def __init__(self,
image_size,
image_channels,
classes,
fc_layers=3,
fc_units=1000,
fc_drop=0,
fc_bn=False,
fc_nl="relu",
gated=False,
bias=True,
excitability=False,
excit_buffer=False,
binaryCE=False,
binaryCE_distill=False,
AGEM=False,
dataset="mnist"):
# configurations
super().__init__()
self.classes = classes
self.label = "Classifier"
self.fc_layers = fc_layers
# settings for training
self.binaryCE = binaryCE #-> use binary (instead of multiclass) prediction error
self.binaryCE_distill = binaryCE_distill #-> for classes from previous tasks, use the by the previous model
# predicted probs as binary targets (only in Class-IL with binaryCE)
self.AGEM = AGEM #-> use gradient of replayed data as inequality constraint for (instead of adding it to)
# the gradient of the current data (as in A-GEM, see Chaudry et al., 2019; ICLR)
# check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError(
"The classifier needs to have at least 1 fully-connected layer."
)
######------SPECIFY MODEL------######
# flatten image to 2D-tensor
self.flatten = utils.Flatten()
# fully connected hidden layers
if dataset == "ckplus" or dataset == "affectnet":
self.input_size = image_size[0] * image_size[1] * image_channels
else:
self.input_size = image_channels * image_size**2
self.fcE = MLP(input_size=self.input_size,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
bias=bias,
excitability=excitability,
excit_buffer=excit_buffer,
gated=gated,
latent_space=128)
def __init__(self, image_size, image_channels, classes,
fc_layers=3, fc_units=1000, fc_drop=0, fc_bn=True, fc_nl="relu", gated=False, z_dim=20,
dataset="mnist"):
'''Class for variational auto-encoder (VAE) models.'''
# Set configurations
super().__init__()
self.label = "VAE"
self.image_size = image_size
self.image_channels = image_channels
self.classes = classes
self.fc_layers = fc_layers
self.z_dim = z_dim
self.fc_units = fc_units
# Weigths of different components of the loss function
self.lamda_rcl = 1.
self.lamda_vl = 1.
self.lamda_pl = 0. #--> when used as "classifier with feedback-connections", this should be set to 1.
self.average = True #--> makes that [reconL] and [variatL] are both divided by number of input-pixels
# Check whether there is at least 1 fc-layer
if fc_layers<1:
raise ValueError("VAE cannot have 0 fully-connected layers!")
######------SPECIFY MODEL------######
##>----Encoder (= q[z|x])----<##
# -flatten image to 2D-tensor
self.flatten = utils.Flatten()
if dataset == "ckplus" or dataset == "affectnet":
self.input_size = image_size[0] * image_size[1] * image_channels
else:
self.input_size = image_channels*image_size**2
# -fully connected hidden layers
self.fcE = MLP(input_size=self.input_size, output_size=fc_units, layers=fc_layers-1,
hid_size=fc_units, drop=fc_drop, batch_norm=fc_bn, nl=fc_nl, gated=gated)
mlp_output_size = fc_units if fc_layers > 1 else self.input_size
# -to z
self.toZ = fc_layer_split(mlp_output_size, z_dim, nl_mean='none', nl_logvar='none')
##>----Classifier----<##
self.classifier = fc_layer(mlp_output_size, classes, excit_buffer=True, nl='none')
##>----Decoder (= p[x|z])----<##
# -from z
out_nl = True if fc_layers > 1 else False
self.fromZ = fc_layer(z_dim, mlp_output_size, batch_norm=(out_nl and fc_bn), nl=fc_nl if out_nl else "none")
# -fully connected hidden layers
self.fcD = MLP(input_size=fc_units, output_size=self.input_size, layers=fc_layers-1,
hid_size=fc_units, drop=fc_drop, batch_norm=fc_bn, nl=fc_nl, gated=gated, output='BCE')
# -to image-shape
self.to_image = utils.Reshape(image_channels=image_channels)
def __init__(self,
image_size,
image_channels,
classes,
fc_layers=3,
fc_units=1000,
fc_drop=0,
fc_bn=True,
fc_nl="relu",
gated=False,
bias=True,
excitability=False,
excit_buffer=False,
binaryCE=False,
binaryCE_distill=False):
# configurations
super().__init__()
self.classes = classes
self.label = "Classifier"
self.fc_layers = fc_layers
# settings for training
self.binaryCE = binaryCE
self.binaryCE_distill = binaryCE_distill
# check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError(
"The classifier needs to have at least 1 fully-connected layer."
)
######------SPECIFY MODEL------######
# flatten image to 2D-tensor
self.flatten = utils.Flatten()
# fully connected hidden layers
self.fcE = MLP(input_size=image_channels * image_size**2,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
bias=bias,
excitability=excitability,
excit_buffer=excit_buffer,
gated=gated)
mlp_output_size = fc_units if fc_layers > 1 else image_channels * image_size**2
# classifier
self.classifier = fc_layer(mlp_output_size,
classes,
excit_buffer=True,
nl='none',
drop=fc_drop)
def __init__(self, image_size, image_channels, classes,
fc_layers=3, fc_units=1000, fc_drop=0, fc_bn=False, fc_nl="relu", gated=False,
bias=True, excitability=False, excit_buffer=False, binaryCE=False, binaryCE_distill=False, AGEM=False,
experiment='splitMNIST'):
# configurations
super().__init__()
self.classes = classes
self.label = "Classifier"
self.fc_layers = fc_layers
# settings for training
self.binaryCE = binaryCE # -> use binary (instead of multiclass) prediction error
self.binaryCE_distill = binaryCE_distill # -> for classes from previous tasks, use the by the previous model
# predicted probs as binary targets (only in Class-IL with binaryCE)
self.AGEM = AGEM # -> use gradient of replayed data as inequality constraint for (instead of adding it to)
# the gradient of the current data (as in A-GEM, see Chaudry et al., 2019; ICLR)
# Online mem distillation
self.is_offline_training = False
self.is_ready_distill = False
self.alpha_t = 0.5
# check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError("The classifier needs to have at least 1 fully-connected layer.")
######------SPECIFY MODEL------######
self.experiment = experiment
if self.experiment in ['CIFAR10', 'CIFAR100', 'CUB2011']:
self.fcE = rn.resnet32(classes, pretrained=False)
self.fcE.linear = nn.Identity()
self.classifier = fc_layer(64, classes, excit_buffer=True, nl='none', drop=fc_drop)
elif self.experiment == 'ImageNet':
ResNet.name = 'ResNet-18'
self.fcE = resnet18(pretrained=True)
self.fcE.fc = nn.Identity()
self.classifier = fc_layer(512, classes, excit_buffer=True, nl='none', drop=fc_drop)
else:
# flatten image to 2D-tensor
self.flatten = utils.Flatten()
# fully connected hidden layers
self.fcE = MLP(input_size=image_channels * image_size ** 2, output_size=fc_units, layers=fc_layers - 1,
hid_size=fc_units, drop=fc_drop, batch_norm=fc_bn, nl=fc_nl, bias=bias,
excitability=excitability, excit_buffer=excit_buffer, gated=gated)
mlp_output_size = fc_units if fc_layers > 1 else image_channels * image_size ** 2
# classifier
self.classifier = fc_layer(mlp_output_size, classes, excit_buffer=True, nl='none', drop=fc_drop)
def __init__(self,
image_size,
image_channels,
classes,
fc_layers=3,
fc_units=1000,
fc_drop=0,
fc_bn=True,
fc_nl="relu",
bias=True,
excitability=False,
excit_buffer=False):
# configurations
super().__init__()
self.classes = classes
self.label = "Classifier"
# check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError(
"The classifier needs to have at least 1 fully-connected layer."
)
######------SPECIFY MODEL------######
# flatten image to 2D-tensor
self.flatten = utils.Flatten()
# fully connected hidden layers
self.fcE = MLP(input_size=image_channels * image_size**2,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
final_nl=True,
bias=bias,
excitability=excitability,
excit_buffer=excit_buffer)
mlp_output_size = fc_units if fc_layers > 1 else image_channels * image_size**2
# classifier
self.classifier = nn.Sequential(
nn.Dropout(fc_drop),
eM.LinearExcitability(mlp_output_size, classes, excit_buffer=True))
class AutoEncoderLatent(Replayer):
"""Class for variational auto-encoder (VAE) models."""
def __init__(self,
latent_size,
classes,
fc_layers=3,
fc_units=1000,
fc_drop=0,
fc_bn=True,
fc_nl="relu",
gated=False,
z_dim=20):
'''Class for variational auto-encoder (VAE) models.'''
# Set configurations
super().__init__()
self.latent_size = latent_size
self.label = "VAE"
self.classes = classes
self.fc_layers = fc_layers
self.z_dim = z_dim
self.fc_units = fc_units
# Weigths of different components of the loss function
self.lamda_rcl = 1.
self.lamda_vl = 1.
self.lamda_pl = 0. #--> when used as "classifier with feedback-connections", this should be set to 1.
self.average = True #--> makes that [reconL] and [variatL] are both divided by number of input-pixels
# Check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError("VAE cannot have 0 fully-connected layers!")
######------SPECIFY MODEL------######
##>----Encoder (= q[z|x])----<##
# -fully connected hidden layers
self.fcE = MLP(input_size=latent_size,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
gated=gated)
mlp_output_size = fc_units if fc_layers > 1 else latent_size
# -to z
self.toZ = fc_layer_split(mlp_output_size,
z_dim,
nl_mean='none',
nl_logvar='none')
##>----Classifier----<##
self.classifier = fc_layer(mlp_output_size,
classes,
excit_buffer=True,
nl='none')
##>----Decoder (= p[x|z])----<##
# -from z
out_nl = True if fc_layers > 1 else False
self.fromZ = fc_layer(z_dim,
mlp_output_size,
batch_norm=(out_nl and fc_bn),
nl=fc_nl if out_nl else "none")
# -fully connected hidden layers
self.fcD = MLP(input_size=fc_units,
output_size=latent_size,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
gated=gated,
output='BCE')
@property
def name(self):
fc_label = "{}--".format(self.fcE.name) if self.fc_layers > 1 else ""
hid_label = "{}{}-".format(
"i", self.latent_size) if self.fc_layers == 1 else ""
z_label = "z{}".format(self.z_dim)
return "{}({}{}{}-c{})".format(self.label, fc_label, hid_label,
z_label, self.classes)
def list_init_layers(self):
'''Return list of modules whose parameters could be initialized differently (i.e., conv- or fc-layers).'''
list = []
list += self.fcE.list_init_layers()
list += self.toZ.list_init_layers()
list += self.classifier.list_init_layers()
list += self.fromZ.list_init_layers()
list += self.fcD.list_init_layers()
return list
##------ FORWARD FUNCTIONS --------##
def encode(self, x):
'''Pass input through feed-forward connections, to get [hE], [z_mean] and [z_logvar].'''
# extract final hidden features (forward-pass)
hE = self.fcE(x)
# get parameters for reparametrization
(z_mean, z_logvar) = self.toZ(hE)
return z_mean, z_logvar, hE
def classify(self, x):
'''For input [x], return all predicted "scores"/"logits".'''
hE = self.fcE(x)
y_hat = self.classifier(hE)
return y_hat
def reparameterize(self, mu, logvar):
'''Perform "reparametrization trick" to make these stochastic variables differentiable.'''
std = logvar.mul(0.5).exp_()
eps = std.new(std.size()).normal_()
return eps.mul(std).add_(mu)
def decode(self, z):
hD = self.fromZ(z)
features = self.fcD(hD)
return features
def forward(self, x, full=False, reparameterize=True):
'''Forward function to propagate [x] through the encoder, reparametrization and decoder.
