目录
4.结合3D动画,用自己的语言,从轨迹、速度等多个角度讲解各个算法优缺点
编程实现优化算法,并3D可视化
1. 函数3D可视化
分别画出 和 的3D图
import torch
import numpy as np
import matplotlib.pyplot as plt
class Op(object):
def __init__(self):
pass
def __call__(self, inputs):
return self.forward(inputs)
# 输入:张量inputs
# 输出:张量outputs
def forward(self, inputs):
# return outputs
raise NotImplementedError
# 输入:最终输出对outputs的梯度outputs_grads
# 输出:最终输出对inputs的梯度inputs_grads
def backward(self, outputs_grads):
# return inputs_grads
raise NotImplementedError
class OptimizedFunction3D(Op):
def __init__(self):
super(OptimizedFunction3D, self).__init__()
self.params = {'x': 0}
self.grads = {'x': 0}
def forward(self, x):
self.params['x'] = x
return x[0] ** 2 + x[1] ** 2 + x[1] ** 3 + x[0] * x[1]
def backward(self):
x = self.params['x']
gradient1 = 2 * x[0] + x[1]
gradient2 = 2 * x[1] + 3 * x[1] ** 2 + x[0]
grad1 = torch.Tensor([gradient1])
grad2 = torch.Tensor([gradient2])
self.grads['x'] = torch.cat([grad1, grad2])
x1 = np.arange(-3, 3, 0.1)
x2 = np.arange(-3, 3, 0.1)
x1, x2 = np.meshgrid(x1, x2)
init_x = torch.Tensor(np.array([x1, x2]))
model = OptimizedFunction3D()
# 绘制 f_3d函数 的 三维图像
fig = plt.figure()
ax = plt.axes(projection='3d')
X = init_x[0].numpy()
Y = init_x[1].numpy()
Z = model(init_x).numpy() # 改为 model(init_x).numpy() David 2022.12.4
ax.plot_surface(X, Y, Z, cmap='rainbow')
ax.set_xlabel('x1')
ax.set_ylabel('x2')
ax.set_zlabel('f(x1,x2)')
plt.show()
import torch
import numpy as np
import matplotlib.pyplot as plt
class Op(object):
def __init__(self):
pass
def __call__(self, inputs):
return self.forward(inputs)
# 输入:张量inputs
# 输出:张量outputs
def forward(self, inputs):
# return outputs
raise NotImplementedError
# 输入:最终输出对outputs的梯度outputs_grads
# 输出:最终输出对inputs的梯度inputs_grads
def backward(self, outputs_grads):
# return inputs_grads
raise NotImplementedError
class OptimizedFunction3D(Op):
def __init__(self):
super(OptimizedFunction3D, self).__init__()
self.params = {'x': 0}
self.grads = {'x': 0}
def forward(self, x):
self.params['x'] = x
return x[0] ** 2 / 20 + x[1] ** 2
def backward(self):
x = self.params['x']
gradient1 = 2 * x[0] + x[1]
gradient2 = 2 * x[1] + 3 * x[1] ** 2 + x[0]
grad1 = torch.Tensor([gradient1])
grad2 = torch.Tensor([gradient2])
self.grads['x'] = torch.cat([grad1, grad2])
x1 = np.arange(-40, 40, 0.1)
x2 = np.arange(-40, 40, 0.1)
x1, x2 = np.meshgrid(x1, x2)
init_x = torch.Tensor(np.array([x1, x2]))
model = OptimizedFunction3D()
# 绘制 f_3d函数 的 三维图像
fig = plt.figure()
ax = plt.axes(projection='3d')
X = init_x[0].numpy()
Y = init_x[1].numpy()
Z = model(init_x).numpy() # 改为 model(init_x).numpy() David 2022.12.4
ax.plot_surface(X, Y, Z, cmap='rainbow')
ax.set_xlabel('x1')
ax.set_ylabel('x2')
ax.set_zlabel('f(x1,x2)')
plt.show()
2.加入优化算法,画出轨迹
分别画出 和 的3D轨迹图
import torch
import numpy as np
import copy
from matplotlib import pyplot as plt
from matplotlib import animation
from itertools import zip_longest
class Op(object):
def __init__(self):
pass
def __call__(self, inputs):
return self.forward(inputs)
# 输入:张量inputs
# 输出:张量outputs
def forward(self, inputs):
# return outputs
raise NotImplementedError
# 输入:最终输出对outputs的梯度outputs_grads
# 输出:最终输出对inputs的梯度inputs_grads
def backward(self, outputs_grads):
# return inputs_grads
raise NotImplementedError
class Optimizer(object): # 优化器基类
def __init__(self, init_lr, model):
"""
优化器类初始化
"""
# 初始化学习率,用于参数更新的计算
self.init_lr = init_lr
# 指定优化器需要优化的模型
self.model = model
def step(self):
"""
定义每次迭代如何更新参数
"""
pass
class SimpleBatchGD(Optimizer):
def __init__(self, init_lr, model):
super(SimpleBatchGD, self).__init__(init_lr=init_lr, model=model)
def step(self):
# 参数更新
if isinstance(self.model.params, dict):
for key in self.model.params.keys():
self.model.params[key] = self.model.params[key] - self.init_lr * self.model.grads[key]
class Adagrad(Optimizer):
def __init__(self, init_lr, model, epsilon):
"""
Adagrad 优化器初始化
输入:
- init_lr: 初始学习率 - model:模型,model.params存储模型参数值 - epsilon:保持数值稳定性而设置的非常小的常数
"""
super(Adagrad, self).__init__(init_lr=init_lr, model=model)
self.G = {}
for key in self.model.params.keys():
self.G[key] = 0
self.epsilon = epsilon
def adagrad(self, x, gradient_x, G, init_lr):
"""
adagrad算法更新参数,G为参数梯度平方的累计值。
"""
G += gradient_x ** 2
x -= init_lr / torch.sqrt(G + self.epsilon) * gradient_x
return x, G
def step(self):
"""
参数更新
"""
