SegMamba/monai/optimizers/lr_finder.py

# Copyright (c) MONAI Consortium
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#     http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from __future__ import annotations

import pickle
import types
import warnings
from functools import partial
from typing import TYPE_CHECKING, Any, Callable

import numpy as np
import torch
import torch.nn as nn
from torch.optim import Optimizer
from torch.serialization import DEFAULT_PROTOCOL
from torch.utils.data import DataLoader

from monai.networks.utils import eval_mode
from monai.optimizers.lr_scheduler import ExponentialLR, LinearLR
from monai.utils import StateCacher, copy_to_device, optional_import

if TYPE_CHECKING:
    import matplotlib.pyplot as plt

    has_matplotlib = True
    import tqdm

    has_tqdm = True
else:
    plt, has_matplotlib = optional_import("matplotlib.pyplot")
    tqdm, has_tqdm = optional_import("tqdm")

__all__ = ["LearningRateFinder"]


class DataLoaderIter:

    def __init__(self, data_loader: DataLoader, image_extractor: Callable, label_extractor: Callable) -> None:
        if not isinstance(data_loader, DataLoader):
            raise ValueError(
                f"Loader has unsupported type: {type(data_loader)}. Expected type was `torch.utils.data.DataLoader`"
            )
        self.data_loader = data_loader
        self._iterator = iter(data_loader)
        self.image_extractor = image_extractor
        self.label_extractor = label_extractor

    @property
    def dataset(self):
        return self.data_loader.dataset

    def inputs_labels_from_batch(self, batch_data):
        images = self.image_extractor(batch_data)
        labels = self.label_extractor(batch_data)
        return images, labels

    def __iter__(self):
        return self

    def __next__(self):
        batch = next(self._iterator)
        return self.inputs_labels_from_batch(batch)


class TrainDataLoaderIter(DataLoaderIter):

    def __init__(
        self, data_loader: DataLoader, image_extractor: Callable, label_extractor: Callable, auto_reset: bool = True
    ) -> None:
        super().__init__(data_loader, image_extractor, label_extractor)
        self.auto_reset = auto_reset

    def __next__(self):
        try:
            batch = next(self._iterator)
            inputs, labels = self.inputs_labels_from_batch(batch)
        except StopIteration:
            if not self.auto_reset:
                raise
            self._iterator = iter(self.data_loader)
            batch = next(self._iterator)
            inputs, labels = self.inputs_labels_from_batch(batch)

        return inputs, labels


class ValDataLoaderIter(DataLoaderIter):
    """This iterator will reset itself **only** when it is acquired by
    the syntax of normal `iterator`. That is, this iterator just works
    like a `torch.data.DataLoader`. If you want to restart it, you
    should use it like:

        ```
        loader_iter = ValDataLoaderIter(data_loader)
        for batch in loader_iter:
            ...

        # `loader_iter` should run out of values now, you can restart it by:
        # 1. the way we use a `torch.data.DataLoader`
        for batch in loader_iter:        # __iter__ is called implicitly
            ...

        # 2. passing it into `iter()` manually
        loader_iter = iter(loader_iter)  # __iter__ is called by `iter()`
        ```
    """

    def __init__(self, data_loader: DataLoader, image_extractor: Callable, label_extractor: Callable) -> None:
        super().__init__(data_loader, image_extractor, label_extractor)
        self.run_limit = len(self.data_loader)
        self.run_counter = 0

    def __iter__(self):
        if self.run_counter >= self.run_limit:
            self._iterator = iter(self.data_loader)
            self.run_counter = 0
        return self

    def __next__(self):
        self.run_counter += 1
        return super().__next__()


def default_image_extractor(x: Any) -> torch.Tensor:
    """Default callable for getting image from batch data."""
    out: torch.Tensor = x["image"] if isinstance(x, dict) else x[0]
    return out


def default_label_extractor(x: Any) -> torch.Tensor:
    """Default callable for getting label from batch data."""
    out: torch.Tensor = x["label"] if isinstance(x, dict) else x[1]
    return out


class LearningRateFinder:
    """Learning rate range test.

    The learning rate range test increases the learning rate in a pre-training run
    between two boundaries in a linear or exponential manner. It provides valuable
    information on how well the network can be trained over a range of learning rates
    and what is the optimal learning rate.

