Exponential Moving Average of Weights (EMA) (#138)

Summary:
EMA as used in "Fast and Accurate Model Scaling" to improve accuracy.
Note that EMA of model weights is nearly free computationally (if not
computed every iter), hence EMA weights area always computed/stored.
Saving/loading checkpoints has been updated, but the code is backward
compatible with checkpoints that do not store the ema weights.

Details:
-config.py: added EMA options
-meters.py: generalized to allow for ema meter
-net.py: added update_model_ema() to compute model ema
-trainer.py: added updating/testing/logging of ema model
-checkpoint.py: save/load_checkpoint() also save/load ema weights

Pull Request resolved: #138

Reviewed By: theschnitz, vaibhava0

Differential Revision: D28204356

Pulled By: pdollar

fbshipit-source-id: 633969856c4359b663cb6811325c3489b74ccf2d

pycls/core/checkpoint.py

@@ -55,8 +55,8 @@ def has_checkpoint():
     return any(_NAME_PREFIX in f for f in pathmgr.ls(checkpoint_dir))
 
 
-def save_checkpoint(model, optimizer, epoch, best):
-    """Saves a checkpoint."""
+def save_checkpoint(model, model_ema, optimizer, epoch, test_err, ema_err):
+    """Saves a checkpoint and also the best weights so far in a best checkpoint."""
     # Save checkpoints only from the master process
     if not dist.is_master_proc():
         return
@@ -65,29 +65,67 @@ def save_checkpoint(model, optimizer, epoch, best):
     # Record the state
     checkpoint = {
         "epoch": epoch,
+        "test_err": test_err,
+        "ema_err": ema_err,
         "model_state": unwrap_model(model).state_dict(),
+        "ema_state": unwrap_model(model_ema).state_dict(),
         "optimizer_state": optimizer.state_dict(),
         "cfg": cfg.dump(),
     }
     # Write the checkpoint
     checkpoint_file = get_checkpoint(epoch + 1)
     with pathmgr.open(checkpoint_file, "wb") as f:
         torch.save(checkpoint, f)
-    # If best copy checkpoint to the best checkpoint
-    if best:
+    # Store the best model and model_ema weights so far
+    if not pathmgr.exists(get_checkpoint_best()):
         pathmgr.copy(checkpoint_file, get_checkpoint_best())
+    else:
+        with pathmgr.open(get_checkpoint_best(), "rb") as f:
+            best = torch.load(f, map_location="cpu")
+        # Select the best model weights and the best model_ema weights
+        if test_err < best["test_err"] or ema_err < best["ema_err"]:
+            if test_err < best["test_err"]:
+                best["model_state"] = checkpoint["model_state"]
+                best["test_err"] = test_err
+            if ema_err < best["ema_err"]:
+                best["ema_state"] = checkpoint["ema_state"]
+                best["ema_err"] = ema_err
+            with pathmgr.open(get_checkpoint_best(), "wb") as f:
+                torch.save(best, f)
     return checkpoint_file
 
 
-def load_checkpoint(checkpoint_file, model, optimizer=None):
-    """Loads the checkpoint from the given file."""
+def load_checkpoint(checkpoint_file, model, model_ema=None, optimizer=None):
+    """
+    Loads a checkpoint selectively based on the input options.
+
+    Each checkpoint contains both the model and model_ema weights (except checkpoints
+    created by old versions of the code). If both the model and model_weights are
+    requested, both sets of weights are loaded. If only the model weights are requested
+    (that is if model_ema=None), the *better* set of weights is selected to be loaded
+    (according to the lesser of test_err and ema_err, also stored in the checkpoint).
+
+    The code is backward compatible with checkpoints that do not store the ema weights.
+    """
     err_str = "Checkpoint '{}' not found"
     assert pathmgr.exists(checkpoint_file), err_str.format(checkpoint_file)
     with pathmgr.open(checkpoint_file, "rb") as f:
         checkpoint = torch.load(f, map_location="cpu")
-    unwrap_model(model).load_state_dict(checkpoint["model_state"])
-    optimizer.load_state_dict(checkpoint["optimizer_state"]) if optimizer else ()
-    return checkpoint["epoch"]
+    # Get test_err and ema_err (with backward compatibility)
+    test_err = checkpoint["test_err"] if "test_err" in checkpoint else 100
+    ema_err = checkpoint["ema_err"] if "ema_err" in checkpoint else 100
+    # Load model and optionally model_ema weights (with backward compatibility)
+    ema_state = "ema_state" if "ema_state" in checkpoint else "model_state"
+    if model_ema:
+        unwrap_model(model).load_state_dict(checkpoint["model_state"])
+        unwrap_model(model_ema).load_state_dict(checkpoint[ema_state])
+    else:
+        best_state = "model_state" if test_err <= ema_err else ema_state
+        unwrap_model(model).load_state_dict(checkpoint[best_state])
+    # Load optimizer if requested
+    if optimizer:
+        optimizer.load_state_dict(checkpoint["optimizer_state"])
+    return checkpoint["epoch"], test_err, ema_err
 
 
 def delete_checkpoints(checkpoint_dir=None, keep="all"):

pycls/core/config.py

@@ -232,6 +232,12 @@
 # Gradually warm up the OPTIM.BASE_LR over this number of epochs
 _C.OPTIM.WARMUP_EPOCHS = 0
 
