Clean Code for Capsule Networks

capsule_networks.py

"""
Dynamic Routing Between Capsules
https://arxiv.org/abs/1710.09829
"""

import torch
import torch.nn as nn
import torch.optim as optim
import torch.nn.functional as F
import torchvision.transforms as transforms

import numpy as np

from torch.autograd import Variable
from torchvision.datasets.mnist import MNIST
from tqdm import tqdm


def index_to_one_hot(index_tensor, num_classes=10):
    """
    Converts index value to one hot vector.

    e.g. [2, 5] (with 10 classes) becomes:
        [
            [0 0 1 0 0 0 0 0 0 0]
            [0 0 0 0 1 0 0 0 0 0]
        ]
    """
    index_tensor = index_tensor.long()
    return torch.eye(num_classes).index_select(dim=0, index=index_tensor)


def squash_vector(tensor, dim=-1):
    """
    Non-linear 'squashing' to ensure short vectors get shrunk
    to almost zero length and long vectors get shrunk to a
    length slightly below 1.
    """
    squared_norm = (tensor**2).sum(dim=dim, keepdim=True)
    scale = squared_norm / (1 + squared_norm)
    return scale * tensor / torch.sqrt(squared_norm)


def softmax(input, dim=1):
    """
    Apply softmax to specific dimensions. Not released on PyTorch stable yet
    as of November 6th 2017
    https://github.com/pytorch/pytorch/issues/3235
    """
    transposed_input = input.transpose(dim, len(input.size()) - 1)
    softmaxed_output = F.softmax(
        transposed_input.contiguous().view(-1, transposed_input.size(-1)))
    return softmaxed_output.view(*transposed_input.size()).transpose(dim, len(input.size()) - 1)


class CapsuleLayer(nn.Module):
    def __init__(self, num_capsules, num_routes, in_channels, out_channels,
                 kernel_size=None, stride=None, num_iterations=3):
        super().__init__()

        self.num_routes = num_routes
        self.num_iterations = num_iterations

        self.num_capsules = num_capsules

        if num_routes != -1:
            self.route_weights = nn.Parameter(
                torch.randn(num_capsules, num_routes,
                            in_channels, out_channels)
            )

        else:
            self.capsules = nn.ModuleList(
                [nn.Conv2d(in_channels,
                           out_channels,
                           kernel_size=kernel_size,
                           stride=stride,
                           padding=0)
                 for _ in range(num_capsules)
                 ]
            )

    def forward(self, x):
        # If routing is defined
        if self.num_routes != -1:
            priors = x[None, :, :, None, :] @ self.route_weights[:, None, :, :, :]

            logits = Variable(torch.zeros(priors.size())).cuda()

            # Routing algorithm
            for i in range(self.num_iterations):
                probs = softmax(logits, dim=2)
                outputs = squash_vector(
                    probs * priors).sum(dim=2, keepdim=True)

                if i != self.num_iterations - 1:
                    delta_logits = (priors * outputs).sum(dim=-1, keepdim=True)
                    logits = logits + delta_logits

        else:
            outputs = [capsule(x).view(x.size(0), -1, 1)
                       for capsule in self.capsules]
            outputs = torch.cat(outputs, dim=-1)
            outputs = squash_vector(outputs)

        return outputs


class MarginLoss(nn.Module):
    def __init__(self):
        super().__init__()
        # Reconstruction as regularization
        self.reconstruction_loss = nn.MSELoss(size_average=False)

    def forward(self, images, labels, classes, reconstructions):
        left = F.relu(0.9 - classes, inplace=True) ** 2
        right = F.relu(classes - 0.1, inplace=True) ** 2
        margin_loss = labels * left + 0.5 * (1. - labels) * right
        margin_loss = margin_loss.sum()
        reconstruction_loss = self.reconstruction_loss(reconstructions, images)

        return (margin_loss + 0.0005 * reconstruction_loss) / images.size(0)


class CapsuleNet(nn.Module):
    def __init__(self):
        super().__init__()

        self.conv1 = nn.Conv2d(
            in_channels=1, out_channels=256, kernel_size=9, stride=1)
        self.primary_capsules = CapsuleLayer(
            8, -1, 256, 32, kernel_size=9, stride=2)

        # 10 is the number of classes
        self.digit_capsules = CapsuleLayer(10, 32 * 6 * 6, 8, 16)

        self.decoder = nn.Sequential(
            nn.Linear(16 * 10, 512),
            nn.ReLU(inplace=True),
            nn.Linear(512, 1024),
            nn.ReLU(inplace=True),
            nn.Linear(1024, 784),
            nn.Sigmoid()
        )

    def forward(self, x, y=None):
        x = F.relu(self.conv1(x), inplace=True)
        x = self.primary_capsules(x)
        x = self.digit_capsules(x).squeeze().transpose(0, 1)

        classes = (x ** 2).sum(dim=-1) ** 0.5
        classes = F.softmax(classes)

        if y is None:
            # In all batches, get the most active capsule
            _, max_length_indices = classes.max(dim=1)
            y = Variable(torch.eye(10)).cuda().index_select(
                dim=0, index=max_length_indices.data)

        reconstructions = self.decoder((x * y[:, :, None]).view(x.size(0), -1))
        return classes, reconstructions


if __name__ == '__main__':
    # Globals
    CUDA = True
    EPOCH = 10

    # Model
    model = CapsuleNet()

    if CUDA:
        model.cuda()