    Example (fastai approach):
    >>> lr_finder = LearningRateFinder(net, optimizer, criterion)
    >>> lr_finder.range_test(data_loader, end_lr=100, num_iter=100)
    >>> lr_finder.get_steepest_gradient()
    >>> lr_finder.plot() # to inspect the loss-learning rate graph

    Example (Leslie Smith's approach):
    >>> lr_finder = LearningRateFinder(net, optimizer, criterion)
    >>> lr_finder.range_test(train_loader, val_loader=val_loader, end_lr=1, num_iter=100, step_mode="linear")

    Gradient accumulation is supported; example:
    >>> train_data = ...    # prepared dataset
    >>> desired_bs, real_bs = 32, 4         # batch size
    >>> accumulation_steps = desired_bs // real_bs     # required steps for accumulation
    >>> data_loader = torch.utils.data.DataLoader(train_data, batch_size=real_bs, shuffle=True)
    >>> acc_lr_finder = LearningRateFinder(net, optimizer, criterion)
    >>> acc_lr_finder.range_test(data_loader, end_lr=10, num_iter=100, accumulation_steps=accumulation_steps)

    By default, image will be extracted from data loader with x["image"] and x[0], depending on whether
    batch data is a dictionary or not (and similar behaviour for extracting the label). If your data loader
    returns something other than this, pass a callable function to extract it, e.g.:
    >>> image_extractor = lambda x: x["input"]
    >>> label_extractor = lambda x: x[100]
    >>> lr_finder = LearningRateFinder(net, optimizer, criterion)
    >>> lr_finder.range_test(train_loader, val_loader, image_extractor, label_extractor)

    References:
    Modified from: https://github.com/davidtvs/pytorch-lr-finder.
    Cyclical Learning Rates for Training Neural Networks: https://arxiv.org/abs/1506.01186
    """

    def __init__(
        self,
        model: nn.Module,
        optimizer: Optimizer,
        criterion: torch.nn.Module,
        device: str | torch.device | None = None,
        memory_cache: bool = True,
        cache_dir: str | None = None,
        amp: bool = False,
        pickle_module: types.ModuleType = pickle,
        pickle_protocol: int = DEFAULT_PROTOCOL,
        verbose: bool = True,
    ) -> None:
        """Constructor.

        Args:
            model: wrapped model.
            optimizer: wrapped optimizer.
            criterion: wrapped loss function.
            device: device on which to test. run a string ("cpu" or "cuda") with an
                optional ordinal for the device type (e.g. "cuda:X", where is the ordinal).
                Alternatively, can be an object representing the device on which the
                computation will take place. Default: None, uses the same device as `model`.
            memory_cache: if this flag is set to True, `state_dict` of
                model and optimizer will be cached in memory. Otherwise, they will be saved
                to files under the `cache_dir`.
            cache_dir: path for storing temporary files. If no path is
                specified, system-wide temporary directory is used. Notice that this
                parameter will be ignored if `memory_cache` is True.
            amp: use Automatic Mixed Precision
            pickle_module: module used for pickling metadata and objects, default to `pickle`.
                this arg is used by `torch.save`, for more details, please check:
                https://pytorch.org/docs/stable/generated/torch.save.html#torch.save.
            pickle_protocol: can be specified to override the default protocol, default to `2`.
                this arg is used by `torch.save`, for more details, please check:
                https://pytorch.org/docs/stable/generated/torch.save.html#torch.save.
            verbose: verbose output
        Returns:
            None
        """
        # Check if the optimizer is already attached to a scheduler
        self.optimizer = optimizer
        self._check_for_scheduler()

        self.model = model
        self.criterion = criterion
        self.history: dict[str, list] = {"lr": [], "loss": []}
        self.memory_cache = memory_cache
        self.cache_dir = cache_dir
        self.amp = amp
        self.verbose = verbose

        # Save the original state of the model and optimizer so they can be restored if
        # needed
        self.model_device = next(self.model.parameters()).device
        self.state_cacher = StateCacher(
            in_memory=memory_cache, cache_dir=cache_dir, pickle_module=pickle_module, pickle_protocol=pickle_protocol
        )
        self.state_cacher.store("model", self.model.state_dict())
        self.state_cacher.store("optimizer", self.optimizer.state_dict())

        # If device is None, use the same as the model
        self.device = device if device else self.model_device

    def reset(self) -> None:
        """Restores the model and optimizer to their initial states."""

        self.model.load_state_dict(self.state_cacher.retrieve("model"))
        self.optimizer.load_state_dict(self.state_cacher.retrieve("optimizer"))
        self.model.to(self.model_device)

    def range_test(
        self,
        train_loader: DataLoader,
        val_loader: DataLoader | None = None,
        image_extractor: Callable = default_image_extractor,
        label_extractor: Callable = default_label_extractor,
        start_lr: float | None = None,
        end_lr: float = 10.0,
        num_iter: int = 100,
        step_mode: str = "exp",
        smooth_f: float = 0.05,
        diverge_th: int = 5,
        accumulation_steps: int = 1,
        non_blocking_transfer: bool = True,
        auto_reset: bool = True,
    ) -> None:
        """Performs the learning rate range test.