Input: - [x] <4D-tensor> of shape [batch_size]x[channels]x[image_size]x[image_size]
If [full] is True, output should be a <tuple> consisting of:
- [x_recon] <4D-tensor> reconstructed image (features) in same shape as [x]
- [y_hat] <2D-tensor> with predicted logits for each class
- [mu] <2D-tensor> with either [z] or the estimated mean of [z]
- [logvar] None or <2D-tensor> estimated log(SD^2) of [z]
- [z] <2D-tensor> reparameterized [z] used for reconstruction
If [full] is False, output is simply the predicted logits (i.e., [y_hat]).'''
if full:
# encode (forward), reparameterize and decode (backward)
mu, logvar, hE = self.encode(x)
z = self.reparameterize(mu, logvar) if reparameterize else mu
x_recon = self.decode(z)
# classify
y_hat = self.classifier(hE)
# return
return (x_recon, y_hat, mu, logvar, z)
else:
return self.classify(
x) # -> if [full]=False, only forward pass for prediction
##------ SAMPLE FUNCTIONS --------##
def sample(self, size):
'''Generate [size] samples from the model. Output is tensor (not "requiring grad"), on same device as <self>.'''
# set model to eval()-mode
mode = self.training
self.eval()
# sample z
z = torch.randn(size, self.z_dim).to(self._device())
# decode z into image X
with torch.no_grad():
X = self.decode(z)
# set model back to its initial mode
self.train(mode=mode)
# return samples as [batch_size]x[channels]x[image_size]x[image_size] tensor
return X
##------ LOSS FUNCTIONS --------##
def calculate_recon_loss(self, x, x_recon, average=False):
'''Calculate reconstruction loss for each element in the batch.
INPUT: - [x] <tensor> with original input (1st dimension (ie, dim=0) is "batch-dimension")
- [x_recon] (tuple of 2x) <tensor> with reconstructed input in same shape as [x]
- [average] <bool>, if True, loss is average over all pixels; otherwise it is summed
OUTPUT: - [reconL] <1D-tensor> of length [batch_size]'''
batch_size = x.size(0)
reconL = F.binary_cross_entropy(input=x_recon.view(batch_size, -1),
target=x.view(batch_size, -1),
reduction='none')
reconL = torch.mean(reconL, dim=1) if average else torch.sum(reconL,
dim=1)
return reconL
def calculate_variat_loss(self, mu, logvar):
'''Calculate reconstruction loss for each element in the batch.
INPUT: - [mu] <2D-tensor> by encoder predicted mean for [z]
- [logvar] <2D-tensor> by encoder predicted logvar for [z]
OUTPUT: - [variatL] <1D-tensor> of length [batch_size]'''
# --> calculate analytically
# ---- see Appendix B from: Kingma & Welling (2014) Auto-Encoding Variational Bayes, ICLR ----#
variatL = -0.5 * torch.sum(1 + logvar - mu.pow(2) - logvar.exp(),
dim=1)
return variatL
def loss_function(self,
recon_x,
x,
y_hat=None,
y_target=None,
scores=None,
mu=None,
logvar=None):
'''Calculate and return various losses that could be used for training and/or evaluating the model.
INPUT: - [recon_x] <4D-tensor> reconstructed image in same shape as [x]
- [x] <4D-tensor> original image
- [y_hat] <2D-tensor> with predicted "logits" for each class
- [y_target] <1D-tensor> with target-classes (as integers)
- [scores] <2D-tensor> with target "logits" for each class
- [mu] <2D-tensor> with either [z] or the estimated mean of [z]
- [logvar] None or <2D-tensor> with estimated log(SD^2) of [z]
SETTING:- [self.average] <bool>, if True, both [reconL] and [variatL] are divided by number of input elements
OUTPUT: - [reconL] reconstruction loss indicating how well [x] and [x_recon] match
- [variatL] variational (KL-divergence) loss "indicating how normally distributed [z] is"
- [predL] prediction loss indicating how well targets [y] are predicted
- [distilL] knowledge distillation (KD) loss indicating how well the predicted "logits" ([y_hat])
match the target "logits" ([scores])'''
###-----Reconstruction loss-----###
reconL = self.calculate_recon_loss(
x=x, x_recon=recon_x,
average=self.average) #-> possibly average over pixels
reconL = torch.mean(reconL) #-> average over batch
###-----Variational loss-----###
if logvar is not None:
variatL = self.calculate_variat_loss(mu=mu, logvar=logvar)
variatL = torch.mean(variatL) #-> average over batch
if self.average:
variatL /= self.latent_size #-> divide by # of input-pixels, if [self.average]
else:
variatL = torch.tensor(0., device=self._device())
###-----Prediction loss-----###
if y_target is not None:
predL = F.cross_entropy(y_hat, y_target,
reduction='mean') #-> average over batch
else:
predL = torch.tensor(0., device=self._device())
###-----Distilliation loss-----###
if scores is not None:
n_classes_to_consider = y_hat.size(
1
) #--> zeroes will be added to [scores] to make its size match [y_hat]
distilL = utils.loss_fn_kd(scores=y_hat[:, :n_classes_to_consider],
target_scores=scores,
T=self.KD_temp)
else:
distilL = torch.tensor(0., device=self._device())
# Return a tuple of the calculated losses
return reconL, variatL, predL, distilL
##------ TRAINING FUNCTIONS --------##
def train_a_batch(self,
x,
y,
x_=None,
y_=None,
scores_=None,
rnt=0.5,
active_classes=None,
task=1,
**kwargs):
'''Train model for one batch ([x],[y]), possibly supplemented with replayed data ([x_],[y_]).
[x] <tensor> batch of inputs (could be None, in which case only 'replayed' data is used)
[y] <tensor> batch of corresponding labels
[x_] None or (<list> of) <tensor> batch of replayed inputs
[y_] None or (<list> of) <tensor> batch of corresponding "replayed" labels
[scores_] None or (<list> of) <tensor> 2Dtensor:[batch]x[classes] predicted "scores"/"logits" for [x_]
[rnt] <number> in [0,1], relative importance of new task
[active_classes] None or (<list> of) <list> with "active" classes'''
# Set model to training-mode
self.train()
##--(1)-- CURRENT DATA --##
precision = 0.
if x is not None:
# Run the model
recon_batch, y_hat, mu, logvar, z = self(x, full=True)
# If needed (e.g., Task-IL or Class-IL scenario), remove predictions for classes not in current task
if active_classes is not None:
y_hat = y_hat[:, active_classes[-1]] if type(
active_classes[0]) == list else y_hat[:, active_classes]
# Calculate all losses
reconL, variatL, predL, _ = self.loss_function(recon_x=recon_batch,
x=x,
y_hat=y_hat,
y_target=y,
mu=mu,
logvar=logvar)
# Weigh losses as requested
loss_cur = self.lamda_rcl * reconL + self.lamda_vl * variatL + self.lamda_pl * predL
# Calculate training-precision
if y is not None:
_, predicted = y_hat.max(1)
precision = (y == predicted).sum().item() / x.size(0)
##--(2)-- REPLAYED DATA --##
if x_ is not None:
# In the Task-IL scenario, [y_] or [scores_] is a list and [x_] needs to be evaluated on each of them
# (in case of 'exact' or 'exemplar' replay, [x_] is also a list!
TaskIL = (type(y_) == list) if (y_ is not None) else (type(scores_)
== list)
if not TaskIL:
y_ = [y_]
scores_ = [scores_]
active_classes = [active_classes] if (active_classes
is not None) else None
n_replays = len(x_) if (type(x_) == list) else 1
else:
n_replays = len(y_) if (y_ is not None) else (len(scores_) if (
scores_ is not None) else 1)
# Prepare lists to store losses for each replay
loss_replay = [None] * n_replays
reconL_r = [None] * n_replays
variatL_r = [None] * n_replays
predL_r = [None] * n_replays
distilL_r = [None] * n_replays
# Run model (if [x_] is not a list with separate replay per task)
if (not type(x_) == list):
x_temp_ = x_
recon_batch, y_hat_all, mu, logvar, z = self(x_temp_,
full=True)
# Loop to perform each replay
for replay_id in range(n_replays):
# -if [x_] is a list with separate replay per task, evaluate model on this task's replay
if (type(x_) == list):
x_temp_ = x_[replay_id]
recon_batch, y_hat_all, mu, logvar, z = self(x_temp_,
full=True)
# If needed (e.g., Task-IL or Class-IL scenario), remove predictions for classes not in replayed task
if active_classes is not None:
y_hat = y_hat_all[:, active_classes[replay_id]]
else:
y_hat = y_hat_all
# Calculate all losses
reconL_r[replay_id], variatL_r[replay_id], predL_r[
replay_id], distilL_r[replay_id] = self.loss_function(
recon_x=recon_batch,
x=x_temp_,
y_hat=y_hat,
y_target=y_[replay_id] if (y_ is not None) else None,
scores=scores_[replay_id] if
(scores_ is not None) else None,
mu=mu,
logvar=logvar,
)
# Weigh losses as requested
loss_replay[replay_id] = self.lamda_rcl * reconL_r[
replay_id] + self.lamda_vl * variatL_r[replay_id]
if self.replay_targets == "hard":
loss_replay[
replay_id] += self.lamda_pl * predL_r[replay_id]
elif self.replay_targets == "soft":
loss_replay[
replay_id] += self.lamda_pl * distilL_r[replay_id]
# Calculate total loss
loss_replay = None if (x_ is None) else sum(loss_replay) / n_replays
loss_total = loss_replay if (
x is None) else (loss_cur if x_ is None else rnt * loss_cur +
(1 - rnt) * loss_replay)
# Reset optimizer
self.optimizer.zero_grad()
# Backpropagate errors
loss_total.backward()
# Take optimization-step
self.optimizer.step()
# Return the dictionary with different training-loss split in categories
return {
'loss_total':
loss_total.item(),
'precision':
precision,
'recon':
reconL.item() if x is not None else 0,
'variat':
variatL.item() if x is not None else 0,
'pred':
predL.item() if x is not None else 0,
'recon_r':
sum(reconL_r).item() / n_replays if x_ is not None else 0,
'variat_r':
sum(variatL_r).item() / n_replays if x_ is not None else 0,
'pred_r':
sum(predL_r).item() / n_replays if
(x_ is not None and predL_r[0] is not None) else 0,
'distil_r':
sum(distilL_r).item() / n_replays if
(x_ is not None and distilL_r[0] is not None) else 0,
}
class RootClassifier(ContinualLearner, Replayer, ExemplarHandler):
'''Model for classifying images, "enriched" as "ContinualLearner"-, Replayer- and ExemplarHandler-object.'''
# TODO: Do I need the `classes` argument?
def __init__(self,
image_size,
image_channels,
classes,
fc_layers=3,
fc_units=1000,
fc_drop=0,
fc_bn=False,
fc_nl="relu",
gated=False,
bias=True,
excitability=False,
excit_buffer=False,
binaryCE=False,
binaryCE_distill=False,
AGEM=False,
dataset="mnist"):
# configurations
super().__init__()
self.classes = classes
self.label = "Classifier"
self.fc_layers = fc_layers
# settings for training
self.binaryCE = binaryCE #-> use binary (instead of multiclass) prediction error
self.binaryCE_distill = binaryCE_distill #-> for classes from previous tasks, use the by the previous model
# predicted probs as binary targets (only in Class-IL with binaryCE)
self.AGEM = AGEM #-> use gradient of replayed data as inequality constraint for (instead of adding it to)
# the gradient of the current data (as in A-GEM, see Chaudry et al., 2019; ICLR)
# check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError(
"The classifier needs to have at least 1 fully-connected layer."
