L20 梯度下降、随机梯度下降和小批量梯度下降
airfoil4755 下载
链接：https://pan.baidu.com/s/1YEtNjJ0_G9eeH6A6vHXhnA
提取码：dwjq
（Boyd & Vandenberghe, 2004）
%matplotlib inline
import numpy as np
import torch
import time
from torch import nn, optim
import math
import sys
sys.path.append('/home/kesci/input')
import d2lzh1981 as d2l
一维梯度下降
证明：沿梯度反方向移动自变量可以减小函数值
泰勒展开：
f(x+ϵ)=f(x)+ϵf′(x)+O(ϵ2) f(x+\epsilon)=f(x)+\epsilon f^{\prime}(x)+\mathcal{O}\left(\epsilon^{2}\right) f(x+ϵ)=f(x)+ϵf′(x)+O(ϵ2)
代入沿梯度方向的移动量 ηf′(x)\eta f^{\prime}(x)ηf′(x)：
f(x−ηf′(x))=f(x)−ηf′2(x)+O(η2f′2(x)) f\left(x-\eta f^{\prime}(x)\right)=f(x)-\eta f^{\prime 2}(x)+\mathcal{O}\left(\eta^{2} f^{\prime 2}(x)\right) f(x−ηf′(x))=f(x)−ηf′2(x)+O(η2f′2(x))
f(x−ηf′(x))≲f(x) f\left(x-\eta f^{\prime}(x)\right) \lesssim f(x) f(x−ηf′(x))≲f(x)
x←x−ηf′(x) x \leftarrow x-\eta f^{\prime}(x) x←x−ηf′(x)
e.g.
f(x)=x2 f(x) = x^2 f(x)=x2
def f(x):
return x**2 # Objective function
def gradf(x):
return 2 * x # Its derivative
def gd(eta):
x = 10
results = [x]
for i in range(10):
x -= eta * gradf(x)
results.append(x)
print('epoch 10, x:', x)
return results
res = gd(0.2)
epoch 10, x: 0.06046617599999997
def show_trace(res):
n = max(abs(min(res)), abs(max(res)))
f_line = np.arange(-n, n, 0.01)
d2l.set_figsize((3.5, 2.5))
d2l.plt.plot(f_line, [f(x) for x in f_line],'-')
d2l.plt.plot(res, [f(x) for x in res],'-o')
d2l.plt.xlabel('x')
d2l.plt.ylabel('f(x)')
show_trace(res)
学习率
show_trace(gd(0.05))
epoch 10, x: 3.4867844009999995
show_trace(gd(1.1))
epoch 10, x: 61.917364224000096
局部极小值
e.g.
f(x)=xcoscx f(x) = x\cos cx f(x)=xcoscx
c = 0.15 * np.pi
def f(x):
return x * np.cos(c * x)
def gradf(x):
return np.cos(c * x) - c * x * np.sin(c * x)
show_trace(gd(2))
epoch 10, x: -1.528165927635083
多维梯度下降
∇f(x)=[∂f(x)∂x1,∂f(x)∂x2,…,∂f(x)∂xd]⊤ \nabla f(\mathbf{x})=\left[\frac{\partial f(\mathbf{x})}{\partial x_{1}}, \frac{\partial f(\mathbf{x})}{\partial x_{2}}, \dots, \frac{\partial f(\mathbf{x})}{\partial x_{d}}\right]^{\top} ∇f(x)=[∂x1∂f(x),∂x2∂f(x),…,∂xd∂f(x)]⊤
f(x+ϵ)=f(x)+ϵ⊤∇f(x)+O(∥ϵ∥2) f(\mathbf{x}+\epsilon)=f(\mathbf{x})+\epsilon^{\top} \nabla f(\mathbf{x})+\mathcal{O}\left(\|\epsilon\|^{2}\right) f(x+ϵ)=f(x)+ϵ⊤∇f(x)+O(∥ϵ∥2)
x←x−η∇f(x) \mathbf{x} \leftarrow \mathbf{x}-\eta \nabla f(\mathbf{x}) x←x−η∇f(x)
