firedrake/envs/step/coarse_mesh_sensors.msh create mode 100644 hydrogym/firedrake/envs/step/medium_mesh_sensors.msh create mode 100644 hydrogym/torch_env/__init__.py create mode 100644 hydrogym/torch_env/burgers/__init__.py create mode 100644 hydrogym/torch_env/burgers/flow.py create mode 100644 hydrogym/torch_env/burgers/ks_init.tensor create mode 100644 hydrogym/torch_env/core_1DEnvs.py create mode 100644 hydrogym/torch_env/kuramoto_sivashinsky/__init__.py create mode 100644 hydrogym/torch_env/kuramoto_sivashinsky/flow.py create mode 100644 hydrogym/torch_env/kuramoto_sivashinsky/ks_init.tensor diff --git a/hydrogym/__init__.py b/hydrogym/__init__.py index fc5c270..40f5169 100644 --- a/hydrogym/__init__.py +++ b/hydrogym/__init__.py @@ -1,2 +1,5 @@ -from . import distributed, firedrake +from . import distributed, firedrake, torch_env from .core import CallbackBase, FlowEnv, PDEBase, TransientSolver +from .core_1DEnvs import OneDimEnv, PDESolverBase1D + +from .torch_env import Kuramoto_Sivashinsky, Burgers # isort:skip diff --git a/hydrogym/core.py b/hydrogym/core.py index 425ccbd..ed58e2b 100644 --- a/hydrogym/core.py +++ b/hydrogym/core.py @@ -1,8 +1,8 @@ import abc from typing import Any, Callable, Iterable, Tuple, TypeVar, Union -# import gym -import gymnasium as gym +import gym +# import gymnasium as gym import numpy as np from numpy.typing import ArrayLike @@ -48,6 +48,7 @@ class PDEBase(metaclass=abc.ABCMeta): def __init__(self, **config): self.mesh = self.load_mesh(name=config.get("mesh", self.DEFAULT_MESH)) + self.reward_lambda = config.get("reward_lambda", 0.0) self.initialize_state() self.reset() @@ -187,6 +188,7 @@ def advance_time(self, dt: float, act: list[float] = None) -> list[float]: Returns: Iterable[ArrayLike]: Updated actuator state """ + if act is None: act = self.control_state self.t += dt @@ -363,7 +365,6 @@ def reset(self, t=0.0): class FlowEnv(gym.Env): def __init__(self, env_config: dict): - self.flow: PDEBase = env_config.get("flow")( **env_config.get("flow_config", {})) @@ -438,10 +439,14 @@ def step( Returns: Tuple[ObsType, float, bool, dict]: obs, reward, done, info """ + action = action * self.flow.CONTROL_SCALING + if self.num_sim_substeps_per_actuation is not None and self.num_sim_substeps_per_actuation > 1: self.action = action self.flow = self.solver.solve_multistep(num_substeps=self.num_sim_substeps_per_actuation, callbacks=[self.rewardLogCallback], controller=self.constant_action_controller, start_iteration_value=self.iter) if self.reward_aggreation_rule == "mean": + # print('flow_array', self.flow.reward_array,flush=True) + # print('mean flow_array', np.mean(self.flow.reward_array, axis=0),flush=True) averaged_objective_values = np.mean(self.flow.reward_array, axis=0) elif self.reward_aggreation_rule == "sum": averaged_objective_values = np.sum(self.flow.reward_array, axis=0) @@ -509,3 +514,6 @@ def render(self, mode="human", **kwargs): def close(self): for cb in self.callbacks: cb.close() + + + diff --git a/hydrogym/core_1DEnvs.py b/hydrogym/core_1DEnvs.py new file mode 100644 index 0000000..92730df --- /dev/null +++ b/hydrogym/core_1DEnvs.py @@ -0,0 +1,194 @@ +import abc +from typing import Any, Callable, Iterable, Tuple, TypeVar, Union + +import gym +# import gymnasium as gym +import numpy as np +import torch +from numpy.typing import ArrayLike + +class OneDimEnv(gym.Env): + + def __init__(self, env_config: dict): + self.backend = env_config.get("backend", {"torch"}) + + + self.solver: PDESolverBase1D = env_config.get("flow")( + **env_config.get("flow_config", {})) + + self.set_seed(env_config.get("seed")) + + self.observation_space = gym.spaces.Box( + low=-np.inf, + high=np.inf, + shape=(self.solver.num_outputs,), + dtype=float, + ) + + self.action_space = gym.spaces.Box( + low=self.solver.MAX_CONTROL_LOW, + high=self.solver.MAX_CONTROL_UP, + shape=(self.solver.num_inputs,), + dtype=float, + ) + + self.max_steps = env_config.get("max_steps", 1e6) + self.dt = env_config.get("flow_config", {}).get("dt", None) + assert self.dt is not None, f"Error: Solver timestep dt ({self.dt}) must not be None" + + def set_seed(self, seed): + np.random.seed(seed) + self.solver.set_seed(seed) + + def constant_action_controller(self, t, y): + return self.action + + def step( + self, action: Iterable[ArrayLike] = None + ) -> Tuple[ArrayLike, float, bool, dict]: + """Advance the state of the environment. See gym.Env documentation + + Args: + action (Iterable[ActType], optional): Control inputs. Defaults to None. + + Returns: + Tuple[ObsType, float, bool, dict]: obs, reward, done, info + """ + + self.solver.step(control=action) + reward = self.get_reward() + obs = self.solver.get_observations() + if reward == -torch.inf: + done = True + else: + done = self.check_complete() + info = {} + + self.solver.iter += 1 + + return obs, reward, done, info + + def get_reward(self): + return -self.solver.evaluate_objective() + + def check_complete(self): + return False if self.solver.iter < self.max_steps else True + + def reset(self) -> Union[ArrayLike, Tuple[ArrayLike, dict]]: + + self.solver.reset() + info = {} + + return self.solver.get_observations(), info + + def render(self, mode="human", **kwargs): + self.solver.render(mode=mode, **kwargs) + + +class PDESolverBase1D(metaclass=abc.ABCMeta): + """ + Basic configuration of the 1D PDE Solver + + """ + + MAX_CONTROL = np.inf + DEFAULT_DT = np.inf + + def __init__(self, **config): + + + self.initialize_state() + + self.reset() + + if config.get("restart"): + self.load_checkpoint(config["restart"][0]) + + @property + @abc.abstractmethod + def num_inputs(self) -> int: + """Length of the control vector (number of actuators)""" + pass + + @property + @abc.abstractmethod + def num_outputs(self) -> int: + """Number of scalar observed variables""" + pass + + def reset(self): + """Reset the PDE to an initial state""" + pass + + @abc.abstractmethod + def get_observations(self) -> Iterable[ArrayLike]: + """Return the set of measurements/observations""" + pass + + @abc.abstractmethod + def render(self, **kwargs): + """Plot the current PDE state (called by `gym.Env`)""" + pass + + @abc.abstractmethod + def evaluate_objective(self) -> ArrayLike: + """Return the objective function to be minimized""" + pass + +if __name__ == '__main__': + # torch.set_default_tensor_type('torch.cuda.FloatTensor') + from tqdm import tqdm + import torch + + torch.manual_seed(0) + np.random.seed(0) + + config = { + "flow": Kuramoto_Sivashinsky, + "flow_config": { + "dt": 0.001, + "restart": 'ks_init.tensor', + "num_sim_substeps_per_actuation": 250, + "device": 'cpu' + }, + "max_steps": 100, + } + + # ks_init = torch.load('/net/beegfs-hpc/work/lagemannk/container/hydrogym_dev2/home/firedrake/hydrogym_rllib_multiEnv/hydrogym/hydrogym/torch_env/ks_init.tensor') + env = OneDimEnv(config) + + action_space = env.action_space + observation_space = env.observation_space + + env.reset() + + action = torch.zeros(action_space.shape) + + results = [] + for _ in tqdm(range(2000)): + obs, reward, done, info = env.step(action) + results.append(obs.cpu().numpy()) + if done: + print('envrionment should be resetted') + env.reset() + + results = np.stack(results) + import matplotlib + matplotlib.use("Agg") + import matplotlib.pyplot as plt + + plt.figure(figsize=(16,8)) + plt.imshow(np.transpose(results), cmap='bwr', vmin=-2.0, vmax=2.0) + plt.xlabel('step') + plt.ylabel('observation') + plt.colorbar() + plt.show() + plt.savefig('/net/beegfs-hpc/work/lagemannk/container/workspace_christian_ext/logs/result.png', bbox_inches='tight') + plt.close() + + env.reset() + + + + + \ No newline at end of file diff --git a/hydrogym/firedrake/envs/cavity/flow.py b/hydrogym/firedrake/envs/cavity/flow.py index fe8a25a..9fe0251 100644 --- a/hydrogym/firedrake/envs/cavity/flow.py +++ b/hydrogym/firedrake/envs/cavity/flow.py @@ -17,14 +17,19 @@ class Cavity(FlowConfig): X, Y = np.meshgrid(xp, yp) DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] - # Pressure probes (spaced equally around the cylinder) - xp = np.linspace(0.25, 0.95, 4) - yp = np.linspace(-0.075, 0.075, 3) + # # Pressure probes (spaced equally around the cylinder) + # xp = np.linspace(0.25, 0.95, 4) + # yp = np.linspace(-0.075, 0.075, 3) + # X, Y = np.meshgrid(xp, yp) + # DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] + # DEFAULT_PRES_PROBES.extend([(0.4833333, -0.15), (0.4833333, -0.225), + # (0.7166666, -0.15), (0.7166666, -0.225)]) + # DEFAULT_PRES_PROBES.extend([(1.05, 0.005), (1.2, 0.005), (1.35, 0.005), (1.5, 0.005)]) + + xp = np.linspace(0.1, 0.5, 4) + yp = np.linspace(-0.025, 0.025, 3) X, Y = np.meshgrid(xp, yp) DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] - DEFAULT_PRES_PROBES.extend([(0.4833333, -0.15), (0.4833333, -0.225), - (0.7166666, -0.15), (0.7166666, -0.225)]) - DEFAULT_PRES_PROBES.extend([(1.05, 0.005), (1.2, 0.005), (1.35, 0.005), (1.5, 0.005)]) DEFAULT_VORT_PROBES = DEFAULT_VEL_PROBES @@ -36,7 +41,8 @@ class Cavity(FlowConfig): FUNCTIONS = ("q", "qB" ) # This flow needs a base flow to compute fluctuation KE - MAX_CONTROL = 0.1 + MAX_CONTROL = 1.0 + CONTROL_SCALING = 0.1 TAU = 0.075 # Time constant for controller damping (0.01*instability frequency) # Domain labels @@ -131,7 +137,7 @@ def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None, re uB = qB.subfunctions[0] KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) else: - KE = averaged_objective_values + KE = averaged_objective_values[0] return KE def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): diff --git a/hydrogym/firedrake/envs/cylinder/flow.py b/hydrogym/firedrake/envs/cylinder/flow.py index 7bb58d9..b842176 100644 --- a/hydrogym/firedrake/envs/cylinder/flow.py +++ b/hydrogym/firedrake/envs/cylinder/flow.py @@ -56,8 +56,8 @@ class CylinderBase(FlowConfig): # MAX_CONTROL = 0.5 * np.pi # TAU = 0.556 # Time constant for controller damping (0.1*vortex shedding period) - TAU = 0.278 # Time constant for controller damping (0.05*vortex shedding period) - # TAU = 0.0556 # Time constant for controller damping (0.01*vortex shedding period) + # TAU = 0.278 # Time constant for controller damping (0.05*vortex shedding period) + TAU = 0.0556 # Time constant for controller damping (0.01*vortex shedding period) # Domain labels FLUID = 1 @@ -232,7 +232,8 @@ def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): class RotaryCylinder(CylinderBase): - MAX_CONTROL = 4.0 + MAX_CONTROL = 1.0 + CONTROL_SCALING = 5.0 DEFAULT_DT = 1e-2 @property @@ -245,7 +246,8 @@ def cyl_velocity_field(self): class Cylinder(CylinderBase): - MAX_CONTROL = 0.15 + MAX_CONTROL = 0.1 + CONTROL_SCALING = 1.0 DEFAULT_DT = 1e-2 @property diff --git a/hydrogym/firedrake/envs/pinball/flow.py b/hydrogym/firedrake/envs/pinball/flow.py index af555ae..c29b602 100644 --- a/hydrogym/firedrake/envs/pinball/flow.py +++ b/hydrogym/firedrake/envs/pinball/flow.py @@ -16,8 +16,8 @@ class Pinball(FlowConfig): rad = 0.5 # Velocity probes - xp = np.linspace(rad * 1.5 * 1.866 + 1.5, rad * 1.5 * 1.866 + 4.5, 4) - yp = np.linspace(-(1.5 * rad + 0.75), (1.5 * rad + 0.75), 4) + xp = np.linspace(3, 9, 6) + yp = np.linspace(-1.25, 1.25, 5) X, Y = np.meshgrid(xp, yp) DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] @@ -58,8 +58,10 @@ class Pinball(FlowConfig): x0 = [0.0, rad * 1.5 * 1.866, rad * 1.5 * 