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Experiment Tracking

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Managing and tracking ML experiments and runs.
Goku Mohandas
· ·
Repository · Notebook

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Intuition

So far, we've been training and evaluating our different baselines but haven't really been tracking these experiments. We'll fix this but defining a proper process for experiment tracking which we'll use for all future experiments (including hyperparameter optimization). Experiment tracking is the processing of managing all the different experiments and their components, such as parameters, metrics, models and other artifacts and it enables us to:

  • Organize all the necessary components of a specific experiment. It's important to have everything in one place and know where it is so you can use them later.
  • Reproduce past results (easily) using saved experiments.
  • Log iterative improvements across time, data, ideas, teams, etc.

Tools

There are many options for experiment tracking but we're going to use MLFlow (100% free and open-source) because it has all the functionality we'll need (and growing integration support). We can run MLFlow on our own servers and databases so there are no storage cost / limitations, making it one of the most popular options and is used by Microsoft, Facebook, Databricks and others. You can also set up your own Tracking servers to synchronize runs amongst multiple team members collaborating on the same task.

There are also several popular options such as a Comet ML (Used by Google AI, HuggingFace, etc.) and Weights and Biases (Used by Open AI, Toyota Research, etc.). These are fantastic tools that provide features like dashboards, seamless integration, hyperparameter search, reports and even debugging!

Note

Many platforms are leveraging their position as the source for experiment data to provide features that extend into other parts of the ML development pipeline such as versioning, debugging, monitoring, etc.

Application

We'll start by initializing all the required arguments for our experiment. 

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from argparse import Namespace
import mlflow
from pathlib import Path

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# Specify arguments
params = Namespace(
    char_level=True,
    filter_sizes=list(range(1, 11)),
    batch_size=64,
    embedding_dim=128,
    num_filters=128,
    hidden_dim=128,
    dropout_p=0.5,
    lr=2e-4,
    num_epochs=200,
    patience=10,
)

Note

When we move to Python scripts, we'll use the Typer package instead of argparse for a better CLI experience.

Next, we'll set up our model registry where all the experiments and their respective runs will be stored. We'll load trained models from this registry as well using specific run IDs. 

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# Model registry
MODEL_REGISTRY = Path(STORES_DIR, "model")
MODEL_REGISTRY.mkdir(parents=True, exist_ok=True)
mlflow.set_tracking_uri("file://" + str(MODEL_REGISTRY.absolute()))

Note

When we're collaborating with other team members, this model registry will live on the cloud with some added authentication. Members from our team can connect to it (like above) to save and load trained models. If you don't want to set up and maintain a model registry, this is where platforms like Comet ML, Weights and Biases and others offload a lot of technical components.

Training

Next, we're going to modify our Trainer object so that we can log the metrics from each epoch. The only addition are these lines: 

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class Trainer(object):
    ...
    def train(self, ...):
        ...
        # Tracking
        mlflow.log_metrics(
            {"train_loss": train_loss, "val_loss": val_loss}, step=epoch
        )
        ...

Code for complete Trainer class
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# Trainer (modified for experiment tracking)
class Trainer(object):
    def __init__(self, model, device, loss_fn=None,
                optimizer=None, scheduler=None):

        # Set params
        self.model = model
        self.device = device
        self.loss_fn = loss_fn
        self.optimizer = optimizer
        self.scheduler = scheduler

    def train_step(self, dataloader):
        """Train step."""
        # Set model to train mode
        self.model.train()
        loss = 0.0

        # Iterate over train batches
        for i, batch in enumerate(dataloader):
            # Step
            batch = [item.to(self.device) for item in batch]
            inputs, targets = batch[:-1], batch[-1]
            self.optimizer.zero_grad()  # Reset gradients
            z = self.model(inputs)  # Forward pass
            J = self.loss_fn(z, targets)  # Define loss
            J.backward()  # Backward pass
            self.optimizer.step()  # Update weights

