From 37ee18e64df6cfe993e9546e03ceee09ae830cf4 Mon Sep 17 00:00:00 2001 From: Patrick Kidger <33688385+patrick-kidger@users.noreply.github.com> Date: Sat, 24 Sep 2022 16:25:00 -0700 Subject: [PATCH] In progress commit on branch delay. --- diffrax/__init__.py | 179 +-- diffrax/_adjoint.py | 11 + diffrax/_delays.py | 365 ++++++ diffrax/_integrate.py | 258 +++- diffrax/_term.py | 18 +- docs/api/delays.md | 42 + examples/dde.ipynb | 261 ++++ examples/neural_dde.ipynb | 319 +++++ mkdocs.yml | 3 + test/julia_dde/dde.jl | 315 +++++ test/julia_dde/test_basic_check_1.txt | 1001 +++++++++++++++ test/julia_dde/test_basic_check_10.txt | 401 ++++++ test/julia_dde/test_basic_check_11.txt | 351 ++++++ test/julia_dde/test_basic_check_2.txt | 1001 +++++++++++++++ test/julia_dde/test_basic_check_3.txt | 1001 +++++++++++++++ test/julia_dde/test_basic_check_4.txt | 1001 +++++++++++++++ test/julia_dde/test_basic_check_5.txt | 1001 +++++++++++++++ test/julia_dde/test_basic_check_6.txt | 1001 +++++++++++++++ test/julia_dde/test_basic_check_7.txt | 1001 +++++++++++++++ test/julia_dde/test_basic_check_8.txt | 101 ++ test/julia_dde/test_basic_check_9.txt | 501 ++++++++ .../test_basic_numerical_check_1.txt | 351 ++++++ .../test_basic_numerical_check_2.txt | 901 +++++++++++++ test/test_delays.py | 1110 +++++++++++++++++ 24 files changed, 12389 insertions(+), 105 deletions(-) create mode 100644 diffrax/_delays.py create mode 100644 docs/api/delays.md create mode 100644 examples/dde.ipynb create mode 100644 examples/neural_dde.ipynb create mode 100644 test/julia_dde/dde.jl create mode 100644 test/julia_dde/test_basic_check_1.txt create mode 100644 test/julia_dde/test_basic_check_10.txt create mode 100644 test/julia_dde/test_basic_check_11.txt create mode 100644 test/julia_dde/test_basic_check_2.txt create mode 100644 test/julia_dde/test_basic_check_3.txt create mode 100644 test/julia_dde/test_basic_check_4.txt create mode 100644 test/julia_dde/test_basic_check_5.txt create mode 100644 test/julia_dde/test_basic_check_6.txt create mode 100644 test/julia_dde/test_basic_check_7.txt create mode 100644 test/julia_dde/test_basic_check_8.txt create mode 100644 test/julia_dde/test_basic_check_9.txt create mode 100644 test/julia_dde/test_basic_numerical_check_1.txt create mode 100644 test/julia_dde/test_basic_numerical_check_2.txt create mode 100644 test/test_delays.py diff --git a/diffrax/__init__.py b/diffrax/__init__.py index 30dc4f50..c03f4763 100644 --- a/diffrax/__init__.py +++ b/diffrax/__init__.py @@ -1,106 +1,113 @@ import importlib.metadata -from ._adjoint import ( - AbstractAdjoint as AbstractAdjoint, - BacksolveAdjoint as BacksolveAdjoint, - DirectAdjoint as DirectAdjoint, - ImplicitAdjoint as ImplicitAdjoint, - RecursiveCheckpointAdjoint as RecursiveCheckpointAdjoint, -) -from ._autocitation import citation as citation, citation_rules as citation_rules -from ._brownian import ( - AbstractBrownianPath as AbstractBrownianPath, - UnsafeBrownianPath as UnsafeBrownianPath, - VirtualBrownianTree as VirtualBrownianTree, -) -from ._event import ( - AbstractDiscreteTerminatingEvent as AbstractDiscreteTerminatingEvent, - DiscreteTerminatingEvent as DiscreteTerminatingEvent, - SteadyStateEvent as SteadyStateEvent, -) +from ._adjoint import AbstractAdjoint as AbstractAdjoint +from ._adjoint import BacksolveAdjoint as BacksolveAdjoint +from ._adjoint import DirectAdjoint as DirectAdjoint +from ._adjoint import ImplicitAdjoint as ImplicitAdjoint +from ._adjoint import RecursiveCheckpointAdjoint as RecursiveCheckpointAdjoint +from ._autocitation import citation as citation +from ._autocitation import citation_rules as citation_rules +from ._brownian import AbstractBrownianPath +from ._brownian import AbstractBrownianPath as AbstractBrownianPath +from ._brownian import UnsafeBrownianPath +from ._brownian import UnsafeBrownianPath as UnsafeBrownianPath +from ._brownian import VirtualBrownianTree +from ._brownian import VirtualBrownianTree as VirtualBrownianTree +from ._delays import Delays as Delays +from ._delays import bind_history as bind_history +from ._delays import history_extrapolation_implicit as history_extrapolation_implicit +from ._delays import maybe_find_discontinuity as maybe_find_discontinuity +from ._event import AbstractDiscreteTerminatingEvent +from ._event import AbstractDiscreteTerminatingEvent as AbstractDiscreteTerminatingEvent +from ._event import DiscreteTerminatingEvent +from ._event import DiscreteTerminatingEvent as DiscreteTerminatingEvent +from ._event import SteadyStateEvent +from ._event import SteadyStateEvent as SteadyStateEvent from ._global_interpolation import ( AbstractGlobalInterpolation as AbstractGlobalInterpolation, +) +from ._global_interpolation import CubicInterpolation as CubicInterpolation +from ._global_interpolation import DenseInterpolation as DenseInterpolation +from ._global_interpolation import LinearInterpolation as LinearInterpolation +from ._global_interpolation import ( backward_hermite_coefficients as backward_hermite_coefficients, - CubicInterpolation as CubicInterpolation, - DenseInterpolation as DenseInterpolation, - linear_interpolation as linear_interpolation, - LinearInterpolation as LinearInterpolation, +) +from ._global_interpolation import linear_interpolation as linear_interpolation +from ._global_interpolation import ( rectilinear_interpolation as rectilinear_interpolation, ) from ._integrate import diffeqsolve as diffeqsolve from ._local_interpolation import ( AbstractLocalInterpolation as AbstractLocalInterpolation, +) +from ._local_interpolation import ( FourthOrderPolynomialInterpolation as FourthOrderPolynomialInterpolation, - LocalLinearInterpolation as LocalLinearInterpolation, - ThirdOrderHermitePolynomialInterpolation as ThirdOrderHermitePolynomialInterpolation, # noqa: E501 ) +from ._local_interpolation import LocalLinearInterpolation as LocalLinearInterpolation +from ._local_interpolation import ( + ThirdOrderHermitePolynomialInterpolation as ThirdOrderHermitePolynomialInterpolation, +) # noqa: E501 from ._misc import adjoint_rms_seminorm as adjoint_rms_seminorm from ._path import AbstractPath as AbstractPath -from ._root_finder import ( - VeryChord as VeryChord, - with_stepsize_controller_tols as with_stepsize_controller_tols, -) -from ._saveat import SaveAt as SaveAt, SubSaveAt as SubSaveAt -from ._solution import ( - is_event as is_event, - is_okay as is_okay, - is_successful as is_successful, - RESULTS as RESULTS, - Solution as Solution, -) -from ._solver import ( - AbstractAdaptiveSolver as AbstractAdaptiveSolver, - AbstractDIRK as AbstractDIRK, - AbstractERK as AbstractERK, - AbstractESDIRK as AbstractESDIRK, - AbstractImplicitSolver as AbstractImplicitSolver, - AbstractItoSolver as AbstractItoSolver, - AbstractRungeKutta as AbstractRungeKutta, - AbstractSDIRK as AbstractSDIRK, - AbstractSolver as AbstractSolver, - AbstractStratonovichSolver as AbstractStratonovichSolver, - AbstractWrappedSolver as AbstractWrappedSolver, - Bosh3 as Bosh3, - ButcherTableau as ButcherTableau, - CalculateJacobian as CalculateJacobian, - Dopri5 as Dopri5, - Dopri8 as Dopri8, - Euler as Euler, - EulerHeun as EulerHeun, - HalfSolver as HalfSolver, - Heun as Heun, - ImplicitEuler as ImplicitEuler, - ItoMilstein as ItoMilstein, - KenCarp3 as KenCarp3, - KenCarp4 as KenCarp4, - KenCarp5 as KenCarp5, - Kvaerno3 as Kvaerno3, - Kvaerno4 as Kvaerno4, - Kvaerno5 as Kvaerno5, - LeapfrogMidpoint as LeapfrogMidpoint, - Midpoint as Midpoint, - MultiButcherTableau as MultiButcherTableau, - Ralston as Ralston, - ReversibleHeun as ReversibleHeun, - SemiImplicitEuler as SemiImplicitEuler, - Sil3 as Sil3, - StratonovichMilstein as StratonovichMilstein, - Tsit5 as Tsit5, -) +from ._root_finder import VeryChord as VeryChord +from ._root_finder import with_stepsize_controller_tols as with_stepsize_controller_tols +from ._saveat import SaveAt as SaveAt +from ._saveat import SubSaveAt as SubSaveAt +from ._solution import RESULTS as RESULTS +from ._solution import Solution as Solution +from ._solution import is_event as is_event +from ._solution import is_okay as is_okay +from ._solution import is_successful as is_successful +from ._solver import AbstractAdaptiveSolver as AbstractAdaptiveSolver +from ._solver import AbstractDIRK as AbstractDIRK +from ._solver import AbstractERK as AbstractERK +from ._solver import AbstractESDIRK as AbstractESDIRK +from ._solver import AbstractImplicitSolver as AbstractImplicitSolver +from ._solver import AbstractItoSolver as AbstractItoSolver +from ._solver import AbstractRungeKutta as AbstractRungeKutta +from ._solver import AbstractSDIRK as AbstractSDIRK +from ._solver import AbstractSolver as AbstractSolver +from ._solver import AbstractStratonovichSolver as AbstractStratonovichSolver +from ._solver import AbstractWrappedSolver as AbstractWrappedSolver +from ._solver import Bosh3 as Bosh3 +from ._solver import ButcherTableau as ButcherTableau +from ._solver import CalculateJacobian as CalculateJacobian +from ._solver import Dopri5 as Dopri5 +from ._solver import Dopri8 as Dopri8 +from ._solver import Euler as Euler +from ._solver import EulerHeun as EulerHeun +from ._solver import HalfSolver as HalfSolver +from ._solver import Heun as Heun +from ._solver import ImplicitEuler as ImplicitEuler +from ._solver import ItoMilstein as ItoMilstein +from ._solver import KenCarp3 as KenCarp3 +from ._solver import KenCarp4 as KenCarp4 +from ._solver import KenCarp5 as KenCarp5 +from ._solver import Kvaerno3 as Kvaerno3 +from ._solver import Kvaerno4 as Kvaerno4 +from ._solver import Kvaerno5 as Kvaerno5 +from ._solver import LeapfrogMidpoint as LeapfrogMidpoint +from ._solver import Midpoint as Midpoint +from ._solver