1.866] y0 = [0.0, 1.5 * rad, -1.5 * rad] - MAX_CONTROL = 4.0 #0.5 * np.pi - TAU = 1.0 # TODO: Tune this based on vortex shedding period + MAX_CONTROL = 1.0 #0.5 * np.pi + CONTROL_SCALING = 5.0 + # TAU = 0.5 # TODO: Tune this based on vortex shedding period + TAU = 0.04 # Time constant for controller damping (0.01*vortex shedding period) MESH_DIR = os.path.abspath(f"{__file__}/..") @@ -152,7 +154,9 @@ def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=No return [*CL, *CD] else: CL, CD = averaged_objective_values[:3], averaged_objective_values[3:] - return sum(np.square(CD)) + # print('pinball lambda', self.reward_lambda, CD, sum(np.square(CD)), flush=True) + return sum(np.square(CD)) + self.reward_lambda * sum(np.square(CL)) + # return -(1.5 - (sum(CD) + self.reward_lambda * np.abs(sum(CL)))) def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): if clim is None: diff --git a/hydrogym/firedrake/envs/step/coarse_mesh_sensors.msh 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np.linspace(2.5, 5.0, 4) - yp = np.linspace(-0.45, 0.45,3) + xp = np.linspace(3, 8.5, 7) + yp = np.linspace(-0.475, -0.2, 3) X, Y = np.meshgrid(xp, yp) DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] @@ -46,7 +48,8 @@ class Step(FlowConfig): FUNCTIONS = ("q", "qB" ) # This flow needs a base flow to compute fluctuation KE - MAX_CONTROL = 0.1 # Arbitrary... should tune this + MAX_CONTROL = 1.0 + CONTROL_SCALING = 0.1 # Arbitrary... should tune this TAU = 0.005 # Time constant for controller damping (0.01*instability frequency) FLUID = 1 @@ -54,7 +57,13 @@ class Step(FlowConfig): OUTLET = 3 WALL = 4 CONTROL = 5 - SENSOR = 6 + SENSOR = 16 + START_SENSOR = 6 + + NUM_SENSORS = 30 # Total number of sensors + START_SENSOR_X = 2.7 # x placement of first sensor + SENSOR_LEN = 0.2 # Length of each sensor + END_SENSOR_X = 7.7 # x placement of last sensor MESH_DIR = os.path.abspath(f"{__file__}/..") @@ -64,6 +73,7 @@ def __init__(self, **kwargs): # dependence of the spectral characteristics of the forcing on the time # step of the solver. self.noise_amplitude = kwargs.pop("noise_amplitude", 1.0) + print('Noise_amplitude:', self.noise_amplitude, flush=True) self.noise_tau = kwargs.pop("noise_time_constant", 10 * self.TAU) self.noise_seed = kwargs.pop("noise_seed", None) self.noise_state = fd.Constant(0.0) @@ -96,8 +106,8 @@ def configure_observations(self, supported_obs_types = { **probe_obs_types, - "stress_sensor": - ObservationFunction(self.wall_stress_sensor, num_outputs=1), + "stress_sensor": ObservationFunction(self.wall_stress_sensor, num_outputs=1), + "reattachment": ObservationFunction(self.reattachment_length, num_outputs=1), } if obs_type not in supported_obs_types: @@ -115,8 +125,11 @@ def init_bcs(self, function_spaces=None): self.U_inf = ufl.as_tensor( (1.0 - ((self.y - 0.25) / 0.25)**2, 0.0 * self.y)) self.bcu_inflow = fd.DirichletBC(V, self.U_inf, self.INLET) + # self.bcu_noslip = fd.DirichletBC(V, fd.Constant((0, 0)), + # (self.WALL, self.SENSOR)) self.bcu_noslip = fd.DirichletBC(V, fd.Constant((0, 0)), - (self.WALL, self.SENSOR)) + # (self.WALL, self.SENSOR)) + (self.WALL, 6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30)) self.bcp_outflow = fd.DirichletBC(Q, fd.Constant(0), self.OUTLET) # Define time-varying boundary conditions for actuation @@ -155,13 +168,31 @@ def collect_bcu(self): def collect_bcp(self): return [self.bcp_outflow] + + def reattachment_length(self, q=None): + """Estimate of reattachment length from wall shear stress""" + if q is None: + q = self.q + # Get the wall shear stress of all sensors along the wall + shear_stress = [] + for n in range(self.START_SENSOR, self.NUM_SENSORS + 1): + shear_stress.append(self.wall_stress_sensor(q=None, sensor=n)[0]) + # print(shear_stress) + zero_gradient = [i for i,ss in enumerate(shear_stress) if ss >= 0.0] + if len(zero_gradient) > 0: + xr = zero_gradient[0]*self.SENSOR_LEN + self.START_SENSOR_X + else: + xr = self.END_SENSOR_X + return (xr,) - def wall_stress_sensor(self, q=None): + def wall_stress_sensor(self, q=None, sensor=None): """Integral of wall-normal shear stress (see Barbagallo et al, 2009)""" if q is None: q = self.q + if sensor is None: + sensor = self.SENSOR u = q.subfunctions[0] - m = fd.assemble(-dot(grad(u[0]), self.n) * ds(self.SENSOR)) + m = fd.assemble(-dot(grad(u[0]), self.n) * ds(sensor)) return (m,) def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None, return_objective_values=False): @@ -174,7 +205,10 @@ def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None, re uB = qB.subfunctions[0] KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) else: - KE = averaged_objective_values + KE = averaged_objective_values[0] + # print("KE", KE, flush=True) + # ReLen = self.reattachment_length(q) + # print("Reattachment length", ReLen[0], flush=True) return KE def render( diff --git a/hydrogym/firedrake/envs/step/medium_mesh_sensors.msh 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52801 51016 54227 +108428 2 2 1 7 50978 52801 54216 +108429 2 2 1 7 1259 1260 54217 +108430 2 2 1 7 1548 1547 54218 +108431 2 2 1 7 52122 52126 54218 +108432 2 2 1 7 1261 16 54219 +108433 2 2 1 7 1542 1541 54220 +108434 2 2 1 7 51016 53742 54227 +108435 2 2 1 7 1546 1545 54221 +108436 2 2 1 7 2017 53741 54223 +108437 2 2 1 7 1253 53740 54222 +108438 2 2 1 7 53742 51016 54228 +108439 2 2 1 7 51016 53767 54228 +108440 2 2 1 7 54212 54215 54226 +108441 2 2 1 7 1558 48707 54225 +108442 2 2 1 7 48705 2016 54222 +108443 2 2 1 7 48706 2475 54224 +108444 2 2 1 7 48708 1262 54223 +108445 2 2 1 7 54213 52124 54226 +108446 2 2 1 7 53741 48708 54223 +108447 2 2 1 7 53740 48705 54222 +108448 2 2 1 7 52124 54212 54226 +108449 2 2 1 7 48707 54210 54225 +108450 2 2 1 7 54210 1540 54225 +108451 2 2 1 7 53742 52756 54227 +108452 2 2 1 7 53767 52322 54228 +108453 2 2 1 7 54215 52170 54226 +108454 2 2 1 7 52170 54213 54226 +$EndElements diff --git a/hydrogym/firedrake/flow.py b/hydrogym/firedrake/flow.py index 319d424..cdf1e81 100644 --- a/hydrogym/firedrake/flow.py +++ b/hydrogym/firedrake/flow.py @@ -355,7 +355,10 @@ def velocity_probe(self, probes, q: fd.Function = None) -> list[float]: if q is None: q = self.q u = q.subfunctions[0] - return np.stack(u.at(probes)).flatten("F") + + # probe_values = np.stack([u.at(probe) for probe in probes]).flatten("F") + probe_values = np.stack(u.at(probes)).flatten("F") + return probe_values def pressure_probe(self, probes, q: fd.Function = None) -> list[float]: """Probe pressure around the cylinder""" @@ -363,17 +366,20 @@ def pressure_probe(self, probes, q: fd.Function = None) -> list[float]: if q is None: q = self.q p = q.subfunctions[1] - return np.stack(p.at(probes)) + # probe_values = np.stack([p.at(probe) for probe in probes]) + probe_values = np.stack(p.at(probes)) + return probe_values def vorticity_probe(self, probes, q: fd.Function = None) -> list[float]: """Probe vorticity in the wake.""" - # print("vorticity probing at:", probes, flush=True) if q is None: u = None else: u = q.subfunctions[0] vort = self.vorticity(u=u) - return np.stack(vort.at(probes)) + # probe_values = np.stack([vort.at(probe) for probe in probes]) + probe_values = np.stack(vort.at(probes)) + return probe_values def linearize(self, qB=None, diff --git a/hydrogym/firedrake/utils/io.py b/hydrogym/firedrake/utils/io.py index 0979978..43af8f0 100644 --- a/hydrogym/firedrake/utils/io.py +++ b/hydrogym/firedrake/utils/io.py @@ -1,4 +1,5 @@ from typing import Callable, Optional, Tuple +import collections import firedrake as fd import numpy as np @@ -83,7 +84,10 @@ def __call__(self, iter: int, t: float, flow: Tuple[fd.Function]): def log_postprocess(flow): obs = flow.evaluate_objective(return_objective_values=True) - return obs + if isinstance(obs, collections.abc.Iterable): + return obs + else: + return [obs] class RewardCallback(CallbackBase): def __init__( diff --git a/hydrogym/torch_env/__init__.py b/hydrogym/torch_env/__init__.py new file mode 100644 index 0000000..27261db --- /dev/null +++ b/hydrogym/torch_env/__init__.py @@ -0,0 +1,6 @@ +from hydrogym.core_1DEnvs import OneDimEnv, PDESolverBase1D + +from .kuramoto_sivashinsky import Kuramoto_Sivashinsky +from .burgers import Burgers + +__all__ = ["OneDimEnv", "PDESolverBase1D", "Kuramoto_Sivashinsky", "Burgers"] \ No newline at end of file diff --git a/hydrogym/torch_env/burgers/__init__.py b/hydrogym/torch_env/burgers/__init__.py new file mode 100644 index 0000000..6d6e748 --- /dev/null +++ b/hydrogym/torch_env/burgers/__init__.py @@ -0,0 +1 @@ +from .flow import Burgers \ No newline at end of file diff --git a/hydrogym/torch_env/burgers/flow.py b/hydrogym/torch_env/burgers/flow.py new file mode 100644 index 0000000..6350469 --- /dev/null +++ b/hydrogym/torch_env/burgers/flow.py @@ -0,0 +1,181 @@ +import os +import math +import torch +import numpy as np + +from hydrogym.core_1DEnvs import PDESolverBase1D + +class Burgers(PDESolverBase1D): + MAX_CONTROL_LOW = -0.025 + MAX_CONTROL_UP = 0.075 + DEFAULT_DT = 0.001 + + def __init__(self, **env_config): + + device = env_config.get("device", 'cpu') + l = 2 + self.iter = 0 + + self.meshx = 150 + dx = l/self.meshx + self.maxt = 60 + self.dx = 1/self.meshx + self.dt = env_config.get("dt", None) + self.nu = 0.01 + + x = torch.linspace(0, l-dx, self.meshx) + self.x = x + self.actuator_position = [0.25, 0.75] + self.f1 = torch.exp(-225*(x/l-self.actuator_position[0])*(x/l-self.actuator_position[0])) + self.f2 = torch.exp(-225*(x/l-self.actuator_position[1])*(x/l-self.actuator_position[1])) + self.init1 = 0.2*torch.exp(-25*(x/l-0.5)*(x/l-0.5)) + self.init2 = 0.2*torch.sin(4*math.pi*x/l) + + # self.num_steps = 500 + self.num_sim_substeps_per_actuation = env_config.get("num_sim_substeps_per_actuation", None) + + ref = torch.arange(0, 30.5, self.dt*self.num_sim_substeps_per_actuation) + self.ref = (0.05*torch.sin(np.pi/15*ref) + + 0.5).reshape(-1, 1).repeat([1, self.meshx]) + + self.act_limit = torch.tensor([[-.025, .075], [-.025, .075]]) + + def set_seed(self, seed): + torch.manual_seed(seed) + + def step(self, control): + self.pdestate = torch.cat( + (self.pdestate[-2:], self.pdestate, self.pdestate[:2])) + lapa = -1/12*self.pdestate[:-4]+4/3*self.pdestate[1:-3]-5/2 * \ + self.pdestate[2:-2]+4/3 * \ + self.pdestate[3:-1]-1/12*self.pdestate[4:] + state2 = self.pdestate**2/2 + gradient = 0.5*state2[:-4]-2*state2[1:-3]+1.5*state2[2:-2] + + self.pdestate = self.pdestate[2:-2] + self.dt * ( + self.nu * lapa / self.dx**2 - gradient / self.dx + + control[0]*self.f1 + control[1]*self.f2) + + self.state = self.pdestate-self.ref[self.iter] + + def evaluate_objective(self): + if torch.any(self.state.isnan()) == True: + print('Nan detected - resetting episode!', flush=True) + return -torch.inf + else: + return 10*((self.state**2).mean()) + + def get_observations(self): + return self.state + + def step_p(self, state, act): + state, rew = self.