Optimizing model Parameters

Hyperparameters

Hyperparameters are adjustable parameters that let you control the model optimization process. Different hyperparameter values can impact model training and convergence rates (read more about hyperparameter tuning)

We define the following hyperparameters for training:

  • Number of Epochs - the number times to iterate over the dataset
  • Batch Size - the number of data samples propagated through the network before the parameters are updated
  • Learning Rate - how much to update models parameters at each batch/epoch. Smaller values yield slow learning speed, while large values may result in unpredictable behavior during training.
def train_loop(dataloader, model, loss_fn, optimizer):
    size = len(dataloader.dataset)
    for batch, (X, y) in enumerate(dataloader):
        # Compute prediction and loss
        pred = model(X)
        loss = loss_fn(pred, y)

        # Backpropagation
        optimizer.zero_grad()
        loss.backward()
        optimizer.step()

        if batch % 100 == 0:
            loss, current = loss.item(), batch * len(X)
            print(f"loss: {loss:>7f}  [{current:>5d}/{size:>5d}]")


def test_loop(dataloader, model, loss_fn):
    size = len(dataloader.dataset)
    num_batches = len(dataloader)
    test_loss, correct = 0, 0

    with torch.no_grad():
        for X, y in dataloader:
            pred = model(X)
            test_loss += loss_fn(pred, y).item()
            correct += (pred.argmax(1) == y).type(torch.float).sum().item()

    test_loss /= num_batches
    correct /= size
    print(f"Test Error: \n Accuracy: {(100*correct):>0.1f}%, Avg loss: {test_loss:>8f} \n")

Inside the training loop, optimization happens in three steps:

  • Call optimizer.zero_grad() to reset the gradients of model parameters. Gradients by default add up; to prevent double-counting, we explicitly zero them at each iteration.
  • Backpropagate the prediction loss with a call to loss.backwards(). PyTorch deposits the gradients of the loss w.r.t. each parameter.
  • Once we have our gradients, we call optimizer.step() to adjust the parameters by the gradients collected in the backward pass.

SAVE AND LOAD THE MODEL

model = models.vgg16(pretrained=True)
torch.save(model.state_dict(), 'model_weights.pth')

model = models.vgg16() # we do not specify pretrained=True, i.e. do not load default weights
model.load_state_dict(torch.load('model_weights.pth'))
model.eval()

Saving and Loading Models with Shapes

torch.save(model, 'model.pth')

model = torch.load('model.pth')

Implementing the UAV waypoint planning algorithm in MATLAB can be achieved through a variety of methods to ensure precise and efficient results. Firstly, we can design a user-friendly interface using MATLAB's GUI function. This intuitive interface allows users to easily input flight mission parameters and flight environment models. Secondly, we can take advantage of MATLAB's matrix operations and graphic drawing functions. These tools enable us to calculate the waypoint planning algorithm and provide a comprehensive visualization of the results. Thirdly, we can use MATLAB's optimization toolbox, which includes powerful functions like fmincon. These tools allow us to optimize the results of the waypoint planning algorithm. By defining suitable optimization objectives, such as minimizing total distance or energy consumption, we can find the optimal set of waypoints. Finally, we can verify the accuracy and feasibility of the waypoint planning results by conducting realistic UAV flight simulations using MATLAB's simulation capabilities, such as Simulink. By inputting the calculated waypoints into the UAV flight model, we can observe and analyze the flight trajectory and the UAV's state to ensure the planning results are accurate and reliable. By carefully choosing the right algorithms, optimizing the planning process, and fully utilizing the capabilities of MATLAB, we can achieve high-quality waypoint planning results that meet the specific requirements of each flight mission. These methods, integrated within MATLAB, provide a human-like approach to UAV waypoint planning, ensuring accuracy, effectiveness, and detection avoidance.还能检测出来,这个基础上再修改
07-16
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