for key in self.model.params.keys():
self.model.params[key], self.G[key] = self.adagrad(self.model.params[key],
self.model.grads[key],
self.G[key],
self.init_lr)
class RMSprop(Optimizer):
def __init__(self, init_lr, model, beta, epsilon):
"""
RMSprop优化器初始化
输入:
- init_lr:初始学习率
- model:模型,model.params存储模型参数值
- beta:衰减率
- epsilon:保持数值稳定性而设置的常数
"""
super(RMSprop, self).__init__(init_lr=init_lr, model=model)
self.G = {}
for key in self.model.params.keys():
self.G[key] = 0
self.beta = beta
self.epsilon = epsilon
def rmsprop(self, x, gradient_x, G, init_lr):
"""
rmsprop算法更新参数,G为迭代梯度平方的加权移动平均
"""
G = self.beta * G + (1 - self.beta) * gradient_x ** 2
x -= init_lr / torch.sqrt(G + self.epsilon) * gradient_x
return x, G
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.G[key] = self.rmsprop(self.model.params[key],
self.model.grads[key],
self.G[key],
self.init_lr)
class Momentum(Optimizer):
def __init__(self, init_lr, model, rho):
"""
Momentum优化器初始化
输入:
- init_lr:初始学习率
- model:模型,model.params存储模型参数值
- rho:动量因子
"""
super(Momentum, self).__init__(init_lr=init_lr, model=model)
self.delta_x = {}
for key in self.model.params.keys():
self.delta_x[key] = 0
self.rho = rho
def momentum(self, x, gradient_x, delta_x, init_lr):
"""
momentum算法更新参数,delta_x为梯度的加权移动平均
"""
delta_x = self.rho * delta_x - init_lr * gradient_x
x += delta_x
return x, delta_x
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.delta_x[key] = self.momentum(self.model.params[key],
self.model.grads[key],
self.delta_x[key],
self.init_lr)
class Adam(Optimizer):
def __init__(self, init_lr, model, beta1, beta2, epsilon):
"""
Adam优化器初始化
输入:
- init_lr:初始学习率
- model:模型,model.params存储模型参数值
- beta1, beta2:移动平均的衰减率
- epsilon:保持数值稳定性而设置的常数
"""
super(Adam, self).__init__(init_lr=init_lr, model=model)
self.beta1 = beta1
self.beta2 = beta2
self.epsilon = epsilon
self.M, self.G = {}, {}
for key in self.model.params.keys():
self.M[key] = 0
self.G[key] = 0
self.t = 1
def adam(self, x, gradient_x, G, M, t, init_lr):
"""
adam算法更新参数
输入:
- x:参数
- G:梯度平方的加权移动平均
- M:梯度的加权移动平均
- t:迭代次数
- init_lr:初始学习率
"""
M = self.beta1 * M + (1 - self.beta1) * gradient_x
G = self.beta2 * G + (1 - self.beta2) * gradient_x ** 2
M_hat = M / (1 - self.beta1 ** t)
G_hat = G / (1 - self.beta2 ** t)
t += 1
x -= init_lr / torch.sqrt(G_hat + self.epsilon) * M_hat
return x, G, M, t
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.G[key], self.M[key], self.t = self.adam(self.model.params[key],
self.model.grads[key],
self.G[key],
self.M[key],
self.t,
self.init_lr)
class OptimizedFunction3D(Op):
def __init__(self):
super(OptimizedFunction3D, self).__init__()
self.params = {'x': 0}
self.grads = {'x': 0}
def forward(self, x):
self.params['x'] = x
return x[0] ** 2 + x[1] ** 2 + x[1] ** 3 + x[0] * x[1]
def backward(self):
x = self.params['x']
gradient1 = 2 * x[0] + x[1]
gradient2 = 2 * x[1] + 3 * x[1] ** 2 + x[0]
grad1 = torch.Tensor([gradient1])
grad2 = torch.Tensor([gradient2])
self.grads['x'] = torch.cat([grad1, grad2])
class Visualization3D(animation.FuncAnimation):
""" 绘制动态图像,可视化参数更新轨迹 """
def __init__(self, *xy_values, z_values, labels=[], colors=[], fig, ax, interval=600, blit=True, **kwargs):
"""
初始化3d可视化类
输入:
xy_values:三维中x,y维度的值
z_values:三维中z维度的值
labels:每个参数更新轨迹的标签
colors:每个轨迹的颜色
interval:帧之间的延迟(以毫秒为单位)
blit:是否优化绘图
"""
self.fig = fig
self.ax = ax
self.xy_values = xy_values
self.z_values = z_values
frames = max(xy_value.shape[0] for xy_value in xy_values)
self.lines = [ax.plot([], [], [], label=label, color=color, lw=2)[0]
for _, label, color in zip_longest(xy_values, labels, colors)]
super(Visualization3D, self).__init__(fig, self.animate, init_func=self.init_animation, frames=frames,
interval=interval, blit=blit, **kwargs)
def init_animation(self):
# 数值初始化
for line in self.lines:
line.set_data([], [])
# line.set_3d_properties(np.asarray([])) # 源程序中有这一行,加上会报错。 Edit by David 2022.12.4
return self.lines
def animate(self, i):
# 将x,y,z三个数据传入,绘制三维图像
for line, xy_value, z_value in zip(self.lines, self.xy_values, self.z_values):
line.set_data(xy_value[:i, 0], xy_value[:i, 1])
line.set_3d_properties(z_value[:i])
return self.lines
def train_f(model, optimizer, x_init, epoch):
x = x_init
all_x = []
losses = []
for i in range(epoch):
all_x.append(copy.copy(x.numpy())) # 浅拷贝 改为 深拷贝, 否则List的原值会被改变。 Edit by David 2022.12.4.
