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Knowledge Distillation

Introduction of model compression methods

In recent years, deep neural networks have been proven to be an extremely effective method to solve problems in the fields of computer vision and natural language processing. The deep learning methods performs better than traditional methods with suitable network structure and training process.

With enough training data, increasing parameters of the neural network by building a reasonabe network can significantly the model performance. But this increases the model complexity, which takes too much computation cost in real scenarios.

Parameter redundancy exists in deep neural networks. There are several methods to compress the model such as pruning ,quantization, knowledge distillation, etc. Knowledge distillation refers to using the teacher model to guide the student model to learn specific tasks, ensuring that the small model has a relatively large effect improvement with the computation cost unchanged, and even obtains similar accuracy with the large model [1]. Combining some of the existing distillation methods [2,3], PaddleClas provides a simple semi-supervised label knowledge distillation solution (SSLD). Top-1 Accuarcy on ImageNet1k dataset has an improvement of more than 3% based on ResNet_vd and MobileNet series, which can be shown as below.

SSLD

Introduction

The following figure shows the framework of SSLD.

First, we select nearly 4 million images from ImageNet22k dataset, and integrate it with the ImageNet-1k training set to get a new dataset containing 5 million images. Then, we combine the student model and the teacher model into a new network, which outputs the predictions of the student model and the teacher model, respectively. The gradient of the entire network of the teacher model is fixed. Finally, we use JS divergence loss as the loss function for the training process. Here we take MobileNetV3 distillation task as an example, and introduce key points of SSLD.

  • Choice of the teacher model, During knowledge distillation, it may not be an optimal solution if the structure of the teacher model and the student model are too different. Under the same structure, the teacher model with higher accuracy leads to better performance for the student model during distillation. Compared with the 79.12% ResNet50_vd teacher model, using the 82.4% teacher model can bring a 0.4% accuracy improvement on Top-1 accuracy (75.6%-> 76.0%).

  • Improvement of loss function. The most commonly used loss function for classification is cross entropy loss. We find that when using soft label for training, KL divergence loss is almost useless to improve model performance compared to cross entropy loss, but The accuracy has a 0.2% improvement using JS divergence loss (76.0%-> 76.2%). Loss function in SSLD is JS divergence loss.

  • More iteration number. It is only 120 for the baseline experiment. We can achieve a 0.9% improvement by setting it as 360 (76.2%-> 77.1%).

  • There is not need for laleled data in SSLD, which leads to convenient training data expansion. label is not utilized when computing the loss function, therefore the unlabeled data can also be used to train the network. The label-free distillation strategy of this distillation solution has also greatly improved the upper performance limit of student models (77.1%-> 78.5%).

  • ImageNet1k finetune. ImageNet1k training set is used for finetuning, which brings a 0.4% accuracy improvement (78.5%-> 78.9%).

Data selection

  • An important feature of the SSLD distillation scheme is no need for labeled images, so the dataset size can be arbitrarily expanded. Considering the limitation of computing resources, we here only expand the training set of the distillation task based on the ImageNet22k dataset. For SSLD, we used the Top-k per class data sampling scheme [3]. Specific steps are as follows.      * Deduplication of training set. We first deduplicate the ImageNet22k dataset and the ImageNet1k validation set based on the SIFT feature similarity matching method to prevent the added ImageNet22k training set from containing the ImageNet1k validation set images. Finally we removed 4511 similar images. Similar pictures with partial filtering are shown below.

    • Obtain the soft label of the ImageNet22k dataset. For the ImageNet22k dataset after deduplication, we use the ResNeXt101_32x16d_wsl model to make predictions to obtain the soft label of each image.      * Top-k data selection. There contains 1000 categories in ImageNet1k dataset. For each category, we find out images in the category with Top-k highest score, and finally generate a dataset whose image number does not exceed 1000 * k (For some categories, there may contain less than k images).      * The selected images are merged with the ImageNet1k training set to form the new dataset used for the final distillation model training, which contains 5 million images in all.

Experiments

The distillation solution that PaddleClas provides is combining common training with finetuning. Given a suitable teacher model, the large dataset(5 million) is used for common training and the ImageNet1k dataset is used for finetuning.