)
######------SPECIFY MODEL------######
# flatten image to 2D-tensor
self.flatten = utils.Flatten()
# fully connected hidden layers
if dataset == "ckplus" or dataset == "affectnet":
self.input_size = image_size[0] * image_size[1] * image_channels
else:
self.input_size = image_channels * image_size**2
self.fcE = MLP(input_size=self.input_size,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
bias=bias,
excitability=excitability,
excit_buffer=excit_buffer,
gated=gated,
latent_space=128)
def list_init_layers(self):
'''Return list of modules whose parameters could be initialized differently (i.e., conv- or fc-layers).'''
list = []
list += self.fcE.list_init_layers()
# list += self.classifier.list_init_layers()
return list
@property
def name(self):
return "{}_c{}".format(self.fcE.name, self.classes)
def forward(self, x):
final_features = self.fcE(self.flatten(x))
return final_features
def feature_extractor(self, images):
return self.fcE(self.flatten(images))
def train_a_batch(self,
x,
y,
scores=None,
x_=None,
y_=None,
scores_=None,
rnt=0.5,
active_classes=None,
task=1):
'''Train model for one batch ([x],[y]), possibly supplemented with replayed data ([x_],[y_/scores_]).
[x] <tensor> batch of inputs (could be None, in which case only 'replayed' data is used)
[y] <tensor> batch of corresponding labels
[scores] None or <tensor> 2Dtensor:[batch]x[classes] predicted "scores"/"logits" for [x]
NOTE: only to be used for "BCE with distill" (only when scenario=="class")
[x_] None or (<list> of) <tensor> batch of replayed inputs
[y_] None or (<list> of) <tensor> batch of corresponding "replayed" labels
[scores_] None or (<list> of) <tensor> 2Dtensor:[batch]x[classes] predicted "scores"/"logits" for [x_]
[rnt] <number> in [0,1], relative importance of new task
[active_classes] None or (<list> of) <list> with "active" classes
[task] <int>, for setting task-specific mask'''
# Set model to training-mode
self.train()
# Reset optimizer
self.optimizer.zero_grad()
# Should gradient be computed separately for each task? (needed when a task-mask is combined with replay)
gradient_per_task = True if ((self.mask_dict is not None) and
(x_ is not None)) else False
##--(1)-- REPLAYED DATA --##
if x_ is not None:
# In the Task-IL scenario, [y_] or [scores_] is a list and [x_] needs to be evaluated on each of them
# (in case of 'exact' or 'exemplar' replay, [x_] is also a list!
TaskIL = (type(y_) == list) if (y_ is not None) else (type(scores_)
== list)
if not TaskIL:
y_ = [y_]
scores_ = [scores_]
active_classes = [active_classes] if (active_classes
is not None) else None
n_replays = len(y_) if (y_ is not None) else len(scores_)
# Prepare lists to store losses for each replay
loss_replay = [None] * n_replays
predL_r = [None] * n_replays
distilL_r = [None] * n_replays
# Run model (if [x_] is not a list with separate replay per task and there is no task-specific mask)
if (not type(x_) == list) and (self.mask_dict is None):
y_hat_all = self(x_)
# Loop to evalute predictions on replay according to each previous task
for replay_id in range(n_replays):
# -if [x_] is a list with separate replay per task, evaluate model on this task's replay
if (type(x_) == list) or (self.mask_dict is not None):
x_temp_ = x_[replay_id] if type(x_) == list else x_
if self.mask_dict is not None:
self.apply_XdGmask(task=replay_id + 1)
y_hat_all = self(x_temp_)
# -if needed (e.g., Task-IL or Class-IL scenario), remove predictions for classes not in replayed task
y_hat = y_hat_all if (
active_classes is None
) else y_hat_all[:, active_classes[replay_id]]
# Calculate losses
if (y_ is not None) and (y_[replay_id] is not None):
if self.binaryCE:
binary_targets_ = utils.to_one_hot(
y_[replay_id].cpu(),
y_hat.size(1)).to(y_[replay_id].device)
predL_r[replay_id] = F.binary_cross_entropy_with_logits(
input=y_hat,
target=binary_targets_,
reduction='none').sum(dim=1).mean(
) #--> sum over classes, then average over batch
else:
predL_r[replay_id] = F.cross_entropy(y_hat,
y_[replay_id],
reduction='mean')
if (scores_ is not None) and (scores_[replay_id] is not None):
# n_classes_to_consider = scores.size(1) #--> with this version, no zeroes are added to [scores]!
n_classes_to_consider = y_hat.size(
1
) #--> zeros will be added to [scores] to make it this size!
kd_fn = utils.loss_fn_kd_binary if self.binaryCE else utils.loss_fn_kd
distilL_r[replay_id] = kd_fn(
scores=y_hat[:, :n_classes_to_consider],
target_scores=scores_[replay_id],
T=self.KD_temp)
# Weigh losses
if self.replay_targets == "hard":
loss_replay[replay_id] = predL_r[replay_id]
elif self.replay_targets == "soft":
loss_replay[replay_id] = distilL_r[replay_id]
# If needed, perform backward pass before next task-mask (gradients of all tasks will be accumulated)
if gradient_per_task:
weight = 1 if self.AGEM else (1 - rnt)
weighted_replay_loss_this_task = weight * loss_replay[
replay_id] / n_replays
weighted_replay_loss_this_task.backward()
# Calculate total replay loss
loss_replay = None if (x_ is None) else sum(loss_replay) / n_replays
# If using A-GEM, calculate and store averaged gradient of replayed data
if self.AGEM and x_ is not None:
# Perform backward pass to calculate gradient of replayed batch (if not yet done)
if not gradient_per_task:
loss_replay.backward()
# Reorganize the gradient of the replayed batch as a single vector
grad_rep = []
for p in self.parameters():
if p.requires_grad:
grad_rep.append(p.grad.view(-1))
grad_rep = torch.cat(grad_rep)
# Reset gradients (with A-GEM, gradients of replayed batch should only be used as inequality constraint)
self.optimizer.zero_grad()
##--(2)-- CURRENT DATA --##
if x is not None:
# If requested, apply correct task-specific mask
if self.mask_dict is not None:
self.apply_XdGmask(task=task)
# Run model
y_hat = self(x)
# -if needed, remove predictions for classes not in current task
if active_classes is not None:
class_entries = active_classes[-1] if type(
active_classes[0]) == list else active_classes
y_hat = y_hat[:, class_entries]
# Calculate prediction loss
if self.binaryCE:
# -binary prediction loss
binary_targets = utils.to_one_hot(y.cpu(),
y_hat.size(1)).to(y.device)
if self.binaryCE_distill and (scores is not None):
classes_per_task = int(y_hat.size(1) / task)
binary_targets = binary_targets[:, -(classes_per_task):]
binary_targets = torch.cat(
[torch.sigmoid(scores / self.KD_temp), binary_targets],
dim=1)
predL = None if y is None else F.binary_cross_entropy_with_logits(
input=y_hat, target=binary_targets, reduction='none').sum(
dim=1).mean(
) #--> sum over classes, then average over batch
else:
# -multiclass prediction loss
predL = None if y is None else F.cross_entropy(
input=y_hat, target=y, reduction='mean')
# Weigh losses
loss_cur = predL
# Calculate training-precision
precision = None if y is None else (
y == y_hat.max(1)[1]).sum().item() / x.size(0)
# If backward passes are performed per task (e.g., XdG combined with replay), perform backward pass
if gradient_per_task:
weighted_current_loss = rnt * loss_cur
weighted_current_loss.backward()
else:
precision = predL = None
# -> it's possible there is only "replay" [e.g., for offline with task-incremental learning]
# Combine loss from current and replayed batch
if x_ is None or self.AGEM:
loss_total = loss_cur
else:
loss_total = loss_replay if (
x is None) else rnt * loss_cur + (1 - rnt) * loss_replay
##--(3)-- ALLOCATION LOSSES --##
# Add SI-loss (Zenke et al., 2017)
surrogate_loss = self.surrogate_loss()
if self.si_c > 0:
loss_total += self.si_c * surrogate_loss
# Add EWC-loss
ewc_loss = self.ewc_loss()
if self.ewc_lambda > 0:
loss_total += self.ewc_lambda * ewc_loss
# Backpropagate errors (if not yet done)
if not gradient_per_task:
loss_total.backward()
# If using A-GEM, potentially change gradient:
if self.AGEM and x_ is not None:
# -reorganize gradient (of current batch) as single vector
grad_cur = []
for p in self.parameters():
if p.requires_grad:
grad_cur.append(p.grad.view(-1))
grad_cur = torch.cat(grad_cur)
# -check inequality constrain
angle = (grad_cur * grad_rep).sum()
if angle < 0:
# -if violated, project the gradient of the current batch onto the gradient of the replayed batch ...
length_rep = (grad_rep * grad_rep).sum()
grad_proj = grad_cur - (angle / length_rep) * grad_rep
# -...and replace all the gradients within the model with this projected gradient
index = 0
for p in self.parameters():
if p.requires_grad:
n_param = p.numel() # number of parameters in [p]
p.grad.copy_(grad_proj[index:index +
n_param].view_as(p))
index += n_param
# Take optimization-step
self.optimizer.step()
# Return the dictionary with different training-loss split in categories
return {
'loss_total':
loss_total.item(),
'loss_current':
loss_cur.item() if x is not None else 0,
'loss_replay':
loss_replay.item() if
(loss_replay is not None) and (x is not None) else 0,
'pred':
predL.item() if predL is not None else 0,
'pred_r':
sum(predL_r).item() / n_replays if
(x_ is not None and predL_r[0] is not None) else 0,
'distil_r':
sum(distilL_r).item() / n_replays if
(x_ is not None and distilL_r[0] is not None) else 0,
'ewc':
ewc_loss.item(),
'si_loss':
surrogate_loss.item(),
'precision':
precision if precision is not None else 0.,
}
class Classifier(ContinualLearner, Replayer, ExemplarHandler):
'''Model for classifying images, "enriched" as "ContinualLearner"-, Replayer- and ExemplarHandler-object.'''
def __init__(self,
image_size,
image_channels,
classes,
fc_layers=3,
fc_units=1000,
fc_drop=0,
fc_bn=True,
fc_nl="relu",
gated=False,
bias=True,
excitability=False,
excit_buffer=False,
binaryCE=False,
binaryCE_distill=False):
# configurations
super().__init__()
self.classes = classes
self.label = "Classifier"
self.fc_layers = fc_layers
# settings for training
self.binaryCE = binaryCE
self.binaryCE_distill = binaryCE_distill
# check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError(
"The classifier needs to have at least 1 fully-connected layer."
)
######------SPECIFY MODEL------######
# flatten image to 2D-tensor
self.flatten = utils.Flatten()
# fully connected hidden layers
self.fcE = MLP(input_size=image_channels * image_size**2,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
bias=bias,
excitability=excitability,
excit_buffer=excit_buffer,
gated=gated)
mlp_output_size = fc_units if fc_layers > 1 else image_channels * image_size**2
print('*************num of classes in encoder: ' + str(classes))
self.vgg = vgg16(classes)
# classifier
#self.classifier = fc_layer(mlp_output_size, classes, excit_buffer=True, nl='none', drop=fc_drop)
def list_init_layers(self):
'''Return list of modules whose parameters could be initialized differently (i.e., conv- or fc-layers).'''
list = []
list += self.fcE.list_init_layers()
list += self.classifier.list_init_layers()
return list
@property
def name(self):
#return "{}_c{}".format(self.fcE.name, self.classes)
return "vgg"
def forward(self, x):
return self.vgg(x)
def feature_extractor(self, images):
return self.fcE(self.flatten(images))
def train_a_batch(self,
x,
y,
scores=None,
x_=None,
y_=None,
scores_=None,
rnt=0.5,
active_classes=None,
task=1):
'''Train model for one batch ([x],[y]), possibly supplemented with replayed data ([x_],[y_/scores_]).