+# Exponential Moving Average (EMA) update value
+_C.OPTIM.EMA_ALPHA = 1e-5
+
+# Iteration frequency with which to update EMA weights
+_C.OPTIM.EMA_UPDATE_PERIOD = 32
+
 
 # --------------------------------- Training options --------------------------------- #
 _C.TRAIN = CfgNode()

pycls/core/meters.py

@@ -83,9 +83,10 @@ def get_global_avg(self):
 class TrainMeter(object):
     """Measures training stats."""
 
-    def __init__(self, epoch_iters):
+    def __init__(self, epoch_iters, phase="train"):
         self.epoch_iters = epoch_iters
         self.max_iter = cfg.OPTIM.MAX_EPOCH * epoch_iters
+        self.phase = phase
         self.iter_timer = Timer()
         self.loss = ScalarMeter(cfg.LOG_PERIOD)
         self.loss_total = 0.0
@@ -149,7 +150,7 @@ def get_iter_stats(self, cur_epoch, cur_iter):
     def log_iter_stats(self, cur_epoch, cur_iter):
         if (cur_iter + 1) % cfg.LOG_PERIOD == 0:
             stats = self.get_iter_stats(cur_epoch, cur_iter)
-            logger.info(logging.dump_log_data(stats, "train_iter"))
+            logger.info(logging.dump_log_data(stats, self.phase + "_iter"))
 
     def get_epoch_stats(self, cur_epoch):
         cur_iter_total = (cur_epoch + 1) * self.epoch_iters
@@ -173,14 +174,15 @@ def get_epoch_stats(self, cur_epoch):
 
     def log_epoch_stats(self, cur_epoch):
         stats = self.get_epoch_stats(cur_epoch)
-        logger.info(logging.dump_log_data(stats, "train_epoch"))
+        logger.info(logging.dump_log_data(stats, self.phase + "_epoch"))
 
 
 class TestMeter(object):
     """Measures testing stats."""
 
-    def __init__(self, epoch_iters):
+    def __init__(self, epoch_iters, phase="test"):
         self.epoch_iters = epoch_iters
+        self.phase = phase
         self.iter_timer = Timer()
         # Current minibatch errors (smoothed over a window)
         self.mb_top1_err = ScalarMeter(cfg.LOG_PERIOD)
@@ -233,7 +235,7 @@ def get_iter_stats(self, cur_epoch, cur_iter):
     def log_iter_stats(self, cur_epoch, cur_iter):
         if (cur_iter + 1) % cfg.LOG_PERIOD == 0:
             stats = self.get_iter_stats(cur_epoch, cur_iter)
-            logger.info(logging.dump_log_data(stats, "test_iter"))
+            logger.info(logging.dump_log_data(stats, self.phase + "_iter"))
 
     def get_epoch_stats(self, cur_epoch):
         top1_err = self.num_top1_mis / self.num_samples
@@ -255,4 +257,4 @@ def get_epoch_stats(self, cur_epoch):
 
     def log_epoch_stats(self, cur_epoch):
         stats = self.get_epoch_stats(cur_epoch)
-        logger.info(logging.dump_log_data(stats, "test_epoch"))
+        logger.info(logging.dump_log_data(stats, self.phase + "_epoch"))

pycls/core/net.py

@@ -96,3 +96,19 @@ def mixup(inputs, labels):
         inputs = m * inputs + (1.0 - m) * inputs[permutation, :]
         labels = m * labels + (1.0 - m) * labels[permutation, :]
     return inputs, labels, labels.argmax(1)
+
+
+def update_model_ema(model, model_ema, cur_epoch, cur_iter):
+    """Update exponential moving average (ema) of model weights."""
+    update_period = cfg.OPTIM.EMA_UPDATE_PERIOD
+    if update_period == 0 or cur_iter % update_period != 0:
+        return
+    # Adjust alpha to be fairly independent of other parameters
+    adjust = cfg.TRAIN.BATCH_SIZE / cfg.OPTIM.MAX_EPOCH * update_period
+    alpha = min(1.0, cfg.OPTIM.EMA_ALPHA * adjust)
+    # During warmup simply copy over weights instead of using ema
+    alpha = 1.0 if cur_epoch < cfg.OPTIM.WARMUP_EPOCHS else alpha
+    # Take ema of all parameters (not just named parameters)
+    params = unwrap_model(model).state_dict()
+    for name, param in unwrap_model(model_ema).state_dict().items():
+        param.copy_(param * (1.0 - alpha) + params[name] * alpha)

pycls/core/trainer.py

@@ -8,6 +8,7 @@
 """Tools for training and testing a model."""
 
