Merge pull request #217 from mldiego/master

GPU support, Conv1D issue

code/nnv/engine/nn/NN.m

@@ -204,6 +204,14 @@
                 reachOptions = struct; % empty options, run with default values
             end
 
+            % Change if want to execute on GPU
+            if isfield(reachOptions, 'device')
+                if strcmp(reachOptions.device, 'gpu')
+                    obj = obj.params2gpu;
+                    inputSet = inputSet.changeDevice('gpu');
+                end
+            end
+
             % Process reachability options
             if ~isstruct(reachOptions)
                 error("The reachability parameters must be specified as a struct.")
@@ -308,7 +316,7 @@
                 fprintf('\nPerform reachability analysis for the network %s \n', obj.Name);
             end
 
-            outputSet = obj.reach_withConns(inputSet);
+            outputSet = obj.reach_withConns(inputSet, 'sequence');
 
         end
 
@@ -946,6 +954,7 @@
                 reachOptions.reachOption = 'single';
                 reachOptions.numCores = 1;
             end
+
         end
 
         % Ensure input and parameter precision is the same
@@ -969,6 +978,24 @@
             end
         end
 
+        % Change paramters to gpu
+        function obj = params2gpu(obj)
+            % change the parameters layer by layer
+            for i = 1:length(obj.Layers)
+                gpuLayer = obj.Layers{i}.toGPU;
+                obj.Layers{i} = gpuLayer;
+            end
+        end
+
+        % Change params precision
+        function obj = changeParamsPrecision(obj, precision)
+            % change the parameters layer by layer
+            for i = 1:length(obj.Layers)
+                pLayer = obj.Layers{i}.changeParamsPrecision(precision);
+                obj.Layers{i} = pLayer;
+            end
+        end
+
         % Create input set based on input vector and bounds
         function R = create_input_set(obj, x_in, disturbance, lb_allowable, ub_allowable) % assume tol is applied to every vale of the input
             % R = create_input_set(obj, x_in, disturbance, lb_allowable, ub_allowable)
@@ -1212,7 +1239,7 @@ function start_pool(obj)
         end
 
         % reach NN based on connections table (test it)
-        function outSet = reach_withConns(obj, inSet)
+        function outSet = reach_withConns(obj, inSet, varargin)
             % Initialize variables to store reachable sets and computation time
             obj.reachSet = cell(1, obj.numLayers);
             obj.reachTime = zeros(1, obj.numLayers);
@@ -1221,6 +1248,12 @@ function start_pool(obj)
                 fprintf('\nPerform reachability analysis for the network %s...', obj.Name);
             end
 
+            if nargin == 3
+                reachType = varargin{1};
+            else
+                reachType = 'default';
+            end
+
             % Begin reachability computation
             for i=1:height(obj.Connections)
 
@@ -1245,7 +1278,7 @@ function start_pool(obj)
                         fprintf('\nPerforming analysis for Layer %d (%s)...', i-1, source);
                     end
                     t = tic;
-                    if isequal(class(obj.Layers{1,1}), 'SequenceInputLayer')
+                    if strcmp(reachType, 'sequence')
                         outSet = obj.Layers{source_indx}.reachSequence(inSet, obj.reachMethod, obj.reachOption, obj.relaxFactor, obj.dis_opt, obj.lp_solver);
                     else
                         outSet = obj.Layers{source_indx}.reach(inSet, obj.reachMethod, obj.reachOption, obj.relaxFactor, obj.dis_opt, obj.lp_solver);
@@ -1311,16 +1344,15 @@ function start_pool(obj)
             % Assume last layer in array is the output layer
             if isempty(obj.reachSet{end})
                 inSet = obj.reachSet{end-1};
-                outSet = obj.Layers{end}.reach(inSet, obj.reachMethod, obj.reachOption, obj.relaxFactor, obj.dis_opt, obj.lp_solver);
+                if strcmp(reachType, 'sequence')
+                    outSet = obj.Layers{end}.reachSequence(inSet, obj.reachMethod, obj.reachOption, obj.relaxFactor, obj.dis_opt, obj.lp_solver);
+                else
+                    outSet = obj.Layers{end}.reach(inSet, obj.reachMethod, obj.reachOption, obj.relaxFactor, obj.dis_opt, obj.lp_solver);
+                end
                 obj.reachSet{end} = outSet;
             end
         end
 
-        % Ensure precision for layer parameters and inputs is consistent
-        % function validate_precision(obj, inSet)
-        % 
-        % 
-        % end
     end % end helper functions
 
 

code/nnv/engine/nn/layers/ActivationFunctionLayer.m

@@ -16,7 +16,7 @@
     methods
 
         % constructor of the class
-        function obj = ActivationFunctionLayer(varargin)           
+        function obj = ActivationFunctionLayer(varargin)
             % author: Diego Mazanas Lopez
             % date: 12/06/2022
 