[x] <tensor> batch of inputs (could be None, in which case only 'replayed' data is used)
[y] <tensor> batch of corresponding labels
[scores] None or <tensor> 2Dtensor:[batch]x[classes] predicted "scores"/"logits" for [x]
[x_] None or (<list> of) <tensor> batch of replayed inputs
[y_] None or (<list> of) <tensor> batch of corresponding "replayed" labels
[scores_] None or (<list> of) <tensor> 2Dtensor:[batch]x[classes] predicted "scores"/"logits" for [x_]
[rnt] <number> in [0,1], relative importance of new task
[active_classes] None or (<list> of) <list> with "active" classes
[task] <int>, for setting task-specific mask'''
# Set model to training-mode
self.train()
# Reset optimizer
self.optimizer.zero_grad()
##--(1)-- CURRENT DATA --##
if x is not None:
# If requested, apply correct task-specific mask
if self.mask_dict is not None:
self.apply_XdGmask(task=task)
# Run model
y_hat = self(x)
# -if needed, remove predictions for classes not in current task
if active_classes is not None:
class_entries = active_classes[-1] if type(
active_classes[0]) == list else active_classes
y_hat = y_hat[:, class_entries]
# Calculate prediction loss
if self.binaryCE:
# -binary prediction loss
binary_targets = utils.to_one_hot(y.cpu(),
y_hat.size(1)).to(y.device)
if self.binaryCE_distill and (scores is not None):
classes_per_task = int(y_hat.size(1) / task)
binary_targets = binary_targets[:, -(classes_per_task):]
binary_targets = torch.cat(
[torch.sigmoid(scores / self.KD_temp), binary_targets],
dim=1)
predL = None if y is None else F.binary_cross_entropy_with_logits(
input=y_hat, target=binary_targets, reduction='none').sum(
dim=1).mean(
) #--> sum over classes, then average over batch
else:
# -multiclass prediction loss
predL = None if y is None else F.cross_entropy(
input=y_hat, target=y, reduction='elementwise_mean')
# Weigh losses
loss_cur = predL
# Calculate training-precision
precision = None if y is None else (
y == y_hat.max(1)[1]).sum().item() / x.size(0)
# If XdG is combined with replay, backward-pass needs to be done before new task-mask is applied
if (self.mask_dict is not None) and (x_ is not None):
weighted_current_loss = rnt * loss_cur
weighted_current_loss.backward()
else:
precision = predL = None
# -> it's possible there is only "replay" [i.e., for offline with incremental task learning]
##--(2)-- REPLAYED DATA --##
if x_ is not None:
# In the Task-IL scenario, [y_] or [scores_] is a list and [x_] needs to be evaluated on each of them
# (in case of 'exact' or 'exemplar' replay, [x_] is also a list!
TaskIL = (type(y_) == list) if (y_ is not None) else (type(scores_)
== list)
if not TaskIL:
y_ = [y_]
scores_ = [scores_]
active_classes = [active_classes] if (active_classes
is not None) else None
n_replays = len(y_) if (y_ is not None) else len(scores_)
# Prepare lists to store losses for each replay
loss_replay = [None] * n_replays
predL_r = [None] * n_replays
distilL_r = [None] * n_replays
# Run model (if [x_] is not a list with separate replay per task and there is no task-specific mask)
if (not type(x_) == list) and (self.mask_dict is None):
y_hat_all = self(x_)
# Loop to evalute predictions on replay according to each previous task
for replay_id in range(n_replays):
# -if [x_] is a list with separate replay per task, evaluate model on this task's replay
if (type(x_) == list) or (self.mask_dict is not None):
x_temp_ = x_[replay_id] if type(x_) == list else x_
if self.mask_dict is not None:
self.apply_XdGmask(task=replay_id + 1)
y_hat_all = self(x_temp_)
# -if needed (e.g., Task-IL or Class-IL scenario), remove predictions for classes not in replayed task
y_hat = y_hat_all if (
active_classes is None
) else y_hat_all[:, active_classes[replay_id]]
# Calculate losses
if (y_ is not None) and (y_[replay_id] is not None):
if self.binaryCE:
binary_targets_ = utils.to_one_hot(
y_[replay_id].cpu(),
y_hat.size(1)).to(y_[replay_id].device)
predL_r[replay_id] = F.binary_cross_entropy_with_logits(
input=y_hat,
target=binary_targets_,
reduction='none').sum(dim=1).mean(
) #--> sum over classes, then average over batch
else:
predL_r[replay_id] = F.cross_entropy(
y_hat, y_[replay_id], reduction='elementwise_mean')
if (scores_ is not None) and (scores_[replay_id] is not None):
# n_classes_to_consider = scores.size(1) #--> with this version, no zeroes are added to [scores]!
n_classes_to_consider = y_hat.size(
1
) #--> zeros will be added to [scores] to make it this size!
kd_fn = utils.loss_fn_kd_binary if self.binaryCE else utils.loss_fn_kd
distilL_r[replay_id] = kd_fn(
scores=y_hat[:, :n_classes_to_consider],
target_scores=scores_[replay_id],
T=self.KD_temp)
# Weigh losses
if self.replay_targets == "hard":
loss_replay[replay_id] = predL_r[replay_id]
elif self.replay_targets == "soft":
loss_replay[replay_id] = distilL_r[replay_id]
# If task-specific mask, backward pass needs to be performed before next task-mask is applied
if self.mask_dict is not None:
weighted_replay_loss_this_task = (
1 - rnt) * loss_replay[replay_id] / n_replays
weighted_replay_loss_this_task.backward()
# Calculate total loss
loss_replay = None if (x_ is None) else sum(loss_replay) / n_replays
loss_total = loss_replay if (
x is None) else (loss_cur if x_ is None else rnt * loss_cur +
(1 - rnt) * loss_replay)
##--(3)-- ALLOCATION LOSSES --##
# Add SI-loss (Zenke et al., 2017)
surrogate_loss = self.surrogate_loss()
if self.si_c > 0:
loss_total += self.si_c * surrogate_loss
# Add EWC-loss
ewc_loss = self.ewc_loss()
if self.ewc_lambda > 0:
loss_total += self.ewc_lambda * ewc_loss
# Backpropagate errors (if not yet done)
if (self.mask_dict is None) or (x_ is None):
loss_total.backward()
# Take optimization-step
self.optimizer.step()
# Return the dictionary with different training-loss split in categories
return {
'loss_total':
loss_total.item(),
'loss_current':
loss_cur.item() if x is not None else 0,
'loss_replay':
loss_replay.item() if
(loss_replay is not None) and (x is not None) else 0,
'pred':
predL.item() if predL is not None else 0,
'pred_r':
sum(predL_r).item() / n_replays if
(x_ is not None and predL_r[0] is not None) else 0,
'distil_r':
sum(distilL_r).item() / n_replays if
(x_ is not None and distilL_r[0] is not None) else 0,
'ewc':
ewc_loss.item(),
'si_loss':
surrogate_loss.item(),
'precision':
precision if precision is not None else 0.,
}
def __init__(self,
num_features,
num_seq,
classes,
fc_layers=3,
fc_units=1000,
fc_drop=0,
fc_bn=True,
fc_nl="relu",
gated=False,
bias=True,
excitability=None,
excit_buffer=False,
binaryCE=False,
binaryCE_distill=False,
experiment='splitMNIST',
cls_type='mlp',
args=None):
# configurations
super().__init__()
self.num_features = num_features
self.num_seq = num_seq
self.classes = classes
self.label = "Classifier"
self.fc_layers = fc_layers
self.hidden_dim = fc_units
self.layer_dim = fc_layers - 1
self.cuda = None if args is None else args.cuda
self.device = args.device
self.weights_per_class = None if args is None else torch.FloatTensor(
args.weights_per_class).to(args.device)
# store precision_dict into model so that we can fetch
# self.precision_dict_list = [[] for i in range(len(args.num_classes_per_task_l))]
# self.precision_dict = {}
# settings for training
self.binaryCE = binaryCE
self.binaryCE_distill = binaryCE_distill
# check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError(
"The classifier needs to have at least 1 fully-connected layer."
)
######------SPECIFY MODEL------######
self.cls_type = cls_type
self.experiment = experiment
# flatten image to 2D-tensor
self.flatten = utils.Flatten()
# fully connected hidden layers
if experiment == 'sensor':
if self.cls_type == 'mlp':
self.fcE = MLP(input_size=num_seq * num_features,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
bias=bias,
excitability=excitability,
excit_buffer=excit_buffer,
gated=gated)
elif self.cls_type == 'lstm':
self.lstm_input_dropout = nn.Dropout(args.input_drop)
self.lstm = nn.LSTM(input_size=num_features,
hidden_size=fc_units,
num_layers=fc_layers - 1,
dropout=0.0 if
(fc_layers - 1) == 1 else fc_drop,
batch_first=True)
# self.name = "LSTM([{} X {} X {}])".format(num_features, num_seq, classes) if self.fc_layers > 0 else ""
else:
self.fcE = MLP(input_size=num_seq * num_features**2,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
bias=bias,
excitability=excitability,
excit_buffer=excit_buffer,
gated=gated)
# classifier
if self.cls_type == 'mlp':
mlp_output_size = fc_units if fc_layers > 1 else num_seq * num_features**2
self.classifier = fc_layer(mlp_output_size,
classes,
excit_buffer=True,
nl='none',
drop=fc_drop)
elif self.cls_type == 'lstm':
self.lstm_fc = nn.Linear(fc_units, classes)
#################
# +++++ GEM +++++
#####
if args.gem:
print('this is test for GEM ')
self.margin = args.memory_strength
self.ce = nn.CrossEntropyLoss()
self.n_outputs = classes
self.n_memories = args.n_memories
self.gpu = args.cuda
n_tasks = len(args.num_classes_per_task_l)
# allocate episodic memory
self.memory_data = torch.FloatTensor(n_tasks, self.n_memories,
self.num_seq,
self.num_features)
self.memory_labs = torch.LongTensor(n_tasks, self.n_memories)
if args.cuda:
# self.memory_data = self.memory_data.cuda()
self.memory_data = self.memory_data.to(self.device)
# self.memory_labs = self.memory_labs.cuda()
self.memory_labs = self.memory_labs.to(self.device)
# allocate temporary synaptic memory
self.grad_dims = []
for param in self.parameters():
self.grad_dims.append(param.data.numel())
self.grads = torch.Tensor(sum(self.grad_dims), n_tasks)
if args.cuda:
# self.grads = self.grads.cuda()
self.grads = self.grads.to(self.device)
# allocate counters
self.observed_tasks = []
self.old_task = -1
self.mem_cnt = 0
class Classifier(ContinualLearner, Replayer, ExemplarHandler):
'''Model for classifying images, "enriched" as "ContinualLearner"-, Replayer- and ExemplarHandler-object.'''
def __init__(self,
num_features,
num_seq,
classes,
fc_layers=3,
fc_units=1000,
fc_drop=0,
fc_bn=True,
fc_nl="relu",
gated=False,
bias=True,
excitability=None,
excit_buffer=False,
binaryCE=False,
binaryCE_distill=False,
experiment='splitMNIST',
cls_type='mlp',
args=None):
# configurations
super().__init__()
self.num_features = num_features
self.num_seq = num_seq
self.classes = classes
self.label = "Classifier"
self.fc_layers = fc_layers
self.hidden_dim = fc_units
self.layer_dim = fc_layers - 1
self.cuda = None if args is None else args.cuda
self.device = args.device
self.weights_per_class = None if args is None else torch.FloatTensor(
args.weights_per_class).to(args.device)
# store precision_dict into model so that we can fetch
# self.precision_dict_list = [[] for i in range(len(args.num_classes_per_task_l))]
# self.precision_dict = {}
# settings for training
self.binaryCE = binaryCE
self.binaryCE_distill = binaryCE_distill
# check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError(
"The classifier needs to have at least 1 fully-connected layer."