loss = model(x)
losses.append(loss)
model.backward()
optimizer.step()
x = model.params['x']
return torch.Tensor(np.array(all_x)), losses
# 构建5个模型,分别配备不同的优化器
model1 = OptimizedFunction3D()
opt_gd = SimpleBatchGD(init_lr=0.01, model=model1)
model2 = OptimizedFunction3D()
opt_adagrad = Adagrad(init_lr=0.5, model=model2, epsilon=1e-7)
model3 = OptimizedFunction3D()
opt_rmsprop = RMSprop(init_lr=0.1, model=model3, beta=0.9, epsilon=1e-7)
model4 = OptimizedFunction3D()
opt_momentum = Momentum(init_lr=0.01, model=model4, rho=0.9)
model5 = OptimizedFunction3D()
opt_adam = Adam(init_lr=0.1, model=model5, beta1=0.9, beta2=0.99, epsilon=1e-7)
models = [model1, model2, model3, model4, model5]
opts = [opt_gd, opt_adagrad, opt_rmsprop, opt_momentum, opt_adam]
x_all_opts = []
z_all_opts = []
# 使用不同优化器训练
for model, opt in zip(models, opts):
x_init = torch.FloatTensor([2, 3])
x_one_opt, z_one_opt = train_f(model, opt, x_init, 150) # epoch
# 保存参数值
x_all_opts.append(x_one_opt.numpy())
z_all_opts.append(np.squeeze(z_one_opt))
# 使用numpy.meshgrid生成x1,x2矩阵,矩阵的每一行为[-3, 3],以0.1为间隔的数值
x1 = np.arange(-3, 3, 0.1)
x2 = np.arange(-3, 3, 0.1)
x1, x2 = np.meshgrid(x1, x2)
init_x = torch.Tensor(np.array([x1, x2]))
model = OptimizedFunction3D()
# 绘制 f_3d函数 的 三维图像
fig = plt.figure()
ax = plt.axes(projection='3d')
X = init_x[0].numpy()
Y = init_x[1].numpy()
Z = model(init_x).numpy() # 改为 model(init_x).numpy() David 2022.12.4
ax.plot_surface(X, Y, Z, cmap='rainbow')
ax.set_xlabel('x1')
ax.set_ylabel('x2')
ax.set_zlabel('f(x1,x2)')
labels = ['SGD', 'AdaGrad', 'RMSprop', 'Momentum', 'Adam']
colors = ['#f6373c', '#f6f237', '#45f637', '#37f0f6', '#000000']
animator = Visualization3D(*x_all_opts, z_values=z_all_opts, labels=labels, colors=colors, fig=fig, ax=ax)
ax.legend(loc='upper left')
plt.show()
import torch
import numpy as np
import copy
from matplotlib import pyplot as plt
from matplotlib import animation
from itertools import zip_longest
from matplotlib import cm
class Op(object):
def __init__(self):
pass
def __call__(self, inputs):
return self.forward(inputs)
# 输入:张量inputs
# 输出:张量outputs
def forward(self, inputs):
# return outputs
raise NotImplementedError
# 输入:最终输出对outputs的梯度outputs_grads
# 输出:最终输出对inputs的梯度inputs_grads
def backward(self, outputs_grads):
# return inputs_grads
raise NotImplementedError
class Optimizer(object): # 优化器基类
def __init__(self, init_lr, model):
"""
优化器类初始化
"""
# 初始化学习率,用于参数更新的计算
self.init_lr = init_lr
# 指定优化器需要优化的模型
self.model = model
def step(self):
"""
定义每次迭代如何更新参数
"""
pass
class SimpleBatchGD(Optimizer):
def __init__(self, init_lr, model):
super(SimpleBatchGD, self).__init__(init_lr=init_lr, model=model)
def step(self):
# 参数更新
if isinstance(self.model.params, dict):
for key in self.model.params.keys():
self.model.params[key] = self.model.params[key] - self.init_lr * self.model.grads[key]
class Adagrad(Optimizer):
def __init__(self, init_lr, model, epsilon):
"""
Adagrad 优化器初始化
输入:
- init_lr: 初始学习率 - model:模型,model.params存储模型参数值 - epsilon:保持数值稳定性而设置的非常小的常数
"""
super(Adagrad, self).__init__(init_lr=init_lr, model=model)
self.G = {}
for key in self.model.params.keys():
self.G[key] = 0
self.epsilon = epsilon
def adagrad(self, x, gradient_x, G, init_lr):
"""
adagrad算法更新参数,G为参数梯度平方的累计值。
"""
G += gradient_x ** 2
x -= init_lr / torch.sqrt(G + self.epsilon) * gradient_x
return x, G
def step(self):
"""
参数更新
"""
for key in self.model.params.keys():
self.model.params[key], self.G[key] = self.adagrad(self.model.params[key],