    optimizer = optim.Adam(model.parameters())

    margin_loss = MarginLoss()

    train_loader = torch.utils.data.DataLoader(
        MNIST(root='/tmp', download=True, train=True,
              transform=transforms.ToTensor()),
        batch_size=8, shuffle=True)

    test_loader = torch.utils.data.DataLoader(
        MNIST(root='/tmp', download=True, train=False,
              transform=transforms.ToTensor()),
        batch_size=8, shuffle=True)

    for e in range(10):
        # Training
        train_loss = 0

        model.train()
        for idx, (img, target) in enumerate(tqdm(train_loader, desc='Training')):
            img = Variable(img)
            target = Variable(index_to_one_hot(target))

            if CUDA:
                img = img.cuda()
                target = target.cuda()

            optimizer.zero_grad()

            classes, reconstructions = model(img, target)

            loss = margin_loss(img, target, classes, reconstructions)
            loss.backward()

            train_loss += loss.data.cpu()[0]

            optimizer.step()


        print('Training:, Avg Loss: {:.4f}'.format(train_loss))

        # # Testing
        correct = 0
        test_loss = 0

        model.eval()
        for idx, (img, target) in enumerate(tqdm(test_loader, desc='test set')):
            img = Variable(img)
            target_index = target
            target = Variable(index_to_one_hot(target))

            if CUDA:
                img = img.cuda()
                target = target.cuda()

            classes, reconstructions = model(img, target)

            test_loss += margin_loss(img, target, classes, reconstructions).data.cpu()

            # Get index of the max log-probability
            pred = classes.data.max(1, keepdim=True)[1].cpu()
            correct += pred.eq(target_index.view_as(pred)).cpu().sum()

        test_loss /= len(test_loader.dataset)
        correct = 100. * correct / len(test_loader.dataset)
        print('Test Set: Avg Loss: {:.4f}, Accuracy: {:.4f}'.format(
            test_loss[0], correct))

Traceback (most recent call last):
  File "capsule_networks.py", line 230, in <module>
    correct += pred.eq(target.data.view_as(pred)).cpu().sum()
  File "/home/atcold/anaconda3/lib/python3.6/site-packages/torch/tensor.py", line 198, in view_as
    return self.view(tensor.size())
RuntimeError: invalid argument 2: size '[8 x 1]' is invalid for input of with 80 elements at /opt/conda/conda-bld/pytorch_1503970438496/work/torch/lib/TH/THStorage.c:41

Also, tqdm and print make a mess on screen.

@Atcold Ooops, my bad. It appears that I've pasted in an outdated version. I've updated the gist now and removed redundancy of tqdm and print.

Very well, @kendricktan. Two more remarks.
You can (1) reintroduce tqdm in the training cycle (as long as you don't print the loss on screen), (2) factor out the feed-forward pass and loss evaluation, which are shared by both training and testing procedures. Furthermore, I'd recommend zeroing the gradient after the forward pass, and just before the backward pass, to reduce confusion.

@Atcold done for your remark 1..

As for the 2. I personally think that the state of optimizer should be made explicit (zero'd before anything happens) before anything else happens. Thanks for the feedback 👍

I have a doubt. logits in line num 88 gets the size 10 x 128 x 1152 x 1 x 16. But softmax is done with repect to dim 2 . Should it not be with respect to dim 0 since we have 10 classes. Can you clarify? (assuming batch size is 128)

@balassbals, there are a total of (6 × 6 × 32) 8D capsules u, which provide their prediction vectors \hat u. Each capsule input s is the weighted average of the corresponding \hat u. The weighting coefficient c are given by the softmax over the logits b, which are as many as the number of capsules in the layer below, i.e. 6 × 6 × 32. Therefore, it is correct to run the softmax on the 3rd dimension (i.e. dimension number 2). Please, let me know if it is not clear.

@kendricktan, the optimiser is part of the back-propagation algorithm, which starts aftre the forward pass. This is why I would recommend not mixing the two things. I have students who confuse the two...
One last thing, this code does not run when CUDA = False at line 166. Instead of cuda() use type_as(other_tensor).

@Atcold, I understand what you say. But still I'm confused since the paper says that coupling coeffs between capsule i and all the capsules in the layer above sum to 1 and equation 3 in paper supports this statement. But from what you say my understanding is that the coeffs between all capsules in layer l and capsule j in layer l + 1 sum to one. Can you clarify?

@balassbals, you are correct. Today I gave a speech at NYU, about this paper, and people pointed out that the softmax is done across the fist dimension (i.e. dimension number 0). I missed this the first time I read the paper. My bad. So you are correct, there is a mistake in this implementation.
@kendricktan did you follow the conversation? If so, please fix.

@Atcold, But when I do across dim 0(10 classes), I dont get the expected results. Another implementation I saw in Pytorch uses F.softmax wrongly. Actually I implemented it myself first but I'm not getting the results. So I'm looking for some working version in Pytorch.

Also, why is there a softmax() at line L152? This should simply be the capsule's norm! Correct?

@balassbals I have not found any working PyTorch implementations that softmax across the 10 classes (only across the 1152 routes, which does not match the paper). Have you discovered anything since?

hello,
i have some experience about capnet written in tensorflow but i have no idea about pytorch. can you help me?
i want to input data which has size of (224,224,3) and target will be binary 0 or 1 so for this kind of data what kind of modification i have to make?
thanks in advance.