)
######------SPECIFY MODEL------######
self.cls_type = cls_type
self.experiment = experiment
# flatten image to 2D-tensor
self.flatten = utils.Flatten()
# fully connected hidden layers
if experiment == 'sensor':
if self.cls_type == 'mlp':
self.fcE = MLP(input_size=num_seq * num_features,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
bias=bias,
excitability=excitability,
excit_buffer=excit_buffer,
gated=gated)
elif self.cls_type == 'lstm':
self.lstm_input_dropout = nn.Dropout(args.input_drop)
self.lstm = nn.LSTM(input_size=num_features,
hidden_size=fc_units,
num_layers=fc_layers - 1,
dropout=0.0 if
(fc_layers - 1) == 1 else fc_drop,
batch_first=True)
# self.name = "LSTM([{} X {} X {}])".format(num_features, num_seq, classes) if self.fc_layers > 0 else ""
else:
self.fcE = MLP(input_size=num_seq * num_features**2,
output_size=fc_units,
layers=fc_layers - 1,
hid_size=fc_units,
drop=fc_drop,
batch_norm=fc_bn,
nl=fc_nl,
bias=bias,
excitability=excitability,
excit_buffer=excit_buffer,
gated=gated)
# classifier
if self.cls_type == 'mlp':
mlp_output_size = fc_units if fc_layers > 1 else num_seq * num_features**2
self.classifier = fc_layer(mlp_output_size,
classes,
excit_buffer=True,
nl='none',
drop=fc_drop)
elif self.cls_type == 'lstm':
self.lstm_fc = nn.Linear(fc_units, classes)
#################
# +++++ GEM +++++
#####
if args.gem:
print('this is test for GEM ')
self.margin = args.memory_strength
self.ce = nn.CrossEntropyLoss()
self.n_outputs = classes
self.n_memories = args.n_memories
self.gpu = args.cuda
n_tasks = len(args.num_classes_per_task_l)
# allocate episodic memory
self.memory_data = torch.FloatTensor(n_tasks, self.n_memories,
self.num_seq,
self.num_features)
self.memory_labs = torch.LongTensor(n_tasks, self.n_memories)
if args.cuda:
# self.memory_data = self.memory_data.cuda()
self.memory_data = self.memory_data.to(self.device)
# self.memory_labs = self.memory_labs.cuda()
self.memory_labs = self.memory_labs.to(self.device)
# allocate temporary synaptic memory
self.grad_dims = []
for param in self.parameters():
self.grad_dims.append(param.data.numel())
self.grads = torch.Tensor(sum(self.grad_dims), n_tasks)
if args.cuda:
# self.grads = self.grads.cuda()
self.grads = self.grads.to(self.device)
# allocate counters
self.observed_tasks = []
self.old_task = -1
self.mem_cnt = 0
def list_init_layers(self):
'''Return list of modules whose parameters could be initialized differently (i.e., conv- or fc-layers).'''
list = []
list += self.fcE.list_init_layers()
list += self.classifier.list_init_layers()
return list
@property
def name(self):
if self.cls_type == 'mlp':
return "{}_c{}".format(self.fcE.name, self.classes)
elif self.cls_type == 'lstm':
return "LSTM([{} X {}]_c{})".format(self.num_seq,
self.num_features,
self.classes)
def forward(self, x):
if self.cls_type == 'mlp':
final_features = self.fcE(self.flatten(x))
return self.classifier(final_features)
elif self.cls_type == 'lstm':
x = self.lstm_input_dropout(x)
h0, c0 = self.init_hidden(x)
out, (hn, cn) = self.lstm(x, (h0, c0))
return self.lstm_fc(out[:, -1, :])
# lstm_out, hidden = self.lstm(x)
# print(lstm_out.size())
# print(x.size())
# print(lstm_out[-1].size())
# return self.lstm_fc(lstm_out[-1].view(x.size(0), -1))
def feature_extractor(self, x):
if self.cls_type == 'mlp':
return self.fcE(self.flatten(x))
elif self.cls_type == 'lstm':
x = self.lstm_input_dropout(x)
h0, c0 = self.init_hidden(x)
out, (hn, cn) = self.lstm(x, (h0, c0))
return out[:, -1, :]
# lstm_out, hidden = self.lstm(images)
# return lstm_out[-1]
def forward_from_hidden_layer(self, x):
if self.cls_type == 'mlp': return self.classifier(x)
elif self.cls_type == 'lstm': return self.lstm_fc(x)
def init_hidden(self, x):
h0 = torch.zeros(self.layer_dim, x.size(0), self.hidden_dim)
c0 = torch.zeros(self.layer_dim, x.size(0), self.hidden_dim)
return [t.to(self.device) for t in (h0, c0)] if self.cuda else (h0, c0)
def train_a_batch(self,
x,
y,
x_=None,
y_=None,
x_ex=None,
y_ex=None,
scores=None,
scores_=None,
rnt=0.5,
active_classes=None,
num_classes_per_task_l=None,
task=1,
args=None):
'''Train model for one batch ([x],[y]), possibly supplemented with replayed data ([x_],[y_/scores_]).
[x] <tensor> batch of inputs (could be None, in which case only 'replayed' data is used)
[y] <tensor> batch of corresponding labels
[scores] None or <tensor> 2Dtensor:[batch]x[classes] predicted "scores"/"logits" for [x]
NOTE: only to be used for "BCE with distill" (only when scenario=="class")
[x_] None or (<list> of) <tensor> batch of replayed inputs
[y_] None or (<list> of) <tensor> batch of corresponding "replayed" labels
[x_ex] None or (<list> of) <tensor> batch of exemplars inputs
[y_ex] None or (<list> of) <tensor> batch of exemplars inputs' labels
[scores_] None or (<list> of) <tensor> 2Dtensor:[batch]x[classes] predicted "scores"/"logits" for [x_]
[rnt] <number> in [0,1], relative importance of new task
[active_classes] None or (<list> of) <list> with "active" classes
[task] <int>, for setting task-specific mask'''
y.long()
if y_ is not None:
y_.long()
if y_ex is not None:
y_ex.long()
# Set model to training-mode
self.train()
if args.gem:
start_gem = time.time()
t = task - 1
# update memory
if t != self.old_task:
self.observed_tasks.append(t)
self.old_task = t
# Update ring buffer storing examples from current task
bsz = y.data.size(0)
endcnt = min(self.mem_cnt + bsz, self.n_memories)
effbsz = endcnt - self.mem_cnt
self.memory_data[t, self.mem_cnt:endcnt].copy_(x.data[:effbsz])
if bsz == 1:
self.memory_labs[t, self.mem_cnt] = y.data[0]
else:
self.memory_labs[t, self.mem_cnt:endcnt].copy_(y.data[:effbsz])
self.mem_cnt += effbsz
if self.mem_cnt == self.n_memories:
self.mem_cnt = 0
args.train_time_gem_update_memory += time.time() - start_gem
start_gem = time.time()
# compute gradient on previous tasks
if len(self.observed_tasks) > 1:
# print('self.observed_tasks: ', self.observed_tasks)
for tt in range(len(self.observed_tasks) - 1):
self.zero_grad()
# fwd/bwd on the examples in the memory
past_task = self.observed_tasks[tt]
offset1, offset2 = my_compute_offsets(
task=past_task,
num_classes_per_task_l=num_classes_per_task_l)
# ptloss = self.ce(
# input=self.forward(self.memory_data[past_task])[:, offset1: offset2],
# target=self.memory_labs[past_task] - offset1)
ptloss = F.cross_entropy(
input=self.forward(
self.memory_data[past_task])[:, offset1:offset2],
target=self.memory_labs[past_task] - offset1,
weight=self.weights_per_class[offset1:offset2])
ptloss.backward()
store_grad(self.parameters, self.grads, self.grad_dims,
past_task)
args.train_time_gem_compute_gradient += time.time() - start_gem
# now compute the grad on the current minibatch
self.zero_grad()
# print(t, num_classes_per_task_l)
offset1, offset2 = my_compute_offsets(
task=t, num_classes_per_task_l=num_classes_per_task_l)
# print(self.forward(x)[:, offset1: offset2].size())
# print(y.size())
# loss = self.ce(
# input=self.forward(x)[:, offset1: offset2],
# target=y - offset1)
loss = F.cross_entropy(
input=self.forward(x)[:, offset1:offset2],
target=y - offset1,
weight=self.weights_per_class[offset1:offset2])
loss.backward()
# check if gradient violates constraints
start_gem = time.time()
if len(self.observed_tasks) > 1:
# copy gradient
store_grad(self.parameters, self.grads, self.grad_dims, t)
# indx = torch.cuda.LongTensor(self.observed_tasks[:-1]) if self.gpu \
# else torch.LongTensor(self.observed_tasks[:-1])
indx = torch.LongTensor(self.observed_tasks[:-1]).to(self.device) if self.gpu \
else torch.LongTensor(self.observed_tasks[:-1])
# print(indx)
dotp = torch.mm(self.grads[:, t].unsqueeze(0),
self.grads.index_select(1, indx))
if (dotp < 0).sum() != 0:
project2cone2(self.grads[:, t].unsqueeze(1),
self.grads.index_select(1, indx),
self.margin)
# copy gradients back
overwrite_grad(self.parameters, self.grads[:, t],
self.grad_dims)
args.train_time_gem_violation_check += time.time() - start_gem
self.optimizer.step()
return {
'loss_total': loss.item(),
'loss_current': 0,
'loss_replay': 0,
'pred': 0,
'pred_r': 0,
'distil_r': 0,
'ewc': 0.,
'si_loss': 0.,
'precision': 0.,
}
else:
# Reset optimizer
self.optimizer.zero_grad()
##--(1)-- CURRENT DATA --##
if x is not None:
# If requested, apply correct task-specific mask
if self.mask_dict is not None:
self.apply_XdGmask(task=task)
# Run model
if args.augment < 0:
y_hat = self(x)
else:
features = self.feature_extractor(x)
features_ex = self.feature_extractor(x_ex)
# y_hat = self.forward_from_hidden_layer(features)
# y_hat_ex = self.forward_from_hidden_layer(features_ex)
#####
##### perform augmentation on feature space #####
#####
if args.augment == 0: # random augmentation
features = torch.cat([features, features_ex])
y = torch.cat([y, y_ex])
# now let's add some noise!
for i in range(args.scaling - 1):
features = torch.cat([
features, features_ex +
torch.randn(features_ex.shape).to(self.device) *
args.sd
])
y = torch.cat([y, y_ex])
if features.shape[0] > args.batch:
features = features[:args.batch, :]
y = y[:args.batch]
break
y_hat = self.forward_from_hidden_layer(features)
elif args.augment == 1: # feature augmentation based on standard deviation
pass
elif args.augment == 2: # feature augmentation based on SMOTE method
pass
# -if needed, remove predictions for classes not in current task
if active_classes is not None:
class_entries = active_classes[-1] if type(
active_classes[0]) == list else active_classes
y_hat = y_hat[:, class_entries]
# if args.augment >= 0:
# y_hat_ex = y_hat_ex[:, class_entries]
# Calculate prediction loss
if self.binaryCE: # ICARL goes into this. binaryCE is True.