            # Cumulative Metrics
            loss += (J.detach().item() - loss) / (i + 1)

        return loss

    def eval_step(self, dataloader):
        """Validation or test step."""
        # Set model to eval mode
        self.model.eval()
        loss = 0.0
        y_trues, y_probs = [], []

        # Iterate over val batches
        with torch.no_grad():
            for i, batch in enumerate(dataloader):

                # Step
                batch = [item.to(self.device) for item in batch]  # Set device
                inputs, y_true = batch[:-1], batch[-1]
                z = self.model(inputs)  # Forward pass
                J = self.loss_fn(z, y_true).item()

                # Cumulative Metrics
                loss += (J - loss) / (i + 1)

                # Store outputs
                y_prob = torch.sigmoid(z).cpu().numpy()
                y_probs.extend(y_prob)
                y_trues.extend(y_true.cpu().numpy())

        return loss, np.vstack(y_trues), np.vstack(y_probs)

    def predict_step(self, dataloader):
        """Prediction step."""
        # Set model to eval mode
        self.model.eval()
        y_probs = []

        # Iterate over val batches
        with torch.no_grad():
            for i, batch in enumerate(dataloader):

                # Forward pass w/ inputs
                inputs, targets = batch[:-1], batch[-1]
                y_prob = self.model(inputs)

                # Store outputs
                y_probs.extend(y_prob)

        return np.vstack(y_probs)

    def train(self, num_epochs, patience, train_dataloader, val_dataloader):
        best_val_loss = np.inf
        for epoch in range(num_epochs):
            # Steps
            train_loss = self.train_step(dataloader=train_dataloader)
            val_loss, _, _ = self.eval_step(dataloader=val_dataloader)
            self.scheduler.step(val_loss)

            # Early stopping
            if val_loss < best_val_loss:
                best_val_loss = val_loss
                best_model = self.model
                _patience = patience  # reset _patience
            else:
                _patience -= 1
            if not _patience:  # 0
                print("Stopping early!")
                break

            # Tracking
            mlflow.log_metrics(
                {"train_loss": train_loss, "val_loss": val_loss}, step=epoch
            )

            # Logging
            print(
                f"Epoch: {epoch+1} | "
                f"train_loss: {train_loss:.5f}, "
                f"val_loss: {val_loss:.5f}, "
                f"lr: {self.optimizer.param_groups[0]['lr']:.2E}, "
                f"_patience: {_patience}"
            )

        return best_model, best_val_loss

And to make things simple, we'll encapsulate all the components for training into one function called train_cnn which returns all the artifacts we want to be able to track from our experiment. 

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def train_cnn(params, df):
    """Train a CNN using specific arguments."""
    ...
    return {
        "params": params,
        "tokenizer": tokenizer,
        "label_encoder": label_encoder,
        "model": best_model,
        "performance": performance,
        "best_val_loss": best_val_loss,
    }

The input argument paramscontains all the parameters needed and it's nice to have it all organized under one variable so we can easily log it and tweak it for different experiments (we'll see this when we do hyperparameter optimization).

Code for complete train_cnn function
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def train_cnn(params, df):
    """Train a CNN using specific arguments."""

    # Set seeds
    set_seeds()

    # Get data splits
    preprocessed_df = df.copy()
    preprocessed_df.text = preprocessed_df.text.apply(preprocess, lower=True)
    X_train, X_val, X_test, y_train, y_val, y_test, label_encoder = get_data_splits(preprocessed_df)
    X_test_raw = X_test
    num_classes = len(label_encoder)

    # Set device
    cuda = True
    device = torch.device('cuda' if (
        torch.cuda.is_available() and cuda) else 'cpu')
    torch.set_default_tensor_type('torch.FloatTensor')
    if device.type == 'cuda':
        torch.set_default_tensor_type('torch.cuda.FloatTensor')