Choice of teacher model

In order to verify the influence of the model size difference between the teacher model and the student model on the distillation results as well as the teacher model accuracy, we conducted several experiments. The training strategy is unified as follows: cosine_decay_warmup, lr = 1.3, epoch = 120, bs = 2048, and the student models are all trained from scratch.

Teacher Model Teacher Top1 Student Model Student Top1
ResNeXt101_32x16d_wsl 84.2% MobileNetV3_large_x1_0 75.78%
ResNet50_vd 79.12% MobileNetV3_large_x1_0 75.60%
ResNet50_vd 82.35% MobileNetV3_large_x1_0 76.00%

It can be shown from the table that:

When the teacher model structure is the same, the higher the teacher model accuracy, the better the final student model will be.

The size difference between the teacher model and the student model should not be too large, otherwise it will decrease the accuracy of the distillation results.

Therefore, during distillation, for the ResNet series student model, we use ResNeXt101_32x16d_wsl as the teacher model; for the MobileNet series student model, we use ResNet50_vd_SSLD as the teacher model.

Distillation using large-scale dataset

Training process is carried out on the large-scale dataset with 5 million images. Specifically, the following table shows more details of different models.

Student Model num_epoch l2_ecay batch size/gpu cards base lr learning rate decay top1 acc
MobileNetV1 360 3e-5 4096/8 1.6 cosine_decay_warmup 77.65%
MobileNetV2 360 1e-5 3072/8 0.54 cosine_decay_warmup 76.34%
MobileNetV3_large_x1_0 360 1e-5 5760/24 3.65625 cosine_decay_warmup 78.54%
MobileNetV3_small_x1_0 360 1e-5 5760/24 3.65625 cosine_decay_warmup 70.11%
ResNet50_vd 360 7e-5 1024/32 0.4 cosine_decay_warmup 82.07%
ResNet101_vd 360 7e-5 1024/32 0.4 cosine_decay_warmup 83.41%
Res2Net200_vd_26w_4s 360 4e-5 1024/32 0.4 cosine_decay_warmup 84.82%

finetuning using ImageNet1k

Finetuning is carried out on ImageNet1k dataset to restore distribution between training set and test set. the following table shows more details of finetuning.

Student Model num_epoch l2_ecay batch size/gpu cards base lr learning rate decay top1 acc
MobileNetV1 30 3e-5 4096/8 0.016 cosine_decay_warmup 77.89%
MobileNetV2 30 1e-5 3072/8 0.0054 cosine_decay_warmup 76.73%
MobileNetV3_large_x1_0 30 1e-5 2048/8 0.008 cosine_decay_warmup 78.96%
MobileNetV3_small_x1_0 30 1e-5 6400/32 0.025 cosine_decay_warmup 71.28%
ResNet50_vd 60 7e-5 1024/32 0.004 cosine_decay_warmup 82.39%
ResNet101_vd 30 7e-5 1024/32 0.004 cosine_decay_warmup 83.73%
Res2Net200_vd_26w_4s 360 4e-5 1024/32 0.004 cosine_decay_warmup 85.13%

Data agmentation and Fix strategy

  • Based on experiments mentioned above, we add AutoAugment [4] during training process, and reduced l2_decay from 4e-5 t 2e-5. Finally, the Top-1 accuracy on ImageNet1k dataset can reach 82.99%, with 0.6% improvement compared to the standard SSLD distillation strategy.

  • For image classsification tasks, The model accuracy can be further improved when the test scale is 1.15 times that of training[5]. For the 82.99% ResNet50_vd pretrained model, it comes to 83.7% using 320x320 for the evaluation. We use Fix strategy to finetune the model with the training scale set as 320x320. During the process, the pre-preocessing pipeline is same for both training and test. All the weights except the fully connected layer are freezed. Finally the top-1 accuracy comes to 84.0%.

