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Robust Neural Network-Based Discovery of Dynamical Systems

This module builds on top of Djemou et al's work in order to implement techniques that allow for more robustness against noise in the training data for the discovery of dynamics. The corresponding draft of the paper can be found here.

Installation

The code is written in Python.

This package requires jax to be installed. The package further requires dm-haiku for neural networks in jax and optax a gradient processing and optimization library for JAX.

However, there are some incompatibilities between versions of packages that are used for different purposes. Two requirements.txt files are included, with the intention of them being used for the creation of two virtual environments. Both virtual environments were used along with Python 3.10.12, which I highly recommend using too to avoid conflicts, although a more recent verison should pose little to no issues.

Installation Steps

1. Clone this repo

You can do it by running the following command in the terminal:

git clone https://github.com/santiago-a-serrano/robust_physics_constrained_nn.git

2. Create two virtual environments, "default" and "gen", and install the requirements (including robust_physics_constrained_nn)

The "default" environment will be used for running most scripts, while "gen" will be used for generating training data (trajectories). More information on that follows.

python3.10 -m venv default
source default/bin/activate # Unix/Linux/macOS
default\Scripts\activate # Windows
cd robust_physics_constrained_nn/
pip install -r requirements_default.txt
python -m pip install -e .
deactivate

cd ..
python3.10 -m venv gen
source gen/bin/activate # Unix/Linux/macOS
gen\Scripts\activate # Windows
cd robust_physics_constrained_nn/
pip install -r requirements_gen.txt
python -m pip install -e .
deactivate

You can later activate any of the two environments with

deactivate # Run this previously to deactivate the current environment
source environment_path/bin/activate # Unix/Linux/macOS
environment_path\Scripts\activate # Windows

Usage

Generate data (trajectories)

To first generate the data required to train the neural network, modify the dataset_gen.yaml file inside the robust_physics_constrained_nn/examples/double_pendulum directory and generate the dataset as follows:

cd robust_physics_constrained_nn/examples/double_pendulum
python generate_sample.py --cfg dataset_gen.yaml --output_file generated/trajectories/traj_name

Remember to use the "gen" virtual environment. After this, everything else should be done with the "default" environment.

⚠️ If you get a FileNotFoundError, see Common Error Troubleshooting.

Training

After the file has been generated, modify the parameters of your training from nets_params.yaml and proceed to the training as follows:

python train.py --cfg nets_params.yaml --input_file generated/trajectories/traj_name.pkl --output_file generated/trained_models/model_name --baseline base --side_info 0

where the baseline is either base or rk4 and the side info is either 0 (no side information), 1 (structural knowledge of vector field), and 2 (structural knowledge + symmetry constraints).

Model comparison

Finally, to plot the results, execute the command line

python perform_comparison.py --logdirs generated/trained_models/model_name1.pkl generated/trained_models/model_name2.pkl ... --legend 'Model 1' 'Model 2' ... --colors red green ... --num_traj 100 --num_point_in_traj 100 --seed 5 --show_constraints --window 5

Other comparisons

Other comparisons, like the ones shown in the paper, can be achieved by running the following scripts inside the robust_physics_constrained_nn/examples/double_pendulum/ directory. Remember to run the scripts using the default virtual environment.

  • adv_noise_comparison.py compares the accumulated error of 4 approaches (with various levels of adversarial noise): _ A1 with and without gradient regulatization. _ A2 with and without gradient regularization. (See paper for A1 and A2 definitions). * The trained models can be specified by changing the default values of the trained_models variable. Some other parameters (that won't have to be modified in most cases) can be modified as needed in the first lines of the main function.
  • nn_vs_gp_vs_sindy.py compares the accumulated error of SINDy, GPSINDy, and four chosen trained models.
    • The trained models can be specified by changing the default values of the trained_models variable. The optimized hyperparameters for the Gaussian Process regression must be specified in optimized_hyperparams. The paths of the data to train SINDy and GPSINDy with can be specified in sindy_train_paths. Some other parameters (that won't have to be modified in most cases) can be modified as needed in the first lines of the main function.
  • nn_vs_gradregnn.py compares the accumulated error of four chosen trained models.
    • The trained models can be specified by changing the default values of the trained_models variable. Some other parameters (that won't have to be modified in most cases) can be modified as needed in the first lines of the main function.
  • no_gpr_vs_gpr.py compares the accumulated error of a basic neural network and that network but with Gaussian Process regression.
    • The trained models can be specified by changing the default values of the trained_models variable. Some other parameters (that won't have to be modified in most cases) can be modified as needed in the first lines of the main function.
  • sindy_vs_gpsindy.py compares the accumulated error of SINDy and GPSINDy for the specified noise level.
    • Most important parameters will be asked as input in the terminal as the script runs. Some other parameters (that won't have to be modified in most cases) can be modified as needed in the first lines of the main function.
    • The file itself contains a comment with already-optimized hyperparameters that you can use for various levels of Gaussian noise.

Adversarial noise generation

adversarial_noise_finder.py generates the adversarial noise that can be later specified in dataset_gen.yaml.

Four parameters must be specified at the end of the file, when calling the main function:

  1. ∥ϵ∥ (max_x_noise).
  2. The model to generate adversarial noise against (trained_model_path).
  3. Trajectories (input data) to be used when generating the noise (trajectories_path).
  4. If A1 (False) or A2 (True) is to be implemented (make_traj_noise).

To generate the noise, just run the script.

Pregenerated Files

In order to help save training and data generation time/computing, some pregenerated trajectories, trained models, and adversarial noise are available under robust_physics_constrained_nn/examples/double_pendulum/pregenerated/.

Suggested Extension (optional)

The pregenerated file formats can be pre-visualized within VS Code with the vscode-pydata-viewer extension. Although it is not necessary to visualize them in order to use them, it may be helpful to understand them better.

Common Error Troubleshooting

  • FileNotFoundError: [Errno 2] No such file or directory: This error will very likely occur because the directory specified has not been created yet. As Git doesn't store empty directories, you'll have to create the robust_physics_constrained_nn\examples\double_pendulum\generated directory and subdirectories that are default in the code and terminal examples.
  • In case you have any other troubles with this repository, feel free to contact me at santiagoserrano334@gmail.com, or open a GitHub Issue.