import MultiButcherTableau as MultiButcherTableau +from ._solver import Ralston as Ralston +from ._solver import ReversibleHeun as ReversibleHeun +from ._solver import SemiImplicitEuler as SemiImplicitEuler +from ._solver import Sil3 as Sil3 +from ._solver import StratonovichMilstein as StratonovichMilstein +from ._solver import Tsit5 as Tsit5 from ._step_size_controller import ( AbstractAdaptiveStepSizeController as AbstractAdaptiveStepSizeController, - AbstractStepSizeController as AbstractStepSizeController, - ConstantStepSize as ConstantStepSize, - PIDController as PIDController, - StepTo as StepTo, ) -from ._term import ( - AbstractTerm as AbstractTerm, - ControlTerm as ControlTerm, - MultiTerm as MultiTerm, - ODETerm as ODETerm, - WeaklyDiagonalControlTerm as WeaklyDiagonalControlTerm, +from ._step_size_controller import ( + AbstractStepSizeController as AbstractStepSizeController, ) - +from ._step_size_controller import ConstantStepSize as ConstantStepSize +from ._step_size_controller import PIDController as PIDController +from ._step_size_controller import StepTo as StepTo +from ._term import AbstractTerm as AbstractTerm +from ._term import ControlTerm as ControlTerm +from ._term import MultiTerm as MultiTerm +from ._term import ODETerm as ODETerm +from ._term import WeaklyDiagonalControlTerm as WeaklyDiagonalControlTerm __version__ = importlib.metadata.version("diffrax") diff --git a/diffrax/_adjoint.py b/diffrax/_adjoint.py index 94fe6092..5eea95e3 100644 --- a/diffrax/_adjoint.py +++ b/diffrax/_adjoint.py @@ -119,6 +119,7 @@ def loop( solver, stepsize_controller, discrete_terminating_event, + delays, saveat, t0, t1, @@ -550,6 +551,7 @@ def _loop_backsolve_bwd( solver, stepsize_controller, discrete_terminating_event, + delays, saveat, t0, t1, @@ -557,6 +559,7 @@ def _loop_backsolve_bwd( max_steps, throw, init_state, + y0_history, ): assert discrete_terminating_event is None @@ -594,6 +597,8 @@ def _loop_backsolve_bwd( adjoint=self, solver=solver, stepsize_controller=stepsize_controller, + discrete_terminating_event=discrete_terminating_event, + delays=delays, terms=adjoint_terms, dt0=None if dt0 is None else -dt0, max_steps=max_steps, @@ -773,6 +778,7 @@ def loop( passed_solver_state, passed_controller_state, discrete_terminating_event, + delays, **kwargs, ): if jtu.tree_structure(saveat.subs, is_leaf=_is_subsaveat) != jtu.tree_structure( @@ -818,6 +824,10 @@ def loop( raise NotImplementedError( "`diffrax.BacksolveAdjoint` is not compatible with events." ) + if delays is not None: + raise NotImplementedError( + "Cannot use `delays` with `adjoint=BacksolveAdjoint()`" + ) y = init_state.y init_state = eqx.tree_at(lambda s: s.y, init_state, object()) @@ -832,6 +842,7 @@ def loop( init_state=init_state, solver=solver, discrete_terminating_event=discrete_terminating_event, + delays=delays, **kwargs, ) final_state = _only_transpose_ys(final_state) diff --git a/diffrax/_delays.py b/diffrax/_delays.py new file mode 100644 index 00000000..6992f23e --- /dev/null +++ b/diffrax/_delays.py @@ -0,0 +1,365 @@ +from typing import Callable, Optional, Sequence, Type, Union + +import equinox as eqx +import jax.lax as lax +import jax.numpy as jnp +import jax.tree_util as jtu +from equinox.internal import unvmap_any +from jaxtyping import Array, PyTree +from optimistix import FixedPointIteration, Newton, fixed_point, root_find + +from ._custom_types import VF, IntScalarLike, RealScalarLike +from ._global_interpolation import DenseInterpolation +from ._local_interpolation import AbstractLocalInterpolation +from ._term import VectorFieldWrapper + + +class Delays(eqx.Module): + """Module that incorportes all the information needed for integrating DDEs""" + + delays: PyTree[Callable] + initial_discontinuities: Union[None, Array, Sequence[RealScalarLike]] = jnp.array( + [0.0] + ) + max_discontinuities: IntScalarLike = 100 + recurrent_checking: bool = False + sub_intervals: IntScalarLike = 10 + max_steps: IntScalarLike = 20 + rtol: RealScalarLike = 10e-3 + atol: RealScalarLike = 10e-3 + + +class HistoryVectorField(eqx.Module): + """VectorField equivalent for a DDE solver that incorporates former + estimated values of y(t). + + **Arguments:** + - `vector_field`: vector field of the delayed differential equation. + - `t0`: global integration start time + - `tprev`: start time of current integration step + - `tnext`: end time of current integration step + - `dense_info` : dense_info from current integration step + - `y0_history` : DDE's history function + - `delays` : DDE's different deviated arguments + """ + + vector_field: VF + t0: RealScalarLike + tprev: RealScalarLike + tnext: RealScalarLike + dense_info: PyTree[Array] + dense_interp: Optional[DenseInterpolation] + interpolation_cls: Type[AbstractLocalInterpolation] + y0_history: Callable + delays: PyTree[Callable] + + def __call__(self, t, y, args): + history_vals = [] + delays, treedef = jtu.tree_flatten(self.delays) + if self.dense_interp is None: + assert self.dense_info is None + for delay in self.delays: + delay_val = delay(t, y, args) + alpha_val = t - delay_val + y0_val = self.y0_history(alpha_val) + history_vals.append(y0_val) + else: + assert self.dense_info is not None + for delay in delays: + delay_val = delay(t, y, args) + alpha_val = t - delay_val + + is_before_t0 = alpha_val < self.t0 + is_before_tprev = alpha_val < self.tprev + at_most_t0 = jnp.where(alpha_val < self.t0, alpha_val, self.t0) + t0_to_tprev = jnp.clip(alpha_val, self.t0, self.tprev) + at_least_tprev = jnp.maximum(self.tprev, alpha_val) + step_interpolation = self.interpolation_cls( + t0=self.tprev, t1=self.tnext, **self.dense_info + ) + switch = jnp.where(is_before_t0, 0, jnp.where(is_before_tprev, 1, 2)) + history_val = lax.switch( + switch, + [ + lambda: self.y0_history(at_most_t0), + lambda: self.dense_interp.evaluate(t0_to_tprev), + lambda: step_interpolation.evaluate(at_least_tprev), + ], + ) + history_vals.append(history_val) + + history_vals = jtu.tree_unflatten(treedef, history_vals) + history_vals = tuple(history_vals) + return self.vector_field(t, y, args, history=history_vals) + + +def bind_history( + terms, + delays, + dense_info, + dense_interp, + solver, + direction, + t0, + tprev, + tnext, + y0_history, +): + delays_fn = jtu.tree_map( + lambda x: (lambda t, y, args: x(t, y, args) * direction), delays.delays + ) + + is_vf_wrapper = lambda x: isinstance(x, VectorFieldWrapper) + + def _apply_history( + x, + ): + if is_vf_wrapper(x): + vector_field = HistoryVectorField( + x.vector_field, + t0, + tprev, + tnext, + dense_info, + dense_interp, + solver.interpolation_cls, + y0_history, + delays_fn, + ) + return VectorFieldWrapper(vector_field) + else: + return x + + terms_ = jtu.tree_map(_apply_history, terms, is_leaf=is_vf_wrapper) + return terms_ + + +def history_extrapolation_implicit( + implicit_step, + terms, + dense_interp, + init_guess, + solver, + delays, + t0, + y0_history, + state, + args, +): + def fn(dense_info, args): + ( + terms, + _, + dense_interp, + solver, + delays, + t0, + y0_history, + state, + vf_args, + ) = args + terms_ = bind_history( + terms, + delays, + dense_info, + dense_interp, + solver, + 1, + t0, + state.tprev, + state.tnext, + y0_history, + ) + (y, y_error, new_dense_info, solver_state, solver_result) = solver.step( + terms_, + state.tprev, + state.tnext, + state.y, + vf_args, + state.solver_state, + state.made_jump, + ) + + return new_dense_info, (y, y_error, solver_state, solver_result) + + alg = FixedPointIteration(rtol=delays.rtol, atol=delays.atol) + nonlinear_args = ( + terms, + implicit_step, + dense_interp, + solver, + delays, + t0, + y0_history, + state, + args, + ) + sol = fixed_point(fn, alg, init_guess, nonlinear_args, has_aux=True) + dense_info, (y, y_error, solver_state, solver_result) = sol.value, sol.aux + return y, y_error, dense_info, solver_state, solver_result + + +def maybe_find_discontinuity( + tprev, + tnext, + dense_info, + state, + delays, + solver, + args, + keep_step, + sub_tprev, + sub_tnext, +): + dense_discont = solver.interpolation_cls(t0=tprev, t1=tnext, **dense_info) + flat_delays = jtu.tree_leaves(delays.delays) + _gs = [] + + def make_g(delay): + # Creating the artifical event functions g that is used to + # detect future breaking points. + # http://www.cs.toronto.edu/pub/reports/na/hzpEnrightNA09Preprint.pdf + # page 7 + def g(t): + return ( + t + - delay(t, dense_discont.evaluate(t), args) + - state.discontinuities[...] + ) + + return g + + for delay in flat_delays: + _gs.append(make_g(delay)) + + def _find_discontinuity(): + # Start by doing a cheap bisection search to reduce + # over the stored-discontinuity dimension. + + def _cond_fun(_val): + _, _, _pred, _ = _val + return _pred + + def _body_fun(_val): + _ta, _tb, _, _step = _val + _step = _step + 1 + _tmid = _ta + 0.5 * (_tb - _ta) + _gas = jnp.stack([jnp.sign(g(_ta)) for g in _gs]) + _gmids = jnp.stack([jnp.sign(g(_tmid)) for g in _gs]) + _gbs = jnp.stack([jnp.sign(g(_tb)) for g in _gs]) + _any_left = jnp.any(_gas != _gmids) + _next_ta = jnp.where(_any_left, _ta, _tmid) + _next_tb = jnp.where(_any_left, _tmid, _tb) + _pred = ( + jnp.any(jnp.sum(_gas != _gbs, axis=1) > 1) | _step > delays.max_steps + ) + return _next_ta, _next_tb, _pred, _step + + _init_val = (sub_tprev, sub_tnext, True, 0) + _final_val = lax.while_loop(_cond_fun, _body_fun, _init_val) + _ta, _tb, _, _ = _final_val + + # Then do a more expensive Newton search + # to find the first discontinuity. + # _discont_solver = NewtonNonlinearSolver(rtol=delays.rtol, atol=delays.atol) + _discont_solver = Newton(rtol=delays.rtol, atol=delays.atol) + _disconts = [] + for g, delay in zip(_gs, flat_delays): + changed_sign = jnp.sign(g(_ta)) != jnp.sign(g(_tb)) + _i = jnp.argmax(changed_sign) + _d = state.discontinuities[_i] + _h = ( + lambda t, args, delay=delay, _d=_d: t + - delay(t, dense_discont.evaluate(t), args) + - _d + ) + _discont = root_find(_h, _discont_solver, _tb, args) + _discont = _discont_solver(_h, _tb, args).root + _disconts.append(_discont.value) + _disconts = jnp.stack(_disconts) + + best_candidate = jnp.where( + (_disconts > sub_tprev) & (_disconts < sub_tnext), + _disconts, + jnp.inf, + ) + best_candidate = jnp.min(best_candidate) + discont_update = jnp.where( + jnp.isinf(best_candidate), + False, + True, + ) + return best_candidate, discont_update + + def _find_discontinuity_wrapper(): + return lax.cond( + jnp.any(init_discont & jnp.invert(keep_step)), + _find_discontinuity, + lambda: (sub_tnext, False), + ) + + init_discont = jnp.stack( + [jnp.sign(g(sub_tprev)) != jnp.sign(g(sub_tnext)) for g in _gs] + ) + # We might have rejected the step for normal reasons; + # skip looking for a discontinuity if so. + return lax.cond( + unvmap_any((init_discont & jnp.invert(keep_step))), + _find_discontinuity_wrapper, + lambda: (sub_tnext, False), + ) + + +Delays.