self.model.grads[key],
self.G[key],
self.init_lr)
class RMSprop(Optimizer):
def __init__(self, init_lr, model, beta, epsilon):
"""
RMSprop优化器初始化
输入:
- init_lr:初始学习率
- model:模型,model.params存储模型参数值
- beta:衰减率
- epsilon:保持数值稳定性而设置的常数
"""
super(RMSprop, self).__init__(init_lr=init_lr, model=model)
self.G = {}
for key in self.model.params.keys():
self.G[key] = 0
self.beta = beta
self.epsilon = epsilon
def rmsprop(self, x, gradient_x, G, init_lr):
"""
rmsprop算法更新参数,G为迭代梯度平方的加权移动平均
"""
G = self.beta * G + (1 - self.beta) * gradient_x ** 2
x -= init_lr / torch.sqrt(G + self.epsilon) * gradient_x
return x, G
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.G[key] = self.rmsprop(self.model.params[key],
self.model.grads[key],
self.G[key],
self.init_lr)
class Momentum(Optimizer):
def __init__(self, init_lr, model, rho):
"""
Momentum优化器初始化
输入:
- init_lr:初始学习率
- model:模型,model.params存储模型参数值
- rho:动量因子
"""
super(Momentum, self).__init__(init_lr=init_lr, model=model)
self.delta_x = {}
for key in self.model.params.keys():
self.delta_x[key] = 0
self.rho = rho
def momentum(self, x, gradient_x, delta_x, init_lr):
"""
momentum算法更新参数,delta_x为梯度的加权移动平均
"""
delta_x = self.rho * delta_x - init_lr * gradient_x
x += delta_x
return x, delta_x
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.delta_x[key] = self.momentum(self.model.params[key],
self.model.grads[key],
self.delta_x[key],
self.init_lr)
class Adam(Optimizer):
def __init__(self, init_lr, model, beta1, beta2, epsilon):
"""
Adam优化器初始化
输入:
- init_lr:初始学习率
- model:模型,model.params存储模型参数值
- beta1, beta2:移动平均的衰减率
- epsilon:保持数值稳定性而设置的常数
"""
super(Adam, self).__init__(init_lr=init_lr, model=model)
self.beta1 = beta1
self.beta2 = beta2
self.epsilon = epsilon
self.M, self.G = {}, {}
for key in self.model.params.keys():
self.M[key] = 0
self.G[key] = 0
self.t = 1
def adam(self, x, gradient_x, G, M, t, init_lr):
"""
adam算法更新参数
输入:
- x:参数
- G:梯度平方的加权移动平均
- M:梯度的加权移动平均
- t:迭代次数
- init_lr:初始学习率
"""
M = self.beta1 * M + (1 - self.beta1) * gradient_x
G = self.beta2 * G + (1 - self.beta2) * gradient_x ** 2
M_hat = M / (1 - self.beta1 ** t)
G_hat = G / (1 - self.beta2 ** t)
t += 1
x -= init_lr / torch.sqrt(G_hat + self.epsilon) * M_hat
return x, G, M, t
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.G[key], self.M[key], self.t = self.adam(self.model.params[key],
self.model.grads[key],
self.G[key],
self.M[key],
self.t,
self.init_lr)
class OptimizedFunction3D(Op):
def __init__(self):
super(OptimizedFunction3D, self).__init__()
self.params = {'x': 0}
self.grads = {'x': 0}
def forward(self, x):
self.params['x'] = x
return x[0] * x[0] / 20 + x[1] * x[1] / 1 # x[0] ** 2 + x[1] ** 2 + x[1] ** 3 + x[0] * x[1]
def backward(self):
x = self.params['x']
gradient1 = 2 * x[0] / 20
gradient2 = 2 * x[1] / 1
grad1 = torch.Tensor([gradient1])
grad2 = torch.Tensor([gradient2])
self.grads['x'] = torch.cat([grad1, grad2])
class Visualization3D(animation.FuncAnimation):
""" 绘制动态图像,可视化参数更新轨迹 """
def __init__(self, *xy_values, z_values, labels=[], colors=[], fig, ax, interval=100, blit=True, **kwargs):
"""
初始化3d可视化类
输入:
xy_values:三维中x,y维度的值
z_values:三维中z维度的值
labels:每个参数更新轨迹的标签
colors:每个轨迹的颜色
interval:帧之间的延迟(以毫秒为单位)
blit:是否优化绘图
"""
self.fig = fig
self.ax = ax
self.xy_values = xy_values
self.z_values = z_values
frames = max(xy_value.shape[0] for xy_value in xy_values)
self.lines = [ax.plot([], [], [], label=label, color=color, lw=2)[0]
