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<h1>
[Improving Deep Neural Networks] week3. Hyperparameter tuning, Batch Normalization and Programming Frameworks
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<span class="label label-default">Series</span>
Part 7 of «Andrew Ng Deep Learning MOOC»
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目录
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<div id="toc"><ul><li><a class="toc-href" href="#hyperparameter-parameters" title="Hyperparameter parameters">Hyperparameter parameters</a><ul><li><a class="toc-href" href="#tuning-process" title="Tuning process">Tuning process</a></li><li><a class="toc-href" href="#using-an-appropriate-scale-to-pick-hyperparameters" title="Using an appropriate scale to pick hyperparameters">Using an appropriate scale to pick hyperparameters</a></li><li><a class="toc-href" href="#hyperparameters-tuning-in-practice-pandas-vs-caviar" title="Hyperparameters tuning in practice: Pandas vs. Caviar">Hyperparameters tuning in practice: Pandas vs. Caviar</a></li></ul></li><li><a class="toc-href" href="#batch-normalization_1" title="Batch Normalization">Batch Normalization</a><ul><li><a class="toc-href" href="#normalizing-activations-in-a-network" title="Normalizing activations in a network">Normalizing activations in a network</a></li><li><a class="toc-href" href="#fitting-batch-norm-into-a-neural-network" title="Fitting Batch Norm into a neural network">Fitting Batch Norm into a neural network</a></li><li><a class="toc-href" href="#why-does-batch-norm-work" title="Why does Batch Norm work?">Why does Batch Norm work?</a></li><li><a class="toc-href" href="#batch-norm-at-test-time" title="Batch Norm at test time">Batch Norm at test time</a></li></ul></li><li><a class="toc-href" href="#multiclass-classification_1" title="Multiclass classification">Multiclass classification</a><ul><li><a class="toc-href" href="#softmax-regression" title="Softmax Regression">Softmax Regression</a></li><li><a class="toc-href" href="#training-a-softmax-classifier" title="Training a softmax classifier">Training a softmax classifier</a></li></ul></li><li><a class="toc-href" href="#introduction-to-programming-frameworks_1" title="Introduction to programming frameworks">Introduction to programming frameworks</a><ul><li><a class="toc-href" href="#deep-learning-frameworks" title="Deep learning frameworks">Deep learning frameworks</a></li><li><a class="toc-href" href="#tensorflow" title="TensorFlow">TensorFlow</a></li></ul></li></ul></div>
</div>
</div>
<h2 id="hyperparameter-parameters">Hyperparameter parameters</h2>
<p>Tips for hyperparam-tuning. </p>
<h3 id="tuning-process">Tuning process</h3>
<p>Many hyperparams to tune, mark importance by colors (red > yellow > purple):<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image.png"/> </p>
<p>How to select set of values to explore ? </p>
<ul>
<li>Do <strong>NOT</strong> use grid search (grid of n * n) </li>
</ul>
<p>— this was OK in pre-DL era. </p>
<ul>
<li><strong>try random values.</strong> </li>
</ul>
<p>reason: difficule to know which hyperparam is most important, by randomization, <em>can try out n</em>n distinct values for each hyperparam.*<br/>
In extreme case, one is <code>alpha</code>, the other is <code>epislon</code>. </p>
<ul>
<li>in grid search: only n distinct values of alpha are tried </li>
<li>in random choice: can have n*n distinct values of alpha </li>
</ul>
<p><img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image001.png"/> </p>
<ul>
<li><strong>Coarse to fine</strong> sample scheme: zoom in to smaller regions of hyperparam space and re-sample more densely. </li>
</ul>
<p><img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image002.png"/> </p>
<h3 id="using-an-appropriate-scale-to-pick-hyperparameters">Using an appropriate scale to pick hyperparameters</h3>
<p>"Sampling at random", but at <em>appropriate scale, not uniformly.</em><br/>
example: choice of alpha in [0.001, 1]<br/>
→ <em>sample uniformly at log scale</em> is more resonable: equal resources are used to search at each scale. </p>
<p><img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image003.png"/> </p>
<p>implementation: </p>
