3.4. Linear Regression Implementation from Scratch¶ Open the notebook in SageMaker Studio Lab
We are now ready to work through a fully functioning implementation of linear regression. In this section, we will implement the entire method from scratch, including (i) the model; (ii) the loss function; (iii) a minibatch stochastic gradient descent optimizer; and (iv) the training function that stitches all of these pieces together. Finally, we will run our synthetic data generator from Section 3.3 and apply our model on the resulting dataset. While modern deep learning frameworks can automate nearly all of this work, implementing things from scratch is the only way to make sure that you really know what you are doing. Moreover, when it is time to customize models, defining our own layers or loss functions, understanding how things work under the hood will prove handy. In this section, we will rely only on tensors and automatic differentiation. Later, we will introduce a more concise implementation, taking advantage of the bells and whistles of deep learning frameworks while retaining the structure of what follows below.
%matplotlib inline
import torch
from d2l import torch as d2l
%matplotlib inline
from mxnet import autograd, np, npx
from d2l import mxnet as d2l
npx.set_np()
%matplotlib inline
import jax
import optax
from flax import linen as nn
from jax import numpy as jnp
from d2l import jax as d2l
No GPU/TPU found, falling back to CPU. (Set TF_CPP_MIN_LOG_LEVEL=0 and rerun for more info.)
%matplotlib inline
import tensorflow as tf
from d2l import tensorflow as d2l
3.4.1. Defining the Model¶
Before we can begin optimizing our model’s parameters by minibatch SGD,
we need to have some parameters in the first place. In the following we
initialize weights by drawing random numbers from a normal distribution
with mean 0 and a standard deviation of 0.01. The magic number 0.01
often works well in practice, but you can specify a different value
through the argument sigma. Moreover we set the bias to 0. Note that
for object-oriented design we add the code to the __init__ method of
a subclass of d2l.Module (introduced in
Section 3.2.2).
class LinearRegressionScratch(d2l.Module): #@save
"""The linear regression model implemented from scratch."""
def __init__(self, num_inputs, lr, sigma=0.01):
super().__init__()
self.save_hyperparameters()
self.w = torch.normal(0, sigma, (num_inputs, 1), requires_grad=True)
self.b = torch.zeros(1, requires_grad=True)
class LinearRegressionScratch(d2l.Module): #@save
"""The linear regression model implemented from scratch."""
def __init__(self, num_inputs, lr, sigma=0.01):
super().__init__()
self.save_hyperparameters()
self.w = np.random.normal(0, sigma, (num_inputs, 1))
self.b = np.zeros(1)
self.w.attach_grad()
self.b.attach_grad()
class LinearRegressionScratch(d2l.Module): #@save
"""The linear regression model implemented from scratch."""
num_inputs: int
lr: float
sigma: float = 0.01
def setup(self):
self.w = self.param('w', nn.initializers.normal(self.sigma),
(self.num_inputs, 1))
self.b = self.param('b', nn.initializers.zeros, (1))
class LinearRegressionScratch(d2l.Module): #@save
"""The linear regression model implemented from scratch."""
def __init__(self, num_inputs, lr, sigma=0.01):
super().__init__()
self.save_hyperparameters()
w = tf.random.normal((num_inputs, 1), mean=0, stddev=0.01)
b = tf.zeros(1)
self.w = tf.Variable(w, trainable=True)
self.b = tf.Variable(b, trainable=True)
Next we must define our model, relating its input and parameters to its
output. Using the same notation as (3.1.4) for our
linear model we simply take the matrix–vector product of the input
features \(\mathbf{X}\) and the model weights \(\mathbf{w}\),
and add the offset \(b\) to each example. The product
\(\mathbf{Xw}\) is a vector and \(b\) is a scalar. Because of
the broadcasting mechanism (see Section 2.1.4), when
we add a vector and a scalar, the scalar is added to each component of
the vector. The resulting forward method is registered in the
LinearRegressionScratch class via add_to_class (introduced in
Section 3.2.1).