    # Tokenize
    tokenizer = Tokenizer(char_level=params.char_level)
    tokenizer.fit_on_texts(texts=X_train)
    vocab_size = len(tokenizer)

    # Convert texts to sequences of indices
    X_train = np.array(tokenizer.texts_to_sequences(X_train))
    X_val = np.array(tokenizer.texts_to_sequences(X_val))
    X_test = np.array(tokenizer.texts_to_sequences(X_test))

    # Class weights
    counts = np.bincount([label_encoder.class_to_index[class_] for class_ in all_tags])
    class_weights = {i: 1.0/count for i, count in enumerate(counts)}

    # Create datasets
    train_dataset = CNNTextDataset(
        X=X_train, y=y_train, max_filter_size=max(params.filter_sizes))
    val_dataset = CNNTextDataset(
        X=X_val, y=y_val, max_filter_size=max(params.filter_sizes))
    test_dataset = CNNTextDataset(
        X=X_test, y=y_test, max_filter_size=max(params.filter_sizes))

    # Create dataloaders
    train_dataloader = train_dataset.create_dataloader(
        batch_size=params.batch_size)
    val_dataloader = val_dataset.create_dataloader(
        batch_size=params.batch_size)
    test_dataloader = test_dataset.create_dataloader(
        batch_size=params.batch_size)

    # Initialize model
    model = CNN(
        embedding_dim=params.embedding_dim, vocab_size=vocab_size,
        num_filters=params.num_filters, filter_sizes=params.filter_sizes,
        hidden_dim=params.hidden_dim, dropout_p=params.dropout_p,
        num_classes=num_classes)
    model = model.to(device)

    # Define loss
    class_weights_tensor = torch.Tensor(np.array(list(class_weights.values())))
    loss_fn = nn.BCEWithLogitsLoss(weight=class_weights_tensor)

    # Define optimizer & scheduler
    optimizer = torch.optim.Adam(model.parameters(), lr=params.lr)
    scheduler = torch.optim.lr_scheduler.ReduceLROnPlateau(
        optimizer, mode='min', factor=0.1, patience=5)

    # Trainer module
    trainer = Trainer(
        model=model, device=device, loss_fn=loss_fn,
        optimizer=optimizer, scheduler=scheduler)

    # Train
    best_model, best_val_loss = trainer.train(
        params.num_epochs, params.patience, train_dataloader, val_dataloader)

    # Best threshold for f1
    train_loss, y_true, y_prob = trainer.eval_step(dataloader=train_dataloader)
    precisions, recalls, thresholds = precision_recall_curve(y_true.ravel(), y_prob.ravel())
    threshold = find_best_threshold(y_true.ravel(), y_prob.ravel())

    # Determine predictions using threshold
    test_loss, y_true, y_prob = trainer.eval_step(dataloader=test_dataloader)
    y_pred = np.array([np.where(prob >= threshold, 1, 0) for prob in y_prob])

    # Evaluate
    performance = get_metrics(
        y_true=y_test, y_pred=y_pred, classes=label_encoder.classes)

    return {
        "params": params,
        "tokenizer": tokenizer,
        "label_encoder": label_encoder,
        "model": best_model,
        "performance": performance,
        "best_val_loss": best_val_loss,
    }

Tracking

With MLFlow we need to first initialize an experiment and then you can do runs under that experiment.