for _, label, color in zip_longest(xy_values, labels, colors)]
self.points = [ax.plot([], [], [], color=color, markeredgewidth=1, markeredgecolor='black', marker='o')[0]
for _, color in zip_longest(xy_values, colors)]
# print(self.lines)
super(Visualization3D, self).__init__(fig, self.animate, init_func=self.init_animation, frames=frames,
interval=interval, blit=blit, **kwargs)
def init_animation(self):
# 数值初始化
for line in self.lines:
line.set_data_3d([], [], [])
# for point in self.points:
# point.set_data_3d([], [], [])
return self.lines
def animate(self, i):
# 将x,y,z三个数据传入,绘制三维图像
for line, xy_value, z_value in zip(self.lines, self.xy_values, self.z_values):
line.set_data_3d(xy_value[:i, 0], xy_value[:i, 1], z_value[:i])
# for point, xy_value, z_value in zip(self.points, self.xy_values, self.z_values):
# point.set_data_3d(xy_value[i, 0], xy_value[i, 1], z_value[i])
return self.lines
def train_f(model, optimizer, x_init, epoch):
x = x_init
all_x = []
losses = []
for i in range(epoch):
all_x.append(copy.deepcopy(x.numpy())) # 浅拷贝 改为 深拷贝, 否则List的原值会被改变。 Edit by David 2022.12.4.
loss = model(x)
losses.append(loss)
model.backward()
optimizer.step()
x = model.params['x']
return torch.Tensor(np.array(all_x)), losses
# 构建5个模型,分别配备不同的优化器
model1 = OptimizedFunction3D()
opt_gd = SimpleBatchGD(init_lr=0.95, model=model1)
model2 = OptimizedFunction3D()
opt_adagrad = Adagrad(init_lr=1.5, model=model2, epsilon=1e-7)
model3 = OptimizedFunction3D()
opt_rmsprop = RMSprop(init_lr=0.05, model=model3, beta=0.9, epsilon=1e-7)
model4 = OptimizedFunction3D()
opt_momentum = Momentum(init_lr=0.1, model=model4, rho=0.9)
model5 = OptimizedFunction3D()
opt_adam = Adam(init_lr=0.3, model=model5, beta1=0.9, beta2=0.99, epsilon=1e-7)
models = [model1, model2, model3, model4, model5]
opts = [opt_gd, opt_adagrad, opt_rmsprop, opt_momentum, opt_adam]
# models = [model1]
# opts = [opt_gd]
x_all_opts = []
z_all_opts = []
#
# # 使用不同优化器训练
#
for model, opt in zip(models, opts):
x_init = torch.FloatTensor([-7, 2])
x_one_opt, z_one_opt = train_f(model, opt, x_init, 100) # epoch
# 保存参数值
x_all_opts.append(x_one_opt.numpy())
z_all_opts.append(np.squeeze(z_one_opt))
# 使用numpy.meshgrid生成x1,x2矩阵,矩阵的每一行为[-3, 3],以0.1为间隔的数值
x1 = np.arange(-10, 10, 0.01)
x2 = np.arange(-5, 5, 0.01)
x1, x2 = np.meshgrid(x1, x2)
init_x = torch.Tensor(np.array([x1, x2]))
model = OptimizedFunction3D()
# 绘制 f_3d函数 的 三维图像
fig = plt.figure()
ax = plt.axes(projection='3d')
X = init_x[0].numpy()
Y = init_x[1].numpy()
Z = model(init_x).numpy() # 改为 model(init_x).numpy() David 2022.12.4
surf = ax.plot_surface(X, Y, Z, edgecolor='grey', cmap=cm.coolwarm)
# fig.colorbar(surf, shrink=0.5, aspect=1)
# ax.set_zlim(-3, 2)
ax.set_xlabel('x1')
ax.set_ylabel('x2')
ax.set_zlabel('f(x1,x2)')
labels = ['SGD', 'AdaGrad', 'RMSprop', 'Momentum', 'Adam'] #
colors = ['#8B0000', '#0000FF', '#000000', '#008B00', '#FF0000'] #
#
animator = Visualization3D(*x_all_opts, z_values=z_all_opts, labels=labels, colors=colors, fig=fig, ax=ax)
ax.legend(loc='upper right')
plt.show()
# animator.save('teaser' + '.gif', writer='imagemagick',fps=10) # 效果不好,估计被挡住了…… 有待进一步提高 Edit by David 2022.12.4
# save不好用,不费劲了,安装个软件做gif https://pc.qq.com/detail/13/detail_23913.html
从输出结果看,对于我们构建的函数,有些优化器如Momentum在参数更新时成功逃离鞍点,其他优化器在本次实验中收敛到鞍点处没有成功逃离。但这并不证明Momentum优化器是最好的优化器,在模型训练时使用哪种优化器,还要结合具体的场景和数据具体分析。
3.复现CS231经典动画
Animations that may help your intuitions about the learning process dynamics.