        Args:
            train_loader: training set data loader.
            val_loader: validation data loader (if desired).
            image_extractor: callable function to get the image from a batch of data.
                Default: `x["image"] if isinstance(x, dict) else x[0]`.
            label_extractor: callable function to get the label from a batch of data.
                Default: `x["label"] if isinstance(x, dict) else x[1]`.
            start_lr : the starting learning rate for the range test.
                The default is the optimizer's learning rate.
            end_lr: the maximum learning rate to test. The test may stop earlier than
                this if the result starts diverging.
            num_iter: the max number of iterations for test.
            step_mode: schedule for increasing learning rate: (`linear` or `exp`).
            smooth_f: the loss smoothing factor within the `[0, 1[` interval. Disabled
                if set to `0`, otherwise loss is smoothed using exponential smoothing.
            diverge_th: test is stopped when loss surpasses threshold:
                `diverge_th * best_loss`.
            accumulation_steps: steps for gradient accumulation. If set to `1`,
                gradients are not accumulated.
            non_blocking_transfer: when `True`, moves data to device asynchronously if
                possible, e.g., moving CPU Tensors with pinned memory to CUDA devices.
            auto_reset: if `True`, returns model and optimizer to original states at end
                of test.
        Returns:
            None
        """

        # Reset test results
        self.history = {"lr": [], "loss": []}
        best_loss = -float("inf")

        # Move the model to the proper device
        self.model.to(self.device)

        # Check if the optimizer is already attached to a scheduler
        self._check_for_scheduler()

        # Set the starting learning rate
        if start_lr:
            self._set_learning_rate(start_lr)

        # Check number of iterations
        if num_iter <= 1:
            raise ValueError("`num_iter` must be larger than 1")

        # Initialize the proper learning rate policy
        lr_schedule: ExponentialLR | LinearLR
        if step_mode.lower() == "exp":
            lr_schedule = ExponentialLR(self.optimizer, end_lr, num_iter)
        elif step_mode.lower() == "linear":
            lr_schedule = LinearLR(self.optimizer, end_lr, num_iter)
        else:
            raise ValueError(f"expected one of (exp, linear), got {step_mode}")

        if smooth_f < 0 or smooth_f >= 1:
            raise ValueError("smooth_f is outside the range [0, 1[")

        # Create an iterator to get data batch by batch
        train_iter = TrainDataLoaderIter(train_loader, image_extractor, label_extractor)
        if val_loader:
            val_iter = ValDataLoaderIter(val_loader, image_extractor, label_extractor)

        trange: partial[tqdm.trange] | type[range]
        if self.verbose and has_tqdm:
            trange = partial(tqdm.trange, desc="Computing optimal learning rate")
            tprint = tqdm.tqdm.write
        else:
            trange = range
            tprint = print

        for iteration in trange(num_iter):
            if self.verbose and not has_tqdm:
                print(f"Computing optimal learning rate, iteration {iteration + 1}/{num_iter}")

            # Train on batch and retrieve loss
            loss = self._train_batch(train_iter, accumulation_steps, non_blocking_transfer=non_blocking_transfer)
            if val_loader:
                loss = self._validate(val_iter, non_blocking_transfer=non_blocking_transfer)

            # Update the learning rate
            self.history["lr"].append(lr_schedule.get_lr()[0])
            lr_schedule.step()

            # Track the best loss and smooth it if smooth_f is specified
            if iteration == 0:
                best_loss = loss
            else:
                if smooth_f > 0:
                    loss = smooth_f * loss + (1 - smooth_f) * self.history["loss"][-1]
                if loss < best_loss:
                    best_loss = loss

            # Check if the loss has diverged; if it has, stop the test
            self.history["loss"].append(loss)
            if loss > diverge_th * best_loss:
                if self.verbose:
                    tprint("Stopping early, the loss has diverged")
                break

        if auto_reset:
            if self.verbose:
                print("Resetting model and optimizer")
            self.reset()

    def _set_learning_rate(self, new_lrs: float | list) -> None:
        """Set learning rate(s) for optimizer."""
        if not isinstance(new_lrs, list):
            new_lrs = [new_lrs] * len(self.optimizer.param_groups)
        if len(new_lrs) != len(self.optimizer.param_groups):
            raise ValueError(
                "Length of `new_lrs` is not equal to the number of parameter groups " + "in the given optimizer"
            )

        for param_group, new_lr in zip(self.optimizer.param_groups, new_lrs):
            param_group["lr"] = new_lr

    def _check_for_scheduler(self):
        """Check optimizer doesn't already have scheduler."""
        for param_group in self.optimizer.param_groups:
            if "initial_lr" in param_group:
                raise RuntimeError("Optimizer already has a scheduler attached to it")

    def _train_batch(
        self, train_iter: TrainDataLoaderIter, accumulation_steps: int, non_blocking_transfer: bool = True
    ) -> float:
        self.model.train()
        total_loss = 0

        self.optimizer.zero_grad()
        for i in range(accumulation_steps):
            inputs, labels = next(train_iter)
            inputs, labels = copy_to_device([inputs, labels], device=self.device, non_blocking=non_blocking_transfer)