__calculate__(state, act) + return state, rew + + def reset(self, shape=()): + a = torch.rand(1) + self.pdestate = a*self.init1 + (1-a)*self.init2 + 0.2 + self.state = self.pdestate - self.ref[0] + self.iter = 0 + + @property + def num_inputs(self) -> int: + return len(self.actuator_position) + + @property + def num_outputs(self) -> int: + return int(*self.x.shape) + + def test_reset(self, num_test=5): + # return self.init[torch.multinomial(torch.ones(200), num_samples=num_test, + # replacement=False)].unsqueeze(2).cpu().numpy() + return self.init[torch.linspace(0,199,num_test,dtype=torch.long)].unsqueeze(2).cpu().numpy() + + def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): + pass + +@torch.jit.script +def RHS(u, lapa_c, lapa2_c, gradient_fc, gradient_bc, dx: float, dx2: float, dx4: float, f): + u2 = u*u + lapa = torch.matmul(lapa_c, u) + lapa2 = torch.matmul(lapa2_c, u) + gradient = torch.matmul(gradient_fc, u2)*(u < 0)\ + + torch.matmul(gradient_bc, u2)*(u >= 0) + return -lapa2/dx4 - lapa/dx2 - gradient/2./dx + f, lapa, gradient + + +@torch.jit.script +def solve_next_state(state, action, lapa_c, lapa2_c, gradient_fc, gradient_bc, + dt: float, dx: float, dx2: float, dx4: float, f0, f1, f2, f3, r, num_steps: int): + + f = action[0]*f0 + action[1]*f1 + action[2]*f2 + action[3]*f3 + for _ in range(num_steps): + k1, lapa, gradient = RHS( + state, lapa_c, lapa2_c, gradient_fc, gradient_bc, dx, dx2, dx4, f) + k2, _, _ = RHS(state + dt*k1/2, lapa_c, lapa2_c, + gradient_fc, gradient_bc, dx, dx2, dx4, f) + k3, _, _ = RHS(state + dt*k2/2, lapa_c, lapa2_c, + gradient_fc, gradient_bc, dx, dx2, dx4, f) + k4, _, _ = RHS(state + dt*k3, lapa_c, lapa2_c, + gradient_fc, gradient_bc, dx, dx2, dx4, f) + r += (lapa*lapa).mean() + (gradient*gradient).mean() + (state*f).mean() + state = state + dt*(k1 + 2*k2 + 2*k3 + k4)/6 + return state, r + + +def FD_Central_CoefficientMatrix(c:list,meshx:int,periodic:bool=False): + ''' + c is list of FD coefficient + e.g. for 1st derivative with 2nd accuracy central difference: + c=[-0.5,0] + ''' + if 2*len(c)-1>=meshx: raise ValueError + acc = len(c) + + tmp=[] + c.reverse() + for i in range(acc): + x = torch.cat((torch.cat((torch.zeros((i,meshx-i)), + c[i]*torch.eye(meshx-i)),dim=0), + torch.zeros((meshx,i)) + ),dim=1) + tmp.append(x) + re=tmp[0] + for k in tmp[1:]: + re+=k+k.T + + if periodic: + re[:acc,-acc:]=re[acc:2*acc,:acc] + re[-acc:,:acc]=re[:acc,acc:2*acc] + return re + +def FD_upwind_CoefficientMatrix(c:list,meshx:int,periodic:bool=False): + ''' + c is list of Backward FD coefficient + e.g. for 1st derivative with 1st accuracy: + c=[-1,1] + ''' + if len(c)>=meshx: raise ValueError + acc = len(c) + + tmp=[] + + c.reverse() + for i in range(acc): + x = torch.cat((torch.cat((torch.zeros((i,meshx-i)), + c[i]*torch.eye(meshx-i)),dim=0), + torch.zeros((meshx,i)) + ),dim=1) + tmp.append(x) + + bre=tmp[0] + fre=-tmp[0] + + for k in tmp[1:]: + fre+=-k.T + bre+=k + + if periodic: + fre[-acc:,:acc]=fre[:acc,acc:2*acc] + 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0000000..cce0d28 --- /dev/null +++ b/hydrogym/torch_env/core_1DEnvs.py @@ -0,0 +1,187 @@ +import abc +from typing import Any, Callable, Iterable, Tuple, TypeVar, Union + +import gym +# import gymnasium as gym +import numpy as np +from numpy.typing import ArrayLike + +class OneDimEnv(gym.Env): + + def __init__(self, env_config: dict): + self.backend = env_config.get("backend", {"torch"}) + + self.solver: PDESolver1D = env_config.get("flow")( + **env_config.get("flow_config", {})) + + self.observation_space = gym.spaces.Box( + low=-np.inf, + high=np.inf, + shape=(self.solver.num_outputs,), + dtype=float, + ) + + self.action_space = gym.spaces.Box( + low=-self.solver.MAX_CONTROL, + high=self.solver.MAX_CONTROL, + shape=(self.solver.num_inputs,), + dtype=float, + ) + + self.iter: int = 0 + self.max_steps = env_config.get("max_steps", 1e6) + self.dt = env_config.get("flow_config", {}).get("dt", None) + assert self.dt is not None, f"Error: Solver timestep dt ({self.dt}) must not be None" + + def constant_action_controller(self, t, y): + return self.action + + def step( + self, action: Iterable[ArrayLike] = None + ) -> Tuple[ArrayLike, float, bool, dict]: + """Advance the state of the environment. See gym.Env documentation + + Args: + action (Iterable[ActType], optional): Control inputs. Defaults to None. + + Returns: + Tuple[ObsType, float, bool, dict]: obs, reward, done, info + """ + + self.solver.step(control=action) + reward = self.get_reward() + obs = self.solver.get_observations() + done = self.check_complete() + info = {} + + self.iter += 1 + + return obs, reward, done, info + + def get_reward(self): + return -self.solver.evaluate_objective() + + def check_complete(self): + return self.iter > self.max_steps + + def reset(self) -> Union[ArrayLike, Tuple[ArrayLike, dict]]: + + self.solver.reset() + self.iter = 0 + info = {} + + return self.solver.get_observations(), info + + def render(self, mode="human", **kwargs): + self.solver.render(mode=mode, **kwargs) + + +class PDESolver1D(metaclass=abc.ABCMeta): + """ + Basic configuration of the 1D PDE Solver + + """ + + MAX_CONTROL = np.inf + DEFAULT_DT = np.inf + + def __init__(self, **config): + + + self.initialize_state() + + self.reset() + + if config.get("restart"): + self.load_checkpoint(config["restart"][0]) + + @property + @abc.abstractmethod + def num_inputs(self) -> int: + """Length of the control vector (number of actuators)""" + pass + + @property + @abc.abstractmethod + def num_outputs(self) -> int: + """Number of scalar observed variables""" + pass + + def reset(self): + """Reset the PDE to an initial state""" + pass + + @abc.abstractmethod + def get_observations(self) -> Iterable[ArrayLike]: + """Return the set of measurements/observations""" + pass + + @abc.abstractmethod + def render(self, **kwargs): + """Plot the current PDE state (called by `gym.Env`)""" + pass + + @abc.abstractmethod + def evaluate_objective(self) -> ArrayLike: + """Return the objective function to be minimized""" + pass + +if __name__ == '__main__': + # torch.set_default_tensor_type('torch.cuda.FloatTensor') + from tqdm import tqdm + import torch + + torch.manual_seed(0) + np.random.seed(0) + + import hydrogym + + config = { + "flow": hydrogym.torch_env.Kuramoto_Sivashinsky, + "flow_config": { + "dt": 0.001, + "restart": 'ks_init.tensor', + "num_sim_substeps_per_actuation": 250, + "device": 'cpu' + }, + "max_steps": 100, + } + + # ks_init = torch.load('/net/beegfs-hpc/work/lagemannk/container/hydrogym_dev2/home/firedrake/hydrogym_rllib_multiEnv/hydrogym/hydrogym/torch_env/ks_init.tensor') + env = OneDimEnv(config) + + action_space = env.action_space + observation_space = env.observation_space + + env.reset() + + action = torch.zeros(action_space.shape) + + results = [] + for _ in tqdm(range(2000)): + obs, reward, done, info = env.step(action) + results.append(obs.cpu().numpy()) + if done: + print('envrionment should be resetted') + env.reset() + + results = np.stack(results) + import matplotlib + matplotlib.use("Agg") + import matplotlib.pyplot as plt + + plt.figure(figsize=(16,8)) + plt.imshow(np.transpose(results), cmap='bwr', vmin=-2.0, vmax=2.0) + plt.xlabel('step') + plt.ylabel('observation') + plt.colorbar() + plt.show() + plt.savefig('/net/beegfs-hpc/work/lagemannk/container/workspace_christian_ext/logs/result.png', bbox_inches='tight') + plt.close() + + env.reset() + + + + + \ No newline at end of file diff --git a/hydrogym/torch_env/kuramoto_sivashinsky/__init__.py b/hydrogym/torch_env/kuramoto_sivashinsky/__init__.py new file mode 100644 index 0000000..6298c67 --- /dev/null +++ b/hydrogym/torch_env/kuramoto_sivashinsky/__init__.py @@ -0,0 +1 @@ +from .flow import Kuramoto_Sivashinsky \ No newline at end of file diff --git a/hydrogym/torch_env/kuramoto_sivashinsky/flow.py b/hydrogym/torch_env/kuramoto_sivashinsky/flow.py new file mode 100644 index 0000000..04874ac --- /dev/null +++ b/hydrogym/torch_env/kuramoto_sivashinsky/flow.py @@ -0,0 +1,191 @@ +import os +import math +import torch +import numpy as np + +from hydrogym.core_1DEnvs import PDESolverBase1D + +class Kuramoto_Sivashinsky(PDESolverBase1D): + MAX_CONTROL_LOW = -0.5 + MAX_CONTROL_UP = 0.5 + DEFAULT_DT = 0.001 + + def __init__(self, **env_config): + TENSOR_DIR = os.path.abspath(f"{__file__}/..") + + device = env_config.get("device", 'cpu') + self.iter = 0 + l = 8*math.pi + + self.meshx = 64 + dx = l/self.meshx + self.maxt = 400 + self.dx = l/self.meshx + self.dx2 = self.dx**2 + self.dx4 = self.dx**4 + self.dt = env_config.get("dt", None) + + x = torch.linspace(0, l-dx, self.meshx).to(device) + self.x = x + self.actuator_position = [0.00, 0.25, 0.5, 0.75] + self.f0 = (torch.exp(-(x - self.actuator_position[0]*l)**2/2)/math.sqrt(2*math.pi)).to(device) + self.f1 = (torch.exp(-(x - self.actuator_position[1]*l)**2/2) / + math.sqrt(2*math.pi)).to(device) + self.f2 = (torch.exp(-(x - self.actuator_position[2]*l)**2/2) / + math.sqrt(2*math.pi)).to(device) + self.f3 = (torch.exp(-(x - self.actuator_position[3]*l)**2/2) / + math.sqrt(2*math.pi)).to(device) + + init_file = env_config.get("restart", 'ks_init.tensor') + self.init = torch.load(os.path.join(TENSOR_DIR, init_file), map_location=device) + + # self.num_steps = 250 + self.num_sim_substeps_per_actuation = env_config.get("num_sim_substeps_per_actuation", None) + + self.lapa_c = FD_Central_CoefficientMatrix( + [1/90, -3/20, 3/2, -49/18], self.meshx, periodic=True) + self.lapa2_c = FD_Central_CoefficientMatrix( + [7/240, -2/5, 169/60, -122/15, 91/8], self.meshx, periodic=True) + self.gradient_fc, self.gradient_bc = FD_upwind_CoefficientMatrix( + [1/4, -4/3, 3, -4, 25/12], self.meshx, periodic=True) + self.numpy = dict(f=torch.cat( + (self.f0.unsqueeze(0), self.f1.unsqueeze(0), + self.f2.unsqueeze(0), self.f3.unsqueeze(0)), dim=0).cpu().numpy(), + init=self.init.cpu().numpy(), + lapa_c=self.lapa_c.cpu().numpy(), + lapa2_c=self.lapa2_c.cpu().numpy(), + gradient_fc=self.gradient_fc.cpu().numpy(), + gradient_bc=self.gradient_bc.cpu().numpy()) + + def set_seed(self, seed): + torch.manual_seed(seed) + + def step(self, control): + f = np.matmul(control, self.numpy['f']) + f = np.expand_dims(f, axis=-1) + self.current_reward = torch.tensor(0.0) + + self.state, self.current_reward = solve_next_state(self.state, + control, + self.lapa_c, self.lapa2_c, + self.gradient_fc, self.gradient_bc, + self.dt, + self.dx, self.dx2, self.dx4, + self.f0, self.f1, self.f2, self.f3, + self.current_reward, + self.num_sim_substeps_per_actuation) + + def evaluate_objective(self): + return self.current_reward/self.num_sim_substeps_per_actuation + + def get_observations(self): + return self.state + + def step_p(self, state, act): + state, rew = self.