__init__.__doc__ = """ +**Arguments:** + +- `delays`: A `PyTree` where the leaves are the DDE's different scalar + deviated arguments. +- `initial_discontinuities`: Discontinuities given by the initial point time +and history function. +- `max_discontinuities`: Array length that tracks the discontinuity jumps +during integration (only relevant when `recurrent_checking` is True). If +`recurrent checking` is set to `True`, the computation quits unconditionally +when the total number of discontinuities detected is larger +than `max_discontinuities`. +- `recurrent_checking` : If `True`, there will be a systematic check at +integration step for potential discontinuities (this involves nonlinear solves +hence expensive). If `False`, discontinuities will only be checked when a step +is rejected. This allows to integrate faster but can also impact +the accuracy of the DDE solution. +- `sub_intervals` : Number of subintervals of the integration step where +discontinuity tracking is done. +- `rtol` : Relative tolerance for the nonlinear solver for the DDE's +implicit stepping and dichotomy for detecting breaking points. +- `atol` : Absolute tolerance for the nonlinear solver for the DDE's +implicit stepping and dichotomy for detecting breaking points. +- `max_steps` : Max iteration of the dichotomy algorithm to +find a discontinuity. + +!!! example + To integrate `y'(t) = - y(t-1)`, we need to define the vector + field and the `Delays` object. + ```py + y0 = lambda t: 1.2 + def vector_field(t, y, args, history): + return - history[0] + + delays = Delays( + delays=[lambda t, y, args: 1.0], + initial_discontinuities=jnp.array([0.0]) + ) + t0, t1 = 0.0, 50.0 + ts = jnp.linspace(t0, t1, 500) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0 = y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays + ) + ``` +""" diff --git a/diffrax/_integrate.py b/diffrax/_integrate.py index 72f23d20..e7d151f5 100644 --- a/diffrax/_integrate.py +++ b/diffrax/_integrate.py @@ -1,8 +1,17 @@ import functools as ft import typing import warnings -from collections.abc import Callable -from typing import TYPE_CHECKING, Any, Optional, Tuple, cast, get_args, get_origin +from typing import ( + TYPE_CHECKING, + Any, + Callable, + Optional, + Tuple, + Union, + cast, + get_args, + get_origin, +) import equinox as eqx import equinox.internal as eqxi @@ -21,6 +30,12 @@ Real, RealScalarLike, ) +from ._delays import ( + Delays, + bind_history, + history_extrapolation_implicit, + maybe_find_discontinuity, +) from ._event import AbstractDiscreteTerminatingEvent from ._global_interpolation import DenseInterpolation from ._heuristics import is_sde, is_unsafe_sde @@ -71,6 +86,11 @@ class State(eqx.Module): dense_ts: Optional[eqxi.MaybeBuffer[Float[Array, " times_plus_1"]]] dense_infos: Optional[BufferDenseInfos] dense_save_index: Optional[IntScalarLike] + num_dde_implicit_step: IntScalarLike + num_dde_explicit_step: IntScalarLike + discontinuities: Optional[Float[Array, " times_plus_1"]] # noqa: F821 + discontinuities_save_index: Optional[IntScalarLike] + # Output that is .at[].set() updated during the solve (and their indices) def _is_none(x): @@ -121,6 +141,7 @@ def _outer_buffers(state): [s.ts for s in save_states] + [s.ys for s in save_states] + [state.dense_ts, state.dense_infos] + + [state.discontinuities] ) @@ -176,6 +197,7 @@ def loop( solver, stepsize_controller, discrete_terminating_event, + delays, saveat, t0, t1, @@ -186,6 +208,7 @@ def loop( init_state, inner_while_loop, outer_while_loop, + y0_history, ): if saveat.dense: dense_ts = init_state.dense_ts @@ -233,16 +256,66 @@ def body_fun_aux(state): # Actually do some differential equation solving! Make numerical steps, adapt # step sizes, all that jazz. # - - (y, y_error, dense_info, solver_state, solver_result) = solver.step( - terms, - state.tprev, - state.tnext, - state.y, - args, - state.solver_state, - state.made_jump, - ) + if delays is None: + (y, y_error, dense_info, solver_state, solver_result) = solver.step( + terms, + state.tprev, + state.tnext, + state.y, + args, + state.solver_state, + state.made_jump, + ) + num_dde_explicit_step = num_dde_implicit_step = 0 + else: + min_delay = [] + flat_delays = jtu.tree_leaves(delays.delays) + for delay in flat_delays: + min_delay.append(delay(state.tprev, state.y, args)) + min_delay = jnp.stack(min_delay).min() + implicit_step = min_delay < (state.tnext - state.tprev) + + def get_struct_dense_info(init_state): + return jtu.tree_map(lambda x: x[0], init_state.dense_infos) + + try: + struct_dense_info = eqx.filter_eval_shape( + get_struct_dense_info, init_state + ) + infos = jtu.tree_map( + lambda _, x: x[...], struct_dense_info, state.dense_infos + ) + except: # noqa: E722 + infos = state.dense_infos + + init_guess = jtu.tree_map(lambda x: x[state.dense_save_index - 1], infos) + dense_interp = DenseInterpolation( + ts=state.dense_ts[...], + ts_size=state.dense_save_index + 1, + interpolation_cls=solver.interpolation_cls, + infos=infos, + direction=1, + y0_if_trivial=y0_history(t0), + t0_if_trivial=t0, + ) + ( + y, + y_error, + dense_info, + solver_state, + solver_result, + ) = history_extrapolation_implicit( + implicit_step, + terms, + dense_interp, + init_guess, + solver, + delays, + t0, + y0_history, + state, + args, + ) # e.g. if someone has a sqrt(y) in the vector field, and dt0 is so large that # we get a negative value for y, and then get a NaN vector field. (And then @@ -267,12 +340,66 @@ def body_fun_aux(state): error_order, state.controller_state, ) - assert jnp.result_type(keep_step) is jnp.dtype(bool) + + # Finding all of the potential discontinuity roots + # if delays is not None: + # _part_maybe_find_discontinuity = ft.partial( + # maybe_find_discontinuity, + # tprev, + # tnext, + # dense_info, + # state, + # delays, + # solver, + # args, + # ) + + # tsearch = jnp.linspace(tprev, tnext, delays.sub_intervals) + # batch_tprev, batch_tnext = tsearch[:-1], tsearch[1:] + # vmap_maybe_find_discontinuity_wrapper = jax.vmap( + # _part_maybe_find_discontinuity, (None, 0, 0) + # ) + # if delays.recurrent_checking: + # ( + # tnext_candidate, + # batch_discont_update, + # ) = vmap_maybe_find_discontinuity_wrapper( + # False, batch_tprev, batch_tnext + # ) + # else: + # ( + # tnext_candidate, + # batch_discont_update, + # ) = vmap_maybe_find_discontinuity_wrapper( + # keep_step, batch_tprev, batch_tnext + # ) + + # proxy_tnext = jnp.where(batch_discont_update, tnext_candidate, jnp.inf) + # proxy_tnext = jnp.min(proxy_tnext) + + # tnext, discont_update = jax.lax.cond( + # jnp.isinf(proxy_tnext), + # lambda: (tnext, False), + # lambda: (proxy_tnext, True), + # ) + + # # Count the number of steps in DDEs, just for statistical purposes + # num_dde_implicit_step = state.num_dde_implicit_step + ( + # keep_step & implicit_step + # ) + # num_dde_explicit_step = state.num_dde_explicit_step + ( + # keep_step & jnp.invert(implicit_step) + # ) + + # assert jnp.result_type(discont_update) is jnp.dtype(bool) + + # assert jnp.result_type(keep_step) is jnp.dtype(bool) # # Do some book-keeping. # - + discont_update = False + num_dde_explicit_step = num_dde_implicit_step = 0 tprev = jnp.minimum(tprev, t1) tnext = _clip_to_end(tprev, tnext, t1, keep_step) @@ -313,6 +440,8 @@ def body_fun_aux(state): dense_ts = state.dense_ts dense_infos = state.dense_infos dense_save_index = state.dense_save_index + discontinuities = state.discontinuities + discontinuities_save_index = state.discontinuities_save_index def save_ts(subsaveat: SubSaveAt, save_state: SaveState) -> SaveState: if subsaveat.ts is not None: @@ -359,6 +488,19 @@ def _body_fun(_save_state): def maybe_inplace(i, u, x): return eqxi.buffer_at_set(x, i, u, pred=keep_step) + def maybe_inplace_delay(i, u, x): + # Annoying hack. We normally call this with `x` wrapped into a buffer + # (from Equinox's while loops). However we do also first trace through to + # see if we can resolve some values statically, in which case normal JAX + # arrays don't support the extra `pred` argument. We don't then use the + # result of this so we just skip it. + return eqxi.buffer_at_set(x, i, u, pred=discont_update) + + # if _filtering: + # return x + # else: + # return x.at[i].set(u, pred=discont_update) + def save_steps(subsaveat: SubSaveAt, save_state: SaveState) -> SaveState: if subsaveat.steps: ts = maybe_inplace(save_state.save_index, tprev, save_state.ts) @@ -388,6 +530,21 @@ def save_steps(subsaveat: SubSaveAt, save_state: SaveState) -> SaveState: ) dense_save_index = dense_save_index + keep_step + # Updating discontinuity + if delays is not None: + if delays.recurrent_checking: + eqxi.error_if( + discontinuities_save_index, + discontinuities_save_index >= delays.max_discontinuities, + "the number of discontinuities detected reached the number of" + " `max_discontinuities`, please raise its value.", + ) + + discontinuities = maybe_inplace_delay( + discontinuities_save_index + 1, tnext, discontinuities + ) + discontinuities_save_index = discontinuities_save_index + discont_update + new_state = State( y=y, tprev=tprev, @@ -400,9 +557,13 @@ def save_steps(subsaveat: SubSaveAt, save_state: SaveState) -> SaveState: num_accepted_steps=num_accepted_steps, num_rejected_steps=num_rejected_steps, save_state=save_state, - dense_ts=dense_ts, # pyright: ignore + num_dde_explicit_step=num_dde_explicit_step, + num_dde_implicit_step=num_dde_implicit_step, + dense_ts=dense_ts, dense_infos=dense_infos, dense_save_index=dense_save_index, + discontinuities=discontinuities, + discontinuities_save_index=discontinuities_save_index, ) if discrete_terminating_event is not None: @@ -505,6 +666,7 @@ def diffeqsolve( discrete_terminating_event: Optional[AbstractDiscreteTerminatingEvent] = None, max_steps: Optional[int] = 4096, throw: bool = True, + delays: Optional[Delays] = None, solver_state: Optional[PyTree[ArrayLike]] = None, controller_state: Optional[PyTree[ArrayLike]] = None, made_jump: Optional[BoolScalarLike] = None, @@ -555,6 +717,10 @@ def diffeqsolve( - `discrete_terminating_event`: A discrete event at which to terminate the solve early. See the page on [Events](./events.md) for more information. + - `delays`: A tuple of functions, which describe the delays used in a delay + differential equation. See the page on [Delays](./delays.md) for more + information. + - `max_steps`: The maximum number of steps to take before quitting the computation unconditionally. @@ -613,6 +779,9 @@ def diffeqsolve( # Initial set-up # + if delays is not None and not saveat.dense: + raise ValueError("Delay differential equations require saving dense output") + # Error checking if dt0 is not None: msg = ( @@ -707,6 +876,18 @@ def _promote(yi): _dtype = jnp.result_type(yi, dtype) # noqa: F821 return jnp.asarray(yi, dtype=_dtype) + if delays is None: + if callable(y0): + raise ValueError("`y0` is passed as a callable and should be an array.") + new_discontinuities = None + discontinuities_save_index = None + y0_history = None + else: + if not callable(y0): + raise ValueError("`y0` should be a callable.") + y0_history = y0 + y0 = y0_history(t0) + y0 = jtu.tree_map(_promote, y0) del timelikes, dtype @@ -788,9 +969,27 @@ def _check_subsaveat_ts(ts): else: tnext = t0 + dt0 tnext = jnp.minimum(tnext, t1) + + if delays is not None: + terms_ = bind_history( + terms, + delays, + None, + None, + solver, + direction, + t0, + tprev, + tnext, + y0_history, + ) + else: + terms_ = terms + + # Got to init the solver if solver_state is None: passed_solver_state = False - solver_state = solver.init(terms, t0, tnext, y0, args) + solver_state = solver.init(terms_, t0, tnext, y0, args) else: passed_solver_state = True @@ -827,6 +1026,8 @@ def _allocate_output(subsaveat: SubSaveAt) -> SaveState: num_steps = 0 num_accepted_steps = 0 num_rejected_steps = 0 + num_dde_explicit_step = 0 + num_dde_implicit_step = 0 made_jump = False if made_jump is None else made_jump result = RESULTS.successful if saveat.dense: @@ -841,8 +1042,22 @@ def _allocate_output(subsaveat: SubSaveAt) -> SaveState: _, _, ) = eqx.filter_eval_shape( - solver.step, terms, tprev, tnext, y0, args, solver_state, made_jump + solver.step, terms_, tprev, tnext, y0, args, solver_state, made_jump ) + if delays is not None: + if delays.initial_discontinuities is not None: + buffer = jnp.full( + delays.max_discontinuities - len(delays.initial_discontinuities), + jnp.inf, + ) + new_discontinuities = jnp.concatenate( + [delays.initial_discontinuities, buffer] + ) + discontinuities_save_index = len(delays.initial_discontinuities) - 1 + else: + new_discontinuities = jnp.full(delays.max_discontinuities, jnp.inf) + discontinuities_save_index = 0 + dense_ts = jnp.full(max_steps + 1, jnp.inf) _make_full = lambda x: jnp.full( (max_steps,) + jnp.shape(x), jnp.inf, dtype=x.dtype @@ -870,6 +1085,11 @@ def _allocate_output(subsaveat: SubSaveAt) -> SaveState: dense_ts=dense_ts, dense_infos=dense_infos, dense_save_index=dense_save_index, + # dde specific State arguments + num_dde_explicit_step=num_dde_explicit_step, + num_dde_implicit_step=num_dde_implicit_step, + discontinuities=new_discontinuities, + discontinuities_save_index=discontinuities_save_index, ) # @@ -882,6 +1102,7 @@ def _allocate_output(subsaveat: SubSaveAt) -> SaveState: solver=solver, stepsize_controller=stepsize_controller, discrete_terminating_event=discrete_terminating_event, + delays=delays, saveat=saveat, t0=t0, t1=t1, @@ -891,6 +1112,7 @@ def _allocate_output(subsaveat: SubSaveAt) -> SaveState: throw=throw, passed_solver_state=passed_solver_state, passed_controller_state=passed_controller_state, + y0_history=y0_history, ) # @@ -940,6 +1162,8 @@ def _allocate_output(subsaveat: SubSaveAt) -> SaveState: "num_accepted_steps": final_state.num_accepted_steps, "num_rejected_steps": final_state.num_rejected_steps, "max_steps": max_steps, + "num_dde_implicit_step": final_state.num_dde_implicit_step, + "num_dde_explicit_step": final_state.num_dde_explicit_step, } result = final_state.result sol = Solution( diff --git a/diffrax/_term.py b/diffrax/_term.py index 9bea8cf8..6dcb8668 100644 --- a/diffrax/_term.py +++ b/diffrax/_term.py @@ -1,7 +1,7 @@ import abc import operator from collections.abc import Callable -from typing import cast, Generic, Optional, TypeVar, Union +from typing import Generic, Optional, TypeVar, Union, cast import equinox as eqx import jax @@ -11,7 +11,7 @@ from equinox.internal import ω from jaxtyping import Array, ArrayLike, PyTree, PyTreeDef -from ._custom_types import Args, Control, IntScalarLike, RealScalarLike, VF, Y +from ._custom_types import VF, Args, Control, IntScalarLike, RealScalarLike, Y from ._path import AbstractPath @@ -154,6 +154,13 @@ def is_vf_expensive( return False +class VectorFieldWrapper(eqx.Module): + vector_field: Callable[[RealScalarLike, PyTree, PyTree], PyTree] + + def __call__(self, t, y, args): + return self.vector_field(t, y, args) + + class ODETerm(AbstractTerm): r"""A term representing $f(t, y(t), args) \mathrm{d}t$. That is to say, the term appearing on the right hand side of an ODE, in which the control is time. @@ -172,6 +179,9 @@ class ODETerm(AbstractTerm): vector_field: Callable[[RealScalarLike, Y, Args], VF] + def __init__(self, vector_field): + self.vector_field = VectorFieldWrapper(vector_field) + def vf(self, t: RealScalarLike, y: Y, args: Args) -> VF: out = self.vector_field(t, y, args) if jtu.tree_structure(out) != jtu.tree_structure(y): @@ -232,6 +242,10 @@ class _ControlTerm(AbstractTerm): vector_field: Callable[[RealScalarLike, Y, Args], VF] control: Union[AbstractPath, Callable] = eqx.field(converter=_callable_to_path) + def __init__(self, vector_field, control): + self.vector_field = VectorFieldWrapper(vector_field) + self.control = control + def vf(self, t: RealScalarLike, y: Y, args: Args) -> VF: return self.vector_field(t, y, args) diff --git a/docs/api/delays.md b/docs/api/delays.md new file mode 100644 index 00000000..694d2afa --- /dev/null +++ b/docs/api/delays.md @@ -0,0 +1,42 @@ +# Delays + +Delays allow to model a broader class of differential equations, Delay Differential Equations (DDEs). +Compared to ODEs, DDEs vector fields need a new argument `history` that integrate delayed states. + +At the moment only DDEs with known delays is supported. + +!!! example + The equation's RHS $y'(t) = y(t) + y(t-1) - y(t-2)$ is modelled by + ``` + def vf(t,y,args,history): + return y + history[0] - history[1] + ``` + +The first element of a `PyTree` of delayed states in a vector field's definition would be `history[0]`. If the state is multidimensional, then `history[0][i]` refers to the $i$th dimension of the first delayed state. + + + +::: diffrax.Delays + selection: + members: + - __init__ + +!!! example + Pytree of three `Delays.delays` : + ``` + delays=[lambda t, y, args: 1.0, (lambda t, y ,args: min(t,2), lambda t, y, args : 1/2 * jnp.cos(y))] + ``` + +!!! info + If `recurrent_checking=True`, then at integration step, a so-called artificial event function $g$ checks for any new discontinuity jumps unconditionally (which are $g_i$'s new odd multiplicity roots). Let $\lambda_i$ be the combined intial discontinuity jumps and the ones found up to the current integration step. + + $\begin{align} + g_i(t,y(t)) = t - \tau(t,y(t)) - \lambda_i, \quad i = \dots, -2,-1,-,1,2,\dots \\ + \end{align}$ + + This can be prohibitely expensive but in some cases can speed up the integration and its accuracy. + We refer to this [paper](http://www.cs.toronto.edu/pub/reports/na/hzpEnrightNA09Preprint.pdf) for more information on how to detect new discontinuity jumps in a DDE. + +!!! note + If the history function is continuous and the initial time point induces a discontinuity `max_discontinuities = jnp.array([t0])`. + diff --git a/examples/dde.ipynb b/examples/dde.ipynb new file mode 100644 index 00000000..5546d4d6 --- /dev/null +++ b/examples/dde.ipynb @@ -0,0 +1,261 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Delay Differential Equations : DDEs" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "This example demonstrates the use of DDE solvers to handle delayed system of equations. In this case, we model the dimensionless [delay-logistic equation](https://www.math.fsu.edu/~bertram/lectures/delay.pdf). \n", + "\n", + "$$ \\frac{dy}{dt} = \\alpha y \\left(1 - y(t-\\tau) \\right) $$\n", + "\n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "This example is available as a Jupyter notebook [here](https://github.com/patrick-kidger/diffrax/blob/main/examples/dde.ipynb)." + ] + }, + { + "cell_type": "code", + "execution_count": 64, + "metadata": {}, + "outputs": [], + "source": [ + "import time\n", + "\n", + "import diffrax\n", + "import jax\n", + "import jax.numpy as jnp\n", + "import matplotlib.pyplot as plt" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Using 64-bit precision is important when solving problems with tolerances of 1e-8 (or smaller)." + ] + }, + { + "cell_type": "code", + "execution_count": 65, + "metadata": {}, + "outputs": [], + "source": [ + "jax.config.update(\"jax_enable_x64\", True)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "In order to model a delayed system we need to instantiate its vector field and its history function $\\phi(t) = y(t<0)$ (i.e. initial condition)." + ] + }, + { + "cell_type": "code", + "execution_count": 66, + "metadata": {}, + "outputs": [], + "source": [ + "def delay_logistic_vf(t, y, args, *, history):\n", + " alpha = args\n", + " return alpha * y * (1 - history[0])\n", + "\n", + "\n", + "def history_function(t):\n", + " return 2.0" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "A DDE's vector field holds an additional argument `history` compared to an ODE's. The `history` variable refers to the delayed terms of your equation (here $y(t-\\tau)$). " + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "We need to instantiate the `Delays` object that encompasses all of the information needed to integrate properly our DDE. The arguments `initial_discontinuities` also need to be given. It accounts for the discontinuities found in the history function. \n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "In our case we only have 0 since $y\\prime(t=0^{-}) \\neq y\\prime(t=0^{+})$ because $y\\prime(t=0^{+}) = - 2 \\alpha$ and $y\\prime(t=0^{-}) = 0$. \n", + "We choose $\\tau=1$." + ] + }, + { + "cell_type": "code", + "execution_count": 67, + "metadata": {}, + "outputs": [], + "source": [ + "delays = diffrax.Delays(\n", + " delays=[lambda t, y, args: 1], initial_discontinuities=jnp.array([0.0])\n", + ")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Since DDEs require dense solutions we need to set `diffrax.SaveAt`'s argument `dense=True` in `diffrax.diffeqsolve`. " + ] + }, + { + "cell_type": "code", + "execution_count": 68, + "metadata": {}, + "outputs": [], + "source": [ + "@jax.jit\n", + "def main(alpha):\n", + " terms = diffrax.ODETerm(delay_logistic_vf)\n", + " t0 = 0.0\n", + " t1 = 20.0\n", + " ts = jnp.linspace(0, 20, 200)\n", + " solver = diffrax.Bosh3()\n", + " stepsize_controller = diffrax.PIDController(rtol=1e-3, atol=1e-6)\n", + " sol = diffrax.diffeqsolve(\n", + " terms,\n", + " solver,\n", + " t0,\n", + " t1,\n", + " ts[1] - ts[0],\n", + " y0=history_function,\n", + " saveat=diffrax.SaveAt(ts=ts, dense=True),\n", + " stepsize_controller=stepsize_controller,\n", + " delays=delays,\n", + " args=alpha,\n", + " )\n", + " return sol" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Do one iteration to JIT compile everything. Then time the second iteration." + ] + }, + { + "cell_type": "code", + "execution_count": 69, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Integration took in 0.0004687309265136719 seconds.\n" + ] + }, + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "alpha = 2.0\n", + "main(alpha)\n", + "\n", + "start = time.time()\n", + "sol = main(alpha)\n", + "end = time.time()\n", + "print(f\"Integration took in {end - start} seconds.\")\n", + "\n", + "plt.plot(sol.ts, sol.ys)\n", + "plt.show()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "We can also change the `alpha` term and see its influence on the dynamics." + ] + }, + { + "cell_type": "code", + "execution_count": 70, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Integration took in 0.000225067138671875 seconds.\n" + ] + }, + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "main(1)\n", + "\n", + "start = time.time()\n", + "sol = main(1)\n", + "end = time.time()\n", + "print(f\"Integration took in {end - start} seconds.\")\n", + "\n", + "plt.plot(sol.ts, sol.ys)\n", + "plt.show()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3.9.16 ('documentation_diffrax')", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.9.16" + }, + "orig_nbformat": 4, + "vscode": { + "interpreter": { + "hash": "d644d6de157dae45f4c41ea729963c4364743d9466df2c5e80d490cf71a3f866" + } + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/neural_dde.ipynb b/examples/neural_dde.ipynb new file mode 100644 index 00000000..990c5e1b --- /dev/null +++ b/examples/neural_dde.ipynb @@ -0,0 +1,319 @@ +{ + "cells": [ + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Neural DDE" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "This example demonstrates how to use Diffrax in order to solve a Delay Differential Equation (DDE) with known delays. \n", + "Unlike ODEs that are identified by their vector field $f(t, y(t))$ and initial condition $y(0)=y_0$, DDEs are specified by their vector field $f$, deviated arguments $y(t-\\tau)$ and history function $\\phi(t)=y(t<0)$.\n", + "\n", + "We will model the [Lotka Volterra](https://en.wikipedia.org/wiki/Lotka%E2%80%93Volterra_equations) (LK) equations with one constant time delay defined as \n", + "\n", + "$$\n", + "\\begin{align}\n", + "& y_1'(t) = \\frac{1}{2} y_1(t) ( 1 - y_2(t-0.2)) \\\\\n", + "& y_2'(t) = -\\frac{1}{2} y_2(t)( 1 - y_1(t-0.2)) \\\\\n", + "& \\phi(t) = y(t<0) = (y_1, y_2) \n", + "\\end{align}\n", + "$$\n", + "\n", + "where $x_0, y_0$ are uniformly sampled in $[0.1,2]$." + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "This example is available as a Jupyter notebook [here](url)." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import time\n", + "\n", + "import diffrax\n", + "import equinox as eqx # https://github.com/patrick-kidger/equinox\n", + "import jax\n", + "import jax.nn as jnn\n", + "import jax.numpy as jnp\n", + "import jax.random as jrandom\n", + "import matplotlib.pyplot as plt\n", + "import optax # https://github.com/deepmind/optax" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "In order to model our problem as a DDE $y'(t) = f_{\\theta}(t, y(t), y(t-\\tau_1), \\dots, y(t-\\tau_d))$, we first need to define a `Delays` object that incorporates deviated arguments in our vector field $f$. \n", + "\n", + "LK's initial time point $t=0$ has a derivative jump because $\\phi^{\\prime}(t=0^{-}) \\neq y^{\\prime}(t=0^{+})$ and the history function $\\phi(t)$ has `None`. \n", + "The DDE model only has one time delay so $d=1$ and our vector field will be $y'(t) = f_{\\theta}(t, y(t), y(t-\\tau))$" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "delays = diffrax.Delays(\n", + " delays=[lambda t, y, args: 0.2], initial_discontinuities=jnp.array([0.0])\n", + ")" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Below is defined the vector field $f_{\\theta}$. " + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "class Func(eqx.Module):\n", + " mlp: eqx.nn.MLP\n", + "\n", + " def __init__(self, data_size, width_size, depth, *, key, **kwargs):\n", + " super().__init__(**kwargs)\n", + " self.mlp = eqx.nn.MLP(\n", + " in_size=data_size,\n", + " out_size=data_size,\n", + " width_size=width_size,\n", + " depth=depth,\n", + " activation=jnn.relu,\n", + " key=key,\n", + " )\n", + "\n", + " def __call__(self, t, y, args, history):\n", + " return self.mlp(y, history[0])" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The `history` variable inside the network's `__call__` is a tuple of deviated arguments. For example, if we possess a `Delays` object with 2 delays then the first element of tuple would be the first deviated argument $y(t-\\tau_1)$ and the second one $y(t-\\tau_1)$. \n", + "In our case, `history[0]` corresponds to $y(t-0.2)$ and by extension `history[0][0]` is $y_1(t-0.2)$." + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Here we wrap up the entire DDE solve into a model." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "class NeuralDDE(eqx.Module):\n", + " func: Func\n", + "\n", + " def __init__(self, data_size, width_size, depth, *, key, **kwargs):\n", + " super().__init__(**kwargs)\n", + " self.func = Func(data_size, width_size, depth, key=key)\n", + "\n", + " def __call__(self, ts, y0):\n", + " solution = diffrax.diffeqsolve(\n", + " diffrax.ODETerm(self.func),\n", + " diffrax.Tsit5(),\n", + " t0=ts[0],\n", + " t1=ts[-1],\n", + " dt0=ts[1] - ts[0],\n", + " y0=y0,\n", + " delays=delays,\n", + " stepsize_controller=diffrax.PIDController(rtol=1e-3, atol=1e-6),\n", + " saveat=diffrax.SaveAt(ts=ts, dense=True),\n", + " )\n", + " return solution.ys" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "We generate the LK dataset." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "def _get_data(ts, *, key):\n", + " y0 = jrandom.uniform(key, (2,), minval=0.1, maxval=2.0)\n", + "\n", + " def vector_field(t, y, args, history):\n", + " return jnp.array(\n", + " [\n", + " 1 / 2 * y[0] * (1 - history[0][1]),\n", + " -1 / 2 * y[1] * (1 - history[0][0]),\n", + " ]\n", + " )\n", + "\n", + " sol = diffrax.diffeqsolve(\n", + " diffrax.ODETerm(vector_field),\n", + " diffrax.Dopri5(),\n", + " t0=ts[0],\n", + " t1=ts[-1],\n", + " dt0=ts[1] - ts[0],\n", + " y0=lambda t: y0,\n", + " adjoint=diffrax.NoAdjoint(),\n", + " stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9),\n", + " saveat=diffrax.SaveAt(ts=ts, dense=True),\n", + " delays=delays,\n", + " )\n", + "\n", + " return sol.ys\n", + "\n", + "\n", + "def get_data(dataset_size, *, key):\n", + " ts = jnp.linspace(0, 15, 200)\n", + " key = jrandom.split(key, dataset_size)\n", + " ys = jax.vmap(lambda key: _get_data(ts, key=key))(key)\n", + " return ts, ys\n", + "\n", + "\n", + "def dataloader(arrays, batch_size, *, key):\n", + " dataset_size = arrays[0].shape[0]\n", + " assert all(array.shape[0] == dataset_size for array in arrays)\n", + " indices = jnp.arange(dataset_size)\n", + " while True:\n", + " perm = jrandom.permutation(key, indices)\n", + " (key,) = jrandom.split(key, 1)\n", + " start = 0\n", + " end = batch_size\n", + " while end < dataset_size:\n", + " batch_perm = perm[start:end]\n", + " yield tuple(array[batch_perm] for array in arrays)\n", + " start = end\n", + " end = start + batch_size" + ] + }, + { + "attachments": {}, + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Main entry point. Try runnning `main()`." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "def main(\n", + " dataset_size=256,\n", + " batch_size=32,\n", + " width_size=32,\n", + " depth=2,\n", + " tot_steps=500,\n", + " lr=10e-3,\n", + " seed=5678,\n", + " plot=True,\n", + " print_every=100,\n", + "):\n", + " key = jrandom.PRNGKey(seed)\n", + " data_key, model_key, loader_key = jrandom.split(key, 3)\n", + "\n", + " ts, ys = get_data(dataset_size, key=data_key)\n", + " _, _, data_size = ys.shape\n", + "\n", + " model = NeuralDDE(data_size, width_size, depth, key=model_key)\n", + "\n", + " @eqx.filter_value_and_grad\n", + " def grad_loss(model, ti, yi):\n", + " y_pred = jax.vmap(model, in_axes=(None, 0))(ti, yi[:, 0])\n", + " return jnp.mean((yi - y_pred) ** 2)\n", + "\n", + " @eqx.filter_jit\n", + " def make_step(ti, yi, model, opt_state):\n", + " loss, grads = grad_loss(model, ti, yi)\n", + " updates, opt_state = optim.update(grads, opt_state)\n", + " model = eqx.apply_updates(model, updates)\n", + " return loss, model, opt_state\n", + "\n", + " optim = optax.adabelief(lr)\n", + " opt_state = optim.init(eqx.filter(model, eqx.is_inexact_array))\n", + " for step, (yi,) in zip(\n", + " range(tot_steps), dataloader((ys,), batch_size, key=loader_key)\n", + " ):\n", + " start = time.time()\n", + " loss, model, opt_state = make_step(ts, yi, model, opt_state)\n", + " end = time.time()\n", + " if (step % print_every) == 0 or step == tot_steps - 1:\n", + " print(f\"Step: {step}, Loss: {loss}, Computation time: {end - start}\")\n", + "\n", + " if plot:\n", + " plt.plot(ts, ys[0, :, 0], c=\"dodgerblue\", label=\"Real\")\n", + " plt.plot(ts, ys[0, :, 1], c=\"dodgerblue\")\n", + " model_y = model(ts, ys[0, 0])\n", + " plt.plot(ts, model_y[:, 0], c=\"crimson\", label=\"Model\")\n", + " plt.plot(ts, model_y[:, 1], c=\"crimson\")\n", + " plt.legend()\n", + " plt.tight_layout()\n", + " plt.savefig(\"neural_ode.png\")\n", + " plt.show()\n", + "\n", + " return ts, ys, model" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3.9.13 ('dde')", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.9.13" + }, + "orig_nbformat": 4, + "vscode": { + "interpreter": { + "hash": "85a82c4ca03817695851f28a9a8c882825d82c078a665316024297a0baa050af" + } + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/mkdocs.yml b/mkdocs.yml index 414a146d..a257b291 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -98,6 +98,7 @@ nav: - 'usage/extending.md' - Examples: - Basic ODE/SDE/CDE examples: 'other_examples/basic-examples.md' + # - DDE : 'examples/dde.ipynb' to add in Basic examples - Coupled ODEs: 'examples/coupled_odes.ipynb' - Stiff ODE: 'examples/stiff_ode.ipynb' - Forcing terms: 'examples/forcing.ipynb' @@ -106,6 +107,7 @@ nav: - Neural CDE: 'examples/neural_cde.ipynb' - Neural SDE: 'examples/neural_sde.ipynb' - Latent ODE: 'examples/latent_ode.ipynb' + # - Neural DDE: 'examples/neural_dde.ipynb' - Continuous normalising flow: 'examples/continuous_normalising_flow.ipynb' - Symbolic regression: 'examples/symbolic_regression.ipynb' - Steady state: 'examples/steady_state.ipynb' @@ -130,6 +132,7 @@ nav: - 'api/interpolation.md' - 'api/brownian.md' - 'api/nonlinear_solver.md' + # - 'api/delays.md' - Further details: - 'further_details/faq.md' - 'further_details/acknowledgements.md' diff --git a/test/julia_dde/dde.jl b/test/julia_dde/dde.jl new file mode 100644 index 00000000..acf20d7c --- /dev/null +++ b/test/julia_dde/dde.jl @@ -0,0 +1,315 @@ +# File that generates DDE dynamics of several systems + +using DifferentialEquations +using DelimitedFiles +using PyPlot + +# Basic check 1 ========================================= +function basic_check_1(du, u, h, p, t) + tau = p + hist1 = h(p, t-tau)[1] + du[1] = u[1] * (1 - hist1) +end + +h(p,t) = 1.2 * ones(1) +u0 = [1.2] +tau = 1.0 +lags = [tau] +p = (tau) +tspan = (0.0, 50.0) + + +prob = DDEProblem(basic_check_1, u0, h, tspan, p; constant_lags=lags) +alg = MethodOfSteps(Tsit5()) # doesn't work with DP5 DP8 but works with Tsit5 and Bosh3 +sol = solve(prob,alg, saveat=0.05) +usol = transpose(hcat(sol.u...)) +time = sol.t + +plot(sol.t, usol) +plt.xlabel("Time") +plt.show() + +writedlm("test_basic_check_1.txt", [sol.t usol]) + +# Basic check 2 ========================================= +function basic_check_2(du, u, h, p, t) + tau = p + hist1 = h(p, t-tau)[1] + du[1] = u[1] * (1 - hist1) +end + +h(p,t) = 1.2 * ones(1) +u0 = [1.2] +tau = 2.0 +lags = [tau] +p = (tau) +tspan = (0.0, 50.0) + + +prob = DDEProblem(basic_check_2, u0, h, tspan, p; constant_lags=lags) +alg = MethodOfSteps(BS3()) # doesn't work with DP5 DP8 but works with Tsit5 and Bosh3 +sol = solve(prob,alg, saveat=0.05) +usol = transpose(hcat(sol.u...)) +time = sol.t + +plot(sol.t, usol) +plt.xlabel("Time") +plt.show() + +writedlm("test_basic_check_2.txt", [sol.t usol]) + + +# Basic check 3 & 4 ========================================= +function basic_check_3(du, u, h, p, t) + tau = p + hist1 = h(p, t-tau)[1] + du[1] = u[1] * (1 - hist1) +end + +h(p,t) = 1.2 * ones(1) +u0 = [1.2] +tau = 3.0 +lags = [tau] +p = (tau) +tspan = (0.0, 50.0) + + +prob = DDEProblem(basic_check_3, u0, h, tspan, p; constant_lags=lags) +alg = MethodOfSteps(BS3()) # doesn't work with DP5 DP8 but works with Tsit5 and Bosh3 +sol = solve(prob,alg, saveat=0.05) +usol = transpose(hcat(sol.u...)) + +alg = MethodOfSteps(Tsit5()) # doesn't work with DP5 DP8 but works with Tsit5 and Bosh3 +sol2 = solve(prob,alg, saveat=0.05) +usol2 = transpose(hcat(sol2.u...)) +time = sol.t + +plot(sol.t, usol2) +plot(sol.t, usol) +plt.xlabel("Time") +plt.show() + +writedlm("test_basic_check_3.txt", [sol.t usol]) +writedlm("test_basic_check_4.txt", [sol.t usol2]) + +# Basic check 5 & 6 ========================================= +function basic_check_5(du, u, h, p, t) + tau = p + hist1 = h(p, t-tau)[1] + du[1] = u[1] * (1 - hist1) +end + +h(p,t) = 1.2 * ones(1) +u0 = [1.2] +tau = 4.0 +lags = [tau] +p = (tau) +tspan = (0.0, 50.0) + + +prob = DDEProblem(basic_check_5, u0, h, tspan, p; constant_lags=lags) +alg = MethodOfSteps(BS3()) # doesn't work with DP5 DP8 but works with Tsit5 and Bosh3 +sol = solve(prob,alg, saveat=0.05) +usol = transpose(hcat(sol.u...)) + +alg = MethodOfSteps(Tsit5()) # doesn't work with DP5 DP8 but works with Tsit5 and Bosh3 +sol2 = solve(prob,alg, saveat=0.05) +usol2 = transpose(hcat(sol2.u...)) +time = sol.t + +plot(sol.t, usol2) +plot(sol.t, usol) +plt.xlabel("Time") +plt.show() + +writedlm("test_basic_check_5.txt", [sol.t usol]) +writedlm("test_basic_check_6.txt", [sol.t usol2]) + +# Basic check 7 ========================================= +function basic_check_7(du, u, h, p, t) + tau = p + hist1 = h(p, t-tau)[1] + du[1] = u[1] * (1 - hist1) +end + +h(p,t) = 1.2 * ones(1) +u0 = [1.2] +tau = 4.0 +lags = [tau] +p = (tau) +tspan = (0.0, 50.0) + + +prob = DDEProblem(basic_check_7, u0, h, tspan, p; constant_lags=lags) +alg = MethodOfSteps(Kvaerno5()) # doesn't work with DP5 DP8 but works with Tsit5 and Bosh3 +sol = solve(prob,alg, saveat=0.05) +usol = transpose(hcat(sol.u...)) +time = sol.t + +plot(sol.t, usol) +plt.xlabel("Time") +plt.show() + +writedlm("test_basic_check_7.txt", [sol.t usol]) + +# Basic check 8 ========================================= +function basic_check_8(du, u, h, p, t) + tau1, tau2 = p + hist1 = h(p, t-tau1)[1] + hist2 = h(p, t-tau2)[1] + du[1] = - hist1 - hist2 +end + +h(p,t) = 1.2 * ones(1) +lags = [1.0/3 1.0/5] +p = (1.0/3, 1.0/5) +tspan = (0.0, 10.0) +u0 = [1.2] + +prob = DDEProblem(basic_check_8, u0, h, tspan, p; constant_lags=lags) +alg = MethodOfSteps(Tsit5()) +sol = solve(prob,alg, saveat=0.1) +usol = transpose(hcat(sol.u...)) +time = sol.t + +plot(sol.t, usol) +plt.xlabel("Time") +plt.show() + +writedlm("test_basic_check_8.txt", [sol.t usol]) + +# Basic check 9 ========================================= +function basic_check_9(du, u, h, p, t) + tau = p + hist1 = h(p, t-tau)[1] + du[1] = 0.2 * hist1 / (1+ hist1^10) - 0.1 * u[1] +end + + +h(p,t) = 1.2 * ones(1) +u0 = [1.2] +tau = 6.0 +lags = [tau] +p = (tau) +tspan = (0.0, 50.0) + +prob = DDEProblem(basic_check_9, u0, h, tspan, p; constant_lags=lags) +alg = MethodOfSteps(Tsit5()) +sol = solve(prob,alg, saveat=0.1) +usol = transpose(hcat(sol.u...)) +time = sol.t + +plot(sol.t, usol) +plt.xlabel("Time") +plt.show() + +writedlm("test_basic_check_9.txt", [sol.t usol]) + +# Basic check 10 ========================================= +function basic_check_10(du, u, h, p, t) + hist1 = h(p, t- 2 -sin(t))[1] + du[1] = u[1] * (1 - hist1) +end + +function h_basic_check_10(p, t) + 1.2 * ones(1) +end + +prob = DDEProblem(basic_check_10, h_basic_check_10, (0.0, 40.0) ; dependent_lags = ((u, p, t) -> 2 + sin(t),)) +alg = MethodOfSteps(BS3()) +sol = solve(prob,alg, saveat=0.1) +usol = transpose(hcat(sol.u...)) +time = sol.t + +plot(sol.t, usol) +plt.xlabel("Time") +plt.show() + +writedlm("test_basic_check_10.txt", [sol.t usol]) + +Basic check 11 ========================================= +function basic_check_11(du, u, h, p, t) + hist1 = h(p, t- 1/2*(exp(-u[1]^2) + 1))[1] + du[1] = -10* hist1 +end + +function h_basic_check_11(p, t) + 1.0 * ones(1) +end + +prob = DDEProblem(basic_check_11, h_basic_check_11, (0.0, 5.0) ; dependent_lags = ((u, p, t) -> 1/2*(exp(-u[1]^2) + 1),)) +alg = MethodOfSteps(Kvaerno5()) +sol = solve(prob,alg, saveat=0.01) +usol = transpose(hcat(sol.u...)) + +alg = MethodOfSteps(Kvaerno4()) +sol = solve(prob,alg, saveat=0.01) +usol2 = transpose(hcat(sol.u...)) + +time = sol.t + +plot(sol.t, usol2, label="Kv4") +plot(sol.t, usol, label="Kv5") +plt.xlabel("Time") +plt.legend() +plt.show() + +writedlm("test_basic_check_11.txt", [sol.t usol]) + + +# Numerical check 1 ========================================= +function numerical_check_1(du, u, h, p, t) + hist1 = h(p, u[1])[1] + du[1] = hist1 +end + +function h_numerical_check_1(p, t) + if t < 2.0 + 1/2 * ones(1) + else + 1 * ones(1) + end +end + +prob = DDEProblem(numerical_check_1, h_numerical_check_1, u0=[1.0 * ones(1)], (2.0, 5.5) ; dependent_lags = ((u, p, t) -> u[1],)) +alg = MethodOfSteps(BS3()) +sol = solve(prob,alg, saveat=0.01) +usol = transpose(hcat(sol.u...)) + +alg = MethodOfSteps(Tsit5()) +sol = solve(prob,alg, saveat=0.01) +usol2 = transpose(hcat(sol.u...)) + +time = sol.t + +plot(sol.t, usol2, label="Kv4") +plot(sol.t, usol, label="Kv5") +plt.xlabel("Time") +plt.legend() +plt.show() + +writedlm("test_basic_numerical_check_1.txt", [sol.t usol]) + +# Numerical check 2 ========================================= +function numerical_check_2(du, u, h, p, t) + hist1 = h(p, log(u[1]))[1] + du[1] = hist1 * u[1] / t +end + +function h_numerical_check_2(p, t) + 1 * ones(1) +end + +prob = DDEProblem(numerical_check_2, h_numerical_check_2, (1.0, 10.0) ; dependent_lags = ((u, p, t) -> log(u[1]),)) +alg = MethodOfSteps(BS3()) +sol = solve(prob,alg, saveat=0.01) +usol = transpose(hcat(sol.u...)) +time = sol.t + +plot(sol.t, usol2, label="Kv4") +plot(sol.t, usol, label="Kv5") +plt.xlabel("Time") +plt.legend() +plt.show() + +writedlm("test_basic_numerical_check_2.txt", [sol.t usol]) diff --git a/test/julia_dde/test_basic_check_1.txt b/test/julia_dde/test_basic_check_1.txt new file mode 100644 index 00000000..ea119434 --- /dev/null +++ b/test/julia_dde/test_basic_check_1.txt @@ -0,0 +1,1001 @@ +0.0 1.2 +0.05 1.1880598004963274 +0.1 1.1762384079684047 +0.15 1.1645346400763932 +0.2 1.1529473230412208 +0.25 1.141475299112477 +0.3 1.1301174233925737 +0.35 1.1188725616239938 +0.4 1.1077395901892904 +0.45 1.0967173961110868 +0.5 1.0858048770520767 +0.55 1.075000941315024 +0.6 1.064304507842764 +0.65 1.0537145062182005 +0.7 1.043229876664309 +0.75 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jrandom.normal(akey, (10, 10), dtype=jnp.float64) * 0.5 + + def dde_f(t, y, args, history): + return A @ y + + def ode_f(t, y, args): + return A @ y + + dde_term = diffrax.ODETerm(dde_f) + ode_term = diffrax.ODETerm(ode_f) + t0 = 0 + t1 = 4 + ts = jnp.linspace(t0, t1, int(10 * (t1 - t0))) + y0 = jrandom.normal(ykey, (10,), dtype=jnp.float64) + delays = diffrax.Delays( + delays=[lambda t, y, args: 0.2], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + + dt0 = 0.1 + dde_sol = diffrax.diffeqsolve( + dde_term, + diffrax.Dopri5(), + t0, + t1, + dt0, + y0=lambda t: y0, + delays=delays, + saveat=diffrax.SaveAt(ts=ts, dense=True), + ) + ode_sol = diffrax.diffeqsolve( + ode_term, + diffrax.Dopri5(), + t0, + t1, + dt0, + y0, + saveat=diffrax.SaveAt(ts=ts, dense=True), + ) + + error = jnp.mean(jnp.abs(dde_sol.ys - ode_sol.ys)) + assert error < 10**-5 + + +def test_jump_ts_dde_solver(): + # test jump ts with dde solver + # when t=2.0 the vf changes + + key = jrandom.PRNGKey(5678) + + def vf(t, y, args, history): + sign = jnp.where(t < 2, 1, -1) + return sign * history[0] + + def first_part_vf(t, y, args, history): + return history[0] + + def second_part_vf(t, y, args, history): + return -history[0] + + t0, t1 = 0.0, 4.0 + dt0 = 0.1 + ts_first = jnp.linspace(0, 2.0, 20) + ts_second = jnp.linspace(2.0, 4.0, 20) + ts = jnp.concatenate([ts_first, ts_second[1:]]) + y0 = jrandom.normal(key, (1,), dtype=jnp.float64) + delays = diffrax.Delays( + delays=[lambda t, y, args: 1.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=10, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + + delays2 = diffrax.Delays( + delays=[lambda t, y, args: 1.0], + initial_discontinuities=jnp.array([2.0]), + max_discontinuities=10, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + + first_part_dde = diffrax.diffeqsolve( + diffrax.ODETerm(first_part_vf), + diffrax.Dopri5(), + t0, + ts_first[-1], + dt0, + y0=lambda t: y0, + delays=delays, + saveat=diffrax.SaveAt(ts=ts_first, dense=True), + ) + second_part_dde = diffrax.diffeqsolve( + diffrax.ODETerm(second_part_vf), + diffrax.Dopri5(), + ts_first[-1], + t1, + dt0, + y0=lambda t: first_part_dde.interpolation.evaluate(t), + delays=delays2, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-3), + saveat=diffrax.SaveAt(ts=ts_second, dense=True), + ) + complete_dde = diffrax.diffeqsolve( + diffrax.ODETerm(vf), + diffrax.Dopri5(), + t0, + t1, + dt0, + y0=lambda t: y0, + delays=delays, + stepsize_controller=diffrax.PIDController( + rtol=1e-9, atol=1e-6, jump_ts=jnp.array([2.0]) + ), + saveat=diffrax.SaveAt(ts=ts, dense=True), + ) + + error = jnp.mean( + jnp.abs( + complete_dde.ys + - jnp.concatenate([first_part_dde.ys, second_part_dde.ys[1:]]) + ) + ) + assert error < 1**-5 + + +def test_smooth_dde(): + # testing a smooth dde with no initial discontinuities + # y' = y(t-1), phi = t + 1 + # for t in [0,1], y(t) = t**2/2 + 1 + # for t in [1,2], y(t) = (t-1)**3/(2*3) + t + 1/2 + # we compare the values at t=1,2 with their analytical + # solution + def dde_f(t, y, args, history): + return history[0] + + dde_term = diffrax.ODETerm(dde_f) + t0, t1 = 0.0, 2.0 + ts = jnp.linspace(t0, t1, 100) + delays = diffrax.Delays( + delays=[lambda t, y, args: 1.0], + initial_discontinuities=None, + max_discontinuities=10, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + + dt0 = 0.1 + dde_sol = diffrax.diffeqsolve( + dde_term, + diffrax.Dopri5(), + t0, + t1, + dt0, + y0=lambda t: t + 1, + delays=delays, + saveat=diffrax.SaveAt(ts=ts, dense=True), + ) + + error1 = jnp.mean(jnp.abs(dde_sol.ys[50] - 3 / 2)) + error2 = jnp.mean(jnp.abs(dde_sol.ys[100] - 8 / 3)) + + assert error1 < 10**-1 + assert error2 < 10**-3 + + +def _test_exceed_max_discontinuities(): + # we recurrent_checking to True and + # integrate a DDE with a delay equal + # to 1 and hence from t > 10.0 we + # should have RunTimeError picked + # up + def dde_f(t, y, args, history): + return -history[0] + + t0, t1 = 0.0, 12.0 + ts = jnp.linspace(t0, t1, 120) + delays = diffrax.Delays( + delays=[lambda t, y, args: 1.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=10, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + + dt0 = 0.1 + + return diffrax.diffeqsolve( + diffrax.ODETerm(dde_f), + diffrax.Dopri5(), + t0, + t1, + dt0, + y0=lambda t: 1.0, + delays=delays, + saveat=diffrax.SaveAt(ts=ts, dense=True), + ) + + +def test_exceed_max_discontinuities(): + with pytest.raises(RuntimeError): + _test_exceed_max_discontinuities() + + +def test_only_explicit_stepping(): + # we check that we only do explicit + # stepping here by putting + # dt = 0.9 < delays + def dde_f(t, y, args, history): + return -history[0] + + t0, t1 = 0.0, 12.0 + ts = jnp.linspace(t0, t1, 120) + delays = diffrax.Delays( + delays=[lambda t, y, args: 1.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=10, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + + dt0 = 0.1 + sol = diffrax.diffeqsolve( + diffrax.ODETerm(dde_f), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=dt0, + y0=lambda t: 1.0, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9, dtmax=0.9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + + assert sol.stats["num_dde_implicit_step"] == 0 + assert sol.stats["num_dde_explicit_step"] > 0 + + +def test_hit_explicit_and_implicit_stepping(): + # we check that we only do implicit + # stepping here by putting + # dt=1.1 > delays + def dde_f(t, y, args, history): + return -history[0] + + t0, t1 = 0.0, 25.0 + ts = jnp.linspace(t0, t1, 120) + delays = diffrax.Delays( + delays=[lambda t, y, args: 1.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=10, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + + sol = diffrax.diffeqsolve( + diffrax.ODETerm(dde_f), + diffrax.Dopri5(), + t0=ts[0], + t1=ts[-1], + dt0=0.1, + y0=lambda t: 1.0, + stepsize_controller=diffrax.PIDController(rtol=1e-3, atol=1e-6), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + assert sol.stats["num_dde_implicit_step"] > 0 + assert sol.stats["num_dde_explicit_step"] > 0 + + +def test_basic_check_1(): + def vector_field(t, y, args, *, history): + return y * (1 - history[0]) + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 1.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + made_jump = delays.initial_discontinuities is None + t0, t1 = 0.0, 50.0 + ts = jnp.linspace(t0, t1, 1001) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + delays = Delays( + delays=[lambda t, y, args: 1.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_1.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 1e-4 + assert error2 < 1e-4 + assert error3 < 1e-5 + + +def test_basic_check_2(): + def vector_field(t, y, args, *, history): + return y * (1 - history[0]) + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 2.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + made_jump = delays.initial_discontinuities is None + t0, t1 = 0.0, 50.0 + ts = jnp.linspace(t0, t1, 1001) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + delays = Delays( + delays=[lambda t, y, args: 2.