def train_2d(trainer, steps=20):
x1, x2 = -5, -2
results = [(x1, x2)]
for i in range(steps):
x1, x2 = trainer(x1, x2)
results.append((x1, x2))
print('epoch %d, x1 %f, x2 %f' % (i + 1, x1, x2))
return results
def show_trace_2d(f, results):
d2l.plt.plot(*zip(*results), '-o', color='#ff7f0e')
x1, x2 = np.meshgrid(np.arange(-5.5, 1.0, 0.1), np.arange(-3.0, 1.0, 0.1))
d2l.plt.contour(x1, x2, f(x1, x2), colors='#1f77b4')
d2l.plt.xlabel('x1')
d2l.plt.ylabel('x2')
f(x)=x12+2x22 f(x) = x_1^2 + 2x_2^2 f(x)=x12+2x22
eta = 0.1
def f_2d(x1, x2): # 目标函数
return x1 ** 2 + 2 * x2 ** 2
def gd_2d(x1, x2):
return (x1 - eta * 2 * x1, x2 - eta * 4 * x2)
show_trace_2d(f_2d, train_2d(gd_2d))
epoch 20, x1 -0.057646, x2 -0.000073
自适应方法
牛顿法
在 x+ϵx + \epsilonx+ϵ 处泰勒展开：
f(x+ϵ)=f(x)+ϵ⊤∇f(x)+12ϵ⊤∇∇⊤f(x)ϵ+O(∥ϵ∥3) f(\mathbf{x}+\epsilon)=f(\mathbf{x})+\epsilon^{\top} \nabla f(\mathbf{x})+\frac{1}{2} \epsilon^{\top} \nabla \nabla^{\top} f(\mathbf{x}) \epsilon+\mathcal{O}\left(\|\epsilon\|^{3}\right) f(x+ϵ)=f(x)+ϵ⊤∇f(x)+21ϵ⊤∇∇⊤f(x)ϵ+O(∥ϵ∥3)
最小值点处满足: ∇f(x)=0\nabla f(\mathbf{x})=0∇f(x)=0, 即我们希望 ∇f(x+ϵ)=0\nabla f(\mathbf{x} + \epsilon)=0∇f(x+ϵ)=0, 对上式关于 ϵ\epsilonϵ 求导，忽略高阶无穷小，有：
∇f(x)+Hfϵ=0 and hence ϵ=−Hf−1∇f(x) \nabla f(\mathbf{x})+\boldsymbol{H}_{f} \boldsymbol{\epsilon}=0 \text { and hence } \epsilon=-\boldsymbol{H}_{f}^{-1} \nabla f(\mathbf{x}) ∇f(x)+Hfϵ=0 and hence ϵ=−Hf−1∇f(x)
c = 0.5
def f(x):
return np.cosh(c * x) # Objective
def gradf(x):
return c * np.sinh(c * x) # Derivative
def hessf(x):
return c**2 * np.cosh(c * x) # Hessian
# Hide learning rate for now
def newton(eta=1):
x = 10
results = [x]
for i in range(10):
x -= eta * gradf(x) / hessf(x)
results.append(x)
print('epoch 10, x:', x)
return results
show_trace(newton())
epoch 10, x: 0.0
c = 0.15 * np.pi
def f(x):
return x * np.cos(c * x)
def gradf(x):
return np.cos(c * x) - c * x * np.sin(c * x)
def hessf(x):
return - 2 * c * np.sin(c * x) - x * c**2 * np.cos(c * x)
show_trace(newton())
epoch 10, x: 26.83413291324767
show_trace(newton(0.5))
epoch 10, x: 7.269860168684531
收敛性分析
只考虑在函数为凸函数, 且最小值点上 f′′(x∗)>0f''(x^*) > 0f′′(x∗)>0 时的收敛速度：
令 xkx_kxk 为第 kkk 次迭代后 xxx 的值， ek:=xk−x∗e_{k}:=x_{k}-x^{*}ek:=xk−x∗ 表示 xkx_kxk 到最小值点 x∗x^{*}x∗ 的距离，由 f′(x∗)=0f'(x^{*}) = 0f′(x∗)=0:
0=f′(xk−ek)=f′(xk)−ekf′′(xk)+12ek2f′′′(ξk)for some ξk∈[xk−ek,xk] 0=f^{\prime}\left(x_{k}-e_{k}\right)=f^{\prime}\left(x_{k}\right)-e_{k} f^{\prime \prime}\left(x_{k}\right)+\frac{1}{2} e_{k}^{2} f^{\prime \prime \prime}\left(\xi_{k}\right) \text{for some } \xi_{k} \in\left[x_{k}-e_{k}, x_{k}\right] 0=f′(xk−ek)=f′(xk)−ekf′′(xk)+21ek2f′′′(ξk)for some ξk∈[xk−ek,xk]
两边除以 f′′(xk)f''(x_k)f′′(xk), 有：
ek−f′(xk)/f′′(xk)=12ek2f′′′(ξk)/f′′(xk) e_{k}-f^{\prime}\left(x_{k}\right) / f^{\prime \prime}\left(x_{k}\right)=\frac{1}{2} e_{k}^{2} f^{\prime \prime \prime}\left(\xi_{k}\right) / f^{\prime \prime}\left(x_{k}\right) ek−f′(xk)/f′′(xk)=21ek2f′′′(ξk)/f′′(xk)
代入更新方程 xk+1=xk−f′(xk)/f′′(xk)x_{k+1} = x_{k} - f^{\prime}\left(x_{k}\right) / f^{\prime \prime}\left(x_{k}\right)xk+1=xk−f′(xk)/f′′(xk), 得到：
xk−x∗−f′(xk)/f′′(xk)=12ek2f′′′(ξk)/f′′(xk) x_k - x^{*} - f^{\prime}\left(x_{k}\right) / f^{\prime \prime}\left(x_{k}\right) =\frac{1}{2} e_{k}^{2} f^{\prime \prime \prime}\left(\xi_{k}\right) / f^{\prime \prime}\left(x_{k}\right) xk−x∗−f′(xk)/f′′(xk)=21ek2f′′′(ξk)/f′′(xk)
xk+1−x∗=ek+1=12ek2f′′′(ξk)/f′′(xk) x_{k+1} - x^{*} = e_{k+1} = \frac{1}{2} e_{k}^{2} f^{\prime \prime \prime}\left(\xi_{k}\right) / f^{\prime \prime}\left(x_{k}\right) xk+1−x∗=ek+1=21ek2f′′′(ξk)/f′′(xk)
当 12f′′′(ξk)/f′′(xk)≤c\frac{1}{2} f^{\prime \prime \prime}\left(\xi_{k}\right) / f^{\prime \prime}\left(x_{k}\right) \leq c21f′′′(ξk)/f′′(xk)≤c 时，有:
ek+1≤cek2 e_{k+1} \leq c e_{k}^{2} ek+1≤cek2
预处理 （Heissan阵辅助梯度下降）x←x−ηdiag(Hf)−1∇x \mathbf{x} \leftarrow \mathbf{x}-\eta \operatorname{diag}\left(H_{f}\right)^{-1} \nabla \mathbf{x} x←x−ηdiag(Hf)−1∇x
梯度下降与线性搜索（共轭梯度法） 随机梯度下降 随机梯度下降参数更新对于有 nnn 个样本对训练数据集，设 fi(x)f_i(x)fi(x) 是第 iii 个样本的损失函数, 则目标函数为:
f(x)=1n∑i=1nfi(x) f(\mathbf{x})=\frac{1}{n} \sum_{i=1}^{n} f_{i}(\mathbf{x}) f(x)=n1i=1∑nfi(x)
其梯度为:
∇f(x)=1n∑i=1n∇fi(x) \nabla f(\mathbf{x})=\frac{1}{n} \sum_{i=1}^{n} \nabla f_{i}(\mathbf{x}) ∇f(x)=n1i=1∑n∇fi(x)
使用该梯度的一次更新的时间复杂度为 O(n)\mathcal{O}(n)O(n)
随机梯度下降更新公式 O(1)\mathcal{O}(1)O(1):
x←x−η∇fi(x) \mathbf{x} \leftarrow \mathbf{x}-\eta \nabla f_{i}(\mathbf{x}) x←x−η∇fi(x)
且有：
Ei∇fi(x)=1n∑i=1n∇fi(x)=∇f(x) \mathbb{E}_{i} \nabla f_{i}(\mathbf{x})=\frac{1}{n} \sum_{i=1}^{n} \nabla f_{i}(\mathbf{x})=\nabla f(\mathbf{x}) Ei∇fi(x)=n1i=1∑n∇fi(x)=∇f(x)
e.g.
