lr_scheduler.py

import math
from bisect import bisect_right
from torch.optim.optimizer import Optimizer


class _LRScheduler(object):
    def __init__(self, optimizer, last_epoch=-1):
        if not isinstance(optimizer, Optimizer):
            raise TypeError('{} is not an Optimizer'.format(
                type(optimizer).__name__))
        self.optimizer = optimizer
        if last_epoch == -1:
            for group in optimizer.param_groups:
                group.setdefault('initial_lr', group['lr'])
        else:
            for i, group in enumerate(optimizer.param_groups):
                if 'initial_lr' not in group:
                    raise KeyError("param 'initial_lr' is not specified "
                                   "in param_groups[{}] when resuming an optimizer".format(i))
        self.base_lrs = list(map(lambda group: group['initial_lr'], optimizer.param_groups))
        self.step(last_epoch + 1)
        self.last_epoch = last_epoch

    def get_lr(self):
        raise NotImplementedError

    def step(self, epoch=None):
        if epoch is None:
            epoch = self.last_epoch + 1
        self.last_epoch = epoch
        for param_group, lr in zip(self.optimizer.param_groups, self.get_lr()):
            param_group['lr'] = lr


class LambdaLR(_LRScheduler):
    """Sets the learning rate of each parameter group to the initial lr
    times a given function. When last_epoch=-1, sets initial lr as lr.

    Args:
        optimizer (Optimizer): Wrapped optimizer.
        lr_lambda (function or list): A function which computes a multiplicative
            factor given an integer parameter epoch, or a list of such
            functions, one for each group in optimizer.param_groups.
        last_epoch (int): The index of last epoch. Default: -1.

    Example:
        >>> # Assuming optimizer has two groups.
        >>> lambda1 = lambda epoch: epoch // 30
        >>> lambda2 = lambda epoch: 0.95 ** epoch
        >>> scheduler = LambdaLR(optimizer, lr_lambda=[lambda1, lambda2])
        >>> for epoch in range(100):
        >>>     scheduler.step()
        >>>     train(...)
        >>>     validate(...)
    """
    def __init__(self, optimizer, lr_lambda, last_epoch=-1):
        self.optimizer = optimizer
        if not isinstance(lr_lambda, list) and not isinstance(lr_lambda, tuple):
            self.lr_lambdas = [lr_lambda] * len(optimizer.param_groups)
        else:
            if len(lr_lambda) != len(optimizer.param_groups):
                raise ValueError("Expected {} lr_lambdas, but got {}".format(
                    len(optimizer.param_groups), len(lr_lambda)))
            self.lr_lambdas = list(lr_lambda)
        self.last_epoch = last_epoch
        super(LambdaLR, self).__init__(optimizer, last_epoch)

    def get_lr(self):
        return [base_lr * lmbda(self.last_epoch)
                for lmbda, base_lr in zip(self.lr_lambdas, self.base_lrs)]


class StepLR(_LRScheduler):
    """Sets the learning rate of each parameter group to the initial lr
    decayed by gamma every step_size epochs. When last_epoch=-1, sets
    initial lr as lr.

    Args:
        optimizer (Optimizer): Wrapped optimizer.
        step_size (int): Period of learning rate decay.
        gamma (float): Multiplicative factor of learning rate decay.
            Default: 0.1.
        last_epoch (int): The index of last epoch. Default: -1.

    Example:
        >>> # Assuming optimizer uses lr = 0.05 for all groups
        >>> # lr = 0.05     if epoch < 30
        >>> # lr = 0.005    if 30 <= epoch < 60
        >>> # lr = 0.0005   if 60 <= epoch < 90
        >>> # ...
        >>> scheduler = StepLR(optimizer, step_size=30, gamma=0.1)
        >>> for epoch in range(100):
        >>>     scheduler.step()
        >>>     train(...)
        >>>     validate(...)
    """

    def __init__(self, optimizer, step_size, gamma=0.1, last_epoch=-1):
        self.step_size = step_size
        self.gamma = gamma
        super(StepLR, self).__init__(optimizer, last_epoch)

    def get_lr(self):
        return [base_lr * self.gamma ** (self.last_epoch // self.step_size)
                for base_lr in self.base_lrs]


class MultiStepLR(_LRScheduler):
    """Set the learning rate of each parameter group to the initial lr decayed
    by gamma once the number of epoch reaches one of the milestones. When
    last_epoch=-1, sets initial lr as lr.

    Args:
        optimizer (Optimizer): Wrapped optimizer.
        milestones (list): List of epoch indices. Must be increasing.
        gamma (float): Multiplicative factor of learning rate decay.
            Default: 0.1.
        last_epoch (int): The index of last epoch. Default: -1.