Left: Contours of a loss surface and time evolution of different optimization algorithms. Notice the "overshooting" behavior of momentum-based methods, which make the optimization look like a ball rolling down the hill.
import torch
import numpy as np
import copy
from matplotlib import pyplot as plt
from matplotlib import animation
from itertools import zip_longest
from matplotlib import cm
class Op(object):
def __init__(self):
pass
def __call__(self, inputs):
return self.forward(inputs)
# 输入:张量inputs
# 输出:张量outputs
def forward(self, inputs):
# return outputs
raise NotImplementedError
# 输入:最终输出对outputs的梯度outputs_grads
# 输出:最终输出对inputs的梯度inputs_grads
def backward(self, outputs_grads):
# return inputs_grads
raise NotImplementedError
class Optimizer(object): # 优化器基类
def __init__(self, init_lr, model):
"""
优化器类初始化
"""
# 初始化学习率,用于参数更新的计算
self.init_lr = init_lr
# 指定优化器需要优化的模型
self.model = model
def step(self):
"""
定义每次迭代如何更新参数
"""
pass
class SimpleBatchGD(Optimizer):
def __init__(self, init_lr, model):
super(SimpleBatchGD, self).__init__(init_lr=init_lr, model=model)
def step(self):
# 参数更新
if isinstance(self.model.params, dict):
for key in self.model.params.keys():
self.model.params[key] = self.model.params[key] - self.init_lr * self.model.grads[key]
class Adagrad(Optimizer):
def __init__(self, init_lr, model, epsilon):
"""
Adagrad 优化器初始化
输入:
- init_lr: 初始学习率 - model:模型,model.params存储模型参数值 - epsilon:保持数值稳定性而设置的非常小的常数
"""
super(Adagrad, self).__init__(init_lr=init_lr, model=model)
self.G = {}
for key in self.model.params.keys():
self.G[key] = 0
self.epsilon = epsilon
def adagrad(self, x, gradient_x, G, init_lr):
"""
adagrad算法更新参数,G为参数梯度平方的累计值。
"""
G += gradient_x ** 2
x -= init_lr / torch.sqrt(G + self.epsilon) * gradient_x
return x, G
def step(self):
"""
参数更新
"""
for key in self.model.params.keys():
self.model.params[key], self.G[key] = self.adagrad(self.model.params[key],
self.model.grads[key],
self.G[key],
self.init_lr)
class RMSprop(Optimizer):
def __init__(self, init_lr, model, beta, epsilon):
"""
RMSprop优化器初始化
输入:
- init_lr:初始学习率
- model:模型,model.params存储模型参数值
- beta:衰减率
- epsilon:保持数值稳定性而设置的常数
"""
super(RMSprop, self).__init__(init_lr=init_lr, model=model)
self.G = {}
for key in self.model.params.keys():
self.G[key] = 0
self.beta = beta
self.epsilon = epsilon
def rmsprop(self, x, gradient_x, G, init_lr):
"""
rmsprop算法更新参数,G为迭代梯度平方的加权移动平均
"""
G = self.beta * G + (1 - self.beta) * gradient_x ** 2
x -= init_lr / torch.sqrt(G + self.epsilon) * gradient_x
return x, G
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.G[key] = self.rmsprop(self.model.params[key],
self.model.grads[key],
self.G[key],
self.init_lr)
class Momentum(Optimizer):
def __init__(self, init_lr, model, rho):
"""
Momentum优化器初始化
输入:
- init_lr:初始学习率
- model:模型,model.params存储模型参数值
- rho:动量因子
"""
super(Momentum, self).__init__(init_lr=init_lr, model=model)
self.delta_x = {}
for key in self.model.params.keys():
self.delta_x[key] = 0
self.rho = rho
def momentum(self, x, gradient_x, delta_x, init_lr):
"""
momentum算法更新参数,delta_x为梯度的加权移动平均
"""
delta_x = self.rho * delta_x - init_lr * gradient_x
x += delta_x
return x, delta_x
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.delta_x[key] = self.momentum(self.model.params[key],
self.model.grads[key],
self.delta_x[key],
self.init_lr)
class Nesterov(Optimizer):
def __init__(self, init_lr, model, rho):
super(Nesterov, self).__init__(init_lr=init_lr, model=model)