<div class="highlight"><pre><span class="code-line"><span></span><span class="err">r = -4 * np.random.rand() # -4 <= r <= 0, uniformly at randome </span></span>
<span class="code-line"><span class="err">alpha = np.exp(10, r) # 10e-4 <= alpha <= 1.0</span></span>
</pre></div>
<p><em>sampling beta for exp-weighted-avg: </em>sample in the range of [0.9, 0.999]<br/>
→ convert to sampling 1-beta, which is in range [0.0001, 0.1] </p>
<h3 id="hyperparameters-tuning-in-practice-pandas-vs-caviar">Hyperparameters tuning in practice: Pandas vs. Caviar</h3>
<p>Tricks on how to <em>organize</em> hyper-param-tuning process. </p>
<p><em>re-test hyperparams occasionally:</em> intuitions get stale, re-evaluate hyperparams every several months. </p>
<p>Two major schools of training </p>
<ul>
<li><strong>Panda approach</strong>: <em>babysitting one model</em> </li>
</ul>
<p>Huge dataset, limited computing resources, can only train one model → babysit the model as it's training. Watch learning curve, try changing hyparams once a day.<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image004.png"/> </p>
<ul>
<li><strong>Caviar approach</strong>: <em>train many models in parallel</em> </li>
</ul>
<p>Have enough computation power.<br/>
Different model/hyperparams being trained at the same time in parallel, pick the best one.<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image005.png"/> </p>
<h2 id="batch-normalization_1">Batch Normalization</h2>
<p><strong>Batch normalization</strong>:<br/>
(in some cases) <em>makes NN much more robust, and DNN much easier to train.</em> </p>
<h3 id="normalizing-activations-in-a-network">Normalizing activations in a network</h3>
<p>In pre-DL: normalize inputs to speedup learning. "make contours round"<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image007.png"/><br/>
In NN: normalize the activation <code>a[l-1]</code> from previous layer could help (in practice, usually normalize <code>z[l-1]</code>.)<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image009.png"/> </p>
<p><strong>BatchNorm algo</strong>:<br/>
intermediate values at each layer: <code>z[l]</code><br/>
→ compute mean & variance<br/>
⇒ get normalized <code>z[l]_normed</code>. (mean=0, std=1)<br/>
→ <strong>trasform</strong> <code>z[l]_normed</code> to <code>z_tilde[l]</code> (mean=<code>beta</code>, std=<code>gamma</code>, <em>beta and gamma are learnable params</em>),<br/>
reason: for hidden units, want to move/stretch the support of hidden inputs, so as to profit from non-linearity of activation function. </p>
<p><img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image011.png"/> </p>
<h3 id="fitting-batch-norm-into-a-neural-network">Fitting Batch Norm into a neural network</h3>
<p>Add batchnorm to NN: replace z[l] to z_tilde[l] at each layer before activation g[l].<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image012.png"/> </p>
<p>Extra params to learn: <code>gamma[l]</code> and <code>beta[l]</code> at each layer. </p>
<p>In practice: no need to implement all details of BN, use DL framework. </p>
<p><strong>No bias term (b) in BN</strong>:<br/>
z[l] = W[l] * a[l-1] + b[l]<br/>
but z[l] will be centered anyway → <code>b[l]</code> is not useful.<br/>
→ <code>b[l]</code> is replaced by <code>beta[l]</code><br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image014.png"/><br/>
Dimension of beta[l], gamma[l]: the same as b[l] ( = n[l] * 1). </p>
<h3 id="why-does-batch-norm-work">Why does Batch Norm work?</h3>
<p><strong>intuition 1</strong>: similar to normalizing input ("make contours round") </p>
<p><strong>intuition 2</strong>: weights in deeper layers are more robust to changes in ealier layer weights.<br/>
i.e. Robost to <em>data distribution changing</em>. ("<strong>covariant shift</strong>") </p>
<p>motivating example:<br/>
cat-classification, <em>trained all with black cats, but applied to colored cats</em>.<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image016.png"/> </p>
<p>For NN, consider the 3rd layer's units:<br/>
input features: a[2],<br/>
if cover the first 2 layers, this is a NN to map from a[2] to y_hat<br/>
⇒ but when weights w[2],b[2] are updated in GD, <em>a[2]'s distribution is always changing</em>.<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image017.png"/><br/>