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import tempfile

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# Set experiment
mlflow.set_experiment(experiment_name="baselines")


INFO: 'baselines' does not exist. Creating a new experiment


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def save_dict(d, filepath, cls=None, sortkeys=False):
    with open(filepath, "w") as fp:
        json.dump(d, indent=2, fp=fp, cls=cls, sort_keys=sortkeys)

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# Tracking
with mlflow.start_run(run_name="cnn") as run:

    # Train & evaluate
    artifacts = train_cnn(params=params, df=df)

    # Log key metrics
    mlflow.log_metrics({"precision": artifacts["performance"]["overall"]["precision"]})
    mlflow.log_metrics({"recall": artifacts["performance"]["overall"]["recall"]})
    mlflow.log_metrics({"f1": artifacts["performance"]["overall"]["f1"]})

    # Log artifacts
    with tempfile.TemporaryDirectory() as dp:
        save_dict(vars(artifacts["params"]), Path(dp, "params.json"))
        save_dict(performance, Path(dp, "performance.json"))
        artifacts["tokenizer"].save(Path(dp, "tokenizer.json"))
        artifacts["label_encoder"].save(Path(dp, "label_encoder.json"))
        torch.save(artifacts["model"].state_dict(), Path(dp, "model.pt"))
        mlflow.log_artifacts(dp)

    # Log parameters
    mlflow.log_params(vars(artifacts["params"]))


Epoch: 1 | train_loss: 0.00539, val_loss: 0.00301, lr: 2.00E-04, _patience: 10
Epoch: 2 | train_loss: 0.00393, val_loss: 0.00281, lr: 2.00E-04, _patience: 10
Epoch: 3 | train_loss: 0.00345, val_loss: 0.00264, lr: 2.00E-04, _patience: 10
Epoch: 4 | train_loss: 0.00324, val_loss: 0.00259, lr: 2.00E-04, _patience: 10
...
Epoch: 41 | train_loss: 0.00076, val_loss: 0.00158, lr: 2.00E-05, _patience: 4
Epoch: 42 | train_loss: 0.00070, val_loss: 0.00149, lr: 2.00E-05, _patience: 3
Epoch: 43 | train_loss: 0.00068, val_loss: 0.00153, lr: 2.00E-05, _patience: 2
Epoch: 44 | train_loss: 0.00067, val_loss: 0.00149, lr: 2.00E-05, _patience: 1
Stopping early!

Viewing

Let's view what we've tracked from our experiment. MLFlow serves a dashboard for us to view and explore our experiments on a localhost port but since we're inside a notebook, we're going to use public tunnel (ngrok) to view it.

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from pyngrok import ngrok

Note

You may need to rerun the cell below multiple times if the connection times out it is overloaded.

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# https://stackoverflow.com/questions/61615818/setting-up-mlflow-on-google-colab
get_ipython().system_raw("mlflow server -h 0.0.0.0 -p 5000 --backend-store-uri $PWD/mlruns/ &")
ngrok.kill()
ngrok.set_auth_token("")
ngrok_tunnel = ngrok.connect(addr="5000", proto="http", bind_tls=True)
print("MLflow Tracking UI:", ngrok_tunnel.public_url)

MLflow Tracking UI: https://476803694c2e.ngrok.io

MLFlow creates a main dashboard with all your experiments and their respective runs. You can sort runs by clicking on the column headers.

mlflow dashboard

We can click on any of our experiments on the main dashboard to further explore it:

mlflow dashboard
mlflow dashboard
mlflow dashboard

Loading

We need to be able to load our saved experiment artifacts for inference, retraining, etc. 

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def load_dict(filepath):
    """Load a dict from a json file."""
    with open(filepath, "r") as fp:
        d = json.load(fp)
    return d

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# Load components
client = mlflow.tracking.MlflowClient()
experiment_id = mlflow.get_experiment_by_name("baselines").experiment_id
all_runs = mlflow.search_runs(experiment_ids=experiment_id, order_by=["metrics.f1 DESC"])
print (all_runs)


                             run_id  ... tags.mlflow.runName
0  db54fa3bc6b945f7b7f814843551df36  ...                 cnn

[1 rows x 25 columns]

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# Best run
device = torch.device("cpu")
best_run_id = all_runs.iloc[0].run_id
best_run = mlflow.get_run(run_id=best_run_id)
with tempfile.TemporaryDirectory() as dp:
    client.download_artifacts(run_id=best_run_id, path="", dst_path=dp)
    tokenizer = Tokenizer.load(fp=Path(dp, "tokenizer.json"))
    label_encoder = LabelEncoder.load(fp=Path(dp, "label_encoder.json"))
    model_state = torch.load(Path(dp, "model.pt"), map_location=device)
    performance = load_dict(filepath=Path(dp, "performance.json"))

Note

We can also load a specific run's model artifacts, by using it's run ID, directly from the model registry without having to save them to a temporary directory. 