# -binary prediction loss
# print('x.shape: ', x.shape)
# print('y.shape: ', y.shape)
# print('y_hat.shape: ', y_hat.shape)
# print('y: ', y)
start_icarl = time.time()
binary_targets = utils.to_one_hot(
y.cpu(), y_hat.size(1)).to(y.device)
# binary_targets = [0, 0, 1, ... , 0] <=> class = 2
# print(binary_targets.size()) # [128 x 17]
if self.binaryCE_distill and (
scores is not None
): # ICARL does not go into this cuz scores is None
if args.experiment == 'sensor':
binary_targets = binary_targets[:,
sum(num_classes_per_task_l[:(
task - 1)]):]
else:
classes_per_task = int(y_hat.size(1) / task)
binary_targets = binary_targets[:, -(
classes_per_task):]
# print(classes_per_task) # 8
# print(binary_targets.size()) # [128 x 1]
binary_targets = torch.cat([
torch.sigmoid(scores / self.KD_temp),
binary_targets
],
dim=1)
# print(binary_targets.size()) # [128 x 17] => this supposed to be [128 x 17 (16 + 1)]
# print(scores.size()) # [128 x 16]
# print(self.KD_temp) # 2
predL = None if y is None else F.binary_cross_entropy_with_logits(
input=y_hat, target=binary_targets,
reduction='none').sum(dim=1).mean(
) #--> sum over classes, then average over batch
args.train_time_icarl_loss += time.time() - start_icarl
else:
# -multiclass prediction loss
# print("x", x.shape, x)
# print("y_hat", y_hat.shape, y_hat)
# print("y", y.shape, y)
predL = None if y is None else F.cross_entropy(
input=y_hat,
target=y,
weight=self.weights_per_class[class_entries],
reduction='elementwise_mean')
# Weigh losses
loss_cur = predL
# Calculate training-precision
precision = None if y is None else (
y == y_hat.max(1)[1]).sum().item() / x.size(0)
# If XdG is combined with replay, backward-pass needs to be done before new task-mask is applied
if (self.mask_dict is not None) and (x_ is not None):
weighted_current_loss = rnt * loss_cur
weighted_current_loss.backward()
else:
precision = predL = None
# -> it's possible there is only "replay" [i.e., for offline with incremental task learning]
##--(2)-- REPLAYED DATA --##
if x_ is not None:
# In the Task-IL scenario, [y_] or [scores_] is a list and [x_] needs to be evaluated on each of them
# (in case of 'exact' or 'exemplar' replay, [x_] is also a list!
start_lwf = time.time()
TaskIL = (type(y_) == list) if (y_ is not None) else (
type(scores_) == list)
if not TaskIL:
y_ = [y_]
scores_ = [scores_]
active_classes = [active_classes] if (
active_classes is not None) else None
n_replays = len(y_) if (y_ is not None) else len(scores_)
# Prepare lists to store losses for each replay
loss_replay = [None] * n_replays
predL_r = [None] * n_replays
distilL_r = [None] * n_replays
# Run model (if [x_] is not a list with separate replay per task and there is no task-specific mask)
if (not type(x_) == list) and (self.mask_dict is None):
y_hat_all = self(x_)
# Loop to evalute predictions on replay according to each previous task
for replay_id in range(n_replays):
# -if [x_] is a list with separate replay per task, evaluate model on this task's replay
if (type(x_) == list) or (self.mask_dict is not None):
x_temp_ = x_[replay_id] if type(x_) == list else x_
if self.mask_dict is not None:
self.apply_XdGmask(task=replay_id + 1)
y_hat_all = self(x_temp_)
# -if needed (e.g., Task-IL or Class-IL scenario), remove predictions for classes not in replayed task
y_hat = y_hat_all if (
active_classes is None
) else y_hat_all[:, active_classes[replay_id]]
# Calculate losses
if (y_ is not None) and (y_[replay_id] is not None):
if self.binaryCE:
binary_targets_ = utils.to_one_hot(
y_[replay_id].cpu(),
y_hat.size(1)).to(y_[replay_id].device)
predL_r[
replay_id] = F.binary_cross_entropy_with_logits(
input=y_hat,
target=binary_targets_,
reduction='none'
).sum(dim=1).mean(
) #--> sum over classes, then average over batch
else:
predL_r[replay_id] = F.cross_entropy(
input=y_hat,
target=y_[replay_id],
weight=self.weights_per_class[
active_classes[replay_id]],
reduction='elementwise_mean')
if (scores_ is not None) and (scores_[replay_id]
is not None):
# n_classes_to_consider = scores.size(1) #--> with this version, no zeroes are added to [scores]!
n_classes_to_consider = y_hat.size(
1
) #--> zeros will be added to [scores] to make it this size!
kd_fn = utils.loss_fn_kd_binary if self.binaryCE else utils.loss_fn_kd
distilL_r[replay_id] = kd_fn(
scores=y_hat[:, :n_classes_to_consider],
target_scores=scores_[replay_id],
T=self.KD_temp)
# Weigh losses
if self.replay_targets == "hard":
loss_replay[replay_id] = predL_r[replay_id]
elif self.replay_targets == "soft":
loss_replay[replay_id] = distilL_r[replay_id]
# If task-specific mask, backward pass needs to be performed before next task-mask is applied
if self.mask_dict is not None:
weighted_replay_loss_this_task = (
1 - rnt) * loss_replay[replay_id] / n_replays
weighted_replay_loss_this_task.backward()
args.train_time_lwf_loss += time.time() - start_lwf
# Calculate total loss with replay loss if it exists.
if x_ is None:
loss_replay = None
else:
start_lwf = time.time()
loss_replay = sum(loss_replay) / n_replays
args.train_time_lwf_loss += time.time() - start_lwf
if x is None:
start_lwf = time.time()
loss_total = loss_replay
args.train_time_lwf_loss += time.time() - start_lwf
else:
if x_ is None:
loss_total = loss_cur
else:
start_lwf = time.time()
loss_total = rnt * loss_cur + (1 - rnt) * loss_replay
args.train_time_lwf_loss += time.time() - start_lwf
# loss_replay = None if (x_ is None) else sum(loss_replay)/n_replays
# loss_total = loss_replay if (x is None) else (loss_cur if x_ is None else rnt*loss_cur+(1-rnt)*loss_replay)
##--(3)-- ALLOCATION LOSSES --##
# Add SI-loss (Zenke et al., 2017)
if self.si_c > 0:
start_si = time.time()
surrogate_loss = self.surrogate_loss()
loss_total += self.si_c * surrogate_loss
args.train_time_si_loss += time.time() - start_si
# Add EWC-loss
if self.ewc_lambda > 0:
start_ewc = time.time()
ewc_loss = self.ewc_loss()
loss_total += self.ewc_lambda * ewc_loss
args.train_time_ewc_loss += time.time() - start_ewc
# Backpropagate errors (if not yet done)
if (self.mask_dict is None) or (x_ is None):
loss_total.backward()
# Take optimization-step
self.optimizer.step()
# Return the dictionary with different training-loss split in categories
return {
'loss_total':
loss_total.item(),
'loss_current':
loss_cur.item() if x is not None else 0,
'loss_replay':
loss_replay.item() if
(loss_replay is not None) and (x is not None) else 0,
'pred':
predL.item() if predL is not None else 0,
'pred_r':
sum(predL_r).item() / n_replays if
(x_ is not None and predL_r[0] is not None) else 0,
'distil_r':
sum(distilL_r).item() / n_replays if
(x_ is not None and distilL_r[0] is not None) else 0,
'ewc':
ewc_loss.item() if self.ewc_lambda > 0 else 0.0,
'si_loss':
surrogate_loss.item() if self.si_c > 0 else 0.0,
'precision':
precision if precision is not None else 0.,
}
class Classifier(ContinualLearner, Replayer, ExemplarHandler):
'''Model for classifying images, "enriched" as "ContinualLearner"-, Replayer- and ExemplarHandler-object.'''
def __init__(self, image_size, image_channels, classes,
fc_layers=3, fc_units=1000, fc_drop=0, fc_bn=False, fc_nl="relu", gated=False,
bias=True, excitability=False, excit_buffer=False, binaryCE=False, binaryCE_distill=False, AGEM=False,
experiment='splitMNIST'):
# configurations
super().__init__()
self.classes = classes
self.label = "Classifier"
self.fc_layers = fc_layers
# settings for training
self.binaryCE = binaryCE # -> use binary (instead of multiclass) prediction error
self.binaryCE_distill = binaryCE_distill # -> for classes from previous tasks, use the by the previous model
# predicted probs as binary targets (only in Class-IL with binaryCE)
self.AGEM = AGEM # -> use gradient of replayed data as inequality constraint for (instead of adding it to)
# the gradient of the current data (as in A-GEM, see Chaudry et al., 2019; ICLR)
# Online mem distillation
self.is_offline_training = False
self.is_ready_distill = False
self.alpha_t = 0.5
# check whether there is at least 1 fc-layer
if fc_layers < 1:
raise ValueError("The classifier needs to have at least 1 fully-connected layer.")
######------SPECIFY MODEL------######
self.experiment = experiment
if self.experiment in ['CIFAR10', 'CIFAR100', 'CUB2011']:
self.fcE = rn.resnet32(classes, pretrained=False)
self.fcE.linear = nn.Identity()
self.classifier = fc_layer(64, classes, excit_buffer=True, nl='none', drop=fc_drop)
elif self.experiment == 'ImageNet':
ResNet.name = 'ResNet-18'
self.fcE = resnet18(pretrained=True)
self.fcE.fc = nn.Identity()
self.classifier = fc_layer(512, classes, excit_buffer=True, nl='none', drop=fc_drop)
else:
# flatten image to 2D-tensor
self.flatten = utils.Flatten()
# fully connected hidden layers
self.fcE = MLP(input_size=image_channels * image_size ** 2, output_size=fc_units, layers=fc_layers - 1,
hid_size=fc_units, drop=fc_drop, batch_norm=fc_bn, nl=fc_nl, bias=bias,
excitability=excitability, excit_buffer=excit_buffer, gated=gated)
mlp_output_size = fc_units if fc_layers > 1 else image_channels * image_size ** 2
# classifier
self.classifier = fc_layer(mlp_output_size, classes, excit_buffer=True, nl='none', drop=fc_drop)
def list_init_layers(self):
'''Return list of modules whose parameters could be initialized differently (i.e., conv- or fc-layers).'''
