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Online learning of long-range dependencies

This is the code base that acompanies the paper:

Online learning of long-range dependencies
Nicolas Zucchet*, Robert Meier*, Simon Schug*, Asier Mujika and João Sacramento
NeurIPS 2023

Please cite the paper if you use this code base!

It provides a JAX/Flax implementation of an efficient real-time recurrent learning algorithm that performs competitively compared to offline backpropagation-through-time (BPTT) on tasks capturing the ability to learn long-range dependencies. It mostly use the Linear Recurrent Unit (LRU) of Orvieto et al., 2023 under the hood.

At a high level, the algorithm combines the sensitivities of Real-Time Recurrent Learning (RTRL) with instantaneous error signals that are computed with spatial backpropagation. Crucially, the LRU features an independent recurrent mechanisms which significantly simplifies the calculation of RTRL sensitivities. More details can be found in the paper and the algorithm is summarized in the Figure below (right panel).

Summary

Visual summary of the LRU architecture on the left and of the algorithm on the right. We use h to denote hidden states and e for RTRL sensitivities.

Requirements & installation

To requiremlents are listed in requirements.txt. The GPU installation of JAX can be tricky; further instructions are available on how to install it here. PyTorch also needs to be installed separately because of interference issues with jax: install the CPU version of pytorch from this page. Installation order matters, please install torch and other packages first, and later Flax and JAX.

NOTE: During the development process, several Flax updates broke our code base. We thus recommend to be particularly careful to use the Flax version indicated in the requirements file.

Data Download

Downloading the raw data differs for each dataset. The following datasets require no action:

  • Text (IMDb)
  • Image (Cifar black & white)
  • sMNIST
  • psMNIST
  • Cifar (Color)

The remaining datasets need to be manually downloaded. To download everything, run ./bin/download_all.sh. This will download quite a lot of data and will take some time. Below is a summary of the steps for each dataset:

  • ListOps: run ./bin/download_lra.sh to download the full LRA dataset.
  • Retrieval (AAN): run ./bin/download_aan.sh
  • Pathfinder: run ./bin/download_lra.sh to download the full LRA dataset.
  • Path-X: run ./bin/download_lra.sh to download the full LRA dataset.

Structure of the repository

We extended our minimal LRU to include online learning rules, as well as additional recurrent architectures that we use as baselines. It thus has the same structure and we recommend anyone interested in the LRU architecture to have a look at this repo.

The repo is structured as follows:

online-lru/            Source code for models, datasets, etc.
    dataloaders/       Code mainly derived from S4 processing each dataset.
    dataloading.py     Dataloading functions.
    rec.py             Defines the recurrent modules (LRU / RNN / GRU). Custom learning rules are defined there.
    layers.py          Wraps recurrent module with feedforward processing (MLPs/GLUs/norm...).
    seq_model.py       The final model is defined here.
    train.py           Training loop code.
    train_helpers.py   Functions for optimization, training and evaluation steps.
    log_helpers.py     Functions for logging.
    utils/             A range of utility functions.
tests/                 Tests to check that different learning rules don't crash and, if possible, output the desired gradient.
experiments/           Sweep files to generate the results of the paper experiments.
figures/               Additional figures for the readme.
bin/                   Shell scripts for downloading data.
requirements.txt       Requirements for running the code.
run_train.py           Training loop entrypoint.

Directories that may be created dynamically:

raw_datasets/          Raw data as downloaded.
cache_dir/             Precompiled caches of data. Can be copied to new locations to avoid preprocessing.
wandb/                 Local WandB log files.

Learning rules

The following five algorithms are implemented in the repo:

  • our learning rule, online_full (requires the LRU architecture, or at least one with independent recurrent modules).

  • spatial backpropagation, online_spat.

  • 1-step truncated backpropagation, online_truncated.

  • SnAp-1, online_snap.

  • backpropagation-through-time, bptt.

Recurrent architectures

We include implementations of the previous algorithms for the LRU, linear RNN and the GRU recurrent layers.

How to reproduce our experiments?

We ran experiments on the copy task, as well as on the sCIFAR, IMDB, and ListOps tasks of the Long Range Arena benchmark.

We provide the WandB sweep files we used to produce the different experiments we run:

  • For panels A and B of Figure 2, we used experiments/figure2_AB.yaml and used the results to generate the plot.

  • For panels C and D of Figure 2, we used experiments/figure2_CD.yaml and used the results to generate the plot.

  • For panels E and F of Figure 2, we performed an hyperparameter scan using experiments/figure2_EF.yaml, selected the best learning rate, and rerun 10 seeds with the best learning rate for each method.

  • For Table 1, we used the different hyperparameter scans experiments/table1_[METHOD].yaml and ran 3 seeds for each best config.

  • For Table 2, we used the different hyperparameter scans experiments/table2_[DATASET].yaml and ran 3 seeds for each best config.

  • For Table 3, we used the hyperparameter scan experiments/table3.yaml and ran 3 seeds for each best config.

NOTE: To learn with our learning rule/SnAp1, we sometimes had to split batches into smaller pieces (and aggregate gradients) to fit everything into the memory of GPUs with 24GB of memory. We indicate how big the split was in the sweep files.

Useful resources

The LRU paper:

Resurrecting Recurrent Neural Networks for Long Sequences
Antonio Orvieto, Samuel L Smith, Albert Gu, Anushan Fernando, Caglar Gulcehre, Razvan Pascanu, Soham De
ICML, 2023
arXiv

The original S4 paper, that originated the line of research on deep state space models, which later lead to the LRU:

Efficiently Modeling Long Sequences with Structured State Spaces
Albert Gu, Karan Goel, and Christopher Ré
ICLR 2022
arXiv | GitHub

The S5 paper, that makes S4 faster by making the recurrent connections diagonal, and whose code base serves as basis for this repository:

Simplified state space layers for sequence modeling
Jimmy T.H. Smith, Andrew Warrington, Scott W. Linderman
ICLR 2023
arXiv | GitHub

A very nice blog post to catch up with the recent research on deep state space models / RNNs:

RNNs strike back
Adrian Valente
blog post