@d2l.add_to_class(LinearRegressionScratch) #@save
def forward(self, X):
return torch.matmul(X, self.w) + self.b
@d2l.add_to_class(LinearRegressionScratch) #@save
def forward(self, X):
return np.dot(X, self.w) + self.b
@d2l.add_to_class(LinearRegressionScratch) #@save
def forward(self, X):
return jnp.matmul(X, self.w) + self.b
@d2l.add_to_class(LinearRegressionScratch) #@save
def forward(self, X):
return tf.matmul(X, self.w) + self.b
3.4.2. Defining the Loss Function¶
Since updating our model requires taking the gradient of our loss
function, we ought to define the loss function first. Here we use the
squared loss function in (3.1.5). In the implementation, we
need to transform the true value y into the predicted value’s shape
y_hat. The result returned by the following method will also have
the same shape as y_hat. We also return the averaged loss value
among all examples in the minibatch.
@d2l.add_to_class(LinearRegressionScratch) #@save
def loss(self, y_hat, y):
l = (y_hat - y) ** 2 / 2
return l.mean()
@d2l.add_to_class(LinearRegressionScratch) #@save
def loss(self, y_hat, y):
l = (y_hat - y) ** 2 / 2
return l.mean()
@d2l.add_to_class(LinearRegressionScratch) #@save
def loss(self, params, X, y, state):
y_hat = state.apply_fn({'params': params}, *X) # X unpacked from a tuple
l = (y_hat - y.reshape(y_hat.shape)) ** 2 / 2
return l.mean()
@d2l.add_to_class(LinearRegressionScratch) #@save
def loss(self, y_hat, y):
l = (y_hat - y) ** 2 / 2
return tf.reduce_mean(l)
3.4.3. Defining the Optimization Algorithm¶
As discussed in Section 3.1, linear regression has a closed-form solution. However, our goal here is to illustrate how to train more general neural networks, and that requires that we teach you how to use minibatch SGD. Hence we will take this opportunity to introduce your first working example of SGD. At each step, using a minibatch randomly drawn from our dataset, we estimate the gradient of the loss with respect to the parameters. Next, we update the parameters in the direction that may reduce the loss.
The following code applies the update, given a set of parameters, a
learning rate lr. Since our loss is computed as an average over the
minibatch, we do not need to adjust the learning rate against the batch
size. In later chapters we will investigate how learning rates should be
adjusted for very large minibatches as they arise in distributed
large-scale learning. For now, we can ignore this dependency.
We define our SGD class, a subclass of d2l.HyperParameters
(introduced in Section 3.2.1), to have a similar API
as the built-in SGD optimizer. We update the parameters in the step
method. The zero_grad method sets all gradients to 0, which must be
run before a backpropagation step.
class SGD(d2l.HyperParameters): #@save
"""Minibatch stochastic gradient descent."""
def __init__(self, params, lr):
self.save_hyperparameters()
def step(self):
for param in self.params:
param -= self.lr * param.grad
def zero_grad(self):
for param in self.params:
if param.grad is not None:
param.grad.zero_()
We define our SGD class, a subclass of d2l.HyperParameters
(introduced in Section 3.2.1), to have a similar API
as the built-in SGD optimizer. We update the parameters in the step
method. It accepts a batch_size argument that can be ignored.
class SGD(d2l.HyperParameters): #@save
"""Minibatch stochastic gradient descent."""
def __init__(self, params, lr):
self.save_hyperparameters()
def step(self, _):
for param in self.params:
param -= self.lr * param.grad
class SGD(d2l.HyperParameters): #@save
"""Minibatch stochastic gradient descent."""