__calculate__(state, act) + return state, rew + + def reset(self, shape=()): + self.state = self.init[torch.randint(0, 200, size=shape)] + + @property + def num_inputs(self) -> int: + return len(self.actuator_position) + + @property + def num_outputs(self) -> int: + return int(*self.x.shape) + + def test_reset(self, num_test=5): + # return self.init[torch.multinomial(torch.ones(200), num_samples=num_test, + # replacement=False)].unsqueeze(2).cpu().numpy() + return self.init[torch.linspace(0,199,num_test,dtype=torch.long)].unsqueeze(2).cpu().numpy() + + def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): + pass + +@torch.jit.script +def RHS(u, lapa_c, lapa2_c, gradient_fc, gradient_bc, dx: float, dx2: float, dx4: float, f): + u2 = u*u + lapa = torch.matmul(lapa_c, u) + lapa2 = torch.matmul(lapa2_c, u) + gradient = torch.matmul(gradient_fc, u2)*(u < 0)\ + + torch.matmul(gradient_bc, u2)*(u >= 0) + return -lapa2/dx4 - lapa/dx2 - gradient/2./dx + f, lapa, gradient + + +@torch.jit.script +def solve_next_state(state, action, lapa_c, lapa2_c, gradient_fc, gradient_bc, + dt: float, dx: float, dx2: float, dx4: float, f0, f1, f2, f3, r, num_steps: int): + + f = action[0]*f0 + action[1]*f1 + action[2]*f2 + action[3]*f3 + for _ in range(num_steps): + k1, lapa, gradient = RHS( + state, lapa_c, lapa2_c, gradient_fc, gradient_bc, dx, dx2, dx4, f) + k2, _, _ = RHS(state + dt*k1/2, lapa_c, lapa2_c, + gradient_fc, gradient_bc, dx, dx2, dx4, f) + k3, _, _ = RHS(state + dt*k2/2, lapa_c, lapa2_c, + gradient_fc, gradient_bc, dx, dx2, dx4, f) + k4, _, _ = RHS(state + dt*k3, lapa_c, lapa2_c, + gradient_fc, gradient_bc, dx, dx2, dx4, f) + r += (lapa*lapa).mean() + (gradient*gradient).mean() + (state*f).mean() + state = state + dt*(k1 + 2*k2 + 2*k3 + k4)/6 + return state, r + + +def FD_Central_CoefficientMatrix(c:list,meshx:int,periodic:bool=False): + ''' + c is list of FD coefficient + e.g. for 1st derivative with 2nd accuracy central difference: + c=[-0.5,0] + ''' + if 2*len(c)-1>=meshx: raise ValueError + acc = len(c) + + tmp=[] + c.reverse() + for i in range(acc): + x = torch.cat((torch.cat((torch.zeros((i,meshx-i)), + c[i]*torch.eye(meshx-i)),dim=0), + torch.zeros((meshx,i)) + ),dim=1) + tmp.append(x) + re=tmp[0] + for k in tmp[1:]: + re+=k+k.T + + if periodic: + re[:acc,-acc:]=re[acc:2*acc,:acc] + re[-acc:,:acc]=re[:acc,acc:2*acc] + return re + +def FD_upwind_CoefficientMatrix(c:list,meshx:int,periodic:bool=False): + ''' + c is list of Backward FD coefficient + e.g. for 1st derivative with 1st accuracy: + c=[-1,1] + ''' + if len(c)>=meshx: raise ValueError + acc = len(c) + + tmp=[] + + c.reverse() + for i in range(acc): + x = torch.cat((torch.cat((torch.zeros((i,meshx-i)), + c[i]*torch.eye(meshx-i)),dim=0), + torch.zeros((meshx,i)) + ),dim=1) + tmp.append(x) + + bre=tmp[0] + fre=-tmp[0] + + for k in tmp[1:]: + fre+=-k.T + bre+=k + + if periodic: + fre[-acc:,:acc]=fre[:acc,acc:2*acc] + bre[:acc,-acc:]=bre[acc:2*acc,:acc] + return fre,bre \ No newline at end of file diff --git a/hydrogym/torch_env/kuramoto_sivashinsky/ks_init.tensor b/hydrogym/torch_env/kuramoto_sivashinsky/ks_init.tensor new file mode 100644 index 0000000000000000000000000000000000000000..a0d146e48257f9815f1722ef3c1f16fbc154f4a6 GIT binary patch literal 192760 zcmZ^Kc{EjT^tZ8OuB0T=fFv1{;htw-GGt6igOo%`1Bp{*=O(1-k;BQun`pE;}a3#`+qKJzFB;3 zhu!yj1?<-JaPxOtd1(Iu3sXrx=l^kq2)O(E@OG_qJ>u_mz)#fm@a|nlybgG{`tSDk 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xImkp|%3s43{=D~}_Qs$68fIdkuzAV@?a_`u`ttuiHdtxkm;$>EjQ?ZozW{u=1$zJh literal 0 HcmV?d00001 From d8db8adf0457a68ca7faa5eaefd8a3d33f02dd35 Mon Sep 17 00:00:00 2001 From: lagemannk Date: Mon, 29 Jul 2024 00:31:12 +0200 Subject: [PATCH 06/17] update environments --- hydrogym/core.py | 8 +++++--- hydrogym/firedrake/envs/cavity/flow.py | 5 +++-- hydrogym/firedrake/envs/cylinder/flow.py | 6 ++++-- hydrogym/firedrake/envs/pinball/flow.py | 10 ++++++---- hydrogym/firedrake/envs/step/flow.py | 3 ++- hydrogym/firedrake/flow.py | 4 ++-- 6 files changed, 22 insertions(+), 14 deletions(-) diff --git a/hydrogym/core.py b/hydrogym/core.py index ed58e2b..9b9eee1 100644 --- a/hydrogym/core.py +++ b/hydrogym/core.py @@ -34,7 +34,9 @@ class PDEBase(metaclass=abc.ABCMeta): any information about solving the time-varying equations """ - MAX_CONTROL = np.inf + # MAX_CONTROL = np.inf + MAX_CONTROL_LOW = -np.inf + MAX_CONTROL_UP = np.inf DEFAULT_MESH = "" DEFAULT_DT = np.inf @@ -406,8 +408,8 @@ def __init__(self, env_config: dict): dtype=float, ) self.action_space = gym.spaces.Box( - low=-self.flow.MAX_CONTROL, - high=self.flow.MAX_CONTROL, + low=self.flow.MAX_CONTROL_LOW, + high=self.flow.MAX_CONTROL_UP, shape=(self.flow.num_inputs,), dtype=float, ) diff --git a/hydrogym/firedrake/envs/cavity/flow.py b/hydrogym/firedrake/envs/cavity/flow.py index 9fe0251..b5caa7c 100644 --- a/hydrogym/firedrake/envs/cavity/flow.py +++ b/hydrogym/firedrake/envs/cavity/flow.py @@ -41,8 +41,9 @@ class Cavity(FlowConfig): FUNCTIONS = ("q", "qB" ) # This flow needs a base flow to compute fluctuation KE - MAX_CONTROL = 1.0 - CONTROL_SCALING = 0.1 + MAX_CONTROL_LOW = 0.0 + MAX_CONTROL_UP = 0.03 + CONTROL_SCALING = 1.0 TAU = 0.075 # Time constant for controller damping (0.01*instability frequency) # Domain labels diff --git a/hydrogym/firedrake/envs/cylinder/flow.py b/hydrogym/firedrake/envs/cylinder/flow.py index b842176..c58bbf6 100644 --- a/hydrogym/firedrake/envs/cylinder/flow.py +++ b/hydrogym/firedrake/envs/cylinder/flow.py @@ -232,7 +232,8 @@ def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): class RotaryCylinder(CylinderBase): - MAX_CONTROL = 1.0 + MAX_CONTROL_LOW = -1.0 + MAX_CONTROL_UP = 1.0 CONTROL_SCALING = 5.0 DEFAULT_DT = 1e-2 @@ -246,7 +247,8 @@ def cyl_velocity_field(self): class Cylinder(CylinderBase): - MAX_CONTROL = 0.1 + MAX_CONTROL_LOW = -0.1 + MAX_CONTROL_UP = 0.1 CONTROL_SCALING = 1.0 DEFAULT_DT = 1e-2 diff --git a/hydrogym/firedrake/envs/pinball/flow.py b/hydrogym/firedrake/envs/pinball/flow.py index c29b602..8319d40 100644 --- a/hydrogym/firedrake/envs/pinball/flow.py +++ b/hydrogym/firedrake/envs/pinball/flow.py @@ -58,10 +58,11 @@ class Pinball(FlowConfig): x0 = [0.0, rad * 1.5 * 1.866, rad * 1.5 * 1.866] y0 = [0.0, 1.5 * rad, -1.5 * rad] - MAX_CONTROL = 1.0 #0.5 * np.pi + MAX_CONTROL_LOW = -1.0 + MAX_CONTROL_UP = 1.0 CONTROL_SCALING = 5.0 - # TAU = 0.5 # TODO: Tune this based on vortex shedding period - TAU = 0.04 # Time constant for controller damping (0.01*vortex shedding period) + TAU = 0.5 # TODO: Tune this based on vortex shedding period + # TAU = 0.04 # Time constant for controller damping (0.01*vortex shedding period) MESH_DIR = os.path.abspath(f"{__file__}/..") @@ -155,7 +156,8 @@ def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=No else: CL, CD = averaged_objective_values[:3], averaged_objective_values[3:] # print('pinball lambda', self.reward_lambda, CD, sum(np.square(CD)), flush=True) - return sum(np.square(CD)) + self.reward_lambda * sum(np.square(CL)) + # return sum(np.square(CD)) + self.reward_lambda * sum(np.square(CL)) + return sum(CD) # return -(1.5 - (sum(CD) + self.reward_lambda * np.abs(sum(CL)))) def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): diff --git a/hydrogym/firedrake/envs/step/flow.py b/hydrogym/firedrake/envs/step/flow.py index 713afde..4b9ed26 100644 --- a/hydrogym/firedrake/envs/step/flow.py +++ b/hydrogym/firedrake/envs/step/flow.py @@ -48,7 +48,8 @@ class Step(FlowConfig): FUNCTIONS = ("q", "qB" ) # This flow needs a base flow to compute fluctuation KE - MAX_CONTROL = 1.0 + MAX_CONTROL_LOW = -1.0 + MAX_CONTROL_UP = 1.0 CONTROL_SCALING = 0.1 # Arbitrary... should tune this TAU = 0.005 # Time constant for controller damping (0.01*instability frequency) diff --git a/hydrogym/firedrake/flow.py b/hydrogym/firedrake/flow.py index cdf1e81..95441a8 100644 --- a/hydrogym/firedrake/flow.py +++ b/hydrogym/firedrake/flow.py @@ -315,8 +315,8 @@ def set_control(self, act: ArrayLike = None): if hasattr(self, "bcu_actuation"): for i in range(self.num_inputs): - u = np.clip(self.actuators[i].state, -self.MAX_CONTROL, - self.MAX_CONTROL) + u = np.clip(self.actuators[i].state, self.MAX_CONTROL_LOW, + self.MAX_CONTROL_UP) self.bcu_actuation[i].set_scale(u) def inner_product( From 94a22cf7d7ee69c569b13bfc6b37952decd4b015 Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 13:43:08 +0100 Subject: [PATCH 07/17] Clean up formatting. --- hydrogym/core.py | 189 ++++++++++++++++++++++------------------------- 1 file changed, 89 insertions(+), 100 deletions(-) diff --git a/hydrogym/core.py b/hydrogym/core.py index 1f0b499..9ab3770 100644 --- a/hydrogym/core.py +++ b/hydrogym/core.py @@ -312,15 +312,15 @@ def solve( cb.close() return flow - + def solve_multistep( - self, - num_substeps: int, - callbacks: Iterable[CallbackBase] = [], - controller: Callable = None, - start_iteration_value: int = 0, - ) -> PDEBase: - """Solve the initial-value problem for the PDE. + self, + num_substeps: int, + callbacks: Iterable[CallbackBase] = [], + controller: Callable = None, + start_iteration_value: int = 0, + ) -> PDEBase: + """Solve the initial-value problem for the PDE. Args: t_span (Tuple[float, float]): Tuple of start and end times @@ -332,22 +332,22 @@ def solve_multistep( Returns: PDEBase: The state of the PDE at the end of the solve """ - for iter in range(num_substeps): - iter = iter + start_iteration_value - t = iter * self.dt - if controller is not None: - y = self.flow.get_observations() - u = controller(t, y) - else: - u = None - flow = self.step(iter, control=u) - for cb in callbacks: - cb(iter, t, flow) - - for cb in callbacks: - cb.close() - - return flow + for iter in range(num_substeps): + iter = iter + start_iteration_value + t = iter * self.dt + if controller is not None: + y = self.flow.get_observations() + u = controller(t, y) + else: + u = None + flow = self.step(iter, control=u) + for cb in callbacks: + cb(iter, t, flow) + + for cb in callbacks: + cb.close() + + return flow def step(self, iter: int, control: Iterable[float] = None, **kwargs): """Advance the transient simulation by one time step @@ -368,37 +368,17 @@ class FlowEnv(gym.Env): def __init__(self, env_config: dict): self.flow: PDEBase = env_config.get("flow")( **env_config.get("flow_config", {})) - self.solver: TransientSolver = env_config.get("solver")( self.flow, **env_config.get("solver_config", {})) self.callbacks: Iterable[CallbackBase] = env_config.get("callbacks", []) - self.rewardLogCallback: Iterable[CallbackBase] = env_config.get("actuation_config", {}).get("rewardLogCallback", None) + self.rewardLogCallback: Iterable[CallbackBase] = env_config.get( + "actuation_config", {}).get("rewardLogCallback", None) self.max_steps: int = env_config.get("max_steps", int(1e6)) self.iter: int = 0 self.restart_ckpts = env_config.get("flow_config", {}).get("restart", None) if self.restart_ckpts is None: - self.q0: self.flow.StateType = self.flow.copy_state() - - # if len(env_config.get("flow_config", {}).get("restart", None)) > 1: - # self.dummy_flow: PDEBase = env_config.get("flow")(**env_config.get("flow_config", {})) - # self.restart_ckpts = env_config.get("flow_config", {}).get("restart", None) - - # print("Restart ckpts:", self.restart_ckpts, flush=True) - # print("len:", len(self.restart_ckpts), flush=True) - # print("0 ckpt:", self.restart_ckpts[0], flush=True) - - # self.q0s = [] - # for ckpt in range(len(self.restart_ckpts)): - # # self.dummy_flow.mesh = self.dummy_flow.load_mesh(name=env_config.get("flow_config", {}).get("mesh", self.dummy_flow.DEFAULT_MESH)) - - # print("ckpt:", ckpt, self.restart_ckpts[ckpt],flush=True) - # self.dummy_flow.load_checkpoint(self.restart_ckpts[ckpt]) - # self.q0s.append(self.dummy_flow.copy_state()) - - # print("self.q0s loaded", flush=True) - # # self.q0 = self.q0s[-1] - # self.q0: self.flow.StateType = self.flow.copy_state() + self.q0: self.flow.StateType = self.flow.copy_state() self.observation_space = gym.spaces.Box( low=-np.inf, @@ -416,23 +396,30 @@ def __init__(self, env_config: dict): self.t = 0. self.dt = env_config.get("solver_config", {}).get("dt", None) assert self.dt is not None, f"Error: Solver timestep dt ({self.dt}) must not be None" - self.num_sim_substeps_per_actuation = env_config.get("actuation_config", {}).get("num_sim_substeps_per_actuation", None) + self.num_sim_substeps_per_actuation = env_config.get( + "actuation_config", {}).get("num_sim_substeps_per_actuation", None) if self.num_sim_substeps_per_actuation is not None and self.num_sim_substeps_per_actuation > 1: - assert self.rewardLogCallback is not None, f"Error: If num_sim_substeps_per_actuation ({self.num_sim_substeps_per_actuation}) is set a reward callback function must be given, {self.rewardLogCallback}" - self.reward_aggreation_rule = env_config.get("actuation_config", {}).get("reward_aggreation_rule", None) - assert self.reward_aggreation_rule in ['mean', 'sum', 'median'], f"Error: reward aggregation rule ({self.reward_aggreation_rule}) is not given or not implemented yet" + assert self.rewardLogCallback is not None,\ + f"Error: If num_sim_substeps_per_actuation ({self.num_sim_substeps_per_actuation}) " \ + "is set a reward callback function must be given, {self.rewardLogCallback}" + self.reward_aggreation_rule = env_config.get("actuation_config", {}).get( + "reward_aggreation_rule", None) + assert self.reward_aggreation_rule in [ + 'mean', 'sum', 'median' + ], f"Error: reward aggregation rule ({self.reward_aggreation_rule}) is not given or not implemented yet" def constant_action_controller(self, t, y): - return self.action + return self.action def set_callbacks(self, callbacks: Iterable[CallbackBase]): self.callbacks = callbacks def step( - self, action: Iterable[ArrayLike] = None - ) -> Tuple[ArrayLike, float, bool, dict]: - """Advance the state of the environment. See gym.Env documentation + self, + action: Iterable[ArrayLike] = None + ) -> Tuple[ArrayLike, float, bool, dict]: + """Advance the state of the environment. See gym.Env documentation Args: action (Iterable[ActType], optional): Control inputs. Defaults to None. @@ -440,43 +427,45 @@ def step( Returns: Tuple[ObsType, float, bool, dict]: obs, reward, done, info """ - action = action * self.flow.CONTROL_SCALING - - if self.num_sim_substeps_per_actuation is not None and self.num_sim_substeps_per_actuation > 1: - self.action = action - self.flow = self.solver.solve_multistep(num_substeps=self.num_sim_substeps_per_actuation, callbacks=[self.rewardLogCallback], controller=self.constant_action_controller, start_iteration_value=self.iter) - if self.reward_aggreation_rule == "mean": - # print('flow_array', self.flow.reward_array,flush=True) - # print('mean flow_array', np.mean(self.flow.reward_array, axis=0),flush=True) - averaged_objective_values = np.mean(self.flow.reward_array, axis=0) - elif self.reward_aggreation_rule == "sum": - averaged_objective_values = np.sum(self.flow.reward_array, axis=0) - elif self.reward_aggreation_rule == "median": - averaged_objective_values = np.median(self.flow.reward_array, axis=0) - else: - raise NotImplementedError(f"The {self.reward_aggreation_rule} function is not implemented yet.") - - self.iter += self.num_sim_substeps_per_actuation - self.t += self.dt * self.num_sim_substeps_per_actuation - reward = self.get_reward(averaged_objective_values) - else: - self.solver.step(self.iter, control=action) - self.iter += 1 - t = self.iter * self.solver.dt - self.t += self.dt - reward = self.get_reward() - - for cb in self.callbacks: - cb(self.iter, self.t, self.flow) - obs = self.flow.get_observations() - - done = self.check_complete() - # print('max_steps', self.max_steps, 'current iter:', self.iter, 'done', done, flush=True) - info = {} - - obs = self.stack_observations(obs) - - return obs, reward, done, info + action = action * self.flow.CONTROL_SCALING + + if self.num_sim_substeps_per_actuation is not None and self.num_sim_substeps_per_actuation > 1: + self.action = action + self.flow = self.solver.solve_multistep( + num_substeps=self.num_sim_substeps_per_actuation, + callbacks=[self.rewardLogCallback], + controller=self.constant_action_controller, + start_iteration_value=self.iter) + if self.reward_aggreation_rule == "mean": + averaged_objective_values = np.mean(self.flow.reward_array, axis=0) + elif self.reward_aggreation_rule == "sum": + averaged_objective_values = np.sum(self.flow.reward_array, axis=0) + elif self.reward_aggreation_rule == "median": + averaged_objective_values = np.median(self.flow.reward_array, axis=0) + else: + raise NotImplementedError( + f"The {self.reward_aggreation_rule} function is not implemented yet." + ) + + self.iter += self.num_sim_substeps_per_actuation + self.t += self.dt * self.num_sim_substeps_per_actuation + reward = self.get_reward(averaged_objective_values) + else: + self.solver.step(self.iter, control=action) + self.iter += 1 + t = self.iter * self.solver.dt + self.t += self.dt + reward = self.get_reward() + + for cb in self.callbacks: + cb(self.iter, self.t, self.flow) + obs = self.flow.get_observations() + done = self.check_complete() + info = {} + + obs = self.stack_observations(obs) + + return obs, reward, done, info # TODO: Use this to allow for arbitrary returns from collect_observations # That are then converted to a list/tuple/ndarray here @@ -485,11 +474,13 @@ def stack_observations(self, obs): def get_reward(self, averaged_objective_values=None): if averaged_objective_values is None: - # return -self.solver.dt * self.flow.evaluate_objective() - return -self.flow.evaluate_objective() + # return -self.solver.dt * self.flow.evaluate_objective() + return -self.flow.evaluate_objective() else: - # return -self.solver.dt * self.num_sim_substeps_per_actuation * self.flow.evaluate_objective(averaged_objective_values=averaged_objective_values) - return -self.flow.evaluate_objective(averaged_objective_values=averaged_objective_values) + # return -self.solver.dt * self.num_sim_substeps_per_actuation\ + # * self.flow.evaluate_objective(averaged_objective_values=averaged_objective_values) + return -self.flow.evaluate_objective( + averaged_objective_values=averaged_objective_values) def check_complete(self): return self.iter > self.max_steps @@ -499,7 +490,8 @@ def reset(self, t=0.0) -> Union[ArrayLike, Tuple[ArrayLike, dict]]: self.flow.reset(q0=self.q0, t=t) self.solver.reset() - return self.flow.get_observations(), info + # Previously: return self.flow.get_observations(), info + return self.flow.get_observations() def render(self, mode="human", **kwargs): self.flow.render(mode=mode, **kwargs) @@ -507,6 +499,3 @@ def render(self, mode="human", **kwargs): def close(self): for cb in self.callbacks: cb.close() - - - From c6909874b552b1e16c9eb58d263a6a22eab383aa Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 14:00:45 +0100 Subject: [PATCH 08/17] Create an experimental directory for which we don't apply the formatting rules. --- hydrogym/experimental/__init__.py | 0 hydrogym/{ => experimental}/core_1DEnvs.py | 8 +------- 2 files changed, 1 insertion(+), 7 deletions(-) create mode 100644 hydrogym/experimental/__init__.py rename hydrogym/{ => experimental}/core_1DEnvs.py (94%) diff --git a/hydrogym/experimental/__init__.py b/hydrogym/experimental/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/hydrogym/core_1DEnvs.py b/hydrogym/experimental/core_1DEnvs.py similarity index 94% rename from hydrogym/core_1DEnvs.py rename to hydrogym/experimental/core_1DEnvs.py index 92730df..2f60824 100644 --- a/hydrogym/core_1DEnvs.py +++ b/hydrogym/experimental/core_1DEnvs.py @@ -136,7 +136,6 @@ def evaluate_objective(self) -> ArrayLike: pass if __name__ == '__main__': - # torch.set_default_tensor_type('torch.cuda.FloatTensor') from tqdm import tqdm import torch @@ -154,7 +153,6 @@ def evaluate_objective(self) -> ArrayLike: "max_steps": 100, } - # ks_init = torch.load('/net/beegfs-hpc/work/lagemannk/container/hydrogym_dev2/home/firedrake/hydrogym_rllib_multiEnv/hydrogym/hydrogym/torch_env/ks_init.tensor') env = OneDimEnv(config) action_space = env.action_space @@ -186,9 +184,5 @@ def evaluate_objective(self) -> ArrayLike: plt.savefig('/net/beegfs-hpc/work/lagemannk/container/workspace_christian_ext/logs/result.png', bbox_inches='tight') plt.close() - env.reset() - - - - + env.reset() \ No newline at end of file From 80690112f0d634dcb76b1d2185a953463611e77c Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 14:01:07 +0100 Subject: [PATCH 09/17] Ignore ruff and yapf formatting for the experimental directory. --- pyproject.toml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/pyproject.toml b/pyproject.toml index d10b308..3a92d12 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -70,6 +70,11 @@ seaborn = "^0.12.1" [tool.yapf] based_on_style = "yapf" +[tool.yapfignore] +ignore_patterns = [ + "hydrogym/experimental/*" +] + [tool.ruff] line-length = 120 @@ -77,6 +82,9 @@ line-length = 120 select = ["E", "F"] ignore = ["F401", "E731"] +[tool.ruff.lint.per-file-ignores] 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z^EI*`g|KyBI5aDxFx4gwn=SVvcxx=WJtLVIb11G^1j2XuD(KB|h1Jm+_-3vFW(Kwi zwL24qt(Bii8b$|mZg+I)&bDA0B40=ww$_ugWhccSk&TH`o$6LsHawG-lraFua+KbA_R@BF9 zOZ!uer0eeKNY5-}T$5)XVad2c|1>L_ePA{7%RLRG}syPPd zhDTwOLm2X=Zb4z1H(oAUg!1vTaEpx5@_CnF5}Yh7P+KdpmEXdpFV~^@dOIn?w}96D zR!1>?9W>^$jDCszo_?JcMQ(2rxYu<`*u>%qR98R77|#x5&TYjkhPB8aNk@&YAAYeP ziQ{<}1Vw8*K_Mqaa(Qi3c}U*{hql&4QFygEr|WQ%+kQ)n9QXK;N^TDQxZo)n4N~H} z{k8exhnoC%3>*IRbp%z{{!nVi^luN3XoLGzU1{G~6KUL59jUjnoYdH=8jD_>!a3zw z80h;!xn~*1v32 zDBStfD@0hN2zeALxqo&8w?(DsI7L#Y))sq~XX9zW8LK2Xa0y$l~mTyqGKohCV5O+kDPm@NgE{ zsH<=>%*Od}W#WxJsV6y;x+5NwkEbGEW;mR`*`~qk82v>3z2TInl2Ar_qfngHj`q+I z(tD96(#5XIL+*zal*zRZk{hUtT@@7NstSSoxWB(eYb842-@WA zNOB(kU$Isl@Sr-)Zz(&!+(2FIDnHQt<-_ghN0KwFKTwAbJn)b5ACG*zw|iS|-mvk% zXaD`V8UADD2iE)hY^zx|HdC#q+s&}GwwX3<`hOexyNg=?Ftk`U=r2QmzA%ejm6Rs` xImkp|%3s43{=D~}_Qs$68fIdkuzAV@?a_`u`ttuiHdtxkm;$>EjQ?ZozW{u=1$zJh From 8a6a0a2533e7c25475c1350234994cb0af46ce19 Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 14:12:30 +0100 Subject: [PATCH 11/17] Refactor the experimental torch environments into the experimental folder. --- hydrogym/experimental/__init__.py | 6 + .../burgers/__init__.py | 0 .../burgers/flow.py | 0 .../burgers/ks_init.tensor | 0 hydrogym/experimental/core_1DEnvs.py | 39 ++-- .../kuramoto_sivashinsky/__init__.py | 0 .../kuramoto_sivashinsky/flow.py | 0 .../kuramoto_sivashinsky/ks_init.tensor | 0 hydrogym/torch_env/core_1DEnvs.py | 187 ------------------ 9 files changed, 25 insertions(+), 207 deletions(-) rename hydrogym/{torch_env => experimental}/burgers/__init__.py (100%) rename hydrogym/{torch_env => experimental}/burgers/flow.py (100%) rename hydrogym/{torch_env => experimental}/burgers/ks_init.tensor (100%) rename hydrogym/{torch_env => experimental}/kuramoto_sivashinsky/__init__.py (100%) rename hydrogym/{torch_env => experimental}/kuramoto_sivashinsky/flow.py (100%) rename hydrogym/{torch_env => experimental}/kuramoto_sivashinsky/ks_init.tensor (100%) delete mode 100644 hydrogym/torch_env/core_1DEnvs.py diff --git a/hydrogym/experimental/__init__.py b/hydrogym/experimental/__init__.py index e69de29..430d1c8 100644 --- a/hydrogym/experimental/__init__.py +++ b/hydrogym/experimental/__init__.py @@ -0,0 +1,6 @@ +from core_1DEnvs import OneDimEnv, PDESolverBase1D + +from .kuramoto_sivashinsky import Kuramoto_Sivashinsky +from .burgers import Burgers + +__all__ = ["OneDimEnv", "PDESolverBase1D", "Kuramoto_Sivashinsky", "Burgers"] \ No newline at end of file diff --git a/hydrogym/torch_env/burgers/__init__.py b/hydrogym/experimental/burgers/__init__.py similarity index 100% rename from hydrogym/torch_env/burgers/__init__.py