 import random
+from copy import deepcopy
 
 import numpy as np
 import pycls.core.benchmark as benchmark
@@ -72,7 +73,7 @@ def setup_model():
     return model
 
 
-def train_epoch(loader, model, loss_fun, optimizer, scaler, meter, cur_epoch):
+def train_epoch(loader, model, ema, loss_fun, optimizer, scaler, meter, cur_epoch):
     """Performs one epoch of training."""
     # Shuffle the data
     data_loader.shuffle(loader, cur_epoch)
@@ -81,6 +82,7 @@ def train_epoch(loader, model, loss_fun, optimizer, scaler, meter, cur_epoch):
     optim.set_lr(optimizer, lr)
     # Enable training mode
     model.train()
+    ema.train()
     meter.reset()
     meter.iter_tic()
     for cur_iter, (inputs, labels) in enumerate(loader):
@@ -99,6 +101,8 @@ def train_epoch(loader, model, loss_fun, optimizer, scaler, meter, cur_epoch):
         scaler.scale(loss).backward()
         scaler.step(optimizer)
         scaler.update()
+        # Update ema weights
+        net.update_model_ema(model, ema, cur_epoch, cur_iter)
         # Compute the errors
         top1_err, top5_err = meters.topk_errors(preds, labels, [1, 5])
         # Combine the stats across the GPUs (no reduction if 1 GPU used)
@@ -146,48 +150,49 @@ def train_model():
     """Trains the model."""
     # Setup training/testing environment
     setup_env()
-    # Construct the model, loss_fun, and optimizer
+    # Construct the model, ema, loss_fun, and optimizer
     model = setup_model()
+    ema = deepcopy(model)
     loss_fun = builders.build_loss_fun().cuda()
     optimizer = optim.construct_optimizer(model)
     # Load checkpoint or initial weights
     start_epoch = 0
     if cfg.TRAIN.AUTO_RESUME and cp.has_checkpoint():
         file = cp.get_last_checkpoint()
-        epoch = cp.load_checkpoint(file, model, optimizer)
+        epoch = cp.load_checkpoint(file, model, ema, optimizer)[0]
         logger.info("Loaded checkpoint from: {}".format(file))
         start_epoch = epoch + 1
     elif cfg.TRAIN.WEIGHTS:
-        cp.load_checkpoint(cfg.TRAIN.WEIGHTS, model)
+        cp.load_checkpoint(cfg.TRAIN.WEIGHTS, model, ema)
         logger.info("Loaded initial weights from: {}".format(cfg.TRAIN.WEIGHTS))
     # Create data loaders and meters
     train_loader = data_loader.construct_train_loader()
     test_loader = data_loader.construct_test_loader()
     train_meter = meters.TrainMeter(len(train_loader))
     test_meter = meters.TestMeter(len(test_loader))
+    ema_meter = meters.TestMeter(len(test_loader), "test_ema")
     # Create a GradScaler for mixed precision training
     scaler = amp.GradScaler(enabled=cfg.TRAIN.MIXED_PRECISION)
     # Compute model and loader timings
     if start_epoch == 0 and cfg.PREC_TIME.NUM_ITER > 0:
         benchmark.compute_time_full(model, loss_fun, train_loader, test_loader)
     # Perform the training loop
     logger.info("Start epoch: {}".format(start_epoch + 1))
-    best_err = np.inf
     for cur_epoch in range(start_epoch, cfg.OPTIM.MAX_EPOCH):
         # Train for one epoch
-        params = (train_loader, model, loss_fun, optimizer, scaler, train_meter)
+        params = (train_loader, model, ema, loss_fun, optimizer, scaler, train_meter)
         train_epoch(*params, cur_epoch)
         # Compute precise BN stats
         if cfg.BN.USE_PRECISE_STATS:
             net.compute_precise_bn_stats(model, train_loader)
+            net.compute_precise_bn_stats(ema, train_loader)
         # Evaluate the model
         test_epoch(test_loader, model, test_meter, cur_epoch)
-        # Check if checkpoint is best so far (note: should checkpoint meters as well)
-        stats = test_meter.get_epoch_stats(cur_epoch)
-        best = stats["top1_err"] <= best_err
-        best_err = min(stats["top1_err"], best_err)
+        test_epoch(test_loader, ema, ema_meter, cur_epoch)
+        test_err = test_meter.get_epoch_stats(cur_epoch)["top1_err"]
+        ema_err = ema_meter.get_epoch_stats(cur_epoch)["top1_err"]
         # Save a checkpoint
-        file = cp.save_checkpoint(model, optimizer, cur_epoch, best)
+        file = cp.save_checkpoint(model, ema, optimizer, cur_epoch, test_err, ema_err)
         logger.info("Wrote checkpoint to: {}".format(file))