symm-learning 0.2.7

Torch modules and utilities of equivariant/invariant learning

Symmetric Learning

Lightweight python package for doing geometric deep learning using ESCNN. This package simply holds:

• Generic equivariant torch models and modules that are not present in ESCNN.
• Linear algebra utilities when working with symmetric vector spaces.
• Statistics utilities for symmetric random variables.

Installation

pip install symm-learning
# or
git clone https://github.com/Danfoa/symmetric_learning
cd symmetric_learning
pip install -e .

Structure

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Linear Algebra

• lstsq: Symmetry-aware computation of the least-squares solution to a linear system of equations with symmetric input-output data.
• invariant_orthogonal_projector: Computes the orthogonal projection to the invariant subspace of a symmetric vector space.

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Statistics

• var_mean: Symmetry-aware computation of the variance and mean of a symmetric random variable.
• cov: Symmetry-aware computation of the covariance / cross-covariance of two symmetric random variables.

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Models

• iMLP: Invariant MLP for learning invariant functions.
• eMLP: Equivariant MLP for learning equivariant functions.

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Torch Modules

Change2DisentangledBasis

Module for changing the basis of a tensor to a disentangled / isotypic basis.

IrrepSubspaceNormPooling

Module for extracting invariant features from a geometric tensor, giving one feature per irreducible subspace/representation.%

eConv1D

Equivariant 1D convolutional layer for processing an array of multiple symmetric signals (e.g., a time series of a symmetric random variable). Given the feature spaces $\mathcal{X}$ and $\mathcal{Y}$, this layer takes an array of symmetric signals $x \in \mathcal{X}$ of shape $(\text{batch size}, |\mathcal{X}|, \text{H})$ and outputs an array of symmetric signals $y \in \mathcal{Y}$ of shape $(\text{batch size}, |\mathcal{Y}|, \text{H}_ {\text{out}})$, where $\text{H}$ is the 1D/time-dimension of the input signals and $\text{H}_ {\text{out}}$ is the resulting 1D dimension after the convolution operation (see torch.nn.Conv1D for details).

To use it follow the example below:

>>>    from escnn.group import DihedralGroup
>>>    from escnn.nn import FieldType
>>>    from symm_learning.nn import eConv1D, GSpace1D
>>>    G = DihedralGroup(10)
>>>    # Custom (hacky) 1D G-space needed to use `GeometricTensor`
>>>    gspace = GSpace1D(G) # Note G does not act on points in the 1D space.
>>>    in_type = FieldType(gspace, [G.regular_representation])
>>>    out_type = FieldType(gspace, [G.regular_representation] * 2)
>>>
>>>    H, kernel_size, batch_size = 10, 3, 5
>>>    # Inputs to Conv1D/eConv1D are of shape (B, in_type.size, T) where B is the batch size, C is the number of channels and T is the time dimension.
>>>    x = in_type(torch.randn(batch_size, in_type.size, H))
>>>    # Instance of eConv1D
>>>    conv_layer = eConv1D(in_type, out_type, kernel_size=3, stride=1, padding=0, bias=True)
>>>    # Forward pass
>>>    y = conv_layer(x)  # (B, out_type.size, H_out)
>>>    # After training you can export this `EquivariantModule` to a `torch.nn.Module` by:
>>>    conv1D = conv_layer.export()

EquivMultivariateNormal

Utility layer to parameterize a G-equivariant multivariate Gaussian/Normal distribution:

\begin{aligned}
y &\sim \mathcal{N} \bigl(\mu(x), \Sigma(x)\bigr)& \\
\text{s.t.}
&\rho_Y(g)\mu(x) = \mu \bigl(\rho_X(g)\cdot x\bigr) \\
&\rho_Y(g)\Sigma(x)\rho_Y(g)^{\top} = \Sigma\bigl(\rho_X(g)\cdot x\bigr),
\quad \forall\, g \in G.
\end{aligned}

Such that the conditional probability distribution of y given x is $\mathbb{G}$-invariant to the simultaneous group action on $\mathcal{X}$ and $\mathcal{Y}$:

$$ P(y \mid x) = P(\rho_Y(g) y \mid \rho_X(g) x) \quad \forall g \in \mathbb{G}. $$

This means that if you want to parameterize a $\mathbb{G}$-equivariant stochastic function $y = f(x)$ using neural networks, you can use any backbone architecture whose output are the input parameters of a EquivMultivariateNormal distribution, as shown below:

from escnn.group import CyclicGroup
from escnn.nn import FieldType
from symm_learning.models import EMLP
from symm_learning.nn import EquivMultivariateNormal

G = CyclicGroup(3)
x_type = FieldType(escnn.gspaces.no_base_space(G), representations=[G.regular_representation])
y_type = FieldType(escnn.gspaces.no_base_space(G), representations=[G.regular_representation] * 1)
# Instanciate the output equivariant multivariate normal distribution in order to get the NN output type
e_normal = EquivMultivariateNormal(y_type, diagonal=True)
# Instanciate your NN model to output the parameters of the distribution
nn = EMLP(in_type=x_type, out_type=e_normal.in_type)
# Sample from the distribution
x = x_type(torch.randn(10, x_type.size))
z = nn(x) # (B, dim_y + n_dof_cov)
dist = e_normal.get_distribution(z) # instance of  torch.distributions.MultivariateNormal
y = dist.sample()  # (B, n)

Here, $z$ is a (batch_size, dim_y + n_dof_cov) input tensor with the first dim_y entries defining the mean of the distribution $\mu(x)$ and the next n_dof_cov entries define the free degrees of freedom from the symmetry constrained covariance matrix. See below