            # Forward pass
            outputs = self.model(inputs)
            loss = self.criterion(outputs, labels)

            # Loss should be averaged in each step
            loss /= accumulation_steps

            # Backward pass
            if self.amp and hasattr(self.optimizer, "_amp_stash"):
                # For minor performance optimization, see also:
                # https://nvidia.github.io/apex/advanced.html#gradient-accumulation-across-iterations
                delay_unscale = ((i + 1) % accumulation_steps) != 0

                with torch.cuda.amp.scale_loss(loss, self.optimizer, delay_unscale=delay_unscale) as scaled_loss:  # type: ignore
                    scaled_loss.backward()
            else:
                loss.backward()

            total_loss += loss.item()

        self.optimizer.step()

        return total_loss

    def _validate(self, val_iter: ValDataLoaderIter, non_blocking_transfer: bool = True) -> float:
        # Set model to evaluation mode and disable gradient computation
        running_loss = 0
        with eval_mode(self.model):
            for inputs, labels in val_iter:
                # Copy data to the correct device
                inputs, labels = copy_to_device(
                    [inputs, labels], device=self.device, non_blocking=non_blocking_transfer
                )

                # Forward pass and loss computation
                outputs = self.model(inputs)
                loss = self.criterion(outputs, labels)
                running_loss += loss.item() * len(labels)

        return running_loss / len(val_iter.dataset)

    def get_lrs_and_losses(self, skip_start: int = 0, skip_end: int = 0) -> tuple[list, list]:
        """Get learning rates and their corresponding losses

        Args:
            skip_start: number of batches to trim from the start.
            skip_end: number of batches to trim from the end.
        """
        if skip_start < 0:
            raise ValueError("skip_start cannot be negative")
        if skip_end < 0:
            raise ValueError("skip_end cannot be negative")

        lrs = self.history["lr"]
        losses = self.history["loss"]
        end_idx = len(lrs) - skip_end - 1
        lrs = lrs[skip_start:end_idx]
        losses = losses[skip_start:end_idx]

        return lrs, losses

    def get_steepest_gradient(self, skip_start: int = 0, skip_end: int = 0) -> tuple[float, float] | tuple[None, None]:
        """Get learning rate which has steepest gradient and its corresponding loss

        Args:
            skip_start: number of batches to trim from the start.
            skip_end: number of batches to trim from the end.

        Returns:
            Learning rate which has steepest gradient and its corresponding loss
        """
        lrs, losses = self.get_lrs_and_losses(skip_start, skip_end)

        try:
            min_grad_idx = np.gradient(np.array(losses)).argmin()
            return lrs[min_grad_idx], losses[min_grad_idx]
        except ValueError:
            print("Failed to compute the gradients, there might not be enough points.")
            return None, None

    def plot(
        self,
        skip_start: int = 0,
        skip_end: int = 0,
        log_lr: bool = True,
        ax: Any | None = None,
        steepest_lr: bool = True,
    ) -> Any | None:
        """Plots the learning rate range test.

        Args:
            skip_start: number of batches to trim from the start.
            skip_end: number of batches to trim from the start.
            log_lr: True to plot the learning rate in a logarithmic
                scale; otherwise, plotted in a linear scale.
            ax: the plot is created in the specified matplotlib axes object and the
                figure is not be shown. If `None`, then the figure and axes object are
                created in this method and the figure is shown.
            steepest_lr: plot the learning rate which had the steepest gradient.

        Returns:
            The `matplotlib.axes.Axes` object that contains the plot. Returns `None` if
            `matplotlib` is not installed.
        """
        if not has_matplotlib:
            warnings.warn("Matplotlib is missing, can't plot result")
            return None

        lrs, losses = self.get_lrs_and_losses(skip_start, skip_end)

        # Create the figure and axes object if axes was not already given
        fig = None
        if ax is None:
            fig, ax = plt.subplots()

        # Plot loss as a function of the learning rate
        ax.plot(lrs, losses)

        # Plot the LR with steepest gradient
        if steepest_lr:
            lr_at_steepest_grad, loss_at_steepest_grad = self.get_steepest_gradient(skip_start, skip_end)
            if lr_at_steepest_grad is not None:
                ax.scatter(
                    lr_at_steepest_grad,
                    loss_at_steepest_grad,
                    s=75,
                    marker="o",
                    color="red",
                    zorder=3,
                    label="steepest gradient",
                )
                ax.legend()

        if log_lr:
            ax.set_xscale("log")
        ax.set_xlabel("Learning rate")
        ax.set_ylabel("Loss")

        # Show only if the figure was created internally
        if fig is not None:
            plt.show()

        return ax