one day

Now I’m going to talk about one day, a that’s yesterday!
When the day comes, I will first eat breakfast, second of all, I do the school work, then I eat dinner. Third of all, I sleep and work, we have to sleep in noon here, your ear burn’s when you wake up. fourth of all, I write the diary and have class and read books out loud and record it so that my dad and my mom can here it. Then, it’s dinner.
After dinner, I blah blah blah do the blah blah blah in the blah blah blah then, I sleep.

【无人机】基于改进粒子群算法的无人机路径规划研究[和遗传算法、粒子群算法进行比较](Matlab代码实现)内容概要:本文围绕基于改进粒子群算法的无人机路径规划展开研究,重点探讨了在复杂环境中利用改进粒子群算法(PSO)实现无人机三维路径规划的方法,并将其与遗传算法(GA)、标准粒子群算法等传统优化算法进行对比分析。研究内容涵盖路径规划的多目标优化、避障策略、航路点约束以及算法收敛性和寻优能力的评估,所有实验均通过Matlab代码实现,提供了完整的仿真验证流程。文章还提到了多种智能优化算法在无人机路径规划中的应用比较,突出了改进PSO在收敛速度和全局寻优方面的优势。; 适合人群:具备一定Matlab编程基础和优化算法知识的研究生、科研人员及从事无人机路径规划、智能优化算法研究的相关技术人员。; 使用场景及目标:①用于无人机在复杂地形或动态环境下的三维路径规划仿真研究;②比较不同智能优化算法(如PSO、GA、蚁群算法、RRT等)在路径规划中的性能差异;③为多目标优化问题提供算法选型和改进思路。; 阅读建议:建议读者结合文中提供的Matlab代码进行实践操作,重点关注算法的参数设置、适应度函数设计及路径约束处理方式,同时可参考文中提到的多种算法对比思路,拓展到其他智能优化算法的研究与改进中。
from turtledemo.penrose import start import numpy as np import torch import time import math torch.set_printoptions(8) def gelu(x): """ Task: Use the torch API to implement the approximate calculation formula of the `GELU` activation function. The formula is as follows (you need to paste it into the latex online conversion website) Website: https://www.latexlive.com/ Input: Tensor Output: Tensor """ return 0.5*x*(1+torch.tanh(math.sqrt(2/math.pi)*(x+0.044715*torch.pow(x,3)))) def softmax(x,dim=-1): """ Task: Use torch API to implement `softmax` function, search the specific formula by yourself Input: Tensor Output: Tensor """ x_max=torch.max(x,dim=dim,keepdim=True).values x_stable=x-x_max exp_x=torch.exp(x_stable) return exp_x/torch.sum(exp_x,dim=dim,keepdim=True) def layer_norm(x, g_b, eps:float = 1e-5): """ Task: Use torch API to implement `layernorm` function, search `layernorm` by yourself Input: x: Tensor g_b: dictionary that load from gpt2 weight. g-gamma and b-bias are the keys Output: Tensor """ """ if torch.isnan(x).any(): print("Nan\n") assert(0)""" g, b = torch.Tensor(g_b['g']), torch.Tensor(g_b['b']) x = x.clone().detach().to(torch.float32) g=g.to(x.device) b=b.to(x.device) normalized_shape=g.shape dims=list(range(-len(normalized_shape),0)) #warning # if not isinstance(x, torch.Tensor): # x = torch.tensor(x, dtype=torch.float32) x = x.float() # print(x,"/n") mean=x.mean(dim=-1,keepdim=True) var=x.var(dim=-1,keepdim=True) x_=(x-mean)/torch.sqrt(var+eps) #print(x_*g+b,"/n") return x_*g+b def linear(x, w_b): # [m, in], [in, out], [out] -> [m, out] """ Task: implement linear layer Input: x: Tensor w_b: dictionary that load from gpt2 weight. w-weight and b-bias are the keys Output: Tensor """ w, b = torch.Tensor(w_b['w']), torch.Tensor(w_b['b']) w,b=w.to(x.device),b.to(x.device) # print(torch.matmul(x,w)+b) return torch.matmul(x,w)+b #warning def ffn(x, mlp): # [n_seq, n_embd] -> [n_seq, n_embd] """ Task: use `gelu` `linear` to implement ffn Notes: x --linear--> --gelu--> --linear--> output Input: x: Tensor mlp: dictionary that load from gpt2 weight. w_b1 and w_b2 are the params of two linear layer Output: Tensor """ w_b1, w_b2 = mlp['c_fc'], mlp['c_proj'] # print(x,"\n") x=linear(x,w_b1) x=gelu(x) x=linear(x,w_b2) return x def attention(q, k, v, mask,past_kv=None): # [n_q, d_k], [n_k, d_k], [n_k, d_v], [n_q, n_k] -> [n_q, d_v] """ Task: use torch API to implement attention computation according to formula(1) of the following paper where d_k account for the last dimension of `k` Paper: https://arxiv.org/abs/1706.03762 Input: q: Tensor k: Tensor v: Tensor mask: Tensor mlp: dictionary that load from gpt2 weight. w_b1 and w_b2 are the params of two linear layer Output: Tensor """ if past_kv is not None: past_key,past_value= past_kv k=torch.cat([past_key,k],dim=0) v=torch.cat([past_value,v],dim=0) current_k=(k,v) atten_score=torch.matmul(q,k.transpose(-2,-1)) d_k=k.size(-1) atten_score=atten_score/torch.sqrt(torch.tensor(d_k,dtype=atten_score.dtype)) if mask is not None: if past_kv is not None: seq_len=k.size(0) #warning causal_mask=torch.triu(torch.ones(seq_len,seq_len)*-1e9,diagonal=1) causal_mask=causal_mask[-q.size(0):] else: causal_mask=mask atten_score=atten_score.masked_fill_(causal_mask==0,-1e9) atten_weights=softmax(atten_score) output=torch.matmul(atten_weights,v) return output,current_k def mha(x, attn, n_head,past_kv=None): # [n_seq, n_embd] -> [n_seq, n_embd] """ Task: Complete the code of the multi-head attention Input: x: Tensor attn: dictionary that load from gpt2 weight. c_attn and c_proj are the params of two linear layer n_head: number of head Output: Tensorying multi-head attention and linear transformation, shape [n_seq, n_embd]. """ c_attn, c_proj = attn['c_attn'], attn['c_proj'] # qkv projection #print(x,"/n") x = linear(x, c_attn) # [n_seq, n_embd] -> [n_seq, 3*n_embd] #print(x,"/n") # Split into qkv """ Task: Split the q,k,v matrix from the tensor x Notes: [n_seq, 3*n_embd] -> 3 * [n_seq, n_embd] """ n_seq,n_embd=x.shape n_embd_total=n_embd//3 q,k,v=torch.split(x,n_embd_total,dim=-1) qkv =[q,k,v] # need to modify #warning4 # Split into heads qkv_heads = [qkv_part.chunk(n_head, dim=-1) for qkv_part in qkv] # 3 * [n_seq, n_embd] -> 3 * n_head * [n_seq, n_embd/n_head] qkv_heads = list(zip(*qkv_heads)) # [3, n_head, n_seq, n_embd/n_head] # Causal mask to hide future inputs from being attended to """ Task: Construct mask matrix Notes: | 0 -inf -inf ... -inf | | 0 0 -inf ... -inf | | 0 0 0 ... -inf | |... ... ... ... ... | | 0 0 0 ... 0 | Mask is a tensor whose dimension is [n_seq, n_seq] """ if past_kv is None: past_kv_per_head = [None] * n_head else: past_kv_per_head = past_kv if past_kv is None: causal_mask = torch.triu(torch.ones(n_seq, n_seq) * -1e9, diagonal=1) else: causal_mask = None causal_mask = torch.triu(torch.ones(n_seq, n_seq)*-1e9, diagonal=1)#warning3 # need to modify out_heads=[] new_kv_per_head=[] for i,(q,k,v) in enumerate(qkv_heads):#warning out_head,new_kv=attention(q,k,v,causal_mask,past_kv_per_head[i]) out_heads.append(out_head) new_kv_per_head.append(new_kv) # Perform attention over each head # Merge heads """ Task: merge multi-heads results Notes: n_head * [n_seq, n_embd/n_head] --> [n_seq, n_embd] """ # print(x,"/n") x = torch.cat(out_heads,dim=-1) # need to modify # # Out projection x = linear(x, c_proj) # [n_seq, n_embd] -> [n_seq, n_embd] #print(x,"/n") return x,new_kv_per_head def transformer_block(x, block, n_head,past_kv=None): # [n_seq, n_embd] -> [n_seq, n_embd] mlp, attn, ln_1, ln_2 = block['mlp'], block['attn'], block['ln_1'], block['ln_2'] # print(x,"/n") # multi-head causal self attention #print(x,"/n") attn_out,new_kv=mha(layer_norm(x,ln_1),attn,n_head,past_kv) x = x + attn_out # [n_seq, n_embd] -> [n_seq, n_embd] #problem A!!!! #print(x,"/n") # position-wise feed forward network x = x + ffn(layer_norm(x, ln_2), mlp) # [n_seq, n_embd] -> [n_seq, n_embd] return x,new_kv def gpt2(inputs, params, n_head,past_kvs=None): # [n_seq] -> [n_seq, n_vocab] wte, wpe, blocks, ln_f = params['wte'], params['wpe'], params['blocks'], params['ln_f'] # token + positional embeddings wte=torch.Tensor(wte) wpe=torch.Tensor(wpe) if past_kvs is None: x = wte[inputs] + wpe[range(len(inputs))] # [n_seq] -> [n_seq, n_embd] start_pos=0 else: x=wte[inputs[-1:]]+wpe[[len(inputs)-1]] start_pos=len(inputs)-1 # print(x.shape,params,n_head,"1/n") # x = transformer_block(x, blocks, n_head=n_head) #print(x.shape,"2/n") #print(x,"/n") # forward pass through n_layer transformer blocks x=torch.Tensor(x) new_past_kvs=[] for i,block in enumerate(blocks): past_kv=past_kvs[i] if past_kvs is not None else None #warning x ,new_kv= transformer_block(x, block, n_head=n_head,past_kv=past_kv) # [n_seq, n_embd] -> [n_seq, n_embd] new_past_kvs.append(new_kv) # projection to vocab # print(x,"/n") x = layer_norm(x, ln_f) # [n_seq, n_embd] -> [n_seq, n_embd] return x @ wte.T,new_past_kvs # [n_seq, n_embd] -> [n_seq, n_vocab] def apply_repetition_penalty(logits, generated_tokens, penalty=1.2): for token in set(generated_tokens[-20:]): if token < len(logits): logits[token] = logits[token] / penalty return logits def