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_2.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 1e-2 + assert error2 < 1e-2 + assert error3 < 1e-5 + + +def test_basic_check_3(): + # same test as test_basic_check_2 but we + # have a larger delay =3 + def vector_field(t, y, args, *, history): + return y * (1 - history[0]) + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 3.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + made_jump = delays.initial_discontinuities is None + t0, t1 = 0.0, 50.0 + ts = jnp.linspace(t0, t1, 1001) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + delays = Delays( + delays=[lambda t, y, args: 3.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_3.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 0.15 + assert error2 < 0.15 + assert error3 < 1e-5 + + +def test_basic_check_4(): + # same experiment as test_basic_check_3 + # but solver is Tsit5 + def vector_field(t, y, args, *, history): + return y * (1 - history[0]) + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 3.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + made_jump = delays.initial_discontinuities is None + t0, t1 = 0.0, 50.0 + ts = jnp.linspace(t0, t1, 1001) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + delays = Delays( + delays=[lambda t, y, args: 3.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_4.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 1e-2 + assert error2 < 1e-2 + assert error3 < 1e-5 + + +def test_basic_check_5(): + # same test as test_basic_check_3 but we + # have a larger delay =4 + def vector_field(t, y, args, *, history): + return y * (1 - history[0]) + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 4.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=10, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + made_jump = delays.initial_discontinuities is None + t0, t1 = 0.0, 50.0 + ts = jnp.linspace(t0, t1, 1001) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + delays = Delays( + delays=[lambda t, y, args: 4.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_5.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 0.2 + assert error2 < 0.2 + assert error3 < 1e-5 + + +def test_basic_check_6(): + # same experiment as test_basic_check_5 + # but solver is Tsit5 + def vector_field(t, y, args, *, history): + return y * (1 - history[0]) + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 4.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + made_jump = delays.initial_discontinuities is None + t0, t1 = 0.0, 50.0 + ts = jnp.linspace(t0, t1, 1001) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + delays = Delays( + delays=[lambda t, y, args: 4.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_6.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 1e-2 + assert error2 < 1e-2 + assert error3 < 1e-5 + + +def test_basic_check_7(): + # same experiment as test_basic_check_7 + # but solver is implicit + def vector_field(t, y, args, *, history): + return y * (1 - history[0]) + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 4.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + made_jump = delays.initial_discontinuities is None + t0, t1 = 0.0, 50.0 + ts = jnp.linspace(t0, t1, 1001) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Kvaerno5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + delays = Delays( + delays=[lambda t, y, args: 4.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Kvaerno5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_7.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 1e-1 + assert error2 < 1e-1 + assert error3 < 1e-2 + + +def test_basic_check_8(): + # new system with 2 delays + + def vector_field(t, y, args, *, history): + return -history[0] - history[1] + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 1 / 5, lambda t, y, args: 1 / 3], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + made_jump = delays.initial_discontinuities is None + t0, t1 = 0.0, 10.0 + ts = jnp.linspace(t0, t1, 101) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + delays = Delays( + delays=[lambda t, y, args: 1 / 5, lambda t, y, args: 1 / 3], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=1000, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + made_jump=made_jump, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_8.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 1e-6 + assert error2 < 1e-6 + assert error3 < 1e-6 + + +def test_basic_check_9(): + # new system ie Mackey Glass + + def vector_field(t, y, args, *, history): + return 0.2 * (history[0]) / (1 + history[0] ** 10) - 0.1 * y + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 6.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + + t0, t1, nb_points = 0.0, 50.0, 501 + ts = jnp.linspace(t0, t1, nb_points) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + + delays = Delays( + delays=[lambda t, y, args: 6.0], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Tsit5(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_9.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 1e-4 + assert error2 < 1e-4 + assert error3 < 1e-4 + + +def test_basic_check_10(): + # testing a time dependent equation + + def vector_field(t, y, args, *, history): + return y * (1 - history[0]) + + y0_history = lambda t: 1.2 + + delays = Delays( + delays=[lambda t, y, args: 2 + jnp.sin(t)], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=10e-3, + atol=10e-6, + ) + + t0, t1, nb_points = 0.0, 40.0, 401 + ts = jnp.linspace(t0, t1, nb_points) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + + delays = Delays( + delays=[lambda t, y, args: 2 + jnp.sin(t)], + initial_discontinuities=jnp.array([0.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=10e-3, + atol=10e-6, + ) + + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + + _, juliays = open_process_file("test/julia_dde/test_basic_check_10.txt") + error1, error2, error3 = ( + jnp.mean(jnp.abs(juliays - sol.ys)), + jnp.mean(jnp.abs(juliays - sol2.ys)), + jnp.mean(jnp.abs(sol.ys - sol2.ys)), + ) + + assert error1 < 1e-3 + assert error2 < 1e-3 + assert error3 < 1e-5 + + +def test_basic_numerical_check_1(): + # testing a dde where we know its analytical value + # http://www.cs.toronto.edu/pub/reports/na/hzpEnrightNA09Preprint.pdf + # test problem 1 + + def vector_field(t, y, args, history): + return history[0] + + y0_history = lambda t: lax.cond(t < 2.0, lambda: 0.5, lambda: 1.0) + + delays = Delays( + delays=[lambda t, y, args: t - y], + initial_discontinuities=jnp.array([2.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=1e-3, + atol=1e-6, + ) + + t0, t1, nb_points = 2.0, 5.5, 350 + ts = jnp.linspace(t0, t1, nb_points) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + + delays = Delays( + delays=[lambda t, y, args: t - y], + initial_discontinuities=jnp.array([2.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=1e-3, + atol=1e-6, + ) + + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + + def f1(t): + return t / 2 + + def f2(t): + return 2 * jnp.exp(t / 2 - 2) + + # y(t) = t/2 for 2 <= t <= 4 + # y(t) = 2 exp(t/2-2) for 4 <= t <= 5.386 + # y(t) = 4 - 2 ln(1+ 5.386 -t )] for 5.386 <= t <= 5.5 + error1 = jnp.sum(jnp.abs(sol.ys[:200] - f1(sol.ts[:200]))) + error2 = jnp.sum(jnp.abs(sol.ys[202:300] - f2(sol.ts[202:300]))) + + error11 = jnp.sum(jnp.abs(sol2.ys[:200] - f1(sol2.ts[:200]))) + error21 = jnp.sum(jnp.abs(sol2.ys[202:300] - f2(sol2.ts[202:300]))) + juliats, juliays = open_process_file( + "test/julia_dde/test_basic_numerical_check_1.txt" + ) + + error3 = jnp.sum(jnp.abs(juliays[:200] - f1(juliats[:200]))) + error4 = jnp.sum(jnp.abs(juliays[200:300] - f2(juliats[200:300]))) + assert error2 < error4 + assert error1 < 1e-5 + assert error2 < 1e-2 + assert error11 < 1e-5 + assert error21 < 1e-2 + assert error3 < 1e-5 + + +def test_basic_numerical_check_2(): + # testing a dde where we know its analytical value + # http://www.cs.toronto.edu/pub/reports/na/hzpEnrightNA09Preprint.pdf + # test problem 3 + + def vector_field(t, y, args, history): + return y * history[0] / t + + y0_history = lambda t: 1.0 + + delays = Delays( + delays=[lambda t, y, args: t - jnp.log(y)], + initial_discontinuities=jnp.array([1.0]), + max_discontinuities=100, + recurrent_checking=False, + rtol=1e-3, + atol=1e-6, + ) + + t0, t1, nb_points = 1.0, 10.0, 901 + ts = jnp.linspace(t0, t1, nb_points) + sol = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + + delays = Delays( + delays=[lambda t, y, args: t - jnp.log(y)], + initial_discontinuities=jnp.array([1.0]), + max_discontinuities=100, + recurrent_checking=True, + rtol=1e-3, + atol=1e-6, + ) + + sol2 = diffrax.diffeqsolve( + diffrax.ODETerm(vector_field), + diffrax.Bosh3(), + t0=ts[0], + t1=ts[-1], + dt0=ts[1] - ts[0], + y0=y0_history, + stepsize_controller=diffrax.PIDController(rtol=1e-6, atol=1e-9), + saveat=diffrax.SaveAt(ts=ts, dense=True), + delays=delays, + ) + + def f1(t): + return t + + def f2(t): + return jnp.exp(t / jnp.exp(1)) + + # y(t) = t for 1 <= t <= e + # y(t) = exp(t/e) for e <= t <= e^2 + error1 = jnp.sum(jnp.abs(sol.ys[:100] - f1(sol.ts[:100]))) + error2 = jnp.sum(jnp.abs(sol.ys[300:400] - f2(sol.ts[300:400]))) + + error11 = jnp.sum(jnp.abs(sol2.ys[:100] - f1(sol2.ts[:100]))) + error21 = jnp.sum(jnp.abs(sol2.ys[300:400] - f2(sol2.ts[300:400]))) + juliats, juliays = open_process_file( + "test/julia_dde/test_basic_numerical_check_2.txt" + ) + + error3 = jnp.sum(jnp.abs(juliays[:100] - f1(juliats[:100]))) + error4 = jnp.sum(jnp.abs(juliays[300:400] - f2(juliats[300:400]))) + + assert error1 < 1e-6 + assert error11 < 1e-6 + assert error3 < 1e-6 + assert error2 < 1e-2 + assert error21 < 1e-2 + assert error2 < error4