torchfilter.data¶
Dataset utilities for learning & evaluating state estimators in PyTorch.
Package Contents¶
Classes¶
A dataset interface for pre-training particle filter measurement models. |
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A dataset interface that returns single-step training examples: |
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A data preprocessor for producing training subsequences from |
Functions¶
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Helper for splitting a list of trajectories into a list of overlapping |
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class
torchfilter.data.ParticleFilterMeasurementDataset(trajectories: List[types.TrajectoryNumpy], *, covariance: np.ndarray, samples_per_pair: int, **kwargs)[source]¶ Bases:
torch.utils.data.Dataset
A dataset interface for pre-training particle filter measurement models.
Centers Gaussian distributions around our ground-truth states, and provides examples for learning the log-likelihood.
- Parameters
trajectories (List[torchfilter.types.TrajectoryNumpy]) – List of trajectories.
- Keyword Arguments
covariance (np.ndarray) – Covariance of Gaussian PDFs.
samples_per_pair (int) – Number of training examples to provide for each state/observation pair. Half of these will typically be generated close to the example, and the other half far away.
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__getitem__(self, index) → Tuple[types.StatesNumpy, types.ObservationsNumpy, np.ndarray][source]¶ Get a state/observation/log-likelihood sample from our dataset. Nominally, we want our measurement model to predict the returned log-likelihood as the PDF of the
p(observation | state)distribution.- Parameters
index (int) – Subsequence number in our dataset.
- Returns
tuple –
(state, observation, log-likelihood)tuple.
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class
torchfilter.data.SingleStepDataset(trajectories: List[types.TrajectoryNumpy])[source]¶ Bases:
torch.utils.data.Dataset
A dataset interface that returns single-step training examples:
(previous_state, state, observation, control)By default, extracts these examples from a list of trajectories.
- Parameters
trajectories (List[torchfilter.types.TrajectoryNumpy]) – List of trajectories.
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__getitem__(self, index: int) → Tuple[types.StatesNumpy, types.StatesNumpy, types.ObservationsNumpy, types.ControlsNumpy][source]¶ Get a single-step prediction sample from our dataset.
- Parameters
index (int) – Subsequence number in our dataset.
- Returns
tuple –
(previous_state, state, observation, control)tuple that contains data for a single subsequence. Each tuple member should be either a numpy array or dict of numpy arrays with shape(subsequence_length, ...).
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torchfilter.data.split_trajectories(trajectories: List[types.TrajectoryNumpy], subsequence_length: int) → List[types.TrajectoryNumpy][source]¶ Helper for splitting a list of trajectories into a list of overlapping subsequences.
For each trajectory, assuming a subsequence length of 10, this function includes in its output overlapping subsequences corresponding to timesteps…
[0:10], [10:20], [20:30], ...
as well as…
[5:15], [15:25], [25:30], ...
- Parameters
trajectories (List[torchfilter.base.TrajectoryNumpy]) – List of trajectories.
subsequence_length (int) – # of timesteps per subsequence.
- Returns
List[torchfilter.base.TrajectoryNumpy] – List of subsequences.
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class
torchfilter.data.SubsequenceDataset(trajectories: List[types.TrajectoryNumpy], subsequence_length: int)[source]¶ Bases:
torch.utils.data.Dataset
A data preprocessor for producing training subsequences from a list of trajectories.
Thin wrapper around
torchfilter.data.split_trajectories().- Parameters
trajectories (list) – list of trajectories, where each is a tuple of
(states, observations, controls). Each tuple member should be either a numpy array or dict of numpy arrays with shape(T, ...).subsequence_length (int) – # of timesteps per subsequence.
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__getitem__(self, index: int) → types.TrajectoryNumpy[source]¶ Get a subsequence from our dataset.
- Parameters
index (int) – Subsequence number in our dataset.
- Returns
tuple –
(states, observations, controls)tuple that contains data for a single subsequence. Each tuple member should be either a numpy array or dict of numpy arrays with shape(subsequence_length, ...).