rename to hydrogym/experimental/burgers/__init__.py diff --git a/hydrogym/torch_env/burgers/flow.py b/hydrogym/experimental/burgers/flow.py similarity index 100% rename from hydrogym/torch_env/burgers/flow.py rename to hydrogym/experimental/burgers/flow.py diff --git a/hydrogym/torch_env/burgers/ks_init.tensor b/hydrogym/experimental/burgers/ks_init.tensor similarity index 100% rename from hydrogym/torch_env/burgers/ks_init.tensor rename to hydrogym/experimental/burgers/ks_init.tensor diff --git a/hydrogym/experimental/core_1DEnvs.py b/hydrogym/experimental/core_1DEnvs.py index 2f60824..cce0d28 100644 --- a/hydrogym/experimental/core_1DEnvs.py +++ b/hydrogym/experimental/core_1DEnvs.py @@ -4,7 +4,6 @@ import gym # import gymnasium as gym import numpy as np -import torch from numpy.typing import ArrayLike class OneDimEnv(gym.Env): @@ -12,11 +11,8 @@ class OneDimEnv(gym.Env): def __init__(self, env_config: dict): self.backend = env_config.get("backend", {"torch"}) - - self.solver: PDESolverBase1D = env_config.get("flow")( + self.solver: PDESolver1D = env_config.get("flow")( **env_config.get("flow_config", {})) - - self.set_seed(env_config.get("seed")) self.observation_space = gym.spaces.Box( low=-np.inf, @@ -26,19 +22,16 @@ def __init__(self, env_config: dict): ) self.action_space = gym.spaces.Box( - low=self.solver.MAX_CONTROL_LOW, - high=self.solver.MAX_CONTROL_UP, + low=-self.solver.MAX_CONTROL, + high=self.solver.MAX_CONTROL, shape=(self.solver.num_inputs,), dtype=float, ) + self.iter: int = 0 self.max_steps = env_config.get("max_steps", 1e6) self.dt = env_config.get("flow_config", {}).get("dt", None) assert self.dt is not None, f"Error: Solver timestep dt ({self.dt}) must not be None" - - def set_seed(self, seed): - np.random.seed(seed) - self.solver.set_seed(seed) def constant_action_controller(self, t, y): return self.action @@ -58,13 +51,10 @@ def step( self.solver.step(control=action) reward = self.get_reward() obs = self.solver.get_observations() - if reward == -torch.inf: - done = True - else: - done = self.check_complete() + done = self.check_complete() info = {} - self.solver.iter += 1 + self.iter += 1 return obs, reward, done, info @@ -72,11 +62,12 @@ def get_reward(self): return -self.solver.evaluate_objective() def check_complete(self): - return False if self.solver.iter < self.max_steps else True + return self.iter > self.max_steps def reset(self) -> Union[ArrayLike, Tuple[ArrayLike, dict]]: self.solver.reset() + self.iter = 0 info = {} return self.solver.get_observations(), info @@ -85,7 +76,7 @@ def render(self, mode="human", **kwargs): self.solver.render(mode=mode, **kwargs) -class PDESolverBase1D(metaclass=abc.ABCMeta): +class PDESolver1D(metaclass=abc.ABCMeta): """ Basic configuration of the 1D PDE Solver @@ -136,14 +127,17 @@ def evaluate_objective(self) -> ArrayLike: pass if __name__ == '__main__': + # torch.set_default_tensor_type('torch.cuda.FloatTensor') from tqdm import tqdm import torch torch.manual_seed(0) np.random.seed(0) + import hydrogym + config = { - "flow": Kuramoto_Sivashinsky, + "flow": hydrogym.torch_env.Kuramoto_Sivashinsky, "flow_config": { "dt": 0.001, "restart": 'ks_init.tensor', @@ -153,6 +147,7 @@ def evaluate_objective(self) -> ArrayLike: "max_steps": 100, } + # ks_init = torch.load('/net/beegfs-hpc/work/lagemannk/container/hydrogym_dev2/home/firedrake/hydrogym_rllib_multiEnv/hydrogym/hydrogym/torch_env/ks_init.tensor') env = OneDimEnv(config) action_space = env.action_space @@ -184,5 +179,9 @@ def evaluate_objective(self) -> ArrayLike: plt.savefig('/net/beegfs-hpc/work/lagemannk/container/workspace_christian_ext/logs/result.png', bbox_inches='tight') plt.close() - env.reset() + env.reset() + + + + \ No newline at end of file diff --git a/hydrogym/torch_env/kuramoto_sivashinsky/__init__.py b/hydrogym/experimental/kuramoto_sivashinsky/__init__.py similarity index 100% rename from hydrogym/torch_env/kuramoto_sivashinsky/__init__.py rename to hydrogym/experimental/kuramoto_sivashinsky/__init__.py diff --git a/hydrogym/torch_env/kuramoto_sivashinsky/flow.py b/hydrogym/experimental/kuramoto_sivashinsky/flow.py similarity index 100% rename from hydrogym/torch_env/kuramoto_sivashinsky/flow.py rename to hydrogym/experimental/kuramoto_sivashinsky/flow.py diff --git a/hydrogym/torch_env/kuramoto_sivashinsky/ks_init.tensor b/hydrogym/experimental/kuramoto_sivashinsky/ks_init.tensor similarity index 100% rename from hydrogym/torch_env/kuramoto_sivashinsky/ks_init.tensor rename to hydrogym/experimental/kuramoto_sivashinsky/ks_init.tensor diff --git a/hydrogym/torch_env/core_1DEnvs.py b/hydrogym/torch_env/core_1DEnvs.py deleted file mode 100644 index cce0d28..0000000 --- a/hydrogym/torch_env/core_1DEnvs.py +++ /dev/null @@ -1,187 +0,0 @@ -import abc -from typing import Any, Callable, Iterable, Tuple, TypeVar, Union - -import gym -# import gymnasium as gym -import numpy as np -from numpy.typing import ArrayLike - -class OneDimEnv(gym.Env): - - def __init__(self, env_config: dict): - self.backend = env_config.get("backend", {"torch"}) - - self.solver: PDESolver1D = env_config.get("flow")( - **env_config.get("flow_config", {})) - - self.observation_space = gym.spaces.Box( - low=-np.inf, - high=np.inf, - shape=(self.solver.num_outputs,), - dtype=float, - ) - - self.action_space = gym.spaces.Box( - low=-self.solver.MAX_CONTROL, - high=self.solver.MAX_CONTROL, - shape=(self.solver.num_inputs,), - dtype=float, - ) - - self.iter: int = 0 - self.max_steps = env_config.get("max_steps", 1e6) - self.dt = env_config.get("flow_config", {}).get("dt", None) - assert self.dt is not None, f"Error: Solver timestep dt ({self.dt}) must not be None" - - def constant_action_controller(self, t, y): - return self.action - - def step( - self, action: Iterable[ArrayLike] = None - ) -> Tuple[ArrayLike, float, bool, dict]: - """Advance the state of the environment. See gym.Env documentation - - Args: - action (Iterable[ActType], optional): Control inputs. Defaults to None. - - Returns: - Tuple[ObsType, float, bool, dict]: obs, reward, done, info - """ - - self.solver.step(control=action) - reward = self.get_reward() - obs = self.solver.get_observations() - done = self.check_complete() - info = {} - - self.iter += 1 - - return obs, reward, done, info - - def get_reward(self): - return -self.solver.evaluate_objective() - - def check_complete(self): - return self.iter > self.max_steps - - def reset(self) -> Union[ArrayLike, Tuple[ArrayLike, dict]]: - - self.solver.reset() - self.iter = 0 - info = {} - - return self.solver.get_observations(), info - - def render(self, mode="human", **kwargs): - self.solver.render(mode=mode, **kwargs) - - -class PDESolver1D(metaclass=abc.ABCMeta): - """ - Basic configuration of the 1D PDE Solver - - """ - - MAX_CONTROL = np.inf - DEFAULT_DT = np.inf - - def __init__(self, **config): - - - self.initialize_state() - - self.reset() - - if config.get("restart"): - self.load_checkpoint(config["restart"][0]) - - @property - @abc.abstractmethod - def num_inputs(self) -> int: - """Length of the control vector (number of actuators)""" - pass - - @property - @abc.abstractmethod - def num_outputs(self) -> int: - """Number of scalar observed variables""" - pass - - def reset(self): - """Reset the PDE to an initial state""" - pass - - @abc.abstractmethod - def get_observations(self) -> Iterable[ArrayLike]: - """Return the set of measurements/observations""" - pass - - @abc.abstractmethod - def render(self, **kwargs): - """Plot the current PDE state (called by `gym.Env`)""" - pass - - @abc.abstractmethod - def evaluate_objective(self) -> ArrayLike: - """Return the objective function to be minimized""" - pass - -if __name__ == '__main__': - # torch.set_default_tensor_type('torch.cuda.FloatTensor') - from tqdm import tqdm - import torch - - torch.manual_seed(0) - np.random.seed(0) - - import hydrogym - - config = { - "flow": hydrogym.torch_env.Kuramoto_Sivashinsky, - "flow_config": { - "dt": 0.001, - "restart": 'ks_init.tensor', - "num_sim_substeps_per_actuation": 250, - "device": 'cpu' - }, - "max_steps": 100, - } - - # ks_init = torch.load('/net/beegfs-hpc/work/lagemannk/container/hydrogym_dev2/home/firedrake/hydrogym_rllib_multiEnv/hydrogym/hydrogym/torch_env/ks_init.tensor') - env = OneDimEnv(config) - - action_space = env.action_space - observation_space = env.observation_space - - env.reset() - - action = torch.zeros(action_space.shape) - - results = [] - for _ in tqdm(range(2000)): - obs, reward, done, info = env.step(action) - results.append(obs.cpu().numpy()) - if done: - print('envrionment should be resetted') - env.reset() - - results = np.stack(results) - import matplotlib - matplotlib.use("Agg") - import matplotlib.pyplot as plt - - plt.figure(figsize=(16,8)) - plt.imshow(np.transpose(results), cmap='bwr', vmin=-2.0, vmax=2.0) - plt.xlabel('step') - plt.ylabel('observation') - plt.colorbar() - plt.show() - plt.savefig('/net/beegfs-hpc/work/lagemannk/container/workspace_christian_ext/logs/result.png', bbox_inches='tight') - plt.close() - - env.reset() - - - - - \ No newline at end of file From 10e42600e25072df3d379bd5d37038de361ac5e4 Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 16:51:37 +0100 Subject: [PATCH 12/17] Remove torch folder as it was refactored into an experimental folder. --- hydrogym/torch_env/__init__.py | 6 ------ 1 file changed, 6 deletions(-) delete mode 100644 hydrogym/torch_env/__init__.py diff --git a/hydrogym/torch_env/__init__.py b/hydrogym/torch_env/__init__.py deleted file mode 100644 index 27261db..0000000 --- a/hydrogym/torch_env/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -from hydrogym.core_1DEnvs import OneDimEnv, PDESolverBase1D - -from .kuramoto_sivashinsky import Kuramoto_Sivashinsky -from .burgers import Burgers - -__all__ = ["OneDimEnv", "PDESolverBase1D", "Kuramoto_Sivashinsky", "Burgers"] \ No newline at end of file From d719b15446dd5d4c794b1d38f6babd2a7b013b0a Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 16:55:31 +0100 Subject: [PATCH 13/17] Reformat flow description files to comply with Python design guidelines. --- hydrogym/firedrake/envs/cavity/flow.py | 17 +++---- hydrogym/firedrake/envs/cylinder/flow.py | 56 +++++------------------- hydrogym/firedrake/envs/pinball/flow.py | 21 +++++---- hydrogym/firedrake/envs/step/flow.py | 38 +++++++++------- 4 files changed, 49 insertions(+), 83 deletions(-) diff --git a/hydrogym/firedrake/envs/cavity/flow.py b/hydrogym/firedrake/envs/cavity/flow.py index b5caa7c..81efc48 100644 --- a/hydrogym/firedrake/envs/cavity/flow.py +++ b/hydrogym/firedrake/envs/cavity/flow.py @@ -16,16 +16,6 @@ class Cavity(FlowConfig): yp = np.linspace(-0.05, 0.05, 4) X, Y = np.meshgrid(xp, yp) DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] - - # # Pressure probes (spaced equally around the cylinder) - # xp = np.linspace(0.25, 0.95, 4) - # yp = np.linspace(-0.075, 0.075, 3) - # X, Y = np.meshgrid(xp, yp) - # DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] - # DEFAULT_PRES_PROBES.extend([(0.4833333, -0.15), (0.4833333, -0.225), - # (0.7166666, -0.15), (0.7166666, -0.225)]) - # DEFAULT_PRES_PROBES.extend([(1.05, 0.005), (1.2, 0.005), (1.35, 0.005), (1.5, 0.005)]) - xp = np.linspace(0.1, 0.5, 4) yp = np.linspace(-0.025, 0.025, 3) X, Y = np.meshgrid(xp, yp) @@ -128,7 +118,12 @@ def