Some phenomena during the experiment

In the prediction process, the average value and variance of the batch norm are obtained by loading the pretrained model (set its mode as test mode). In the training process, batch norm is obtained by counting the information of the current batch (set its mode as train mode) and calculating the moving average with the historical saved information. In the distillation task, we found that through the train mode, In the distillation task, we found that the real-time change of the bn parameter of the teacher model to guide the student model is better than the student model obtained through the test mode distillation. The following is a set of experimental results. Therefore, in this distillation scheme, we use train mode to get the soft label of the teacher model.

Teacher Model Teacher Top1 Student Model Student Top1
ResNet50_vd 82.35% MobileNetV3_large_x1_0 76.00%
ResNet50_vd 82.35% MobileNetV3_large_x1_0 75.84%

Application of the distillation model

Instructions

  • Adjust the learning rate of the middle layer. The middle layer feature map of the model obtained by distillation is more refined. Therefore, when the distillation model is used as the pretrained model in other tasks, if the same learning rate as before is adopted, it is easy to destroy the features. If the learning rate of the overall model training is reduced, it will bring about the problem of slow convergence. Therefore, we use the strategy of adjusting the learning rate of the middle layer. specifically:     * For ResNet50_vd, we set up a learning rate list. The three conv2d convolution parameters before the resiual block have a uniform learning rate multiple, and the four resiual block conv2d have theirs own learning rate parameters, respectively. 5 values need to be set in the list. By the experiment, we find that when used for transfer learning finetune classification model, the learning rate list with [0.1,0.1,0.2,0.2,0.3] performs better in most tasks; while in the object detection tasks, [0.05, 0.05, 0.05, 0.1, 0.15] can bring greater accuracy gains.     * For MoblileNetV3_large_x1_0, because it contains 15 blocks, we set each 3 blocks to share a learning rate, so 5 learning rate values are required. We find that in classification and detection tasks, the learning rate list with [0.25, 0.25, 0.5, 0.5, 0.75] performs better in most tasks.
  • Appropriate l2 decay. Different l2 decay values are set for different models during training. In order to prevent overfitting, l2 decay is ofen set as large for large models. L2 decay is set as 1e-4 for ResNet50, and 1e-5 ~ 4e-5 for MobileNet series models. L2 decay needs also to be adjusted when applied in other tasks. Taking Faster_RCNN_MobiletNetV3_FPN as an example, we found that only modifying l2 decay can bring up to 0.5% accuracy (mAP) improvement on the COCO2017 dataset.

Transfer learning

  • To verify the effect of the SSLD pretrained model in transfer learning, we carried out experiments on 10 small datasets. Here, in order to ensure the comparability of the experiment, we use the standard preprocessing process trained by the ImageNet1k dataset. For the distillation model, we also add a simple search method for the learning rate of the middle layers of the distillation pretrained model.
  • For ResNet50_vd, the baseline pretrained model Top-1 Acc is 79.12%, the other parameters are got by grid search. For distillation pretrained model, we add learning rate of the middle layers into the search space. The following table shows the results.
Dataset Model Baseline Top1 Acc Distillation Model Finetune
Oxford102 flowers ResNete50_vd 97.18% 97.41%
caltech-101 ResNete50_vd 92.57% 93.21%
Oxford-IIIT-Pets ResNete50_vd 94.30% 94.76%
DTD ResNete50_vd 76.48% 77.71%
fgvc-aircraft-2013b ResNete50_vd 88.98% 90.00%
Stanford-Cars ResNete50_vd 92.65% 92.76%
SUN397 ResNete50_vd 64.02% 68.36%
cifar100 ResNete50_vd 86.50% 87.58%
cifar10 ResNete50_vd 97.72% 97.94%
Food-101 ResNete50_vd 89.58% 89.99%
  • It can be seen that on the above 10 datasets, combined with the appropriate middle layer learning rate, the distillation pretrained model can bring an average accuracy improvement of more than 1%.

Object detection

Based on the two-stage Faster/Cascade RCNN model, we verify the effect of the pretrained model obtained by distillation.

  • ResNet50_vd

Training scale and test scale are set as 640x640, and some of the ablationstudies are as follows.

