# Copyright 2015 The TensorFlow Authors. All Rights Reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # ============================================================================== """Maintain moving averages of parameters.""" from __future__ import absolute_import from __future__ import division from __future__ import print_function from tensorflow.python.framework import dtypes from tensorflow.python.framework import ops from tensorflow.python.ops import control_flow_ops from tensorflow.python.ops import init_ops from tensorflow.python.ops import math_ops from tensorflow.python.ops import state_ops from tensorflow.python.ops import variable_scope from tensorflow.python.ops import variables from tensorflow.python.training import slot_creator from tensorflow.python.util.tf_export import tf_export # TODO(touts): switch to variables.Variable. def assign_moving_average(variable, value, decay, zero_debias=True, name=None): """Compute the moving average of a variable. The moving average of 'variable' updated with 'value' is: variable * decay + value * (1 - decay) The returned Operation sets 'variable' to the newly computed moving average. The new value of 'variable' can be set with the 'AssignSub' op as: variable -= (1 - decay) * (variable - value) Since variables that are initialized to a `0` value will be `0` biased, `zero_debias` optionally enables scaling by the mathematically correct debiasing factor of 1 - decay ** num_updates See `ADAM: A Method for Stochastic Optimization` Section 3 for more details (https://arxiv.org/abs/1412.6980). The names of the debias shadow variables, by default, include both the scope they were created in and the scope of the variables they debias. They are also given a uniqifying-suffix. E.g.: ``` with tf.variable_scope('scope1'): with tf.variable_scope('scope2'): var = tf.get_variable('foo') tf.assign_moving_average(var, 0.0, 1.0) tf.assign_moving_average(var, 0.0, 0.9) # var.name: 'scope1/scope2/foo' # shadow var names: 'scope1/scope2/scope1/scope2/foo/biased' # 'scope1/scope2/scope1/scope2/foo/biased_1' ``` Args: variable: A Variable. value: A tensor with the same shape as 'variable'. decay: A float Tensor or float value. The moving average decay. zero_debias: A python bool. If true, assume the variable is 0-initialized and unbias it, as in https://arxiv.org/abs/1412.6980. See docstring in `_zero_debias` for more details. name: Optional name of the returned operation. Returns: A reference to the input 'variable' tensor with the newly computed moving average. """ with ops.name_scope(name, "AssignMovingAvg", [variable, value, decay]) as scope: with ops.colocate_with(variable): decay = ops.convert_to_tensor(1.0 - decay, name="decay") if decay.dtype != variable.dtype.base_dtype: decay = math_ops.cast(decay, variable.dtype.base_dtype) if zero_debias: update_delta = _zero_debias(variable, value, decay) else: update_delta = (variable - value) * decay return state_ops.assign_sub(variable, update_delta, name=scope) def weighted_moving_average(value, decay, weight, truediv=True, collections=None, name=None): """Compute the weighted moving average of `value`. Conceptually, the weighted moving average is: `moving_average(value * weight) / moving_average(weight)`, where a moving average updates by the rule `new_value = decay * old_value + (1 - decay) * update` Internally, this Op keeps moving average variables of both `value * weight` and `weight`. Args: value: A numeric `Tensor`. decay: A float `Tensor` or float value. The moving average decay. weight: `Tensor` that keeps the current value of a weight. Shape should be able to multiply `value`. truediv: Boolean, if `True`, dividing by `moving_average(weight)` is floating point division. If `False`, use division implied by dtypes. collections: List of graph collections keys to add the internal variables `value * weight` and `weight` to. Defaults to `[GraphKeys.GLOBAL_VARIABLES]`. name: Optional name of the returned operation. Defaults to "WeightedMovingAvg". Returns: An Operation that updates and returns the weighted moving average. """ # Unlike assign_moving_average, the weighted moving average doesn't modify # user-visible variables. It is the ratio of two internal variables, which are # moving averages of the updates. Thus, the signature of this function is # quite different than assign_moving_average. if collections is None: collections = [ops.GraphKeys.GLOBAL_VARIABLES] with variable_scope.variable_scope(name, "WeightedMovingAvg", [value, weight, decay]) as scope: value_x_weight_var = variable_scope.get_variable( "value_x_weight", shape=value.get_shape(), dtype=value.dtype, initializer=init_ops.zeros_initializer(), trainable=False, collections=collections) weight_var = variable_scope.get_variable( "weight", shape=weight.get_shape(), dtype=weight.dtype, initializer=init_ops.zeros_initializer(), trainable=False, collections=collections) numerator = assign_moving_average( value_x_weight_var, value * weight, decay, zero_debias=False) denominator = assign_moving_average( weight_var, weight, decay, zero_debias=False) if truediv: return math_ops.truediv(numerator, denominator, name=scope.name) else: return math_ops.div(numerator, denominator, name=scope.name) def _zero_debias(unbiased_var, value, decay): """Compute the delta required for a debiased Variable. All exponential moving averages initialized with Tensors are initialized to 0, and therefore are biased to 0. Variables initialized to 0 and used as EMAs are similarly biased. This function creates the debias updated amount according to a scale factor, as in https://arxiv.org/abs/1412.6980. To demonstrate the bias the results from 0-initialization, take an EMA that was initialized to `0` with decay `b`. After `t` timesteps of seeing the constant `c`, the variable have the following value: ``` EMA = 0*b^(t) + c*(1 - b)*b^(t-1) + c*(1 - b)*b^(t-2) + ... = c*(1 - b^t) ``` To have the true value `c`, we would divide by the scale factor `1 - b^t`. In order to perform debiasing, we use two shadow variables. One keeps track of the biased estimate, and the other keeps track of the number of updates that have occurred. Args: unbiased_var: A Variable representing the current value of the unbiased EMA. value: A Tensor representing the most recent value. decay: A Tensor representing `1-decay` for the EMA. Returns: The amount that the unbiased variable should be updated. Computing this tensor will also update the shadow variables appropriately. """ with variable_scope.variable_scope( unbiased_var.op.name, values=[unbiased_var, value, decay]) as scope: with ops.colocate_with(unbiased_var): with ops.init_scope(): biased_initializer = init_ops.zeros_initializer( dtype=unbiased_var.dtype)(unbiased_var.get_shape()) local_step_initializer = init_ops.zeros_initializer() def _maybe_get_unique(name): """Get name for a unique variable, if not `reuse=True`.""" if variable_scope.get_variable_scope().reuse: return name vs_vars = [x.op.name for x in variable_scope.get_variable_scope().global_variables()] full_name = variable_scope.get_variable_scope().name + "/" + name if full_name not in vs_vars: return name idx = 1 while full_name + ("_%d" % idx) in vs_vars: idx += 1 return name + ("_%d" % idx) biased_var = variable_scope.get_variable( _maybe_get_unique("biased"), initializer=biased_initializer, trainable=False) local_step = variable_scope.get_variable( _maybe_get_unique("local_step"), shape=[], dtype=unbiased_var.dtype, initializer=local_step_initializer, trainable=False) # Get an update ops for both shadow variables. update_biased = state_ops.assign_sub(biased_var, (biased_var - value) * decay, name=scope.name) update_local_step = local_step.assign_add(1) # Compute the value of the delta to update the unbiased EMA. Make sure to # use the new values of the biased variable and the local step. with ops.control_dependencies([update_biased, update_local_step]): # This function gets `1 - decay`, so use `1.0 - decay` in the exponent. unbiased_ema_delta = (unbiased_var - biased_var.read_value() / (1 - math_ops.pow( 1.0 - decay, local_step.read_value()))) return unbiased_ema_delta @tf_export("train.ExponentialMovingAverage") class ExponentialMovingAverage(object): """Maintains moving averages of variables by employing an exponential decay. When training a model, it is often beneficial to maintain moving averages of the trained parameters. Evaluations that use averaged parameters sometimes produce significantly better results than the final trained values. The `apply()` method adds shadow copies of trained variables and add ops that maintain a moving average of the trained variables in their shadow copies. It is used when building the training model. The ops that maintain moving averages are typically run after each training step. The `average()` and `average_name()` methods give access to the shadow variables and their names. They are useful when building an evaluation model, or when restoring a model from a checkpoint file. They help use the moving averages in place of the last trained values for evaluations. The moving averages are computed using exponential decay. You specify the decay value when creating the `ExponentialMovingAverage` object. The