list = []
list += self.fcE.list_init_layers()
list += self.classifier.list_init_layers()
return list
@property
def name(self):
return "{}_c{}".format(self.fcE.name, self.classes)
def forward(self, x):
final_features = self.feature_extractor(x)
return self.classifier(final_features)
def feature_extractor(self, images):
if self.experiment not in ['splitMNIST', 'permMNIST', 'rotMNIST']:
return self.fcE(images)
else:
return self.fcE(self.flatten(images))
def select_triplets(self, embeds, y_score, x, y, triplet_selection, task, scenario, use_embeddings, multi_negative):
uq = torch.unique(y).cpu().numpy()
selection_strategies = triplet_selection.split('-')
# Select instances in the batch for replay later
for m in uq:
neg_y = np.delete(uq, np.where(uq == m))
mask = y == m
mask_neg = y != m
ce_m = y_score[mask]
if ce_m.size(0) != 0:
# Select anchor and hard positive instances for class m
positive_batch = x[mask]
positive_embed_batch = embeds[mask]
anchor_idx = torch.argmin(ce_m)
anchor_x = positive_batch[anchor_idx].unsqueeze(dim=0)
anchor_embed = positive_embed_batch[anchor_idx].unsqueeze(dim=0)
# anchor should not equal positive
positive_batch = torch.cat(
(positive_batch[:anchor_idx], positive_batch[anchor_idx + 1:]), dim=0)
positive_embed_batch = torch.cat(
(positive_embed_batch[:anchor_idx], positive_embed_batch[anchor_idx + 1:]), dim=0)
if positive_batch.size(0) != 0:
if use_embeddings:
anchor_batch = anchor_embed.expand(positive_embed_batch.size())
positive_dist = F.pairwise_distance(anchor_batch.view(anchor_batch.size(0), -1),
positive_embed_batch.view(positive_embed_batch.size(0), -1))
else:
anchor_batch = anchor_x.expand(positive_batch.size())
positive_dist = F.pairwise_distance(anchor_batch.view(anchor_batch.size(0), -1),
positive_batch.view(positive_batch.size(0), -1))
if selection_strategies[0] == 'HP':
# Hard positive
_, positive_idx = torch.topk(positive_dist, 1)
else:
# Easy positive
_, positive_idx = torch.topk(positive_dist, 1, largest=False)
positive_x = positive_batch[positive_idx]
x_m = torch.cat((anchor_x, positive_x), dim=0)
y_m = torch.tensor([m, m])
else:
x_m = anchor_x
y_m = torch.tensor([m])
if scenario in ['task', 'domain']:
self.add_instances_to_online_exemplar_sets(x_m, y_m,
(y_m + len(uq) * (task - 1)).detach().cpu().numpy())
else:
self.add_instances_to_online_exemplar_sets(x_m, y_m, y_m.detach().cpu().numpy())
negative_batch = x[mask_neg]
negative_batch_y = y[mask_neg]
negative_embed_batch = embeds[mask_neg]
if negative_batch.size(0) != 0:
if use_embeddings:
anchor_batch = anchor_embed.expand(negative_embed_batch.size())
negative_dist = F.pairwise_distance(anchor_batch.view(anchor_batch.size(0), -1),
negative_embed_batch.view(negative_embed_batch.size(0), -1))
else:
anchor_batch = anchor_x.expand(negative_batch.size())
negative_dist = F.pairwise_distance(anchor_batch.view(anchor_batch.size(0), -1),
negative_batch.view(negative_batch.size(0), -1))
# Select instances for each negative class
if multi_negative:
for n in neg_y:
mask_neg_n = negative_batch_y == n
negative_dist_n = negative_dist[mask_neg_n]
negative_batch_n = negative_batch[mask_neg_n]
negative_batch_y_n = negative_batch_y[mask_neg_n]
if selection_strategies[1] == 'HN':
# Hard negative
_, negative_idx = torch.topk(negative_dist_n, int(selection_strategies[2]), largest=False)
negative_x = negative_batch_n[negative_idx]
negative_y = negative_batch_y_n[negative_idx]
elif selection_strategies[1] == 'SHN':
# Semi-hard negative
if use_embeddings:
positive_embed = positive_embed_batch[positive_idx].unsqueeze(dim=0)
dap = F.pairwise_distance(anchor_embed.view(anchor_x.size(0), -1),
positive_embed.view(positive_x.size(0), -1))
else:
dap = F.pairwise_distance(anchor_x.view(anchor_x.size(0), -1),
positive_x.view(positive_x.size(0), -1))
valid_shn_idx = negative_dist_n > dap
if valid_shn_idx.any():
shn_batch = negative_batch_n[valid_shn_idx]
shn_y = negative_batch_y_n[valid_shn_idx]
# negative_idx = torch.argmin(negative_dist[valid_shn_idx])
_, negative_idx = torch.topk(negative_dist_n, int(selection_strategies[2]),
largest=False)
negative_x = shn_batch[negative_idx]
negative_y = shn_y[negative_idx]
else:
# There is no semi-hard negative sample, ignore negative sample
negative_x = None
negative_y = None
else:
# Easy negative
_, negative_idx = torch.topk(negative_dist_n, int(selection_strategies[2]))
negative_x = negative_batch_n[negative_idx]
negative_y = negative_batch_y_n[negative_idx]
if negative_x is not None and negative_y is not None:
if scenario in ['task', 'domain']:
self.add_instances_to_online_exemplar_sets(negative_x, negative_y,
(negative_y + len(uq) * (
task - 1)).detach().cpu().numpy())
else:
self.add_instances_to_online_exemplar_sets(negative_x, negative_y,
negative_y.detach().cpu().numpy())
else:
if selection_strategies[1] == 'HN':
# Hard negative
_, negative_idx = torch.topk(negative_dist, int(selection_strategies[2]), largest=False)
negative_x = negative_batch[negative_idx]
negative_y = negative_batch_y[negative_idx]
elif selection_strategies[1] == 'SHN':
# Semi-hard negative
if use_embeddings:
positive_embed = positive_embed_batch[positive_idx].unsqueeze(dim=0)
dap = F.pairwise_distance(anchor_embed.view(anchor_x.size(0), -1),
positive_embed.view(positive_x.size(0), -1))
else:
dap = F.pairwise_distance(anchor_x.view(anchor_x.size(0), -1),
positive_x.view(positive_x.size(0), -1))
valid_shn_idx = negative_dist > dap
if valid_shn_idx.any():
shn_batch = negative_batch[valid_shn_idx]
shn_y = negative_batch_y[valid_shn_idx]
# negative_idx = torch.argmin(negative_dist[valid_shn_idx])
_, negative_idx = torch.topk(negative_dist[valid_shn_idx], int(selection_strategies[2]), largest=False)
negative_x = shn_batch[negative_idx]
negative_y = shn_y[negative_idx]
else:
# There is no semi-hard negative sample, ignore negative sample
negative_x = None
negative_y = None
else:
# Easy negative
_, negative_idx = torch.topk(negative_dist, int(selection_strategies[2]))
negative_x = negative_batch[negative_idx]
negative_y = negative_batch_y[negative_idx]
if negative_x is not None and negative_y is not None:
if scenario in ['task', 'domain']:
self.add_instances_to_online_exemplar_sets(negative_x, negative_y,
(negative_y + len(uq) * (
task - 1)).detach().cpu().numpy())
else:
self.add_instances_to_online_exemplar_sets(negative_x, negative_y,
negative_y.detach().cpu().numpy())
def select_instances(self, embeds, x, y, scenario, task):
uq, _ = torch.sort(torch.unique(y))
uq = uq.cpu().numpy()
exemplars_per_class = int(np.floor(self.memory_budget / (len(uq) * task)))
exemplar_set = []
if self.herding:
# Accumulate class means
for m in uq:
mask = y == m
xm = x[mask]
embedsm = embeds[mask]
if self.norm_exemplars:
features = F.normalize(embedsm, p=2, dim=1)
# calculate mean of all features
class_mean = torch.mean(features, dim=0, keepdim=True)
# if self.norm_exemplars:
# class_mean = F.normalize(class_mean, p=2, dim=1)
# one by one, select exemplar that makes mean of all exemplars as close to [class_mean] as possible
exemplar_features = torch.zeros_like(features[:min(exemplars_per_class, embedsm.size(0))])
list_of_selected = []
for k in range(min(exemplars_per_class, embedsm.size(0))):
if k > 0:
exemplar_sum = torch.sum(exemplar_features[:k], dim=0).unsqueeze(0)
features_means = (features + exemplar_sum) / (k + 1)
features_dists = features_means - class_mean
else:
features_dists = features - class_mean
index_selected = np.argmin(torch.norm(features_dists, p=2, dim=1).detach().cpu().numpy())
if index_selected in list_of_selected:
raise ValueError("Exemplars should not be repeated!!!!")
list_of_selected.append(index_selected)
exemplar_set.append(xm[index_selected].detach().cpu().numpy())
exemplar_features[k] = features[index_selected].clone()
# make sure this example won't be selected again
features[index_selected] = features[index_selected] + 10000
if scenario in ['task', 'domain']:
if len(self.exemplar_sets) == ((task - 1) * len(uq) + m % len(uq)):
self.exemplar_means.append(class_mean)
self.exemplar_sets.append(np.array(exemplar_set))
elif len(self.exemplar_sets) < ((task - 1) * len(uq) + m % len(uq)):
self.exemplar_means[m + len(uq) * (task - 1)] = (self.exemplar_means[m + len(uq) * (task - 1)]+ class_mean)/2
self.exemplar_sets[m] = np.concatenate(
(self.exemplar_sets[m + len(uq) * (task - 1)], exemplar_set), axis=0)
else:
if len(self.exemplar_sets) == ((task - 1) * len(uq) + m % len(uq)):
self.exemplar_means.append(class_mean)
self.exemplar_sets.append(np.array(exemplar_set))
elif len(self.exemplar_sets) < ((task - 1) * len(uq) + m % len(uq)):
self.exemplar_means[m] = (self.exemplar_means[m] + class_mean) / 2
self.exemplar_sets[m] = np.concatenate(
(self.exemplar_sets[m], exemplar_set), axis=0)
else:
for m in uq:
mask = y == m
xm = x[mask]
indeces_selected = np.random.choice(xm.size(0), size=min(xm.size(0),exemplars_per_class), replace=False)
if scenario in ['task', 'domain']:
if len(self.exemplar_sets) < task * len(uq):
self.exemplar_sets.append(xm[indeces_selected].detach().cpu().numpy())
else:
# Concate to exsisting
self.exemplar_sets[m + len(uq) * (task - 1)] = np.concatenate(
(self.exemplar_sets[m + len(uq) * (task - 1)], xm[indeces_selected].detach().cpu().numpy()), axis=0)
else:
if len(self.exemplar_sets) < task * len(uq):
self.exemplar_sets.append(xm[indeces_selected].detach().cpu().numpy())
else:
# Concate to exsisting
self.exemplar_sets[m] = np.concatenate(
(self.exemplar_sets[m], xm[indeces_selected].detach().cpu().numpy()), axis=0)
self.reduce_exemplar_sets(exemplars_per_class)
# for i in range(len(self.exemplar_sets)):
# print("Task %d Class %d" % (task, i), self.exemplar_sets[i].shape)
def train_a_batch(self, x, y, scores=None, x_=None, y_=None, scores_=None, rnt=0.5,
active_classes=None, task=1, scenario='class', teacher=None,
params_dict=None, epoch=0):
'''Train model for one batch ([x],[y]), possibly supplemented with replayed data ([x_],[y_/scores_]).
[x] <tensor> batch of inputs (could be None, in which case only 'replayed' data is used)
[y] <tensor> batch of corresponding labels
[scores] None or <tensor> 2Dtensor:[batch]x[classes] predicted "scores"/"logits" for [x]
NOTE: only to be used for "BCE with distill" (only when scenario=="class")
[x_] None or (<list> of) <tensor> batch of replayed inputs
[y_] None or (<list> of) <tensor> batch of corresponding "replayed" labels
[scores_] None or (<list> of) <tensor> 2Dtensor:[batch]x[classes] predicted "scores"/"logits" for [x_]
[rnt] <number> in [0,1], relative importance of new task
[active_classes] None or (<list> of) <list> with "active" classes
[task] <int>, for setting task-specific mask'''
# Set model to training-mode
self.train()
# Reset optimizer
self.optimizer.zero_grad()
# Should gradient be computed separately for each task? (needed when a task-mask is combined with replay)
gradient_per_task = True if ((self.mask_dict is not None) and (x_ is not None)) else False
##--(1)-- REPLAYED DATA --##
if x_ is not None:
# print(y_, task)
# In the Task-IL scenario, [y_] or [scores_] is a list and [x_] needs to be evaluated on each of them
# (in case of 'exact' or 'exemplar' replay, [x_] is also a list!
TaskIL = (type(y_) == list) if (y_ is not None) else (type(scores_) == list)
if not TaskIL:
y_ = [y_]
scores_ = [scores_]
active_classes = [active_classes] if (active_classes is not None) else None
n_replays = len(y_) if (y_ is not None) else len(scores_)
# Prepare lists to store losses for each replay
loss_KD = [None] * n_replays
loss_replay = [None] * n_replays
predL_r = [None] * n_replays
distilL_r = [None] * n_replays
# Run model (if [x_] is not a list with separate replay per task and there is no task-specific mask)
if (not type(x_) == list) and (self.mask_dict is None):
y_hat_all = self(x_)
if teacher is not None and task > 1:
if teacher.is_ready_distill:
teacher.eval()
with torch.no_grad():
embeds_teacher = teacher.feature_extractor(x_)
y_hat_teacher = teacher.classifier(embeds_teacher)
else:
y_hat_teacher = None
else:
y_hat_teacher = None
# Loop to evalute predictions on replay according to each previous task
for replay_id in range(n_replays):
# -if [x_] is a list with separate replay per task, evaluate model on this task's replay
if (type(x_) == list) or (self.mask_dict is not None):
x_temp_ = x_[replay_id] if type(x_) == list else x_
if self.mask_dict is not None:
self.apply_XdGmask(task=replay_id + 1)
y_hat_all = self(x_temp_)
if teacher is not None and task > 1:
if teacher.is_ready_distill:
teacher.eval()
with torch.no_grad():
embeds_teacher = teacher.feature_extractor(x_temp_)
y_hat_teacher = teacher.classifier(embeds_teacher)
else:
y_hat_teacher = None
else:
y_hat_teacher = None
# -if needed (e.g., Task-IL or Class-IL scenario), remove predictions for classes not in replayed task
y_hat = y_hat_all if (active_classes is None) else y_hat_all[:, active_classes[replay_id]]
if y_hat_teacher is not None:
y_hat_teacher = y_hat_teacher if (active_classes is None) else y_hat_teacher[:, active_classes[replay_id]]
# Calculate losses
if (y_ is not None) and (y_[replay_id] is not None):
if self.binaryCE:
binary_targets_ = utils.to_one_hot(y_[replay_id].cpu(), y_hat.size(1)).to(y_[replay_id].device)
predL_r[replay_id] = F.binary_cross_entropy_with_logits(
input=y_hat, target=binary_targets_, reduction='none'
).sum(dim=1).mean() # --> sum over classes, then average over batch
else:
predL_r[replay_id] = F.cross_entropy(y_hat, y_[replay_id], reduction='mean')
# Compute distillation loss from teacher outputs
if y_hat_teacher is not None:
if params_dict['distill_type'] in ['E', 'ET', 'ES', 'ETS']:
with torch.no_grad():
y_hat_ensemble = 0.5 * (y_hat.clone() + y_hat_teacher.clone())
if params_dict['distill_type'] in ['ET', 'ETS']:
loss_KD[replay_id] = 0.5 * (F.kl_div(F.log_softmax(y_hat / self.KD_temp, dim=1),
F.softmax(y_hat_ensemble / self.KD_temp, dim=1))
* (self.KD_temp * self.KD_temp) +
F.kl_div(F.log_softmax(y_hat / self.KD_temp, dim=1),
F.softmax(y_hat_teacher / self.KD_temp, dim=1))
* (self.KD_temp * self.KD_temp))
else: # distill: E, ES
loss_KD[replay_id] = F.kl_div(F.log_softmax(y_hat / self.KD_temp, dim=1),
F.softmax(y_hat_ensemble / self.KD_temp, dim=1)) \
* (self.KD_temp * self.KD_temp)
else: # distill: T, TS
loss_KD[replay_id] = F.kl_div(F.log_softmax(y_hat / self.KD_temp, dim=1),
F.softmax(y_hat_teacher / self.KD_temp, dim=1)) \
* (self.KD_temp * self.KD_temp)
# loss_KD = self.alpha_t * loss_KD + F.cross_entropy(y_hat, y) * (1. - self.alpha_t)
if (scores_ is not None) and (scores_[replay_id] is not None):
# n_classes_to_consider = scores.size(1) #--> with this version, no zeroes are added to [scores]!
n_classes_to_consider = y_hat.size(1) # --> zeros will be added to [scores] to make it this size!
kd_fn = utils.loss_fn_kd_binary if self.binaryCE else utils.loss_fn_kd
distilL_r[replay_id] = kd_fn(scores=y_hat[:, :n_classes_to_consider],
target_scores=scores_[replay_id], T=self.KD_temp)
# Weigh losses
if self.replay_targets == "hard":
loss_replay[replay_id] = predL_r[replay_id]
elif self.replay_targets == "soft":
loss_replay[replay_id] = distilL_r[replay_id]
# If needed, perform backward pass before next task-mask (gradients of all tasks will be accumulated)
if gradient_per_task:
weight = 1 if self.AGEM else (1 - rnt)
weighted_replay_loss_this_task = weight * loss_replay[replay_id] / n_replays
weighted_replay_loss_this_task.backward()
# Calculate total replay loss
loss_replay = None if (x_ is None) else sum(loss_replay) / n_replays
# Calculate total kd loss
loss_KD = None if any(lkd is None for lkd in loss_KD) else sum(loss_KD) / n_replays
else:
loss_KD = None
# If using A-GEM, calculate and store averaged gradient of replayed data
if self.AGEM and x_ is not None:
# Perform backward pass to calculate gradient of replayed batch (if not yet done)
if not gradient_per_task:
loss_replay = loss_replay.clamp(min=1e-6)
loss_replay.backward()
# Reorganize the gradient of the replayed batch as a single vector
grad_rep = []
for p in self.parameters():
if p.requires_grad:
grad_rep.append(p.grad.view(-1))
grad_rep = torch.cat(grad_rep)
# Reset gradients (with A-GEM, gradients of replayed batch should only be used as inequality constraint)
self.optimizer.zero_grad()
##--(2)-- CURRENT DATA --##
if x is not None:
# If requested, apply correct task-specific mask
if self.mask_dict is not None:
self.apply_XdGmask(task=task)
# Run model
embeds = self.feature_extractor(x)
y_hat = self.classifier(embeds)
# -if needed, remove predictions for classes not in current task
if active_classes is not None:
class_entries = active_classes[-1] if type(active_classes[0]) == list else active_classes
y_hat = y_hat[:, class_entries]
# Calculate prediction loss
if self.binaryCE:
# -binary prediction loss
binary_targets = utils.to_one_hot(y.cpu(), y_hat.size(1)).to(y.device)
if self.binaryCE_distill and (scores is not None):
classes_per_task = int(y_hat.size(1) / task)
binary_targets = binary_targets[:, -(classes_per_task):]
binary_targets = torch.cat([torch.sigmoid(scores / self.KD_temp), binary_targets], dim=1)
y_score = F.binary_cross_entropy_with_logits(
input=y_hat, target=binary_targets, reduction='none'
).sum(dim=1) # --> sum over classes,
predL = None if y is None else y_score.mean() # average over batch
if params_dict['mem_online'] and epoch == 0:
self.select_instances(embeds, x, y, scenario, task)
else:
if params_dict['use_otr'] and epoch == 0:
self.select_triplets(embeds, y_score, x, y,
params_dict['triplet_selection'], task, scenario,
params_dict['use_embeddings'], params_dict['multi_negative'])
else:
# -multiclass prediction loss
y_score = F.cross_entropy(input=y_hat, target=y, reduction='none')
predL = None if y is None else y_score.mean()
if params_dict['mem_online'] and epoch == 0:
self.select_instances(embeds, x, y, scenario, task)
else:
if params_dict['use_otr'] and epoch == 0:
self.select_triplets(embeds, y_score, x, y,
params_dict['triplet_selection'], task, scenario,
params_dict['use_embeddings'], params_dict['multi_negative'])
loss_cur = predL
# Calculate training-precision
precision = None if y is None else (y == y_hat.max(1)[1]).sum().item() / x.size(0)
# If backward passes are performed per task (e.g., XdG combined with replay), perform backward pass
if gradient_per_task:
weighted_current_loss = rnt * loss_cur
weighted_current_loss.backward()
else:
precision = predL = None
# -> it's possible there is only "replay" [e.g., for offline with task-incremental learning]
# Combine loss from current and replayed batch
if x_ is None or self.AGEM:
loss_total = loss_cur
else:
loss_total = loss_replay if (x is None) else rnt * loss_cur + (1 - rnt) * loss_replay
if loss_KD is not None:
loss_total = loss_total + loss_KD
##--(3)-- ALLOCATION LOSSES --##
# Add SI-loss (Zenke et al., 2017)
surrogate_loss = self.surrogate_loss()
if self.si_c > 0:
loss_total += self.si_c * surrogate_loss
# Add EWC-loss
ewc_loss = self.ewc_loss()
if self.ewc_lambda > 0:
loss_total += self.ewc_lambda * ewc_loss
# Backpropagate errors (if not yet done)
if not gradient_per_task:
loss_total.backward()
# If using A-GEM, potentially change gradient:
if self.AGEM and x_ is not None:
# -reorganize gradient (of current batch) as single vector
grad_cur = []
for p in self.parameters():
if p.requires_grad:
grad_cur.append(p.grad.view(-1))
grad_cur = torch.cat(grad_cur)
# -check inequality constrain
angle = (grad_cur * grad_rep).sum()
if angle < 0:
# -if violated, project the gradient of the current batch onto the gradient of the replayed batch ...
length_rep = (grad_rep * grad_rep).sum()
grad_proj = grad_cur - (angle / length_rep) * grad_rep
# -...and replace all the gradients within the model with this projected gradient
index = 0
for p in self.parameters():
if p.requires_grad:
n_param = p.numel() # number of parameters in [p]
p.grad.copy_(grad_proj[index:index + n_param].view_as(p))
index += n_param
# Take optimization-step
self.optimizer.step()
# Return the dictionary with different training-loss split in categories
return {
'loss_total': loss_total.item(),
'loss_current': loss_cur.item() if x is not None else 0,
'loss_replay': loss_replay.item() if (x_ is not None and loss_replay is not None) else 0,
'pred': predL.item() if predL is not None else 0,
'pred_r': sum(predL_r).item() / n_replays if (x_ is not None and predL_r[0] is not None) else 0,
'distil_r': sum(distilL_r).item() / n_replays if (x_ is not None and distilL_r[0] is not None) else 0,
'ewc': ewc_loss.item(), 'si_loss': surrogate_loss.item(),
'precision': precision if precision is not None else 0.,
}
def train_epoch(self, train_loader, criterion, optimizer, active_classes, params_dict, writer=None):
# class_entries = active_classes[-1] if type(active_classes[0]) == list else active_classes
self.train()
tlosses = []
for batch_idx, batch in enumerate(train_loader):
x, y = batch
x, y = x.to(self._device()), y.to(self._device())
optimizer.zero_grad()
y_hat = self(x)
# y_hat = y_hat[:, class_entries]
if params_dict['teacher_loss'] == 'BCE':
y = utils.to_one_hot(y.cpu(), y_hat.size(1)).to(y.device)
loss = criterion(y_hat, y)
loss.backward()
tlosses.append(loss.item())
# writer.add_scalar('Training loss', loss.item(), params_dict['epoch'] * len(train_loader) + batch_idx)
optimizer.step()
return tlosses
def valid_epoch(self, val_loader, criterion, active_classes, params_dict, writer=None):
# class_entries = active_classes[-1] if type(active_classes[0]) == list else active_classes
valid_losses = []
self.eval()
with torch.no_grad():
for batch_idx, batch in enumerate(val_loader, 0):
x, y = batch
x, y = x.to(self._device()), y.to(self._device())
y_hat = self(x)
# y_hat = y_hat[:, class_entries]
if params_dict['teacher_loss'] == 'BCE':
y = utils.to_one_hot(y.cpu(), y_hat.size(1)).to(y.device)
valid_loss = criterion(y_hat, y)
valid_losses.append(valid_loss.item())
# writer.add_scalar('Validation loss', valid_loss.item(), params_dict['epoch'] * len(val_loader) + batch_idx)
self.train()
return valid_losses
def train_via_KD(self, model, x, distill_type, active_classes):
if distill_type == 'T':
return
model.eval()
with torch.no_grad():
y_hat = model(x)
model.train()
self.train()
self.optimizer.zero_grad()
y_hat_teacher = self(x)
if active_classes is not None:
class_entries = active_classes[-1] if type(active_classes[0]) == list else active_classes
y_hat = y_hat[:, class_entries]
y_hat_teacher = y_hat_teacher[:, class_entries]
if distill_type in ['E', 'ET', 'ES', 'ETS']:
with torch.no_grad():
y_hat_ensemble = 0.5 * (y_hat_teacher.clone() + y_hat)
if distill_type in ['ES', 'ETS']: # distill from ensemble and student to teacher
loss = 0.5 * (F.kl_div(F.log_softmax(y_hat_teacher / self.KD_temp, dim=1),
F.softmax(y_hat_ensemble / self.KD_temp, dim=1))
* (self.KD_temp * self.KD_temp) +
F.kl_div(F.log_softmax(y_hat_teacher / self.KD_temp, dim=1),
F.softmax(y_hat / self.KD_temp, dim=1))
* (self.KD_temp * self.KD_temp))
else: # distill from ensemble to teacher
loss = F.kl_div(F.log_softmax(y_hat_teacher / self.KD_temp, dim=1),
F.softmax(y_hat_ensemble / self.KD_temp, dim=1)) \
* (self.KD_temp * self.KD_temp)
else:
loss = F.kl_div(F.log_softmax(y_hat_teacher / self.KD_temp, dim=1),
F.softmax(y_hat / self.KD_temp, dim=1)) \
* (self.KD_temp * self.KD_temp)
loss.backward()
self.optimizer.step()
