Kevin Zakka
146a5c08f7
This resulted from a lengthy collaboration with @kevinzakka, @jonathanembleyriches, @nimrod-gileadi, @gizemozd, @quagla, and @yuval.
96 lines
2.5 KiB
Python
96 lines
2.5 KiB
Python
from typing import Any
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from mujoco.sysid._src import parameter
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from mujoco.sysid.report.sections.base import ReportSection
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class AutomatedInsights(ReportSection):
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"""
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Analyzes identification results and generates automated insights/suggestions.
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Currently checks for parameters stuck at boundaries.
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"""
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def __init__(
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self,
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title: str,
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parameter_dict: parameter.ParameterDict,
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anchor: str = "insights",
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collapsible: bool = True,
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):
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# Default to collapsed
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super().__init__(collapsible=collapsible, is_open=False)
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self._anchor = anchor
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self._parameter_dict = parameter_dict
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self._x_hat = parameter_dict.as_vector()
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self._insights = self._generate_insights()
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self._n_warnings = len([i for i in self._insights if i["type"] == "warning"])
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self._title = f"Log - {self._n_warnings} warnings"
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def _generate_insights(self) -> list[dict[str, Any]]:
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insights = []
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# Logic: Check for boundary hits
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param_names = self._parameter_dict.get_non_frozen_parameter_names()
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bounds = self._parameter_dict.get_bounds()
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lower_bounds, upper_bounds = bounds
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if len(self._x_hat) != len(param_names):
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raise ValueError("Parameter count mismatch")
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for i, name in enumerate(param_names):
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val = self._x_hat[i]
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lb = lower_bounds[i]
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ub = upper_bounds[i]
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rng = max(ub - lb, 1e-9)
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# Threshold: 0.1% of range or 1e-6 absolute
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threshold = rng * 1e-3
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if threshold < 1e-8:
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threshold = 1e-8
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if abs(val - lb) < threshold:
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insights.append(
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{
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"type": "warning",
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"title": "Lower Bound Hit",
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"message": f"Parameter <b>{name}</b> ({val:.4g}) is at its lower bound ({lb:.4g}).",
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}
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)
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elif abs(val - ub) < threshold:
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insights.append(
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{
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"type": "warning",
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"title": "Upper Bound Hit",
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"message": f"Parameter <b>{name}</b> ({val:.4g}) is at its upper bound ({ub:.4g}).",
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}
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)
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if not insights:
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insights.append(
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{
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"type": "success",
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"title": "No Issues Detected",
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"message": "All parameters are within their bounds.",
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}
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)
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return insights
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@property
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def template_filename(self) -> str:
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return "insights.html"
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@property
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def title(self) -> str:
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return self._title
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@property
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def anchor(self) -> str:
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return self._anchor
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def get_context(self) -> dict[str, Any]:
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return {"title": self._title, "insights": self._insights}
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