<strong>intuition</strong>: With BN, a[2] are ensured to <em>always have the same mean/variance</em><br/>
→ "data distribution" is unchanged → later layers can learn more easily, independent of previous layer's weights' change. </p>
<p><strong>intuition 2</strong>: BN as <em>regularization</em><br/>
each minibatch is scaled by mean/var of just that minibatch<br/>
→ <em>add noise</em> to the transformation from z[l] to z_tilde[l].<br/>
⇒ similar to dropout, add noise to each layer's activations.<br/>
therefore BN have (<em>slight</em>) regularization effect (thie regularization effect gets smaller as minibatch size grows).<br/>
(This is an unintended side effect.) </p>
<h3 id="batch-norm-at-test-time">Batch Norm at test time</h3>
<p><em>At training time</em>, z[l] is standarlized <em>over each minibatch</em>.<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image018.png"/><br/>
⇒ But at test time needs to treat examples one at a time.<br/>
→ estimate the value of meu/sigma2<br/>
⇒ using<em> exp-weighted-avg</em> estimator across minibatchs (with beta close to 1 → ~running average).<br/>
at test time, just use the latest value of this exp-weighted-avg estimation as meu/sigma2.<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image019.png"/> </p>
<h2 id="multiclass-classification_1">Multiclass classification</h2>
<h3 id="softmax-regression">Softmax Regression</h3>
<p>So far: only binary classification<br/>
generalize logistic regression to >2 classes ⇒ <em>softmax regression</em>. </p>
<p><code>C</code> = #classes, = #units in output layer<br/>
each component in y_hat is probability of one class, y_hat is normalized.<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image021.png"/> </p>
<p><strong>softmax layer</strong>: </p>
<ul>
<li>z[L] = W[L] * a[l-1] + b[L] — same as before </li>
<li>a[L] = y_hat = g(z[L]) </li>
</ul>
<p>activation function: <em>softmax</em><br/>
take exp(z[L]) --element-wise, and then normalize:<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image023.png"/> </p>
<p>The softmax activation function is unusual because it takes a <em>vector</em> instead of scalar.<br/>
Softmax is generalization of logistic regression: decision boundary of a <em>single-layer (no hidden layer)</em> softmax is also <em>linear</em>:<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image025.png"/> </p>
<h3 id="training-a-softmax-classifier">Training a softmax classifier</h3>
<p><strong>understanding softmax</strong> </p>
<ul>
<li>"softmax" is in contrast to "<em>hardmax</em>": </li>
</ul>
<p>hardmax[i]= 1 if z_i=max else 0.<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image026.png"/> </p>
<ul>
<li>When C = 2, softmax reduces to logistic regression. </li>
</ul>
<p>softmax(C=2) = [logistic-reg(), 1-logistic-reg] </p>
<p><strong>loss function</strong><br/>
recall: loss function in logistic regression<br/>
L(y, y_hat) = -1 * sum( y_i * log yhat_i + (1-y_i) * log(yhat_i) )<br/>
→ want y_hat big when y_i=1, small when y_i=0 </p>
<ul>
<li>training label y: one-hot encoding. </li>
<li>prediciton y_hat: probability vector </li>
</ul>
<p>loss function: </p>
<ul>
<li>if y_k=1, want to make yhat_k big </li>
</ul>
<p><img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image027.png"/><br/>
→ max-likelihood estimation. </p>
<p><strong>GD with softmax</strong><br/>
fwdprop:<br/>
Z[L] --(softmax)--> a[L]=y_hat → L(y_hat, y)<br/>
backprop:<br/>
<em>dZ[L] = y_hat - y</em> </p>
<h2 id="introduction-to-programming-frameworks_1">Introduction to programming frameworks</h2>
<h3 id="deep-learning-frameworks">Deep learning frameworks</h3>
<p><img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image029.png"/> </p>
<h3 id="tensorflow">TensorFlow</h3>
<p>motivating problem: minimize cost function <code>J(w) = (w-5)^2</code> </p>
<ul>
<li><code>import tensorflow as tf</code> </li>
<li>
<p>define <em>parameter</em> to optimize:<br/>
<code>w = tf.Variable(0, dtype=tf.float32)</code> </p>
</li>
<li>
<p>define cost function:<br/>
<code>cost = tf.add(tf.add(w**2), tf.multiply(-10., w)), 25) # w^2 - 10w + 25
# also possible to use tf-reloaded operators:
cost = w**2 - 10 * w + 25</code></p>