    Example:
        >>> # Assuming optimizer uses lr = 0.05 for all groups
        >>> # lr = 0.05     if epoch < 30
        >>> # lr = 0.005    if 30 <= epoch < 80
        >>> # lr = 0.0005   if epoch >= 80
        >>> scheduler = MultiStepLR(optimizer, milestones=[30,80], gamma=0.1)
        >>> for epoch in range(100):
        >>>     scheduler.step()
        >>>     train(...)
        >>>     validate(...)
    """

    def __init__(self, optimizer, milestones, gamma=0.1, last_epoch=-1):
        if not list(milestones) == sorted(milestones):
            raise ValueError('Milestones should be a list of'
                             ' increasing integers. Got {}', milestones)
        self.milestones = milestones
        self.gamma = gamma
        super(MultiStepLR, self).__init__(optimizer, last_epoch)

    def get_lr(self):
        return [base_lr * self.gamma ** bisect_right(self.milestones, self.last_epoch)
                for base_lr in self.base_lrs]


class ExponentialLR(_LRScheduler):
    """Set the learning rate of each parameter group to the initial lr decayed
    by gamma every epoch. When last_epoch=-1, sets initial lr as lr.

    Args:
        optimizer (Optimizer): Wrapped optimizer.
        gamma (float): Multiplicative factor of learning rate decay.
        last_epoch (int): The index of last epoch. Default: -1.
    """

    def __init__(self, optimizer, gamma, last_epoch=-1):
        self.gamma = gamma
        super(ExponentialLR, self).__init__(optimizer, last_epoch)

    def get_lr(self):
        return [base_lr * self.gamma ** self.last_epoch
                for base_lr in self.base_lrs]


class CosineAnnealingLR(_LRScheduler):
    """Set the learning rate of each parameter group using a cosine annealing
    schedule, where :math:`\eta_{max}` is set to the initial lr and
    :math:`T_{cur}` is the number of epochs since the last restart in SGDR:

    .. math::

        \eta_t = \eta_{min} + \frac{1}{2}(\eta_{max} - \eta_{min})(1 +
        \cos(\frac{T_{cur}}{T_{max}}\pi))

    When last_epoch=-1, sets initial lr as lr.

    It has been proposed in
    `SGDR: Stochastic Gradient Descent with Warm Restarts`_. Note that this only
    implements the cosine annealing part of SGDR, and not the restarts.

    Args:
        optimizer (Optimizer): Wrapped optimizer.
        T_max (int): Maximum number of iterations.
        eta_min (float): Minimum learning rate. Default: 0.
        last_epoch (int): The index of last epoch. Default: -1.

    .. _SGDR\: Stochastic Gradient Descent with Warm Restarts:
        https://arxiv.org/abs/1608.03983
    """

    def __init__(self, optimizer, T_max, eta_min=0, last_epoch=-1):
        self.T_max = T_max
        self.eta_min = eta_min
        super(CosineAnnealingLR, self).__init__(optimizer, last_epoch)

    def get_lr(self):
        print([self.eta_min + (base_lr - self.eta_min) *
                (1 + math.cos(math.pi * self.last_epoch / self.T_max)) / 2
                for base_lr in self.base_lrs])
        return [self.eta_min + (base_lr - self.eta_min) *
                (1 + math.cos(math.pi * self.last_epoch / self.T_max)) / 2
                for base_lr in self.base_lrs]


class ReduceLROnPlateau(object):
    """Reduce learning rate when a metric has stopped improving.
    Models often benefit from reducing the learning rate by a factor
    of 2-10 once learning stagnates. This scheduler reads a metrics
    quantity and if no improvement is seen for a 'patience' number
    of epochs, the learning rate is reduced.

    Args:
        optimizer (Optimizer): Wrapped optimizer.
        mode (str): One of `min`, `max`. In `min` mode, lr will
            be reduced when the quantity monitored has stopped
            decreasing; in `max` mode it will be reduced when the
            quantity monitored has stopped increasing. Default: 'min'.
        factor (float): Factor by which the learning rate will be
            reduced. new_lr = lr * factor. Default: 0.1.
        patience (int): Number of epochs with no improvement after
            which learning rate will be reduced. Default: 10.
        verbose (bool): If ``True``, prints a message to stdout for
            each update. Default: ``False``.
        threshold (float): Threshold for measuring the new optimum,
            to only focus on significant changes. Default: 1e-4.
        threshold_mode (str): One of `rel`, `abs`. In `rel` mode,
            dynamic_threshold = best * ( 1 + threshold ) in 'max'
            mode or best * ( 1 - threshold ) in `min` mode.
            In `abs` mode, dynamic_threshold = best + threshold in
            `max` mode or best - threshold in `min` mode. Default: 'rel'.
        cooldown (int): Number of epochs to wait before resuming
            normal operation after lr has been reduced. Default: 0.
        min_lr (float or list): A scalar or a list of scalars. A
            lower bound on the learning rate of all param groups
            or each group respectively. Default: 0.
        eps (float): Minimal decay applied to lr. If the difference
            between new and old lr is smaller than eps, the update is
            ignored. Default: 1e-8.