wall_stress_sensor(self, q=None): m = fd.assemble(-dot(grad(u[0]), self.n) * ds(self.SENSOR)) return (m,) - def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None, return_objective_values=False): + def evaluate_objective( + self, + q=None, + qB=None, + averaged_objective_values=None, + return_objective_values=False): if averaged_objective_values is None: if q is None: q = self.q diff --git a/hydrogym/firedrake/envs/cylinder/flow.py b/hydrogym/firedrake/envs/cylinder/flow.py index f810e60..50e6699 100644 --- a/hydrogym/firedrake/envs/cylinder/flow.py +++ b/hydrogym/firedrake/envs/cylinder/flow.py @@ -10,24 +10,6 @@ from hydrogym.firedrake import FlowConfig, ObservationFunction, ScaledDirichletBC -# # Velocity probes -# xp = np.linspace(1.0, 10.0, 16) -# yp = np.linspace(-2.0, 2.0, 4) -# X, Y = np.meshgrid(xp, yp) -# DEFAULT_VEL_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] - -# # Pressure probes (spaced equally around the cylinder) -# xp = np.linspace(1.0, 4.0, 4) -# yp = np.linspace(-0.66, 0.66, 3) -# X, Y = np.meshgrid(xp, yp) -# DEFAULT_PRES_PROBES = [(x, y) for x, y in zip(X.ravel(), Y.ravel())] - -# RADIUS = 0.5 -# DEFAULT_PRES_PROBES = [ -# (RADIUS * np.cos(theta), RADIUS * np.sin(theta)) -# for theta in np.linspace(0, 2 * np.pi, 20, endpoint=False) -# ] - RADIUS = 0.5 @@ -55,8 +37,6 @@ class CylinderBase(FlowConfig): DEFAULT_DT = 1e-2 # MAX_CONTROL = 0.5 * np.pi - # TAU = 0.556 # Time constant for controller damping (0.1*vortex shedding period) - # TAU = 0.278 # Time constant for controller damping (0.05*vortex shedding period) TAU = 0.0556 # Time constant for controller damping (0.01*vortex shedding period) # Domain labels @@ -72,9 +52,10 @@ class CylinderBase(FlowConfig): def num_inputs(self) -> int: return 1 # Rotary control - def configure_observations(self, - obs_type=None, - probe_obs_types={}) -> ObservationFunction: + def configure_observations( + self, + obs_type=None, + probe_obs_types={}) -> ObservationFunction: if obs_type is None: obs_type = "lift_drag" @@ -158,7 +139,7 @@ def shear_force(self, q: fd.Function = None) -> float: (u, p) = fd.split(q) (v, s) = fd.TestFunctions(self.mixed_space) - # der of velocity wrt to the unit normal at the surface of the cylinder + # Order of velocity wrt to the unit normal at the surface of the cylinder # equivalent to directional derivative along normal: du_dn = dot(self.epsilon(u), self.n) @@ -175,32 +156,17 @@ def shear_force(self, q: fd.Function = None) -> float: (direction / self.Re * sqrt(du_dn_t[0]**2 + du_dn_t[1]**2)) * ds(self.CYLINDER)) - # TODO: Add back in when linearization is fixed - # def linearize_control(self, qB=None): - # """ - # Solve linear problem with nonzero Dirichlet BCs to derive forcing term for unsteady DNS - # """ - # if qB is None: - # qB = self.solve_steady() - - # A = self.linearize_dynamics(qB, adjoint=False) - # # M = self.mass_matrix() - # self.linearize_bcs() # Linearize BCs first (sets freestream to zero) - # self.set_control([1.0]) # Now change the cylinder rotation TODO: FIX - - # (v, _) = fd.TestFunctions(self.mixed_space) - # zero = fd.inner(fd.Constant((0, 0)), v) * fd.dx # Zero RHS for linear form - - # f = fd.Function(self.mixed_space) - # fd.solve(A == zero, f, bcs=self.collect_bcs()) - # return f - def linearize_bcs(self, function_spaces=None): self.reset_controls(function_spaces=function_spaces) self.bcu_inflow.set_value(fd.Constant((0, 0))) self.bcu_freestream.set_value(fd.Constant(0.0)) - def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None, lambda_value=0.2, return_objective_values=False) -> float: + def evaluate_objective( + self, + q: fd.Function = None, + averaged_objective_values=None, + lambda_value=0.2, + return_objective_values=False) -> float: """The objective function for this flow is the drag coefficient""" if averaged_objective_values is None: CL, CD = self.compute_forces(q=q) diff --git a/hydrogym/firedrake/envs/pinball/flow.py b/hydrogym/firedrake/envs/pinball/flow.py index 769d61e..1caf37e 100644 --- a/hydrogym/firedrake/envs/pinball/flow.py +++ b/hydrogym/firedrake/envs/pinball/flow.py @@ -98,9 +98,10 @@ def init_bcs(self, function_spaces=None): def num_inputs(self) -> int: return len(self.CYLINDER) - def configure_observations(self, - obs_type=None, - probe_obs_types={}) -> ObservationFunction: + def configure_observations( + self, + obs_type=None, + probe_obs_types={}) -> ObservationFunction: if obs_type is None: obs_type = "lift_drag" @@ -141,11 +142,11 @@ def linearize_bcs(self, function_spaces=None): self.bcu_inflow.set_value(fd.Constant((0, 0))) self.bcu_freestream.set_value(fd.Constant(0.0)) - # def get_observations(self): - # CL, CD = self.compute_forces() - # return [*CL, *CD] - - def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=None, return_objective_values=False) -> float: + def evaluate_objective( + self, + q: fd.Function = None, + averaged_objective_values=None, + return_objective_values=False) -> float: """The objective function for this flow is the drag coefficient""" if averaged_objective_values is None: CL, CD = self.compute_forces(q=q) @@ -153,10 +154,8 @@ def evaluate_objective(self, q: fd.Function = None, averaged_objective_values=No return [*CL, *CD] else: CL, CD = averaged_objective_values[:3], averaged_objective_values[3:] - # print('pinball lambda', self.reward_lambda, CD, sum(np.square(CD)), flush=True) - # return sum(np.square(CD)) + self.reward_lambda * sum(np.square(CL)) + return sum(CD) - # return -(1.5 - (sum(CD) + self.reward_lambda * np.abs(sum(CL)))) def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): if clim is None: diff --git a/hydrogym/firedrake/envs/step/flow.py b/hydrogym/firedrake/envs/step/flow.py index 4b9ed26..9551693 100644 --- a/hydrogym/firedrake/envs/step/flow.py +++ b/hydrogym/firedrake/envs/step/flow.py @@ -26,8 +26,6 @@ class Step(FlowConfig): """ # Velocity probes - # xp = np.linspace(3, 8.5, 7) - # yp = np.linspace(-0.475, -0.2, 3) xp = np.linspace(0.1, 3, 5) yp = np.linspace(-0.1, 0.2, 4) X, Y = np.meshgrid(xp, yp) @@ -99,9 +97,10 @@ def body_force(self): exp(-((self.x - x0)**2 + (self.y - y0)**2) / delta**2), )) - def configure_observations(self, - obs_type=None, - probe_obs_types={}) -> ObservationFunction: + def configure_observations( + self, + obs_type=None, + probe_obs_types={}) -> ObservationFunction: if obs_type is None: obs_type = "stress_sensor" # Shear stress on downstream wall @@ -125,13 +124,18 @@ def init_bcs(self, function_spaces=None): # Define static boundary conditions self.U_inf = ufl.as_tensor( (1.0 - ((self.y - 0.25) / 0.25)**2, 0.0 * self.y)) - self.bcu_inflow = fd.DirichletBC(V, self.U_inf, self.INLET) - # self.bcu_noslip = fd.DirichletBC(V, fd.Constant((0, 0)), - # (self.WALL, self.SENSOR)) - self.bcu_noslip = fd.DirichletBC(V, fd.Constant((0, 0)), - # (self.WALL, self.SENSOR)) - (self.WALL, 6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30)) - self.bcp_outflow = fd.DirichletBC(Q, fd.Constant(0), self.OUTLET) + self.bcu_inflow = fd.DirichletBC( + V, + self.U_inf, + self.INLET) + self.bcu_noslip = fd.DirichletBC( + V, + fd.Constant((0, 0)), + (self.WALL, 6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30)) + self.bcp_outflow = fd.DirichletBC( + Q, + fd.Constant(0), + self.OUTLET) # Define time-varying boundary conditions for actuation u_bc = ufl.as_tensor((0.0 * self.x, -self.x * (1600 * self.x + 560) / 147)) @@ -196,7 +200,12 @@ def wall_stress_sensor(self, q=None, sensor=None): m = fd.assemble(-dot(grad(u[0]), self.n) * ds(sensor)) return (m,) - def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None, return_objective_values=False): + def evaluate_objective( + self, + q=None, + qB=None, + averaged_objective_values=None, + return_objective_values=False): if averaged_objective_values is None: if q is None: q = self.q @@ -207,9 +216,6 @@ def evaluate_objective(self, q=None, qB=None, averaged_objective_values=None, re KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) else: KE = averaged_objective_values[0] - # print("KE", KE, flush=True) - # ReLen = self.reattachment_length(q) - # print("Reattachment length", ReLen[0], flush=True) return KE def render( From 9df8e649f8b151a0617694d1ed4bb1d1f96f7859 Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 16:59:18 +0100 Subject: [PATCH 14/17] Clean up to remove experimental features from the core --- hydrogym/__init__.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/hydrogym/__init__.py b/hydrogym/__init__.py index 40f5169..fc5c270 100644 --- a/hydrogym/__init__.py +++ b/hydrogym/__init__.py @@ -1,5 +1,2 @@ -from . import distributed, firedrake, torch_env +from . import distributed, firedrake from .core import CallbackBase, FlowEnv, PDEBase, TransientSolver -from .core_1DEnvs import OneDimEnv, PDESolverBase1D - -from .torch_env import Kuramoto_Sivashinsky, Burgers # isort:skip From 1f4f989515839bb1bbc89aaf1ba74127460175d5 Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 17:04:32 +0100 Subject: [PATCH 15/17] Remove unused assignment of t. --- hydrogym/core.py | 1 - 1 file changed, 1 deletion(-) diff --git a/hydrogym/core.py b/hydrogym/core.py index 9ab3770..755bc97 100644 --- a/hydrogym/core.py +++ b/hydrogym/core.py @@ -453,7 +453,6 @@ def step( else: self.solver.step(self.iter, control=action) self.iter += 1 - t = self.iter * self.solver.dt self.t += self.dt reward = self.get_reward() From 9ac74bc3edee6f6caa00dd4c4083ef2334d1c393 Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 17:07:54 +0100 Subject: [PATCH 16/17] yapf formatting --- hydrogym/firedrake/envs/cavity/flow.py | 27 +++++---- hydrogym/firedrake/envs/cylinder/flow.py | 26 ++++----- hydrogym/firedrake/envs/pinball/flow.py | 56 +++++++++--------- hydrogym/firedrake/envs/step/flow.py | 73 +++++++++++------------- hydrogym/firedrake/utils/io.py | 51 +++++++++-------- 5 files changed, 111 insertions(+), 122 deletions(-) diff --git a/hydrogym/firedrake/envs/cavity/flow.py b/hydrogym/firedrake/envs/cavity/flow.py index 81efc48..828d6e7 100644 --- a/hydrogym/firedrake/envs/cavity/flow.py +++ b/hydrogym/firedrake/envs/cavity/flow.py @@ -118,22 +118,21 @@ def wall_stress_sensor(self, q=None): m = fd.assemble(-dot(grad(u[0]), self.n) * ds(self.SENSOR)) return (m,) - def evaluate_objective( - self, - q=None, - qB=None, - averaged_objective_values=None, - return_objective_values=False): + def evaluate_objective(self, + q=None, + qB=None, + averaged_objective_values=None, + return_objective_values=False): if averaged_objective_values is None: - if q is None: - q = self.q - if qB is None: - qB = self.qB - u = q.subfunctions[0] - uB = qB.subfunctions[0] - KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) + if q is None: + q = self.q + if qB is None: + qB = self.qB + u = q.subfunctions[0] + uB = qB.subfunctions[0] + KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) else: - KE = averaged_objective_values[0] + KE = averaged_objective_values[0] return KE def render(self, mode="human", clim=None, levels=None, cmap="RdBu", **kwargs): diff --git a/hydrogym/firedrake/envs/cylinder/flow.py b/hydrogym/firedrake/envs/cylinder/flow.py index 50e6699..e35a774 100644 --- a/hydrogym/firedrake/envs/cylinder/flow.py +++ b/hydrogym/firedrake/envs/cylinder/flow.py @@ -52,10 +52,9 @@ class CylinderBase(FlowConfig): def num_inputs(self) -> int: return 1 # Rotary control - def configure_observations( - self, - obs_type=None, - probe_obs_types={}) -> ObservationFunction: + def configure_observations(self, + obs_type=None, + probe_obs_types={}) -> ObservationFunction: if obs_type is None: obs_type = "lift_drag" @@ -161,19 +160,18 @@ def linearize_bcs(self, function_spaces=None): self.bcu_inflow.set_value(fd.Constant((0, 0))) self.bcu_freestream.set_value(fd.Constant(0.0)) - def evaluate_objective( - self, - q: fd.Function = None, - averaged_objective_values=None, - lambda_value=0.2, - return_objective_values=False) -> float: + def evaluate_objective(self, + q: fd.Function = None, + averaged_objective_values=None, + lambda_value=0.2, + return_objective_values=False) -> float: """The objective function for this flow is the drag coefficient""" if averaged_objective_values is None: - CL, CD = self.compute_forces(q=q) - if return_objective_values: - return CL, CD + CL, CD = self.compute_forces(q=q) + if return_objective_values: + return CL, CD else: - CL, CD = averaged_objective_values + CL, CD = averaged_objective_values # return np.square(CD) + lambda_value * np.square(CL) return np.abs(CD) + lambda_value * np.abs(CL) diff --git a/hydrogym/firedrake/envs/pinball/flow.py b/hydrogym/firedrake/envs/pinball/flow.py index 1caf37e..a301ec9 100644 --- a/hydrogym/firedrake/envs/pinball/flow.py +++ b/hydrogym/firedrake/envs/pinball/flow.py @@ -14,7 +14,7 @@ class Pinball(FlowConfig): rad = 0.5 - + # Velocity probes xp = np.linspace(3, 9, 6) yp = np.linspace(-1.25, 1.25, 5) @@ -26,22 +26,20 @@ class Pinball(FlowConfig): yp = np.linspace(-0.66, 0.66, 3) X, Y = np.meshgrid(xp, yp) - DEFAULT_PRES_PROBES = [ - (rad * 1.5 * 1.866 - 0.51, 1.5 * rad), - (rad * 1.5 * 1.866, 1.5 * rad + 0.51), - (rad * 1.5 * 1.866 + 0.5, 1.5 * rad+ 0.51), - (rad * 1.5 * 1.866 - 0.51, -1.5 * rad), - (rad * 1.5 * 1.866, -(1.5 * rad + 0.51)), - (rad * 1.5 * 1.866 + 0.5, -(1.5 * rad+ 0.51)), - (rad * 1.5 * 1.866 + 1.5, 1.5 * rad - 0.5), - (rad * 1.5 * 1.866 + 2.5, 1.5 * rad - 0.25), - (rad * 1.5 * 1.866 + 1.5, 1.5 * rad + 0.5), - (rad * 1.5 * 1.866 + 2.5, 1.5 * rad + 0.75), - (rad * 1.5 * 1.866 + 1.5, -(1.5 * rad - 0.5)), - (rad * 1.5 * 1.866 + 2.5, -(1.5 * rad - 0.25)), - (rad * 1.5 * 1.866 + 1.5, -(1.5 * rad + 0.5)), - (rad * 1.5 * 1.866 + 2.5, -(1.5 * rad + 0.75)) - ] + DEFAULT_PRES_PROBES = [(rad * 1.5 * 1.866 - 0.51, 1.5 * rad), + (rad * 1.5 * 1.866, 1.5 * rad + 0.51), + (rad * 1.5 * 1.866 + 0.5, 1.5 * rad + 0.51), + (rad * 1.5 * 1.866 - 0.51, -1.5 * rad), + (rad * 1.5 * 1.866, -(1.5 * rad + 0.51)), + (rad * 1.5 * 1.866 + 0.5, -(1.5 * rad + 0.51)), + (rad * 1.5 * 1.866 + 1.5, 1.5 * rad - 0.5), + (rad * 1.5 * 1.866 + 2.5, 1.5 * rad - 0.25), + (rad * 1.5 * 1.866 + 1.5, 1.5 * rad + 0.5), + (rad * 1.5 * 1.866 + 2.5, 1.5 * rad + 0.75), + (rad * 1.5 * 1.866 + 1.5, -(1.5 * rad - 0.5)), + (rad * 1.5 * 1.866 + 2.5, -(1.5 * rad - 0.25)), + (rad * 1.5 * 1.866 + 1.5, -(1.5 * rad + 0.5)), + (rad * 1.5 * 1.866 + 2.5, -(1.5 * rad + 0.75))] DEFAULT_VORT_PROBES = DEFAULT_PRES_PROBES @@ -98,10 +96,9 @@ def init_bcs(self, function_spaces=None): def num_inputs(self) -> int: return len(self.CYLINDER) - def configure_observations( - self, - obs_type=None, - probe_obs_types={}) -> ObservationFunction: + def configure_observations(self, + obs_type=None, + probe_obs_types={}) -> ObservationFunction: if obs_type is None: obs_type = "lift_drag" @@ -142,18 +139,17 @@ def linearize_bcs(self, function_spaces=None): self.bcu_inflow.set_value(fd.Constant((0, 0))) self.bcu_freestream.set_value(fd.Constant(0.0)) - def evaluate_objective( - self, - q: fd.Function = None, - averaged_objective_values=None, - return_objective_values=False) -> float: + def evaluate_objective(self, + q: fd.Function = None, + averaged_objective_values=None, + return_objective_values=False) -> float: """The objective function for this flow is the drag coefficient""" if averaged_objective_values is None: - CL, CD = self.compute_forces(q=q) - if return_objective_values: - return [*CL, *CD] + CL, CD = self.compute_forces(q=q) + if return_objective_values: + return [*CL, *CD] else: - CL, CD = averaged_objective_values[:3], averaged_objective_values[3:] + CL, CD = averaged_objective_values[:3], averaged_objective_values[3:] return sum(CD) diff --git a/hydrogym/firedrake/envs/step/flow.py b/hydrogym/firedrake/envs/step/flow.py index 9551693..5fb81ee 100644 --- a/hydrogym/firedrake/envs/step/flow.py +++ b/hydrogym/firedrake/envs/step/flow.py @@ -57,12 +57,12 @@ class Step(FlowConfig): WALL = 4 CONTROL = 5 SENSOR = 16 - START_SENSOR = 6 + START_SENSOR = 6 - NUM_SENSORS = 30 # Total number of sensors - START_SENSOR_X = 2.7 # x placement of first sensor - SENSOR_LEN = 0.2 # Length of each sensor - END_SENSOR_X = 7.7 # x placement of last sensor + NUM_SENSORS = 30 # Total number of sensors + START_SENSOR_X = 2.7 # x placement of first sensor + SENSOR_LEN = 0.2 # Length of each sensor + END_SENSOR_X = 7.7 # x placement of last sensor MESH_DIR = os.path.abspath(f"{__file__}/..") @@ -97,17 +97,18 @@ def body_force(self): exp(-((self.x - x0)**2 + (self.y - y0)**2) / delta**2), )) - def configure_observations( - self, - obs_type=None, - probe_obs_types={}) -> ObservationFunction: + def configure_observations(self, + obs_type=None, + probe_obs_types={}) -> ObservationFunction: if obs_type is None: obs_type = "stress_sensor" # Shear stress on downstream wall supported_obs_types = { **probe_obs_types, - "stress_sensor": ObservationFunction(self.wall_stress_sensor, num_outputs=1), - "reattachment": ObservationFunction(self.reattachment_length, num_outputs=1), + "stress_sensor": + ObservationFunction(self.wall_stress_sensor, num_outputs=1), + "reattachment": + ObservationFunction(self.reattachment_length, num_outputs=1), } if obs_type not in supported_obs_types: @@ -124,18 +125,11 @@ def init_bcs(self, function_spaces=None): # Define static boundary conditions self.U_inf = ufl.as_tensor( (1.0 - ((self.y - 0.25) / 0.25)**2, 0.0 * self.y)) - self.bcu_inflow = fd.DirichletBC( - V, - self.U_inf, - self.INLET) - self.bcu_noslip = fd.DirichletBC( - V, - fd.Constant((0, 0)), - (self.WALL, 6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30)) - self.bcp_outflow = fd.DirichletBC( - Q, - fd.Constant(0), - self.OUTLET) + self.bcu_inflow = fd.DirichletBC(V, self.U_inf, self.INLET) + self.bcu_noslip = fd.DirichletBC(V, fd.Constant( + (0, 0)), (self.WALL, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, + 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)) + self.bcp_outflow = fd.DirichletBC(Q, fd.Constant(0), self.OUTLET) # Define time-varying boundary conditions for actuation u_bc = ufl.as_tensor((0.0 * self.x, -self.x * (1600 * self.x + 560) / 147)) @@ -173,7 +167,7 @@ def collect_bcu(self): def collect_bcp(self): return [self.bcp_outflow] - + def reattachment_length(self, q=None): """Estimate of reattachment length from wall shear stress""" if q is None: @@ -183,9 +177,9 @@ def reattachment_length(self, q=None): for n in range(self.START_SENSOR, self.NUM_SENSORS + 1): shear_stress.append(self.wall_stress_sensor(q=None, sensor=n)[0]) # print(shear_stress) - zero_gradient = [i for i,ss in enumerate(shear_stress) if ss >= 0.0] + zero_gradient = [i for i, ss in enumerate(shear_stress) if ss >= 0.0] if len(zero_gradient) > 0: - xr = zero_gradient[0]*self.SENSOR_LEN + self.START_SENSOR_X + xr = zero_gradient[0] * self.SENSOR_LEN + self.START_SENSOR_X else: xr = self.END_SENSOR_X return (xr,) @@ -200,22 +194,21 @@ def wall_stress_sensor(self, q=None, sensor=None): m = fd.assemble(-dot(grad(u[0]), self.n) * ds(sensor)) return (m,) - def evaluate_objective( - self, - q=None, - qB=None, - averaged_objective_values=None, - return_objective_values=False): + def evaluate_objective(self, + q=None, + qB=None, + averaged_objective_values=None, + return_objective_values=False): if averaged_objective_values is None: - if q is None: - q = self.q - if qB is None: - qB = self.qB - u = q.subfunctions[0] - uB = qB.subfunctions[0] - KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) + if q is None: + q = self.q + if qB is None: + qB = self.qB + u = q.subfunctions[0] + uB = qB.subfunctions[0] + KE = 0.5 * fd.assemble(fd.inner(u - uB, u - uB) * fd.dx) else: - KE = averaged_objective_values[0] + KE = averaged_objective_values[0] return KE def render( diff --git a/hydrogym/firedrake/utils/io.py b/hydrogym/firedrake/utils/io.py index 43af8f0..44f9874 100644 --- a/hydrogym/firedrake/utils/io.py +++ b/hydrogym/firedrake/utils/io.py @@ -82,34 +82,37 @@ def __call__(self, iter: int, t: float, flow: Tuple[fd.Function]): if self.print_fmt is not None: print(self.print_fmt.format(*new_data.ravel())) + def log_postprocess(flow): - obs = flow.evaluate_objective(return_objective_values=True) - if isinstance(obs, collections.abc.Iterable): - return obs - else: - return [obs] + obs = flow.evaluate_objective(return_objective_values=True) + if isinstance(obs, collections.abc.Iterable): + return obs + else: + return [obs] + class RewardCallback(CallbackBase): - def __init__( - self, - num_sim_substeps_per_actuation: int, - postprocess: Callable = log_postprocess, - interval: Optional[int] = 1, - ): - super().__init__(interval=interval) - self.postprocess = postprocess - self.num_sim_substeps_per_actuation = num_sim_substeps_per_actuation - self.data = [] - def __call__(self, iter: int, t: float, flow: Tuple[fd.Function]): - if iter % self.interval == 0: - # self.data.append([self.postprocess(flow)]) - self.data.append([*self.postprocess(flow)]) - # if ((iter + 1) * self.dt * 10e6) % (self.DT * 10e6) == 0: - if (iter + 1) % self.num_sim_substeps_per_actuation == 0: - self.data = np.array(self.data) - flow.reward_array = self.data - self.data = [] + def __init__( + self, + num_sim_substeps_per_actuation: int, + postprocess: Callable = log_postprocess, + interval: Optional[int] = 1, + ): + super().__init__(interval=interval) + self.postprocess = postprocess + self.num_sim_substeps_per_actuation = num_sim_substeps_per_actuation + self.data = [] + + def __call__(self, iter: int, t: float, flow: Tuple[fd.Function]): + if iter % self.interval == 0: + # self.data.append([self.postprocess(flow)]) + self.data.append([*self.postprocess(flow)]) + # if ((iter + 1) * self.dt * 10e6) % (self.DT * 10e6) == 0: + if (iter + 1) % self.num_sim_substeps_per_actuation == 0: + self.data = np.array(self.data) + flow.reward_array = self.data + self.data = [] class SnapshotCallback(CallbackBase): From df0cb037c034c489ef7e5b779df0b93cc3376d52 Mon Sep 17 00:00:00 2001 From: Ludger Paehler Date: Sun, 27 Oct 2024 17:11:51 +0100 Subject: [PATCH 17/17] yapf formatting of the pressure probes. --- examples/cylinder/pressure-probes.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/examples/cylinder/pressure-probes.py b/examples/cylinder/pressure-probes.py index 4907753..eb25cde 100644 --- a/examples/cylinder/pressure-probes.py +++ b/examples/cylinder/pressure-probes.py @@ -51,7 +51,8 @@ def log_postprocess(flow): print_fmt = "t: {0:0.2f},\t\t p[4]: {5}" # This will format the output log = hgym.utils.io.LogCallback( postprocess=log_postprocess, - nvals=n_probes*2 + 1 if observation_type == "velocity_probes" else n_probes + 1, + nvals=n_probes * 2 + + 1 if observation_type == "velocity_probes" else n_probes + 1, interval=1, print_fmt=print_fmt, filename=data_file,