self.delta_x = {}
for key in self.model.params.keys():
self.delta_x[key] = 0
self.rho = rho
def nesterov(self, x, gradient_x, delta_x, init_lr):
"""
Nesterov算法更新参数,delta_x为梯度的加权移动平均
"""
delta_x_prev = delta_x
delta_x = self.rho * delta_x - init_lr * gradient_x
x += -self.rho * delta_x_prev + (1 + self.rho) * delta_x
return x, delta_x
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.delta_x[key] = self.nesterov(self.model.params[key],
self.model.grads[key],
self.delta_x[key],
self.init_lr)
class Adam(Optimizer):
def __init__(self, init_lr, model, beta1, beta2, epsilon):
"""
Adam优化器初始化
输入:
- init_lr:初始学习率
- model:模型,model.params存储模型参数值
- beta1, beta2:移动平均的衰减率
- epsilon:保持数值稳定性而设置的常数
"""
super(Adam, self).__init__(init_lr=init_lr, model=model)
self.beta1 = beta1
self.beta2 = beta2
self.epsilon = epsilon
self.M, self.G = {}, {}
for key in self.model.params.keys():
self.M[key] = 0
self.G[key] = 0
self.t = 1
def adam(self, x, gradient_x, G, M, t, init_lr):
"""
adam算法更新参数
输入:
- x:参数
- G:梯度平方的加权移动平均
- M:梯度的加权移动平均
- t:迭代次数
- init_lr:初始学习率
"""
M = self.beta1 * M + (1 - self.beta1) * gradient_x
G = self.beta2 * G + (1 - self.beta2) * gradient_x ** 2
M_hat = M / (1 - self.beta1 ** t)
G_hat = G / (1 - self.beta2 ** t)
t += 1
x -= init_lr / torch.sqrt(G_hat + self.epsilon) * M_hat
return x, G, M, t
def step(self):
"""参数更新"""
for key in self.model.params.keys():
self.model.params[key], self.G[key], self.M[key], self.t = self.adam(self.model.params[key],
self.model.grads[key],
self.G[key],
self.M[key],
self.t,
self.init_lr)
class OptimizedFunction3D(Op):
def __init__(self):
super(OptimizedFunction3D, self).__init__()
self.params = {'x': 0}
self.grads = {'x': 0}
def forward(self, x):
self.params['x'] = x
return - x[0] * x[0] / 2 + x[1] * x[1] / 1 # x[0] ** 2 + x[1] ** 2 + x[1] ** 3 + x[0] * x[1]
def backward(self):
x = self.params['x']
gradient1 = - 2 * x[0] / 2
gradient2 = 2 * x[1] / 1
grad1 = torch.Tensor([gradient1])
grad2 = torch.Tensor([gradient2])
self.grads['x'] = torch.cat([grad1, grad2])
class Visualization3D(animation.FuncAnimation):
""" 绘制动态图像,可视化参数更新轨迹 """
def __init__(self, *xy_values, z_values, labels=[], colors=[], fig, ax, interval=100, blit=True, **kwargs):
"""
初始化3d可视化类
输入:
xy_values:三维中x,y维度的值
z_values:三维中z维度的值
labels:每个参数更新轨迹的标签
colors:每个轨迹的颜色
interval:帧之间的延迟(以毫秒为单位)
blit:是否优化绘图
"""
self.fig = fig
self.ax = ax
self.xy_values = xy_values
self.z_values = z_values
frames = max(xy_value.shape[0] for xy_value in xy_values)
# , marker = 'o'
self.lines = [ax.plot([], [], [], label=label, color=color, lw=2)[0]
for _, label, color in zip_longest(xy_values, labels, colors)]
print(self.lines)
super(Visualization3D, self).__init__(fig, self.animate, init_func=self.init_animation, frames=frames,
interval=interval, blit=blit, **kwargs)
def init_animation(self):
# 数值初始化
for line in self.lines:
line.set_data([], [])
# line.set_3d_properties(np.asarray([])) # 源程序中有这一行,加上会报错。 Edit by David 2022.12.4
return self.lines
def animate(self, i):
# 将x,y,z三个数据传入,绘制三维图像
for line, xy_value, z_value in zip(self.lines, self.xy_values, self.z_values):
line.set_data(xy_value[:i, 0], xy_value[:i, 1])
line.set_3d_properties(z_value[:i])
return self.lines
def train_f(model, optimizer, x_init, epoch):
x = x_init
all_x = []
losses = []
for i in range(epoch):
all_x.append(copy.deepcopy(x.numpy())) # 浅拷贝 改为 深拷贝, 否则List的原值会被改变。 Edit by David 2022.12.4.
