batchnorm.py

from __future__ import division

import torch
from ._functions import SyncBatchNorm as sync_batch_norm
from .module import Module
from torch.nn.parameter import Parameter
from .. import functional as F
from .. import init
from ..._jit_internal import weak_module, weak_script_method


# TODO: check contiguous in THNN
# TODO: use separate backend functions?
@weak_module
class _BatchNorm(Module):
    _version = 2
    __constants__ = ['track_running_stats', 'momentum', 'eps', 'weight', 'bias',
                     'running_mean', 'running_var', 'num_batches_tracked']

    def __init__(self, num_features, eps=1e-5, momentum=0.1, affine=True,
                 track_running_stats=True):
        super(_BatchNorm, self).__init__()
        self.num_features = num_features
        self.eps = eps
        self.momentum = momentum
        self.affine = affine
        self.track_running_stats = track_running_stats
        if self.affine:
            self.weight = Parameter(torch.Tensor(num_features))
            self.bias = Parameter(torch.Tensor(num_features))
        else:
            self.register_parameter('weight', None)
            self.register_parameter('bias', None)
        if self.track_running_stats:
            self.register_buffer('running_mean', torch.zeros(num_features))
            self.register_buffer('running_var', torch.ones(num_features))
            self.register_buffer('num_batches_tracked', torch.tensor(0, dtype=torch.long))
        else:
            self.register_parameter('running_mean', None)
            self.register_parameter('running_var', None)
            self.register_parameter('num_batches_tracked', None)
        self.reset_parameters()

    def reset_running_stats(self):
        if self.track_running_stats:
            self.running_mean.zero_()
            self.running_var.fill_(1)
            self.num_batches_tracked.zero_()

    def reset_parameters(self):
        self.reset_running_stats()
        if self.affine:
            init.uniform_(self.weight)
            init.zeros_(self.bias)

    def _check_input_dim(self, input):
        raise NotImplementedError

    @weak_script_method
    def forward(self, input):
        self._check_input_dim(input)

        exponential_average_factor = 0.0

        if self.training and self.track_running_stats:
            # TODO: if statement only here to tell the jit to skip emitting this when it is None
            if self.num_batches_tracked is not None:
                self.num_batches_tracked += 1
                if self.momentum is None:  # use cumulative moving average
                    exponential_average_factor = 1.0 / float(self.num_batches_tracked)
                else:  # use exponential moving average
                    exponential_average_factor = self.momentum

        return F.batch_norm(
            input, self.running_mean, self.running_var, self.weight, self.bias,
            self.training or not self.track_running_stats,
            exponential_average_factor, self.eps)

    def extra_repr(self):
        return '{num_features}, eps={eps}, momentum={momentum}, affine={affine}, ' \
               'track_running_stats={track_running_stats}'.format(**self.__dict__)

    def _load_from_state_dict(self, state_dict, prefix, local_metadata, strict,
                              missing_keys, unexpected_keys, error_msgs):
        version = local_metadata.get('version', None)

        if (version is None or version < 2) and self.track_running_stats:
            # at version 2: added num_batches_tracked buffer
            #               this should have a default value of 0
            num_batches_tracked_key = prefix + 'num_batches_tracked'
            if num_batches_tracked_key not in state_dict:
                state_dict[num_batches_tracked_key] = torch.tensor(0, dtype=torch.long)

        super(_BatchNorm, self)._load_from_state_dict(
            state_dict, prefix, local_metadata, strict,
            missing_keys, unexpected_keys, error_msgs)


@weak_module
class BatchNorm1d(_BatchNorm):
    r"""Applies Batch Normalization over a 2D or 3D input (a mini-batch of 1D
    inputs with optional additional channel dimension) as described in the paper
    `Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift`_ .

    .. math::

        y = \frac{x - \mathrm{E}[x]}{\sqrt{\mathrm{Var}[x] + \epsilon}} * \gamma + \beta

    The mean and standard-deviation are calculated per-dimension over
    the mini-batches and :math:`\gamma` and :math:`\beta` are learnable parameter vectors
    of size `C` (where `C` is the input size). By default, the elements of :math:`\gamma` are sampled
    from :math:`\mathcal{U}(0, 1)` and the elements of :math:`\beta` are set to 0.

    Also by default, during training this layer keeps running estimates of its
    computed mean and variance, which are then used for normalization during
    evaluation. The running estimates are kept with a default :attr:`momentum`
    of 0.1.

    If :attr:`track_running_stats` is set to ``False``, this layer then does not
    keep running estimates, and batch statistics are instead used during
    evaluation time as well.

