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Betty: an automatic differentiation library for generalized meta-learning and multilevel optimization

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<p align="center">
  <a href="https://leopard-ai.github.io/betty/">
    <img src="https://raw.githubusercontent.com/leopard-ai/betty/main/docs/_static/imgs/logo.svg" alt="" width="40%" align="top">
  </a>
</p>
<p align="center">
  An automatic differentiation library for generalized meta-learning and multilevel optimization<br>
  <a href="https://leopard-ai.github.io/betty/">Docs</a> |
  <a href="https://leopard-ai.github.io/betty/tutorial/basic/basic.html">Tutorials</a> |
  <a href="https://github.com/leopard-ai/betty/tree/main/examples">Examples</a> |
  <a href="https://openreview.net/pdf?id=LV_MeMS38Q9">Paper</a> |
  <a href="https://github.com/leopard-ai/betty#citation">Citation</a> |
  <a href="https://www.casl-project.ai/">CASL</a>
</p>

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```bash
pip install betty-ml
```

## Update

**[Sep 22 2023]** "SAMA: Making Scalable Meta Learning Practical" got accepted at [NeurIPS 2023](https://openreview.net/forum?id=LV_MeMS38Q9)!

**[Jan 21 2023]** Betty got accepted as a *notable-top-5% (oral)* paper at [ICLR 2023](https://openreview.net/forum?id=LV_MeMS38Q9)!

**[Jan 12 2023]** We release *Betty v0.2* with new distributed training support for meta-learning! Currently
available features are:

- Distributed Data Parallel [(DDP)](https://pytorch.org/tutorials/intermediate/ddp_tutorial.html)
- ZeRO Redundancy Optimizer [(ZeRO)](https://pytorch.org/tutorials/recipes/zero_redundancy_optimizer.html)
- *(experimental)* Fully Sharded Data Parallel [(FSDP)](https://pytorch.org/tutorials/intermediate/FSDP_tutorial.html)

You can now easily scale up meta-learning (or even meta-meta-learning) with one-liner change!

- **Example**: [Meta-Weight-Net with RoBERTa](examples/bert_data_reweighting/)
- **Tutorial**: [link](https://leopard-ai.github.io/betty/tutorial/intermediate/intermediate_distributed.html)

## Introduction

Betty is a [PyTorch](https://pytorch.org) library for generalized meta-learning (GML)
and multilevel optimization (MLO) that allows a **simple** and **modular**
programming interface for a number of **large-scale** applications including
[meta-learning](examples/implicit_maml/),
[hyperparameter optimization](examples/logistic_regression_hpo/),
[neural architecture search](examples/neural_architecture_search/),
[data reweighting](examples/learning_to_reweight/), and many more.

With Betty, users simply need to do two things to implement any GML/MLO programs:

1. Define each level's optimization problem using the [Problem](#problem) class.
2. Define the hierarchical problem structure using the [Engine](#engine) class.

## Quick Start

### Problem

#### Basics

Each level problem can be defined with seven components: (1) module, (2) optimizer, (3)
data loader, (4) loss function, (5) problem configuration, (6) name, and (7) other
optional components (e.g.  learning rate scheduler). The loss function (4) can be
defined via the `training_step` method, while all other components can be provided
through the class constructor. For example, an image classification problem can be
defined as follows:

```python
from betty.problems import ImplicitProblem
from betty.configs import Config

# set up module, optimizer, data loader (i.e. (1)-(3))
cls_module, cls_optimizer, cls_data_loader = setup_classification()

class Classifier(ImplicitProblem):
    # set up loss function
    def training_step(self, batch):
        inputs, labels = batch
        outputs = self.module(inputs)
        loss = F.cross_entropy(outputs, labels)

return loss

# set up problem configuration
cls_config = Config(type='darts', unroll_steps=1, log_step=100)

# Classifier problem class instantiation
cls_prob = Classifier(name='classifier',
                      module=cls_module,
                      optimizer=cls_optimizer,
                      train_data_loader=cls_data_loader,
                      config=cls_config)
```

#### Interactions between problems

In GML/MLO, each problem will often need to access modules from other problems to
define its loss function. This can be achieved by using the `name` attribute as
follows:

```python
class HPO(ImplicitProblem):
    def training_step(self, batch):
        # set up hyperparameter optimization loss
        ...