# The key transformation of Optax is the GradientTransformation
# defined by two methods, the init and the update.
# The init initializes the state and the update transforms the gradients.
# https://github.com/deepmind/optax/blob/master/optax/_src/transform.py
def __init__(self, lr):
self.save_hyperparameters()
def init(self, params):
# Delete unused params
del params
return optax.EmptyState
def update(self, updates, state, params=None):
del params
# When state.apply_gradients method is called to update flax's
# train_state object, it internally calls optax.apply_updates method
# adding the params to the update equation defined below.
updates = jax.tree_util.tree_map(lambda g: -self.lr * g, updates)
return updates, state
def __call__():
return optax.GradientTransformation(self.init, self.update)
We define our SGD class, a subclass of d2l.HyperParameters
(introduced in Section 3.2.1), to have a similar API
as the built-in SGD optimizer. We update the parameters in the
apply_gradients method. It accepts a list of parameter and gradient
pairs.
class SGD(d2l.HyperParameters): #@save
"""Minibatch stochastic gradient descent."""
def __init__(self, lr):
self.save_hyperparameters()
def apply_gradients(self, grads_and_vars):
for grad, param in grads_and_vars:
param.assign_sub(self.lr * grad)
We next define the configure_optimizers method, which returns an
instance of the SGD class.
@d2l.add_to_class(LinearRegressionScratch) #@save
def configure_optimizers(self):
return SGD([self.w, self.b], self.lr)
@d2l.add_to_class(LinearRegressionScratch) #@save
def configure_optimizers(self):
return SGD([self.w, self.b], self.lr)
@d2l.add_to_class(LinearRegressionScratch) #@save
def configure_optimizers(self):
return SGD(self.lr)
@d2l.add_to_class(LinearRegressionScratch) #@save
def configure_optimizers(self):
return SGD(self.lr)
3.4.4. Training¶
Now that we have all of the parts in place (parameters, loss function,
model, and optimizer), we are ready to implement the main training loop.
It is crucial that you understand this code fully since you will employ
similar training loops for every other deep learning model covered in
this book. In each epoch, we iterate through the entire training
dataset, passing once through every example (assuming that the number of
examples is divisible by the batch size). In each iteration, we grab a
minibatch of training examples, and compute its loss through the model’s
training_step method. Then we compute the gradients with respect to
each parameter. Finally, we will call the optimization algorithm to
update the model parameters. In summary, we will execute the following
loop:
Initialize parameters \((\mathbf{w}, b)\)
Repeat until done
Compute gradient \(\mathbf{g} \leftarrow \partial_{(\mathbf{w},b)} \frac{1}{|\mathcal{B}|} \sum_{i \in \mathcal{B}} l(\mathbf{x}^{(i)}, y^{(i)}, \mathbf{w}, b)\)
Update parameters \((\mathbf{w}, b) \leftarrow (\mathbf{w}, b) - \eta \mathbf{g}\)
Recall that the synthetic regression dataset that we generated in
Section 3.3 does not provide a validation
dataset. In most cases, however, we will want a validation dataset to
measure our model quality. Here we pass the validation dataloader once
in each epoch to measure the model performance. Following our
object-oriented design, the prepare_batch and fit_epoch methods
are registered in the d2l.Trainer class (introduced in
Section 3.2.4).