    .. note::
        This :attr:`momentum` argument is different from one used in optimizer
        classes and the conventional notion of momentum. Mathematically, the
        update rule for running statistics here is
        :math:`\hat{x}_\text{new} = (1 - \text{momentum}) \times \hat{x} + \text{momentum} \times x_t`,
        where :math:`\hat{x}` is the estimated statistic and :math:`x_t` is the
        new observed value.

    Because the Batch Normalization is done over the `C` dimension, computing statistics
    on `(N, L)` slices, it's common terminology to call this Temporal Batch Normalization.

    Args:
        num_features: :math:`C` from an expected input of size
            :math:`(N, C, L)` or :math:`L` from input of size :math:`(N, L)`
        eps: a value added to the denominator for numerical stability.
            Default: 1e-5
        momentum: the value used for the running_mean and running_var
            computation. Can be set to ``None`` for cumulative moving average
            (i.e. simple average). Default: 0.1
        affine: a boolean value that when set to ``True``, this module has
            learnable affine parameters. Default: ``True``
        track_running_stats: a boolean value that when set to ``True``, this
            module tracks the running mean and variance, and when set to ``False``,
            this module does not track such statistics and always uses batch
            statistics in both training and eval modes. Default: ``True``

    Shape:
        - Input: :math:`(N, C)` or :math:`(N, C, L)`
        - Output: :math:`(N, C)` or :math:`(N, C, L)` (same shape as input)

    Examples::

        >>> # With Learnable Parameters
        >>> m = nn.BatchNorm1d(100)
        >>> # Without Learnable Parameters
        >>> m = nn.BatchNorm1d(100, affine=False)
        >>> input = torch.randn(20, 100)
        >>> output = m(input)

    .. _`Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift`:
        https://arxiv.org/abs/1502.03167
    """

    @weak_script_method
    def _check_input_dim(self, input):
        if input.dim() != 2 and input.dim() != 3:
            raise ValueError('expected 2D or 3D input (got {}D input)'
                             .format(input.dim()))


@weak_module
class BatchNorm2d(_BatchNorm):
    r"""Applies Batch Normalization over a 4D input (a mini-batch of 2D inputs
    with additional channel dimension) as described in the paper
    `Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift`_ .

    .. math::

        y = \frac{x - \mathrm{E}[x]}{ \sqrt{\mathrm{Var}[x] + \epsilon}} * \gamma + \beta

    The mean and standard-deviation are calculated per-dimension over
    the mini-batches and :math:`\gamma` and :math:`\beta` are learnable parameter vectors
    of size `C` (where `C` is the input size). By default, the elements of :math:`\gamma` are sampled
    from :math:`\mathcal{U}(0, 1)` and the elements of :math:`\beta` are set to 0.

    Also by default, during training this layer keeps running estimates of its
    computed mean and variance, which are then used for normalization during
    evaluation. The running estimates are kept with a default :attr:`momentum`
    of 0.1.

    If :attr:`track_running_stats` is set to ``False``, this layer then does not
    keep running estimates, and batch statistics are instead used during
    evaluation time as well.

    .. note::
        This :attr:`momentum` argument is different from one used in optimizer
        classes and the conventional notion of momentum. Mathematically, the
        update rule for running statistics here is
        :math:`\hat{x}_\text{new} = (1 - \text{momentum}) \times \hat{x} + \text{momentum} \times x_t`,
        where :math:`\hat{x}` is the estimated statistic and :math:`x_t` is the
        new observed value.

    Because the Batch Normalization is done over the `C` dimension, computing statistics
    on `(N, H, W)` slices, it's common terminology to call this Spatial Batch Normalization.

    Args:
        num_features: :math:`C` from an expected input of size
            :math:`(N, C, H, W)`
        eps: a value added to the denominator for numerical stability.
            Default: 1e-5
        momentum: the value used for the running_mean and running_var
            computation. Can be set to ``None`` for cumulative moving average
            (i.e. simple average). Default: 0.1
        affine: a boolean value that when set to ``True``, this module has
            learnable affine parameters. Default: ``True``
        track_running_stats: a boolean value that when set to ``True``, this
            module tracks the running mean and variance, and when set to ``False``,
            this module does not track such statistics and always uses batch
            statistics in both training and eval modes. Default: ``True``

    Shape:
        - Input: :math:`(N, C, H, W)`
        - Output: :math:`(N, C, H, W)` (same shape as input)

    Examples::

        >>> # With Learnable Parameters
        >>> m = nn.BatchNorm2d(100)
        >>> # Without Learnable Parameters
        >>> m = nn.BatchNorm2d(100, affine=False)
        >>> input = torch.randn(20, 100, 35, 45)
        >>> output = m(input)

    .. _`Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift`:
        https://arxiv.org/abs/1502.03167
    """

    @weak_script_method
    def _check_input_dim(self, input):
        if input.dim() != 4:
            raise ValueError('expected 4D input (got {}D input)'
                             .format(input.dim()))


@weak_module
class BatchNorm3d(_BatchNorm):
    r"""Applies Batch Normalization over a 5D input (a mini-batch of 3D inputs
    with additional channel dimension) as described in the paper
    `Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift`_ .