@@ -104,7 +104,6 @@
 
         end
 
-
         % MAIN REACHABILITY METHOD
         function images = reach(varargin)
             % @in_image: an input imagestar
@@ -172,6 +171,7 @@
 
         end
 
+        % reach for time-sequence data
         function seqs = reachSequence(varargin)
             obj = varargin{1};
             % relaxFactor = 0.8;
@@ -180,6 +180,21 @@
             seqs.im_lb = lb;
             seqs.im_ub = ub;
         end
+
+    end
+
+    methods % helper method
+
+        % change params to gpuArrays
+        function obj = toGPU(obj)
+            % nothing to change in here (no params)
+        end
+
+        % Change params precision
+        function obj = changeParamsPrecision(obj, ~)
+            % nothing to change in here (no params)
+        end
+
     end
 
 end

code/nnv/engine/nn/layers/AdditionLayer.m

@@ -75,7 +75,7 @@
     methods % main methods
 
         % evaluate
-        function outputs = evaluate(obj, inputs)
+        function outputs = evaluate(~, inputs)
             % addition layer takes usually two inputs, but allows many (N)
             %
             % first input is obj, the second is a cell array containing the
@@ -89,8 +89,8 @@
 
         end
 
-        % reach (TODO)
-        function outputs = reach_single_input(obj, inputs)
+        % reach 
+        function outputs = reach_single_input(~, inputs)
             % @in_image: input imagestar
             % @image: output set
 
@@ -187,6 +187,20 @@
         end
 
     end
+
+    methods % helper functions
+
+        % change params to gpuArrays
+        function obj = toGPU(obj)
+            % nothing to change in here (no params)
+        end
+
+        % Change params precision
+        function obj = changeParamsPrecision(obj, ~)
+            % nothing to change in here (no params)
+        end
+
+    end
 
 
     methods(Static)

code/nnv/engine/nn/layers/AveragePooling2DLayer.m

@@ -211,6 +211,16 @@ function set_padding(obj, padding)
             end
         end
 
+        % change params to gpuArrays
+        function obj = toGPU(obj)
+            % nothing to change in here (no params)
+        end
+
+        % Change params precision
+        function obj = changeParamsPrecision(obj, ~)
+            % nothing to change in here (no params)
+        end
+
     end
 
 
@@ -228,8 +238,14 @@ function set_padding(obj, padding)
             % author: Dung Tran
             % date: 12/10/2018
             % update: 7/26/2019
-
-            y = vl_nnpool(input, obj.PoolSize, 'Stride', obj.Stride, 'Pad', obj.PaddingSize, 'Method', 'avg');         
+
+            if isa(input, 'gpuArray')
+                x = dlarray(input, "SSCB");
+                y = avgpool(x, obj.PoolSize, 'Stride', obj.Stride, 'Padding', obj.PaddingSize);
+                y = extractdata(y);
+            else
+                y = vl_nnpool(input, obj.PoolSize, 'Stride', obj.Stride, 'Pad', obj.PaddingSize, 'Method', 'avg'); 
+            end
 
         end
 

code/nnv/engine/nn/layers/AveragePooling3DLayer.m

@@ -187,6 +187,16 @@ function set_padding(obj, padding)
             end
 
         end
+
+        % change params to gpuArrays
+        function obj = toGPU(obj)
+            % nothing to change in here (no params)
+        end
+
+        % Change params precision
+        function obj = changeParamsPrecision(obj, ~)
+            % nothing to change in here (no params)
+        end
 
     end
 

code/nnv/engine/nn/layers/BatchNormalizationLayer.m

@@ -30,7 +30,7 @@
     methods
 
         % constructor of the class
-        function obj = BatchNormalizationLayer(varargin)           
+        function obj = BatchNormalizationLayer(varargin)
             % author: Dung Tran
             % date: 1/1/2020    
             % update: 
@@ -81,6 +81,34 @@
 
         end
 
+        % change params to gpuArrays
+        function obj = toGPU(obj)
+            obj.Offset = gpuArray(obj.Offset);
+            obj.Scale = gpuArray(obj.Scale);
+            obj.Epsilon = gpuArray(obj.Epsilon);
+            obj.TrainedMean = gpuArray(obj.TrainedMean);
+            obj.TrainedVariance = gpuArray(obj.TrainedVariance);
+        end
+
+        % Change params precision
+        function obj = changeParamsPrecision(obj, precision)
+            if strcmp(precision, "double")
+                obj.Offset = double(obj.Offset);
+                obj.Scale = double(obj.Scale);
+                obj.Epsilon = double(obj.Epsilon);
+                obj.TrainedMean = double(obj.TrainedMean);
+                obj.TrainedVariance = double(obj.TrainedVariance);
+            elseif strcmp(precision, "single")
+                obj.Offset = single(obj.Offset);
+                obj.Scale = single(obj.Scale);
+                obj.Epsilon = single(obj.Epsilon);
+                obj.TrainedMean = single(obj.TrainedMean);
+                obj.TrainedVariance = single(obj.TrainedVariance);
+            else
+                error("Parameter numerical precision must be 'single' or 'double'");
+            end
+        end
+
     end
 
 

code/nnv/engine/nn/layers/ConcatenationLayer.m

@@ -214,6 +214,21 @@
         end
 
     end
+
+
+    methods % helper method
+
+        % change params to gpuArrays
+        function obj = toGPU(obj)
+            % nothing to change in here (no params)
+        end
+
+        % Change params precision
+        function obj = changeParamsPrecision(obj, ~)
+            % nothing to change in here (no params)
+        end
+
+    end
 
 
     methods(Static)