shadow variables are initialized with the same initial values as the trained variables. When you run the ops to maintain the moving averages, each shadow variable is updated with the formula: `shadow_variable -= (1 - decay) * (shadow_variable - variable)` This is mathematically equivalent to the classic formula below, but the use of an `assign_sub` op (the `"-="` in the formula) allows concurrent lockless updates to the variables: `shadow_variable = decay * shadow_variable + (1 - decay) * variable` Reasonable values for `decay` are close to 1.0, typically in the multiple-nines range: 0.999, 0.9999, etc. Example usage when creating a training model: ```python # Create variables. var0 = tf.Variable(...) var1 = tf.Variable(...) # ... use the variables to build a training model... ... # Create an op that applies the optimizer. This is what we usually # would use as a training op. opt_op = opt.minimize(my_loss, [var0, var1]) # Create an ExponentialMovingAverage object ema = tf.train.ExponentialMovingAverage(decay=0.9999) with tf.control_dependencies([opt_op]): # Create the shadow variables, and add ops to maintain moving averages # of var0 and var1. This also creates an op that will update the moving # averages after each training step. This is what we will use in place # of the usual training op. training_op = ema.apply([var0, var1]) ...train the model by running training_op... ``` There are two ways to use the moving averages for evaluations: * Build a model that uses the shadow variables instead of the variables. For this, use the `average()` method which returns the shadow variable for a given variable. * Build a model normally but load the checkpoint files to evaluate by using the shadow variable names. For this use the `average_name()` method. See the @{tf.train.Saver} for more information on restoring saved variables. Example of restoring the shadow variable values: ```python # Create a Saver that loads variables from their saved shadow values. shadow_var0_name = ema.average_name(var0) shadow_var1_name = ema.average_name(var1) saver = tf.train.Saver({shadow_var0_name: var0, shadow_var1_name: var1}) saver.restore(...checkpoint filename...) # var0 and var1 now hold the moving average values ``` """ def __init__(self, decay, num_updates=None, zero_debias=False, name="ExponentialMovingAverage"): """Creates a new ExponentialMovingAverage object. The `apply()` method has to be called to create shadow variables and add ops to maintain moving averages. The optional `num_updates` parameter allows one to tweak the decay rate dynamically. It is typical to pass the count of training steps, usually kept in a variable that is incremented at each step, in which case the decay rate is lower at the start of training. This makes moving averages move faster. If passed, the actual decay rate used is: `min(decay, (1 + num_updates) / (10 + num_updates))` Args: decay: Float. The decay to use. num_updates: Optional count of number of updates applied to variables. zero_debias: If `True`, zero debias moving-averages that are initialized with tensors. name: String. Optional prefix name to use for the name of ops added in `apply()`. """ self._decay = decay self._num_updates = num_updates self._zero_debias = zero_debias self._name = name self._averages = {} @property def name(self): """The name of this ExponentialMovingAverage object.""" return self._name def apply(self, var_list=None): """Maintains moving averages of variables. `var_list` must be a list of `Variable` or `Tensor` objects. This method creates shadow variables for all elements of `var_list`. Shadow variables for `Variable` objects are initialized to the variable's initial value. They will be added to the `GraphKeys.MOVING_AVERAGE_VARIABLES` collection. For `Tensor` objects, the shadow variables are initialized to 0 and zero debiased (see docstring in `assign_moving_average` for more details). shadow variables are created with `trainable=False` and added to the `GraphKeys.ALL_VARIABLES` collection. They will be returned by calls to `tf.global_variables()`. Returns an op that updates all shadow variables as described above. Note that `apply()` can be called multiple times with different lists of variables. Args: var_list: A list of Variable or Tensor objects. The variables and Tensors must be of types float16, float32, or float64. Returns: An Operation that updates the moving averages. Raises: TypeError: If the arguments are not all float16, float32, or float64. ValueError: If the moving average of one of the variables is already being computed. """ # TODO(touts): op_scope if var_list