    .. math::

        y = \frac{x - \mathrm{E}[x]}{ \sqrt{\mathrm{Var}[x] + \epsilon}} * \gamma + \beta

    The mean and standard-deviation are calculated per-dimension over
    the mini-batches and :math:`\gamma` and :math:`\beta` are learnable parameter vectors
    of size `C` (where `C` is the input size). By default, the elements of :math:`\gamma` are sampled
    from :math:`\mathcal{U}(0, 1)` and the elements of :math:`\beta` are set to 0.

    Also by default, during training this layer keeps running estimates of its
    computed mean and variance, which are then used for normalization during
    evaluation. The running estimates are kept with a default :attr:`momentum`
    of 0.1.

    If :attr:`track_running_stats` is set to ``False``, this layer then does not
    keep running estimates, and batch statistics are instead used during
    evaluation time as well.

    .. note::
        This :attr:`momentum` argument is different from one used in optimizer
        classes and the conventional notion of momentum. Mathematically, the
        update rule for running statistics here is
        :math:`\hat{x}_\text{new} = (1 - \text{momentum}) \times \hat{x} + \text{momentum} \times x_t`,
        where :math:`\hat{x}` is the estimated statistic and :math:`x_t` is the
        new observed value.

    Because the Batch Normalization is done over the `C` dimension, computing statistics
    on `(N, D, H, W)` slices, it's common terminology to call this Volumetric Batch Normalization
    or Spatio-temporal Batch Normalization.

    Args:
        num_features: :math:`C` from an expected input of size
            :math:`(N, C, D, H, W)`
        eps: a value added to the denominator for numerical stability.
            Default: 1e-5
        momentum: the value used for the running_mean and running_var
            computation. Can be set to ``None`` for cumulative moving average
            (i.e. simple average). Default: 0.1
        affine: a boolean value that when set to ``True``, this module has
            learnable affine parameters. Default: ``True``
        track_running_stats: a boolean value that when set to ``True``, this
            module tracks the running mean and variance, and when set to ``False``,
            this module does not track such statistics and always uses batch
            statistics in both training and eval modes. Default: ``True``

    Shape:
        - Input: :math:`(N, C, D, H, W)`
        - Output: :math:`(N, C, D, H, W)` (same shape as input)

    Examples::

        >>> # With Learnable Parameters
        >>> m = nn.BatchNorm3d(100)
        >>> # Without Learnable Parameters
        >>> m = nn.BatchNorm3d(100, affine=False)
        >>> input = torch.randn(20, 100, 35, 45, 10)
        >>> output = m(input)

    .. _`Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift`:
        https://arxiv.org/abs/1502.03167
    """

    @weak_script_method
    def _check_input_dim(self, input):
        if input.dim() != 5:
            raise ValueError('expected 5D input (got {}D input)'
                             .format(input.dim()))


class SyncBatchNorm(_BatchNorm):
    r"""Applies Batch Normalization over a N-Dimensional input (a mini-batch of [N-2]D inputs
    with additional channel dimension) as described in the paper
    `Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift`_ .

    .. math::

        y = \frac{x - \mathrm{E}[x]}{ \sqrt{\mathrm{Var}[x] + \epsilon}} * \gamma + \beta

    The mean and standard-deviation are calculated per-dimension over all
    mini-batches of the same process groups. :math:`\gamma` and :math:`\beta`
    are learnable parameter vectors of size `C` (where `C` is the input size).
    By default, the elements of :math:`\gamma` are sampled from
    :math:`\mathcal{U}(0, 1)` and the elements of :math:`\beta` are set to 0.

    Also by default, during training this layer keeps running estimates of its
    computed mean and variance, which are then used for normalization during
    evaluation. The running estimates are kept with a default :attr:`momentum`
    of 0.1.

    If :attr:`track_running_stats` is set to ``False``, this layer then does not
    keep running estimates, and batch statistics are instead used during
    evaluation time as well.