generate(inputs, params, n_head, n_tokens_to_generate,temperature=0.8, repetition_penalty=1.2): from tqdm import tqdm past_kvs = None generated=inputs.copy() for _ in tqdm(range(n_tokens_to_generate), "generating"): # auto-regressive decode loop logits ,past_kvs= gpt2(generated, params, n_head,past_kvs) # model forward pass # next_id = np.argmax(logits[-1]) # greedy sampling #warning # print(logits,"/n") # inputs.append(int(next_id)) # append prediction to input last_logits=logits[-1] last_logits=apply_repetition_penalty(last_logits, generated, repetition_penalty) if temperature>0: last_logits=last_logits/temperature probs=softmax(last_logits,dim=-1) next_id=torch.multinomial(probs,num_samples=1).item() else:next_id=torch.argmax(last_logits).item() generated.append(next_id) return generated[len(inputs):] # only return generated ids def greedy_speculative_generate(inputs, draft_params, target_params, hparams_draft, hparams_target, n_tokens_to_generate, K): """ Task: Load 124M and 1558M models at the same time, use greedy sampling, and complete speculative decoding Inputs: inputs (list): The initial list of token IDs from the prompt. draft_params, target_params: Model weights for the draft and target models. hparams_draft, hparams_target: Hyperparameters for both models. n_tokens_to_generate (int): The number of new tokens to generate. K (int): The number of tokens the draft model speculates at each step (e.g., 4). Returns: list: A list of newly generated token IDs. """ draft_past_kvs=None target_past_kvs=None generated_ids = [] current_inputs = list(inputs) while len(generated_ids) < n_tokens_to_generate: draft_tokens=[] draft_inputs=list(current_inputs) draft_current_past_kvs=draft_past_kvs for _ in range(K): if len(generated_ids)+len(draft_tokens)>=n_tokens_to_generate: break logits=gpt2(draft_inputs,draft_params,hparams_draft['n_head'],past_kvs=draft_current_past_kvs) #warning5 next_id=np.argmax(logits[-1]) draft_tokens.append(next_id) draft_inputs.append(next_id) if not draft_tokens: break # warning6 target_input=current_inputs+draft_tokens target_current_past_kvs=target_past_kvs target_logits,target_current_past_kvs=gpt2(target_input,target_params,hparams_target['n_head'],target_current_past_kvs) # warning 7 accepted_token=[] for i, draft_token in enumerate(draft_tokens): target_position=len(current_inputs)+i target_token=np.argmax(target_logits[target_position].detach().numpy()) if draft_token==target_token: accepted_token.append(draft_token) else: accepted_token.append(target_token) break #print(accepted_token,"/n") if len(accepted_token)==len(draft_tokens): draft_past_kvs=draft_current_past_kvs target_past_kvs=target_current_past_kvs else: draft_past_kvs=None generated_ids.extend(accepted_token) current_inputs.extend(accepted_token) return generated_ids def main(prompt: str, n_tokens_to_generate: int = 5, model_size: str = "124M", models_dir: str = "models"): from utils import load_encoder_hparams_and_params # load encoder, hparams, and params from the released open-ai gpt-2 files encoder, hparams, params = load_encoder_hparams_and_params(model_size, models_dir) # encode the input string using the BPE tokenizer input_ids = encoder.encode(prompt) # make sure we are not surpassing the max sequence length of our model assert len(input_ids) + n_tokens_to_generate < hparams["n_ctx"] # generate output ids start = time.time() output_ids = generate(input_ids, params, hparams["n_head"], n_tokens_to_generate,temperature=0.7,repetition_penalty=1.2) end = time.time() print(f"Time taken to generate {n_tokens_to_generate} tokens: {end - start:.2f}s") # print("/n output_ids/n",output_ids) # decode the ids back into a string output_text = encoder.decode(output_ids) # print(output_text) return output_text if __name__ == "__main__": import fire fire.Fire(main)这个大模型的输出是 that become become become one day become one day one day become one day one one day one day one day one one one one one one one one one one one one one one one one one one one预计输出是the most powerful machine on the planet,怎么修改得到正确结果
10-14
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