Model train/test scale pretrain top1 acc feature map lr coco mAP
Faster RCNN R50_vd FPN 640/640 79.12% [1.0,1.0,1.0,1.0,1.0] 34.8%
Faster RCNN R50_vd FPN 640/640 79.12% [0.05,0.05,0.1,0.1,0.15] 34.3%
Faster RCNN R50_vd FPN 640/640 82.18% [0.05,0.05,0.1,0.1,0.15] 36.3%

It can be seen here that for the baseline pretrained model, excessive adjustment of the middle-layer learning rate actually reduces the performance of the detection model. Based on this distillation model, we also provide a practical server-side detection solution. The detailed configuration and training code are open source, more details can be refer to [PaddleDetection] (https://github.com/PaddlePaddle/PaddleDetection/tree/master/configs/rcnn_enhance).

Practice

This section will introduce the SSLD distillation experiments in detail based on the ImageNet-1K dataset. If you want to experience this method quickly, you can refer to [** Quick start PaddleClas in 30 minutes**] (../../tutorials/quick_start_en.md), whose dataset is set as Flowers102.

Configuration

Distill MobileNetV3_small_x1_0 using MobileNetV3_large_x1_0

An example of SSLD distillation is provided here. The configuration file of MobileNetV3_large_x1_0 distilling MobileNetV3_small_x1_0 is provided in ppcls/configs/ImageNet/Distillation/mv3_large_x1_0_distill_mv3_small_x1_0.yaml, and the user can directly replace the path of the configuration file in tools/train.sh to use it.

Configuration of distilling MobileNetV3_large_x1_0 using MobileNetV3_small_x1_0 is as follows.

Arch:
  name: "DistillationModel"
  # if not null, its lengths should be same as models
  pretrained_list:
  # if not null, its lengths should be same as models
  freeze_params_list:
  - True
  - False
  models:
    - Teacher:
        name: MobileNetV3_large_x1_0
        pretrained: True
        use_ssld: True
    - Student:
        name: MobileNetV3_small_x1_0
        pretrained: False

  infer_model_name: "Student"

In configuration file, the freeze_params_list needs to specify whether the model needs to freeze the parameters, the models needs to specify the teacher model and the student model, and the teacher model needs to load the pretrained model. The user can directly change the model here.

Begin to train the network

If everything is ready, users can begin to train the network using the following command.

python -m paddle.distributed.launch \
    --selected_gpus="0,1,2,3" \
    --log_dir=mv3_large_x1_0_distill_mv3_small_x1_0 \
    tools/train.py \
        -c ./ppcls/configs/ImageNet/Distillation/mv3_large_x1_0_distill_mv3_small_x1_0.yaml

Note

  • Before using SSLD, users need to train a teacher model on the target dataset firstly. The teacher model is used to guide the training of the student model.

  • If the student model is not loaded with a pretrained model, the other hyperparameters of the training can refer to the hyperparameters trained by the student model on ImageNet-1k. If the student model is loaded with the pre-trained model, the learning rate can be adjusted to 1/100~1/10 of the standard learning rate.

  • In the process of SSLD distillation, the student model only learns the soft label, which makes the training process more difficult. It is recommended that the value of l2_decay can be decreased appropriately to obtain higher accuracy of the validation set.

  • If users are going to add unlabeled training data, just the training list textfile needs to be adjusted for more data.

If this document is helpful to you, welcome to star our project: https://github.com/PaddlePaddle/PaddleClas

Reference

[1] Hinton G, Vinyals O, Dean J. Distilling the knowledge in a neural network[J]. arXiv preprint arXiv:1503.02531, 2015.

[2] Bagherinezhad H, Horton M, Rastegari M, et al. Label refinery: Improving imagenet classification through label progression[J]. arXiv preprint arXiv:1805.02641, 2018.

[3] Yalniz I Z, Jégou H, Chen K, et al. Billion-scale semi-supervised learning for image classification[J]. arXiv preprint arXiv:1905.00546, 2019.

[4] Cubuk E D, Zoph B, Mane D, et al. Autoaugment: Learning augmentation strategies from data[C]//Proceedings of the IEEE conference on computer vision and pattern recognition. 2019: 113-123.

[5] Touvron H, Vedaldi A, Douze M, et al. Fixing the train-test resolution discrepancy[C]//Advances in Neural Information Processing Systems. 2019: 8250-8260.