    Example:
        >>> optimizer = torch.optim.SGD(model.parameters(), lr=0.1, momentum=0.9)
        >>> scheduler = ReduceLROnPlateau(optimizer, 'min')
        >>> for epoch in range(10):
        >>>     train(...)
        >>>     val_loss = validate(...)
        >>>     # Note that step should be called after validate()
        >>>     scheduler.step(val_loss)
    """

    def __init__(self, optimizer, mode='min', factor=0.1, patience=10,
                 verbose=False, threshold=1e-4, threshold_mode='rel',
                 cooldown=0, min_lr=0, eps=1e-8):

        if factor >= 1.0:
            raise ValueError('Factor should be < 1.0.')
        self.factor = factor

        if not isinstance(optimizer, Optimizer):
            raise TypeError('{} is not an Optimizer'.format(
                type(optimizer).__name__))
        self.optimizer = optimizer

        if isinstance(min_lr, list) or isinstance(min_lr, tuple):
            if len(min_lr) != len(optimizer.param_groups):
                raise ValueError("expected {} min_lrs, got {}".format(
                    len(optimizer.param_groups), len(min_lr)))
            self.min_lrs = list(min_lr)
        else:
            self.min_lrs = [min_lr] * len(optimizer.param_groups)

        self.patience = patience
        self.verbose = verbose
        self.cooldown = cooldown
        self.cooldown_counter = 0
        self.mode = mode
        self.threshold = threshold
        self.threshold_mode = threshold_mode
        self.best = None
        self.num_bad_epochs = None
        self.mode_worse = None  # the worse value for the chosen mode
        self.is_better = None
        self.eps = eps
        self.last_epoch = -1
        self._init_is_better(mode=mode, threshold=threshold,
                             threshold_mode=threshold_mode)
        self._reset()

    def _reset(self):
        """Resets num_bad_epochs counter and cooldown counter."""
        self.best = self.mode_worse
        self.cooldown_counter = 0
        self.num_bad_epochs = 0

    def step(self, metrics, epoch=None):
        current = metrics
        if epoch is None:
            epoch = self.last_epoch = self.last_epoch + 1
        self.last_epoch = epoch

        if self.is_better(current, self.best):
            self.best = current
            self.num_bad_epochs = 0
            if self.verbose:
                print('LR scheduler reset')
        else:
            self.num_bad_epochs += 1

        if self.in_cooldown:
            self.cooldown_counter -= 1
            self.num_bad_epochs = 0  # ignore any bad epochs in cooldown

        if self.num_bad_epochs > self.patience:
            self._reduce_lr(epoch)
            self.cooldown_counter = self.cooldown
            self.num_bad_epochs = 0

    def _reduce_lr(self, epoch):
        for i, param_group in enumerate(self.optimizer.param_groups):
            old_lr = float(param_group['lr'])
            new_lr = max(old_lr * self.factor, self.min_lrs[i])
            if old_lr - new_lr > self.eps:
                param_group['lr'] = new_lr
                if self.verbose:
                    print('Epoch {:5d}: reducing learning rate'
                          ' of group {} to {:.4e}.'.format(epoch, i, new_lr))

    @property
    def in_cooldown(self):
        return self.cooldown_counter > 0

    def _init_is_better(self, mode, threshold, threshold_mode):
        if mode not in {'min', 'max'}:
            raise ValueError('mode ' + mode + ' is unknown!')
        if threshold_mode not in {'rel', 'abs'}:
            raise ValueError('threshold mode ' + mode + ' is unknown!')
        if mode == 'min' and threshold_mode == 'rel':
            rel_epsilon = 1. - threshold
            self.is_better = lambda a, best: a < best * rel_epsilon
            self.mode_worse = float('Inf')
        elif mode == 'min' and threshold_mode == 'abs':
            self.is_better = lambda a, best: a < best - threshold
            self.mode_worse = float('Inf')
        elif mode == 'max' and threshold_mode == 'rel':
            rel_epsilon = threshold + 1.
            self.is_better = lambda a, best: a > best * rel_epsilon
            self.mode_worse = -float('Inf')
        else:  # mode == 'max' and epsilon_mode == 'abs':
            self.is_better = lambda a, best: a > best + threshold
            self.mode_worse = -float('Inf')