Catchment-Aware LSTMs for Regional Rainfall-Runoff Modeling

Accompanying code for our HESS paper "Towards learning universal, regional, and local hydrological behaviors via machine learning applied to large-sample datasets"

Kratzert, F., Klotz, D., Shalev, G., Klambauer, G., Hochreiter, S., and Nearing, G.: Towards learning 
universal, regional, and local hydrological behaviors via machine learning applied to large-sample 
datasets, Hydrol. Earth Syst. Sci., 23, 5089–5110, https://doi.org/10.5194/hess-23-5089-2019, 2019. 

The manuscript can be found here (publicly available): Towards learning universal, regional, and local hydrological behaviors via machine learning applied to large-sample datasets

The code in this repository was used to produce all results and figures in our manuscript.

Content of the repository

• main.py Main python file used for training and evaluating of our models, as well as to perform the robustness analysis
• data/ contains the list of basins (USGS gauge ids) considered in our study
• papercode/ contains the entire code (beside the in the root directory main.py file)
• notebooks/ contain three notebooks, guiding through the results of our study. These notebooks should probably be your starting point.
  • notebooks/performance.ipynb: In this notebook, our modeling results are evaluated and compared against the benchmark models. All numbers and figures of the first two subsections of the results can be found here.
  • notebooks/ranking.ipynb: In this notebook, you can find the derivation of the feature ranking and the model robustness plot of the third subsection of the results.
  • notebooks/embedding.ipynb: In this notebook, you can find the analysis of the catchment embedding learned by our model as well as the cluster analysis. Here you find everything of the last subsection of the results.

Setup to run the code locally

Download this repository either as zip-file or clone it to your local file system by running

git clone [email protected]:kratzert/ealstm_regional_modeling.git

Setup Python environment

Within this repository we provide two environment files (environment_cpu.yml and environment_gpu.yml) that can be used with Anaconda or Miniconda to create an environment with all packages needed.

Simply run

conda env create -f environment_cpu.yml

for the cpu-only version. Or run

conda env create -f environment_gpu.yml

if you have a CUDA capable NVIDIA GPU. This is recommended if you want to train/evaluate the models on you machine but not strictly necessary.

However, it is not strictly needed to re-train or re-evaluate any of the models to run the notebooks. Just make sure to download our pre-trained models and the pre-calculated model evaluations.

Data needed

Required Downloads

First of all you need the CAMELS data set, to run any of your code. This data set can be downloaded for free here:

• CAMELS: Catchment Attributes and Meteorology for Large-sample Studies - Dataset Downloads Make sure to download the CAMELS time series meteorology, observed flow, meta data (.zip) file, as well as the CAMELS Attributes (.zip). Extract the data set on your file system and make sure to put the attribute folder (camels_attributes_v2.0) inside the CAMELS main directory.

However, we trained our models with an updated version of the Maurer forcing data, that is still not published officially (CAMELS data set will be updated soon). The updated Maurer forcing contain daily minimum and maximum temperature. The original Maurer data included in the CAMELS data set only includes daily mean temperature. You can find the updated forcings temporarily here:

• Updated Maurer forcing with daily minimum and maximum temperature

Download and extract the updated forcing into the basin_mean_forcing folder of the CAMELS data set and do not rename it (name should be maurer_extended).

Next you need the simulations of all benchmark models. These can be downloaded from HydroShare under the following link:

• CAMELS benchmark models

Optional Downloads

To use our pre-trained models for evaluation or your own experiments, download the model files here:

• Pre-trained models

This download also contains the pre-evaluated model simulations of all our models.

Run locally

For training or evaluating any of the models a CUDA capable NVIDIA GPU is recommended but not strictly necessary. Since we only train/use LSTM-based models a strong, multi-core CPU will work as well.

Before starting to do anything, make sure you have activated the conda environment.

conda activate ealstm

Train model

To train a model, run the following line of code from the terminal

python main.py train --camels_root /path/to/CAMELS

This would train a single EA-LSTM model with a randomly generated seed using the basin average NSE as loss function and store the results under runs/. Additionally the following options can be passed:

• --seed NUMBER Train a model using a fixed random seed
• --cache_data True Load the entire training data into memory. This will speed up training but requires approximately 50GB of RAM.
• --num_workers NUMBER Defines the number of parallel threads that will load and preprocess inputs.
• --no_static True If passed, will train a standard LSTM without static features. If this is not desired, don't pass False but instead remove the argument entirely.
• --concat_static True If passed, will train a standard LSTM where the catchment attributes as concatenated at each time step to the meteorological inputs. If this is not desired, don't pass False but instead remove the argument entirely.
• --use_mse True If passed, will train the model using the mean squared error as loss function. If this is not desired, don't pass False but instead remove the argument entirely.

Evaluate model

To evaluate a model, once training is finished, run the following line of code from the terminal.

python main.py evaluate --camels_root /path/to/CAMELS --run_dir path/to/model_run

This will calculate the discharge simulation for the validation period and store the results alongside the observed discharge for all basins in a pickle file. The pickle file is stored in the main directory of the model run.

Evaluate robustness

To evaluate the model robustness against noise of the static input features run the following line of code from the terminal.

python main.py eval_robustness --camels_root /path/to/CAMELS --run_dir path/to/model_run

This will run 265,500 model evaluations (10 levels of added random noise and 50 repetitions per noise level for 531 basins). This evaluations is only implemented for our EA-LSTM. Therefore, make sure that the model_run folder contains the results of training an EA-LSTM.

Run notebooks

In your terminal, go to the project folder and start a jupyter notebook server by running

jupyter notebook

Citation

If you use any of this code in your experiments, please make sure to cite the following publication

@article{kratzert2019universal,
author = {Kratzert, F. and Klotz, D. and Shalev, G. and Klambauer, G. and Hochreiter, S. and Nearing, G.},
title = {Towards learning universal, regional, and local hydrological behaviors via machine learning 
applied to large-sample datasets},
journal = {Hydrology and Earth System Sciences},
volume = {23},
year = {2019},
number = {12},
pages = {5089--5110},
url = {https://www.hydrol-earth-syst-sci.net/23/5089/2019/},
doi = {10.5194/hess-23-5089-2019}
}

License of our code

Apache License 2.0

License of the updated Maurer forcings and our pre-trained models

The CAMELS data set only allows non-commercial use. Thus, our pre-trained models and the updated Maurer forcings underlie the same TERMS OF USE as the CAMELS data set.