# HPO problem class instantiation
hpo_prob = HPO(name='hpo', module=...)

class Classifier(ImplicitProblem):
    def training_step(self, batch):
        inputs, labels = batch
        outputs = self.module(inputs)
        loss = F.cross_entropy(outputs, labels)
        
        """
        accessing weight decay hyperparameter from another
        problem HPO can be achieved by its name 'hpo'
        """
        weight_decay = self.hpo()
        reg_loss = weight_decay * sum(
            [p.norm().pow(2) for p in self.module.parameters()]
        )
        
        return loss + reg_loss

cls_prob = Classifier(name='classifier', module=...)
```

### Engine

#### Basics

The `Engine` class handles the hierarchical dependencies between problems. In GML/MLO,
there are two types of dependencies: upper-to-lower (`u2l`) and lower-to-upper (`l2u`).
Both types of dependencies can be defined with a Python dictionary, where the key is
the starting node and the value is the list of destination nodes.

```python
from betty import Engine
from betty.configs import EngineConfig

# set up all involved problems
problems = [cls_prob, hpo_prob]

# set up upper-to-lower and lower-to-upper dependencies
u2l = {hpo_prob: [cls_prob]}
l2u = {cls_prob: [hpo_prob]}
dependencies = {'u2l': u2l, 'l2u': l2u}

# set up Engine configuration
engine_config = EngineConfig(train_iters=10000, valid_step=100)

# instantiate Engine class
engine = Engine(problems=problems,
                dependencies=dependencies,
                config=engine_config)

# execute multilevel optimization
engine.run()
```

Since `Engine` manages the whole GML/MLO program, you can also perform a global validation
stage within it. All problems that comprise the GML/MLO program can again be accessed with
their names.

```python
class HPOEngine(Engine):
    # set up global validation
    @torch.no_grad()
    def validation(self):
        loss = 0
        for inputs, labels in test_loader:
            outputs = self.classifer(inputs)
            loss += F.cross_entropy(outputs, targets)
            
        # Returned dict will be automatically logged after each validation
        return {'loss': loss}
...
engine = HPOEngine(problems=problems,
                   dependencies=dependencies,
                   config=engine_config)
engine.run()
```

Once we define all optimization problems and the hierarchical dependencies between them
with, respectively, the `Problem` class and the `Engine` class, all complicated internal
mechanisms of GML/MLO such as gradient calculation and optimization execution order will
be handled by Betty. For more details and advanced features, users can check out our
[Documentation](https://leopard-ai.github.io/betty/) and
[Tutorials](https://leopard-ai.github.io/betty/tutorial/basic/basic.html).

Happy multilevel optimization programming!

## Applications

We provide reference implementations of several GML/MLO applications, including:

- [Hyperparameter Optimization](examples/logistic_regression_hpo/)
- [Neural Architecture Search](examples/neural_architecture_search/)
- [Data Reweighting](examples/learning_to_reweight/)
- [Domain Adaptation for Pretraining & Finetuning](examples/learning_by_ignoring/)
- [(Implicit) Model-Agnostic Meta-Learning](examples/implicit_maml)

While each of the above examples traditionally has a distinct implementation style, note
that our implementations share the same code structure thanks to Betty. More examples
are on the way!

## Features

### Gradient Approximation Methods

- Implicit Differentiation
  - Finite Difference (or T1-T2) ([DARTS: Differentiable Architecture Search](https://arxiv.org/abs/1806.09055))
  - Neumann Series ([Optimizing Millions of Hyperparameters by Implicit Differentiation](http://proceedings.mlr.press/v108/lorraine20a/lorraine20a.pdf))
  - Conjugate Gradient ([Meta-Learning with Implicit Gradients](https://proceedings.neurips.cc/paper/2019/file/072b030ba126b2f4b2374f342be9ed44-Paper.pdf))
- Iterative Differentiation
  - Reverse-mode Automatic Differentiation ([Model-Agnostic Meta-Learning (MAML)](https://arxiv.org/abs/1703.03400))

### Training

- Gradient accumulation
- FP16/BF16 training
- Distributed data-parallel training
- Gradient clipping

### Logging

- [(PyTorch) TensorBoard](https://pytorch.org/docs/stable/tensorboard.html)
- [wandb](https://github.com/wandb/client)

## Contributing

We welcome contributions from the community! Please see our [contributing
guidelines](CONTRIBUTING.md) for details on how to contribute to Betty.

## Citation

If you use Betty in your research, please cite [our
paper](https://arxiv.org/abs/2207.02849) with the following Bibtex entry.

```
@inproceedings{
choe2023betty,
title={Betty: An Automatic Differentiation Library for Multilevel Optimization},
author={Sang Keun Choe and Willie Neiswanger and Pengtao Xie and Eric Xing},
booktitle={The Eleventh International Conference on Learning Representations },
year={2023},
url={https://openreview.net/forum?id=LV_MeMS38Q9}
}
```

## License

Betty is licensed under the [Apache 2.0 License](LICENSE).

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