loss = model(x)
losses.append(loss)
model.backward()
optimizer.step()
x = model.params['x']
return torch.Tensor(np.array(all_x)), losses
# 构建5个模型,分别配备不同的优化器
model1 = OptimizedFunction3D()
opt_gd = SimpleBatchGD(init_lr=0.05, model=model1)
model2 = OptimizedFunction3D()
opt_adagrad = Adagrad(init_lr=0.05, model=model2, epsilon=1e-7)
model3 = OptimizedFunction3D()
opt_rmsprop = RMSprop(init_lr=0.05, model=model3, beta=0.9, epsilon=1e-7)
model4 = OptimizedFunction3D()
opt_momentum = Momentum(init_lr=0.05, model=model4, rho=0.9)
model5 = OptimizedFunction3D()
opt_adam = Adam(init_lr=0.05, model=model5, beta1=0.9, beta2=0.99, epsilon=1e-7)
model6 = OptimizedFunction3D()
opt_nesterov = Nesterov(init_lr=0.01, model=model6, rho=0.9)
models = [model5, model2, model3, model4, model1]
opts = [opt_adam, opt_adagrad, opt_rmsprop, opt_momentum, opt_gd]
x_all_opts = []
z_all_opts = []
# 使用不同优化器训练
for model, opt in zip(models, opts):
x_init = torch.FloatTensor([0.00001, 0.5])
x_one_opt, z_one_opt = train_f(model, opt, x_init, 500) # epoch
# 保存参数值
x_all_opts.append(x_one_opt.numpy())
z_all_opts.append(np.squeeze(z_one_opt))
# 使用numpy.meshgrid生成x1,x2矩阵,矩阵的每一行为[-3, 3],以0.1为间隔的数值
x1 = np.arange(-1, 2, 0.01)
x2 = np.arange(-1, 1, 0.05)
x1, x2 = np.meshgrid(x1, x2)
init_x = torch.Tensor(np.array([x1, x2]))
model = OptimizedFunction3D()
# 绘制 f_3d函数 的 三维图像
fig = plt.figure()
ax = plt.axes(projection='3d')
X = init_x[0].numpy()
Y = init_x[1].numpy()
Z = model(init_x).numpy() # 改为 model(init_x).numpy() David 2022.12.4
surf = ax.plot_surface(X, Y, Z, edgecolor='grey', cmap=cm.coolwarm)
# fig.colorbar(surf, shrink=0.5, aspect=1)
ax.set_zlim(-3, 2)
ax.set_xlabel('x1')
ax.set_ylabel('x2')
ax.set_zlabel('f(x1,x2)')
labels = ['Adam', 'AdaGrad', 'RMSprop', 'Momentum', 'SGD']
colors = ['#8B0000', '#0000FF', '#000000', '#008B00', '#FF0000']
animator = Visualization3D(*x_all_opts, z_values=z_all_opts, labels=labels, colors=colors, fig=fig, ax=ax)
ax.legend(loc='upper right')
plt.show()
# animator.save('animation.gif') # 效果不好,估计被挡住了…… 有待进一步提高 Edit by David 2022.12.4
4.结合3D动画,用自己的语言,从轨迹、速度等多个角度讲解各个算法优缺点
SGD
SGD沿着负梯度方向更新参数,因此在二维空间中表现为z字抖动的直线状的下降轨迹。由于每次更新只考虑当前样本的梯度信息,SGD可能会出现参数更新的抖动现象,导致收敛速度较慢。并且根据3D图我们发现,SGD很容易在鞍点的位置更新缓慢,不利于逃离鞍点。
AdaGrad
Adagrad根据参数的历史梯度信息来自适应地调整学习率。所以在二维空间中表现为曲线轨迹且越来越密的下降轨迹。在优化过程中,学习率可能会逐渐减小,导致参数更新幅度逐渐减小。适应性学习率的设计可以加快收敛速度,但在长时间训练中,可能会导致学习率过小,反而降低收敛速度。在3D图中我们可以明显 发现AdaGrad的速度与Adam等算法都是齐头并进的高速算法,但是最后却被一个又一个算法超越。假设时间无限长,我相信AdaGrad估计会是最后最慢的算法。
RMSprop
RMSprop通过对梯度的平方进行指数加权移动平均来调整学习率。所以在二位空间中表现为曲线轨迹且线上的点分布较为平均的下降轨迹。指数加权移动平均的设计使得它能够在优化过程中动态地调整学习率,并可能产生适应性学习率的调整。可在有些情况下避免 AdaGrad中学习率不断单调下降,防止过早衰减,速度在我看来是最快,最稳定的优化算法。
Momentum
动量算法引入了动量项,它考虑了参数更新时的历史梯度信息。但是因为历史梯度信息会出现物理上说的惯性现象,对于更新来有好有坏,能逃离局部最优点,但是会因为惯性,走了很多歪路,但是大大减少了SGD算法的反复z字抖动的情况,在二维空间中表现为,靠近局部最优点,点的轨迹分布较为集中,原理分布较为松散,通过对轨迹的描述,我们明确发现在局部最优点附近的,点的更新较小,速度慢,原理局部最优点的地方速度较快
Adam
根据3D轨迹图:Adam算法的轨迹为稳定,快速的向最小值收敛,就速度和方向的正确性、稳定性而言,都是居中。所以Adam算法的优点就是结合了调整学习率的算法:RMSprop和梯度估计修正算法:Momentum二者的优点:稳定、快速,实用性较高。
Nesterov
根据3D轨迹图:Nesterov算法的方向和速度效果都是很好的,速度上,它是最快的;方向上,轨迹正确性要好于Momentum,但是仍然要比AdaGrad、RMSprop要差些。Nesterov是对Momentum进行的改进,不仅仅根据当前梯度调整位置,而是根据当前动量在预期的未来位置计算梯度。它的优点为速度快且轨迹呈现出更加平滑、更有方向性的路径朝向最优点。
通过这次实验,对于AdaGrad算法和RMSprop算法有了更深的了解,对梯度估计修正的两种方法动量法和Adam算法进行了学习,亲身体验了实验效果的不同。
参考文献:【23-24 秋学期】NNDL 作业13 优化算法3D可视化-CSDN博客
NNDL实验 优化算法3D轨迹 鱼书例题3D版_优化算法3d展示-CSDN博客
NNDL实验 优化算法3D轨迹 pytorch版_nndl 实验三 将数据转换为 pytorch 张量-CSDN博客