@d2l.add_to_class(d2l.Trainer) #@save
def prepare_batch(self, batch):
return batch
@d2l.add_to_class(d2l.Trainer) #@save
def fit_epoch(self):
self.model.train()
for batch in self.train_dataloader:
loss = self.model.training_step(self.prepare_batch(batch))
self.optim.zero_grad()
with torch.no_grad():
loss.backward()
if self.gradient_clip_val > 0: # To be discussed later
self.clip_gradients(self.gradient_clip_val, self.model)
self.optim.step()
self.train_batch_idx += 1
if self.val_dataloader is None:
return
self.model.eval()
for batch in self.val_dataloader:
with torch.no_grad():
self.model.validation_step(self.prepare_batch(batch))
self.val_batch_idx += 1
@d2l.add_to_class(d2l.Trainer) #@save
def prepare_batch(self, batch):
return batch
@d2l.add_to_class(d2l.Trainer) #@save
def fit_epoch(self):
for batch in self.train_dataloader:
with autograd.record():
loss = self.model.training_step(self.prepare_batch(batch))
loss.backward()
if self.gradient_clip_val > 0:
self.clip_gradients(self.gradient_clip_val, self.model)
self.optim.step(1)
self.train_batch_idx += 1
if self.val_dataloader is None:
return
for batch in self.val_dataloader:
self.model.validation_step(self.prepare_batch(batch))
self.val_batch_idx += 1
@d2l.add_to_class(d2l.Trainer) #@save
def prepare_batch(self, batch):
return batch
@d2l.add_to_class(d2l.Trainer) #@save
def fit_epoch(self):
self.model.training = True
if self.state.batch_stats:
# Mutable states will be used later (e.g., for batch norm)
for batch in self.train_dataloader:
(_, mutated_vars), grads = self.model.training_step(self.state.params,
self.prepare_batch(batch),
self.state)
self.state = self.state.apply_gradients(grads=grads)
# Can be ignored for models without Dropout Layers
self.state = self.state.replace(
dropout_rng=jax.random.split(self.state.dropout_rng)[0])
self.state = self.state.replace(batch_stats=mutated_vars['batch_stats'])
self.train_batch_idx += 1
else:
for batch in self.train_dataloader:
_, grads = self.model.training_step(self.state.params,
self.prepare_batch(batch),
self.state)
self.state = self.state.apply_gradients(grads=grads)
# Can be ignored for models without Dropout Layers
self.state = self.state.replace(
dropout_rng=jax.random.split(self.state.dropout_rng)[0])
self.train_batch_idx += 1
if self.val_dataloader is None:
return
self.model.training = False
for batch in self.val_dataloader:
self.model.validation_step(self.state.params,
self.prepare_batch(batch),
self.state)
self.val_batch_idx += 1
@d2l.add_to_class(d2l.Trainer) #@save
def prepare_batch(self, batch):
return batch
@d2l.add_to_class(d2l.Trainer) #@save
def fit_epoch(self):
self.model.training = True
for batch in self.train_dataloader:
with tf.GradientTape() as tape:
loss = self.model.training_step(self.prepare_batch(batch))
grads = tape.gradient(loss, self.model.trainable_variables)
if self.gradient_clip_val > 0:
grads = self.clip_gradients(self.gradient_clip_val, grads)
self.optim.apply_gradients(zip(grads, self.model.trainable_variables))
self.train_batch_idx += 1
if self.val_dataloader is None:
return
self.model.training = False
for batch in self.val_dataloader:
self.model.validation_step(self.prepare_batch(batch))
self.val_batch_idx += 1
We are almost ready to train the model, but first we need some training
data. Here we use the SyntheticRegressionData class and pass in some
ground truth parameters. Then we train our model with the learning rate
lr=0.03 and set max_epochs=3. Note that in general, both the
number of epochs and the learning rate are hyperparameters. In general,
setting hyperparameters is tricky and we will usually want to use a
three-way split, one set for training, a second for hyperparameter
selection, and the third reserved for the final evaluation. We elide
these details for now but will revise them later.
model = LinearRegressionScratch(2, lr=0.03)
data = d2l.SyntheticRegressionData(w=torch.tensor([2, -3.4]), b=4.2)
trainer = d2l.Trainer(max_epochs=3)
trainer.fit(model, data)
model = LinearRegressionScratch(2, lr=0.03)
data = d2l.SyntheticRegressionData(w=np.array([2, -3.4]), b=4.2)
trainer = d2l.Trainer(max_epochs=3)
trainer.fit(model, data)
model = LinearRegressionScratch(2, lr=0.03)
data = d2l.SyntheticRegressionData(w=jnp.array([2, -3.4]), b=4.2)
trainer = d2l.Trainer(max_epochs=3)
trainer.fit(model, data)
model = LinearRegressionScratch(2, lr=0.03)
data = d2l.SyntheticRegressionData(w=tf.constant([2, -3.4]), b=4.2)
trainer = d2l.Trainer(max_epochs=3)
trainer.fit(model, data)
Because we synthesized the dataset ourselves, we know precisely what the true parameters are. Thus, we can evaluate our success in training by comparing the true parameters with those that we learned through our training loop. Indeed they turn out to be very close to each other.