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artifact_uri = mlflow.get_run(run_id=run_id).info.artifact_uri.split("file://")[-1]
params = Namespace(**utils.load_dict(filepath=Path(artifact_uri, "params.json")))
label_encoder = data.MultiLabelLabelEncoder.load(fp=Path(artifact_uri, "label_encoder.json"))
tokenizer = data.Tokenizer.load(fp=Path(artifact_uri, "tokenizer.json"))
model_state = torch.load(Path(artifact_uri, "model.pt"), map_location=device)
performance = utils.load_dict(filepath=Path(artifact_uri, "performance.json"))


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print (json.dumps(performance["overall"], indent=2))

{
  "precision": 0.8332201275597738,
  "recall": 0.5110345795419687,
  "f1": 0.6072536294437475,
  "num_samples": 480.0
}

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# Load artifacts
device = torch.device("cpu")
model = CNN(
    embedding_dim=params.embedding_dim, vocab_size=len(tokenizer),
    num_filters=params.num_filters, filter_sizes=params.filter_sizes,
    hidden_dim=params.hidden_dim, dropout_p=params.dropout_p,
    num_classes=len(label_encoder))
model.load_state_dict(model_state)
model.to(device)

CNN(
  (embeddings): Embedding(39, 128, padding_idx=0)
  (conv): ModuleList(
    (0): Conv1d(128, 128, kernel_size=(1,), stride=(1,))
    (1): Conv1d(128, 128, kernel_size=(2,), stride=(1,))
    (2): Conv1d(128, 128, kernel_size=(3,), stride=(1,))
    (3): Conv1d(128, 128, kernel_size=(4,), stride=(1,))
    (4): Conv1d(128, 128, kernel_size=(5,), stride=(1,))
    (5): Conv1d(128, 128, kernel_size=(6,), stride=(1,))
    (6): Conv1d(128, 128, kernel_size=(7,), stride=(1,))
    (7): Conv1d(128, 128, kernel_size=(8,), stride=(1,))
    (8): Conv1d(128, 128, kernel_size=(9,), stride=(1,))
    (9): Conv1d(128, 128, kernel_size=(10,), stride=(1,))
  )
  (dropout): Dropout(p=0.5, inplace=False)
  (fc1): Linear(in_features=1280, out_features=128, bias=True)
  (fc2): Linear(in_features=128, out_features=35, bias=True)
)


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# Initialize trainer
trainer = Trainer(model=model, device=device)

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# Dataloader
text = "Transfer learning with BERT for self-supervised learning"
X = np.array(tokenizer.texts_to_sequences([preprocess(text)]))
y_filler = label_encoder.encode([np.array([label_encoder.classes[0]]*len(X))])
dataset = CNNTextDataset(
    X=X, y=y_filler, max_filter_size=max(filter_sizes))
dataloader = dataset.create_dataloader(
    batch_size=batch_size)

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# Inference
y_prob = trainer.predict_step(dataloader)
y_pred = np.array([np.where(prob >= threshold, 1, 0) for prob in y_prob])
label_encoder.decode(y_pred)


[['natural-language-processing',
  'self-supervised-learning',
  'transfer-learning',
  'transformers']]

To cite this lesson, please use:

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@article{madewithml,
    title  = "Experiment Tracking - Made With ML",
    author = "Goku Mohandas",
    url    = "https://madewithml.com/courses/mlops/experiment-tracking/"
    year   = "2021",
}