is None: var_list = variables.trainable_variables() zero_debias_true = set() # set of vars to set `zero_debias=True` for var in var_list: if var.dtype.base_dtype not in [dtypes.float16, dtypes.float32, dtypes.float64]: raise TypeError("The variables must be half, float, or double: %s" % var.name) if var in self._averages: raise ValueError("Moving average already computed for: %s" % var.name) # For variables: to lower communication bandwidth across devices we keep # the moving averages on the same device as the variables. For other # tensors, we rely on the existing device allocation mechanism. with ops.init_scope(): if isinstance(var, variables.Variable): avg = slot_creator.create_slot(var, var.initialized_value(), self.name, colocate_with_primary=True) # NOTE(mrry): We only add `tf.Variable` objects to the # `MOVING_AVERAGE_VARIABLES` collection. ops.add_to_collection(ops.GraphKeys.MOVING_AVERAGE_VARIABLES, var) else: avg = slot_creator.create_zeros_slot( var, self.name, colocate_with_primary=(var.op.type in ["Variable", "VariableV2", "VarHandleOp"])) if self._zero_debias: zero_debias_true.add(avg) self._averages[var] = avg with ops.name_scope(self.name) as scope: decay = ops.convert_to_tensor(self._decay, name="decay") if self._num_updates is not None: num_updates = math_ops.cast(self._num_updates, dtypes.float32, name="num_updates") decay = math_ops.minimum(decay, (1.0 + num_updates) / (10.0 + num_updates)) updates = [] for var in var_list: zero_debias = self._averages[var] in zero_debias_true updates.append(assign_moving_average( self._averages[var], var, decay, zero_debias=zero_debias)) return control_flow_ops.group(*updates, name=scope) def average(self, var): """Returns the `Variable` holding the average of `var`. Args: var: A `Variable` object. Returns: A `Variable` object or `None` if the moving average of `var` is not maintained. """ return self._averages.get(var, None) def average_name(self, var): """Returns the name of the `Variable` holding the average for `var`. The typical scenario for `ExponentialMovingAverage` is to compute moving averages of variables during training, and restore the variables from the computed moving averages during evaluations. To restore variables, you have to know the name of the shadow variables. That name and the original variable can then be passed to a `Saver()` object to restore the variable from the moving average value with: `saver = tf.train.Saver({ema.average_name(var): var})` `average_name()` can be called whether or not `apply()` has been called. Args: var: A `Variable` object. Returns: A string: The name of the variable that will be used or was used by the `ExponentialMovingAverage class` to hold the moving average of `var`. """ if var in self._averages: return self._averages[var].op.name return ops.get_default_graph().unique_name( var.op.name + "/" + self.name, mark_as_used=False) def variables_to_restore(self, moving_avg_variables=None): """Returns a map of names to `Variables` to restore. If a variable has a moving average, use the moving average variable name as the restore name; otherwise, use the variable name. For example, ```python variables_to_restore = ema.variables_to_restore() saver = tf.train.Saver(variables_to_restore) ``` Below is an example of such mapping: ``` conv/batchnorm/gamma/ExponentialMovingAverage: conv/batchnorm/gamma, conv_4/conv2d_params/ExponentialMovingAverage: conv_4/conv2d_params, global_step: global_step ``` Args: moving_avg_variables: a list of variables that require to use of the moving variable name to be restored. If None, it will default to variables.moving_average_variables() + variables.trainable_variables() Returns: A map from restore_names to variables. The restore_name can be the moving_average version of the variable name if it exist, or the original variable name. """ name_map = {} if moving_avg_variables is None: # Include trainable variables and variables which have been explicitly # added to the moving_average_variables collection. moving_avg_variables = variables.trainable_variables() moving_avg_variables += variables.moving_average_variables() # Remove duplicates moving_avg_variables = set(moving_avg_variables) # Collect all the variables with moving average, for v in moving_avg_variables: name_map[self.average_name(v)] = v # Make sure we restore variables without moving averages as well. moving_avg_variable_names = set([v.name for v in moving_avg_variables]) for v in list(set(variables.global_variables())): if v.name not in moving_avg_variable_names and v.op.name not in name_map: name_map[v.op.name] = v return name_map