    .. note::
        This :attr:`momentum` argument is different from one used in optimizer
        classes and the conventional notion of momentum. Mathematically, the
        update rule for running statistics here is
        :math:`\hat{x}_\text{new} = (1 - \text{momentum}) \times \hat{x} + \text{momemtum} \times x_t`,
        where :math:`\hat{x}` is the estimated statistic and :math:`x_t` is the
        new observed value.

    Because the Batch Normalization is done over the `C` dimension, computing statistics
    on `(N, +)` slices, it's common terminology to call this Volumetric Batch Normalization
    or Spatio-temporal Batch Normalization.

    Currently SyncBatchNorm only supports DistributedDataParallel with single GPU per process. Use
    torch.nn.utils.convert_sync_batchnorm() to convert BatchNorm layer to SyncBatchNorm before wrapping
    Network with DDP.

    Args:
        num_features: :math:`C` from an expected input of size
            :math:`(N, C, +)`
        eps: a value added to the denominator for numerical stability.
            Default: 1e-5
        momentum: the value used for the running_mean and running_var
            computation. Can be set to ``None`` for cumulative moving average
            (i.e. simple average). Default: 0.1
        affine: a boolean value that when set to ``True``, this module has
            learnable affine parameters. Default: ``True``
        track_running_stats: a boolean value that when set to ``True``, this
            module tracks the running mean and variance, and when set to ``False``,
            this module does not track such statistics and always uses batch
            statistics in both training and eval modes. Default: ``True``
        process_group: synchronization of stats happen within each process group
            individually. Default behavior is synchronization across the whole
            world

    Shape:
        - Input: :math:`(N, C, +)`
        - Output: :math:`(N, C, +)` (same shape as input)

    Examples::

        >>> # With Learnable Parameters
        >>> m = nn.SyncBatchNorm(100)
        >>> # creating process group (optional)
        >>> # process_ids is a list of int identifying rank ids.
        >>> process_group = torch.distributed.new_group(process_ids)
        >>> # Without Learnable Parameters
        >>> m = nn.BatchNorm3d(100, affine=False, process_group=process_group)
        >>> input = torch.randn(20, 100, 35, 45, 10)
        >>> output = m(input)

        >>> # network is nn.BatchNorm layer
        >>> sync_bn_network = torch.nn.utils.convert_sync_batchnorm(network, process_group)
        >>> # only single gpu per process is currently supported
        >>> ddp_sync_bn_network = torch.nn.parallel.DistributedDataParallel(
        >>>                         sync_bn_network,
        >>>                         device_ids=[args.local_rank],
        >>>                         output_device=args.local_rank)

    .. _`Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift`:
        https://arxiv.org/abs/1502.03167
    """

    def __init__(self, num_features, eps=1e-5, momentum=0.1, affine=True,
                 track_running_stats=True, process_group=None):
        super(SyncBatchNorm, self).__init__(num_features, eps, momentum, affine, track_running_stats)
        self.process_group = process_group
        # gpu_size is set through DistributedDataParallel initialization. This is to ensure that SyncBatchNorm is used
        # under supported condition (single GPU per process)
        self.ddp_gpu_size = None

    def _check_input_dim(self, input):
        if input.dim() <= 2:
            raise ValueError('expected at least 3D input (got {}D input)'
                             .format(input.dim()))

    def _specify_ddp_gpu_num(self, gpu_size):
        if gpu_size > 1:
            raise ValueError('SyncBatchNorm is only supported for DDP with single GPU per process')
        self.ddp_gpu_size = gpu_size

    def forward(self, input):
        # currently only GPU input is supported
        if not input.is_cuda:
            raise ValueError('expected input tensor to be on GPU')

        if not self.ddp_gpu_size:
            raise AttributeError('SyncBatchNorm is only supported within torch.nn.parallel.DistributedDataParallel')

        self._check_input_dim(input)

        exponential_average_factor = 0.0

        if self.training and self.track_running_stats:
            self.num_batches_tracked += 1
            if self.momentum is None:  # use cumulative moving average
                exponential_average_factor = 1.0 / self.num_batches_tracked.item()
            else:  # use exponential moving average
                exponential_average_factor = self.momentum

        world_size = 1
        process_group = torch.distributed.group.WORLD
        if self.process_group:
            process_group = self.process_group
        world_size = torch.distributed.get_world_size(process_group)

        # fallback to framework BN when synchronization is not necessary
        if world_size == 1 or (not self.training and self.track_running_stats):
            return F.batch_norm(
                input, self.running_mean, self.running_var, self.weight, self.bias,
                self.training or not self.track_running_stats,
                exponential_average_factor, self.eps)
        else:
            return sync_batch_norm.apply(
                input, self.weight, self.bias, self.running_mean, self.running_var,
                self.eps, exponential_average_factor, process_group, world_size)