with torch.no_grad():
print(f'error in estimating w: {data.w - model.w.reshape(data.w.shape)}')
print(f'error in estimating b: {data.b - model.b}')
error in estimating w: tensor([ 0.1408, -0.1493])
error in estimating b: tensor([0.2130])
print(f'error in estimating w: {data.w - model.w.reshape(data.w.shape)}')
print(f'error in estimating b: {data.b - model.b}')
error in estimating w: [ 0.11080897 -0.12691855]
error in estimating b: [0.19214153]
params = trainer.state.params
print(f"error in estimating w: {data.w - params['w'].reshape(data.w.shape)}")
print(f"error in estimating b: {data.b - params['b']}")
error in estimating w: [ 0.07147813 -0.19255161]
error in estimating b: [0.24309802]
print(f'error in estimating w: {data.w - tf.reshape(model.w, data.w.shape)}')
print(f'error in estimating b: {data.b - model.b}')
error in estimating w: [ 0.11899102 -0.21494818]
error in estimating b: [0.2501297]
We should not take the ability to exactly recover the ground truth parameters for granted. In general, for deep models unique solutions for the parameters do not exist, and even for linear models, exactly recovering the parameters is only possible when no feature is linearly dependent on the others. However, in machine learning, we are often less concerned with recovering true underlying parameters, but rather with parameters that lead to highly accurate prediction (Vapnik, 1992). Fortunately, even on difficult optimization problems, stochastic gradient descent can often find remarkably good solutions, owing partly to the fact that, for deep networks, there exist many configurations of the parameters that lead to highly accurate prediction.
3.4.5. Summary¶
In this section, we took a significant step towards designing deep learning systems by implementing a fully functional neural network model and training loop. In this process, we built a data loader, a model, a loss function, an optimization procedure, and a visualization and monitoring tool. We did this by composing a Python object that contains all relevant components for training a model. While this is not yet a professional-grade implementation it is perfectly functional and code like this could already help you to solve small problems quickly. In the coming sections, we will see how to do this both more concisely (avoiding boilerplate code) and more efficiently (using our GPUs to their full potential).
3.4.6. Exercises¶
What would happen if we were to initialize the weights to zero. Would the algorithm still work? What if we initialized the parameters with variance \(1000\) rather than \(0.01\)?
Assume that you are Georg Simon Ohm trying to come up with a model for resistance that relates voltage and current. Can you use automatic differentiation to learn the parameters of your model?
Can you use Planck’s Law to determine the temperature of an object using spectral energy density? For reference, the spectral density \(B\) of radiation emanating from a black body is \(B(\lambda, T) = \frac{2 hc^2}{\lambda^5} \cdot \left(\exp \frac{h c}{\lambda k T} - 1\right)^{-1}\). Here \(\lambda\) is the wavelength, \(T\) is the temperature, \(c\) is the speed of light, \(h\) is Planck’s constant, and \(k\) is the Boltzmann constant. You measure the energy for different wavelengths \(\lambda\) and you now need to fit the spectral density curve to Planck’s law.
What are the problems you might encounter if you wanted to compute the second derivatives of the loss? How would you fix them?
Why is the
reshapemethod needed in thelossfunction?Experiment using different learning rates to find out how quickly the loss function value drops. Can you reduce the error by increasing the number of epochs of training?
If the number of examples cannot be divided by the batch size, what happens to
data_iterat the end of an epoch?Try implementing a different loss function, such as the absolute value loss
(y_hat - d2l.reshape(y, y_hat.shape)).abs().sum().Check what happens for regular data.
Check whether there is a difference in behavior if you actively perturb some entries, such as \(y_5 = 10000\), of \(\mathbf{y}\).
Can you think of a cheap solution for combining the best aspects of squared loss and absolute value loss? Hint: how can you avoid really large gradient values?
Why do we need to reshuffle the dataset? Can you design a case where a maliciously constructed dataset would break the optimization algorithm otherwise?