Flow Matching in 100 LOC

flow_matching.py

#!/usr/bin/env python

import math
import matplotlib.pyplot as plt
import torch
import torch.nn as nn

from sklearn.datasets import make_moons
from torch import Tensor
from tqdm import tqdm
from typing import *
from zuko.utils import odeint


def log_normal(x: Tensor) -> Tensor:
    return -(x.square() + math.log(2 * math.pi)).sum(dim=-1) / 2


class MLP(nn.Sequential):
    def __init__(
        self,
        in_features: int,
        out_features: int,
        hidden_features: List[int] = [64, 64],
    ):
        layers = []

        for a, b in zip(
            (in_features, *hidden_features),
            (*hidden_features, out_features),
        ):
            layers.extend([nn.Linear(a, b), nn.ELU()])

        super().__init__(*layers[:-1])


class CNF(nn.Module):
    def __init__(self, features: int, freqs: int = 3, **kwargs):
        super().__init__()

        self.net = MLP(2 * freqs + features, features, **kwargs)

        self.register_buffer('freqs', torch.arange(1, freqs + 1) * torch.pi)

    def forward(self, t: Tensor, x: Tensor) -> Tensor:
        t = self.freqs * t[..., None]
        t = torch.cat((t.cos(), t.sin()), dim=-1)
        t = t.expand(*x.shape[:-1], -1)

        return self.net(torch.cat((t, x), dim=-1))

    def encode(self, x: Tensor) -> Tensor:
        return odeint(self, x, 0.0, 1.0, phi=self.parameters())

    def decode(self, z: Tensor) -> Tensor:
        return odeint(self, z, 1.0, 0.0, phi=self.parameters())

    def log_prob(self, x: Tensor) -> Tensor:
        I = torch.eye(x.shape[-1], dtype=x.dtype, device=x.device)
        I = I.expand(*x.shape, x.shape[-1]).movedim(-1, 0)

        def augmented(t: Tensor, x: Tensor, ladj: Tensor) -> Tensor:
            with torch.enable_grad():
                x = x.requires_grad_()
                dx = self(t, x)

            jacobian = torch.autograd.grad(dx, x, I, create_graph=True, is_grads_batched=True)[0]
            trace = torch.einsum('i...i', jacobian)

            return dx, trace * 1e-2

        ladj = torch.zeros_like(x[..., 0])
        z, ladj = odeint(augmented, (x, ladj), 0.0, 1.0, phi=self.parameters())

        return log_normal(z) + ladj * 1e2


class FlowMatchingLoss(nn.Module):
    def __init__(self, v: nn.Module):
        super().__init__()

        self.v = v

    def forward(self, x: Tensor) -> Tensor:
        t = torch.rand_like(x[..., 0, None])
        z = torch.randn_like(x)
        y = (1 - t) * x + (1e-4 + (1 - 1e-4) * t) * z
        u = (1 - 1e-4) * z - x

        return (self.v(t.squeeze(-1), y) - u).square().mean()


if __name__ == '__main__':
    flow = CNF(2, hidden_features=[64] * 3)

    # Training
    loss = FlowMatchingLoss(flow)
    optimizer = torch.optim.Adam(flow.parameters(), lr=1e-3)

    data, _ = make_moons(16384, noise=0.05)
    data = torch.from_numpy(data).float()

    for epoch in tqdm(range(16384), ncols=88):
        subset = torch.randint(0, len(data), (256,))
        x = data[subset]

        loss(x).backward()

        optimizer.step()
        optimizer.zero_grad()

    # Sampling
    with torch.no_grad():
        z = torch.randn(16384, 2)
        x = flow.decode(z)

    plt.figure(figsize=(4.8, 4.8), dpi=150)
    plt.hist2d(*x.T, bins=64)
    plt.savefig('moons_fm.pdf')

    # Log-likelihood
    with torch.no_grad():
        log_p = flow.log_prob(data[:4])

    print(log_p)

I'm looking at the log_prob function. For e.g. an image dataset this is quite expensive. Is it reasonable to treat pixels as independent predictions in this case? and only compute the jacobian per pixel?

Hi @jenkspt, yes this operation is indeed expensive. Instead of computing the Jacobian, it is common to use the (unbiased) Hutchinson trace estimator instead. I have not implemented this here, but I can point you to an implementation if you want.

Note that computing the Jacobian "per-pixel" is the same as computing the diagonal of the Jacobian, which would be enough to compute the trace, but I don't think there is an algorithm to do that cheaply.

To demystify odeint for people new to ODEs like myself, I tried to implement a simple forward Euler version. It seems to generate a similar moon plot at the end but I couldn't figure out how to make it work with log_prob.

def odeint(
    f: Callable[[Tensor, Tensor], Tensor],
    x: Tensor,
    t0: float,
    t1: float,
    phi: Iterable[Tensor] = (),
    dt: float = 0.01,
):
    # Initialize time and state
    t = torch.tensor(t0, dtype=torch.float32)
    t_final = torch.tensor(t1, dtype=torch.float32)
    state = x

    # Calculate number of steps needed
    n_steps = int(abs((t_final - t) / dt))
    dt = torch.sign(t_final - t) * dt
    
    # Integrate using forward Euler method
    for t in torch.linspace(t, t_final, n_steps)[1:]:
        dx = f(t, state)
        state = state + dt * dx

    return state

Hi @AlienKevin. If you want your odeint to work with log_prob, you will need to pack x and ladj as a single tensor representing the state of the ODE and unpack it inside the function to integrate.

For example, if you want to integrate a function $f$ that takes $x_1$ and $x_2$ and returns $\dot{x}_1$ and $\dot{x}_2$:

s1, s2 = x1.shape, x2.shape
n1, n2 = x1.numel(), x2.numel()

def g(t, x):
    x1, x2 = x[:n1].reshape(s1), x[n1:].reshape(s2)
    dx1, dx2 = f(t, x1, x2)
    return torch.cat((dx1.flatten(), dx2.flatten()))

x = torch.cat((x1.flatten(), x2.flatten()))

y = odeint(g, x, ...)  # instead of odeint(f, (x1, x2), ...) 

Got it, thanks!

is common to use the (unbiased) Hutchinson trace estimator instead. I have not implemented this here, but I can point you to an implementation if you want

Yes I'm interested!