</li>
<li>
<p>tells tf to minimize the cost with GD optimizer: </p>
</li>
</ul>
<p><code>train = tf.train.GradientDescentOptimizer(0.01).minimize(cost)</code><br/>
till now the <em>computation graph</em> is defined → backward derivatives are auto-computed.<br/>
<img alt="" class="img-responsive" src="../images/Ng_DLMooc_c2wk3/pasted_image030.png"/> </p>
<ul>
<li>start the training </li>
</ul>
<p>Quite idiomatic process:<br/>
initialize vars → create session → run operations in session </p>
<div class="highlight"><pre><span class="code-line"><span></span><span class="err">init = tf.global_variables_initializer() </span></span>
<span class="code-line"><span class="err">session = tf.Session() </span></span>
<span class="code-line"><span class="err">session.run(init) </span></span>
<span class="code-line"><span class="err">session.run(train) # run 1 iteration of training</span></span>
</pre></div>
<p>alternative format: </p>
<div class="highlight"><pre><span class="code-line"><span></span><span class="err">with tf.Session() as session: </span></span>
<span class="code-line"><span class="err"> session.run(init) </span></span>
<span class="code-line"><span class="err"> session.run(train)</span></span>
</pre></div>
<ul>
<li>To inspect the value of a parameter: <code>print(session.run(w))</code> </li>
<li>
<p>Run 1000 iters of GD: </p>
<p><code>for i in range(1000):
session.run(train)</code></p>
</li>
</ul>
<p><strong>Let loss function depends on training data:</strong> </p>
<ul>
<li>
<p>define training data as <em>placer holder</em>.<br/>
a placerholder is a variable whose value will be assigned later.<br/>
<code>x = tf.placeholder(tf.float32, [3,1])
cost = x[0][0] * w**2 + x[1][0] * w + x[2][0]</code></p>
</li>
<li>
<p>feed actual data value to placerholder: use <em>feed_dict</em> in session.run() </p>
<p><code>data = np.array([1., -10., 25.]).reshape((3,1)
session.run(train, feed_dict={x: data})</code></p>
</li>
</ul>
</div>
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<div id="toc"><ul><li><a class="toc-href" href="#hyperparameter-parameters" title="Hyperparameter parameters">Hyperparameter parameters</a><ul><li><a class="toc-href" href="#tuning-process" title="Tuning process">Tuning process</a></li><li><a class="toc-href" href="#using-an-appropriate-scale-to-pick-hyperparameters" title="Using an appropriate scale to pick hyperparameters">Using an appropriate scale to pick hyperparameters</a></li><li><a class="toc-href" href="#hyperparameters-tuning-in-practice-pandas-vs-caviar" title="Hyperparameters tuning in practice: Pandas vs. Caviar">Hyperparameters tuning in practice: Pandas vs. Caviar</a></li></ul></li><li><a class="toc-href" href="#batch-normalization_1" title="Batch Normalization">Batch Normalization</a><ul><li><a class="toc-href" href="#normalizing-activations-in-a-network" title="Normalizing activations in a network">Normalizing activations in a network</a></li><li><a class="toc-href" href="#fitting-batch-norm-into-a-neural-network" title="Fitting Batch Norm into a neural network">Fitting Batch Norm into a neural network</a></li><li><a class="toc-href" href="#why-does-batch-norm-work" title="Why does Batch Norm work?">Why does Batch Norm work?</a></li><li><a class="toc-href" href="#batch-norm-at-test-time" title="Batch Norm at test time">Batch Norm at test time</a></li></ul></li><li><a class="toc-href" href="#multiclass-classification_1" title="Multiclass classification">Multiclass classification</a><ul><li><a class="toc-href" href="#softmax-regression" title="Softmax Regression">Softmax Regression</a></li><li><a class="toc-href" href="#training-a-softmax-classifier" title="Training a softmax classifier">Training a softmax classifier</a></li></ul></li><li><a class="toc-href" href="#introduction-to-programming-frameworks_1" title="Introduction to programming frameworks">Introduction to programming frameworks</a><ul><li><a class="toc-href" href="#deep-learning-frameworks" title="Deep learning frameworks">Deep learning frameworks</a></li><li><a class="toc-href" href="#tensorflow" title="TensorFlow">TensorFlow</a></li></ul></li></ul></div>
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