f(x1,x2)=x12+2x22 f(x_1, x_2) = x_1^2 + 2 x_2^2 f(x1,x2)=x12+2x22
def f(x1, x2):
return x1 ** 2 + 2 * x2 ** 2 # Objective
def gradf(x1, x2):
return (2 * x1, 4 * x2) # Gradient
def sgd(x1, x2): # Simulate noisy gradient
global lr # Learning rate scheduler
(g1, g2) = gradf(x1, x2) # Compute gradient
(g1, g2) = (g1 + np.random.normal(0.1), g2 + np.random.normal(0.1))
eta_t = eta * lr() # Learning rate at time t
return (x1 - eta_t * g1, x2 - eta_t * g2) # Update variables
eta = 0.1
lr = (lambda: 1) # Constant learning rate
show_trace_2d(f, train_2d(sgd, steps=50))
epoch 50, x1 -0.027566, x2 0.137605
动态学习率
η(t)=ηi if ti≤t≤ti+1 piecewise constant η(t)=η0⋅e−λt exponential η(t)=η0⋅(βt+1)−α polynomial \begin{array}{ll}{\eta(t)=\eta_{i} \text { if } t_{i} \leq t \leq t_{i+1}} & {\text { piecewise constant }} \\ {\eta(t)=\eta_{0} \cdot e^{-\lambda t}} & {\text { exponential }} \\ {\eta(t)=\eta_{0} \cdot(\beta t+1)^{-\alpha}} & {\text { polynomial }}\end{array} η(t)=ηi if ti≤t≤ti+1η(t)=η0⋅e−λtη(t)=η0⋅(βt+1)−α piecewise constant exponential polynomial
def exponential():
global ctr
ctr += 1
return math.exp(-0.1 * ctr)
ctr = 1
lr = exponential # Set up learning rate
show_trace_2d(f, train_2d(sgd, steps=1000))
epoch 1000, x1 -0.677947, x2 -0.089379
def polynomial():
global ctr
ctr += 1
return (1 + 0.1 * ctr)**(-0.5)
ctr = 1
lr = polynomial # Set up learning rate
show_trace_2d(f, train_2d(sgd, steps=50))
epoch 50, x1 -0.095244, x2 -0.041674
小批量随机梯度下降
读取数据
读取数据
def get_data_ch7(): # 本函数已保存在d2lzh_pytorch包中方便以后使用
data = np.genfromtxt('/home/kesci/input/airfoil4755/airfoil_self_noise.dat', delimiter='\t')
data = (data - data.mean(axis=0)) / data.std(axis=0) # 标准化
return torch.tensor(data[:1500, :-1], dtype=torch.float32), \
torch.tensor(data[:1500, -1], dtype=torch.float32) # 前1500个样本(每个样本5个特征)
features, labels = get_data_ch7()
features.shape
torch.Size([1500, 5])
import pandas as pd
df = pd.read_csv('/home/kesci/input/airfoil4755/airfoil_self_noise.dat', delimiter='\t', header=None)
df.head(10)
| 0 | 1 | 2 | 3 | 4 | 5 | |
|---|---|---|---|---|---|---|
| 0 | 800 | 0.0 | 0.3048 | 71.3 | 0.002663 | 126.201 |
| 1 | 1000 | 0.0 | 0.3048 | 71.3 | 0.002663 | 125.201 |
| 2 | 1250 | 0.0 | 0.3048 | 71.3 | 0.002663 | 125.951 |
| 3 | 1600 | 0.0 | 0.3048 | 71.3 | 0.002663 | 127.591 |
| 4 | 2000 | 0.0 | 0.3048 | 71.3 | 0.002663 | 127.461 |
| 5 | 2500 | 0.0 | 0.3048 | 71.3 | 0.002663 | 125.571 |
| 6 | 3150 | 0.0 | 0.3048 | 71.3 | 0.002663 | 125.201 |
| 7 | 4000 | 0.0 | 0.3048 | 71.3 | 0.002663 | 123.061 |
| 8 | 5000 | 0.0 | 0.3048 | 71.3 | 0.002663 | 121.301 |
| 9 | 6300 | 0.0 | 0.3048 | 71.3 | 0.002663 | 119.541 |
def sgd(params, states, hyperparams):
for p in params:
p.data -= hyperparams['lr'] * p.grad.data
# 本函数已保存在d2lzh_pytorch包中方便以后使用
def train_ch7(optimizer_fn, states, hyperparams, features, labels,
batch_size=10, num_epochs=2):
# 初始化模型
net, loss = d2l.linreg, d2l.squared_loss
w = torch.nn.Parameter(torch.tensor(np.random.normal(0, 0.01, size=(features.shape[1], 1)), dtype=torch.float32),
requires_grad=True)
b = torch.nn.Parameter(torch.zeros(1, dtype=torch.float32), requires_grad=True)
def eval_loss():
return loss(net(features, w, b), labels).mean().item()
ls = [eval_loss()]
data_iter = torch.utils.data.DataLoader(
torch.utils.data.TensorDataset(features, labels), batch_size, shuffle=True)
for _ in range(num_epochs):
start = time.time()
for batch_i, (X, y) in enumerate(data_iter):
l = loss(net(X, w, b), y).mean() # 使用平均损失
# 梯度清零
if w.grad is not None:
w.grad.data.zero_()
b.grad.data.zero_()
l.backward()
optimizer_fn([w, b], states, hyperparams) # 迭代模型参数
if (batch_i + 1) * batch_size % 100 == 0:
ls.append(eval_loss()) # 每100个样本记录下当前训练误差
# 打印结果和作图
print('loss: %f, %f sec per epoch' % (ls[-1], time.time() - start))
d2l.set_figsize()
d2l.plt.plot(np.linspace(0, num_epochs, len(ls)), ls)
d2l.plt.xlabel('epoch')
d2l.plt.ylabel('loss')
def train_sgd(lr, batch_size, num_epochs=2):
train_ch7(sgd, None, {'lr': lr}, features, labels, batch_size, num_epochs)
对比
train_sgd(1, 1500, 6)
loss: 0.244373, 0.009881 sec per epoch
train_sgd(0.005, 1)
loss: 0.245968, 0.463836 sec per epoch
train_sgd(0.05, 10)
loss: 0.243900, 0.065017 sec per epoch
简洁实现
# 本函数与原书不同的是这里第一个参数优化器函数而不是优化器的名字
# 例如: optimizer_fn=torch.optim.SGD, optimizer_hyperparams={"lr": 0.05}
def train_pytorch_ch7(optimizer_fn, optimizer_hyperparams, features, labels,
batch_size=10, num_epochs=2):
# 初始化模型
net = nn.Sequential(
nn.Linear(features.shape[-1], 1)
)
loss = nn.MSELoss()
optimizer = optimizer_fn(net.parameters(), **optimizer_hyperparams)
def eval_loss():
return loss(net(features).view(-1), labels).item() / 2
ls = [eval_loss()]
data_iter = torch.utils.data.DataLoader(
torch.utils.data.TensorDataset(features, labels), batch_size, shuffle=True)
for _ in range(num_epochs):
start = time.time()
for batch_i, (X, y) in enumerate(data_iter):
# 除以2是为了和train_ch7保持一致, 因为squared_loss中除了2
l = loss(net(X).view(-1), y) / 2
optimizer.zero_grad()
l.backward()
optimizer.step()
if (batch_i + 1) * batch_size % 100 == 0:
ls.append(eval_loss())
# 打印结果和作图
print('loss: %f, %f sec per epoch' % (ls[-1], time.time() - start))
d2l.set_figsize()
d2l.plt.plot(np.linspace(0, num_epochs, len(ls)), ls)
d2l.plt.xlabel('epoch')
d2l.plt.ylabel('loss')
train_pytorch_ch7(optim.SGD, {"lr": 0.05}, features, labels, 10)
loss: 0.243770, 0.047664 sec per epoch
作者：xiuyu1860
