A simple wrapper for scipy.optimize.minimize using JAX. UPDATE: This is obsolete now that `jax.scipy.optimize.minimize` is exists!

jax_minimize_wrapper.py

"""
A collection of helper functions for optimization with JAX. 

UPDATE: This is obsolete now that `jax.scipy.optimize.minimize` is exists!
"""
import numpy as onp
import scipy.optimize
from jax import grad, jit
from jax.tree_util import tree_flatten, tree_unflatten
from jax.flatten_util import ravel_pytree
from itertools import count


def minimize(fun, x0, 
             method=None,
             args=(), 
             bounds=None, 
             constraints=(), 
             tol=None,
             callback=None, 
             options=None):
    """
    A simple wrapper for scipy.optimize.minimize using JAX.
    
    Args: 
        fun: The objective function to be minimized, written in JAX code
        so that it is automatically differentiable.  It is of type,
            ```fun: x, *args -> float```
        where `x` is a PyTree and args is a tuple of the fixed parameters needed 
        to completely specify the function.  
            
        x0: Initial guess represented as a JAX PyTree.
            
        args: tuple, optional. Extra arguments passed to the objective function 
        and its derivative.  Must consist of valid JAX types; e.g. the leaves
        of the PyTree must be floats.
        
        _The remainder of the keyword arguments are inherited from 
        `scipy.optimize.minimize`, and their descriptions are copied here for
        convenience._
        
        method : str or callable, optional
        Type of solver.  Should be one of
            - 'Nelder-Mead' :ref:`(see here) <optimize.minimize-neldermead>`
            - 'Powell'      :ref:`(see here) <optimize.minimize-powell>`
            - 'CG'          :ref:`(see here) <optimize.minimize-cg>`
            - 'BFGS'        :ref:`(see here) <optimize.minimize-bfgs>`
            - 'Newton-CG'   :ref:`(see here) <optimize.minimize-newtoncg>`
            - 'L-BFGS-B'    :ref:`(see here) <optimize.minimize-lbfgsb>`
            - 'TNC'         :ref:`(see here) <optimize.minimize-tnc>`
            - 'COBYLA'      :ref:`(see here) <optimize.minimize-cobyla>`
            - 'SLSQP'       :ref:`(see here) <optimize.minimize-slsqp>`
            - 'trust-constr':ref:`(see here) <optimize.minimize-trustconstr>`
            - 'dogleg'      :ref:`(see here) <optimize.minimize-dogleg>`
            - 'trust-ncg'   :ref:`(see here) <optimize.minimize-trustncg>`
            - 'trust-exact' :ref:`(see here) <optimize.minimize-trustexact>`
            - 'trust-krylov' :ref:`(see here) <optimize.minimize-trustkrylov>`
            - custom - a callable object (added in version 0.14.0),
              see below for description.
        If not given, chosen to be one of ``BFGS``, ``L-BFGS-B``, ``SLSQP``,
        depending if the problem has constraints or bounds.
                
        bounds : sequence or `Bounds`, optional
            Bounds on variables for L-BFGS-B, TNC, SLSQP, Powell, and
            trust-constr methods. There are two ways to specify the bounds:
                1. Instance of `Bounds` class.
                2. Sequence of ``(min, max)`` pairs for each element in `x`. None
                is used to specify no bound.
            Note that in order to use `bounds` you will need to manually flatten
            them in the same order as your inputs `x0`.
            
        constraints : {Constraint, dict} or List of {Constraint, dict}, optional
            Constraints definition (only for COBYLA, SLSQP and trust-constr).
            Constraints for 'trust-constr' are defined as a single object or a
            list of objects specifying constraints to the optimization problem.
            Available constraints are:
                - `LinearConstraint`
                - `NonlinearConstraint`
            Constraints for COBYLA, SLSQP are defined as a list of dictionaries.
            Each dictionary with fields:
                type : str
                    Constraint type: 'eq' for equality, 'ineq' for inequality.
                fun : callable
                    The function defining the constraint.
                jac : callable, optional
                    The Jacobian of `fun` (only for SLSQP).
                args : sequence, optional
                    Extra arguments to be passed to the function and Jacobian.
            Equality constraint means that the constraint function result is to
            be zero whereas inequality means that it is to be non-negative.
            Note that COBYLA only supports inequality constraints.
            
            Note that in order to use `constraints` you will need to manually flatten
            them in the same order as your inputs `x0`.
            
        tol : float, optional
            Tolerance for termination. For detailed control, use solver-specific
            options.
            
        options : dict, optional
            A dictionary of solver options. All methods accept the following
            generic options:
                maxiter : int
                    Maximum number of iterations to perform. Depending on the
                    method each iteration may use several function evaluations.
                disp : bool
                    Set to True to print convergence messages.
            For method-specific options, see :func:`show_options()`.
            
        callback : callable, optional
            Called after each iteration. For 'trust-constr' it is a callable with
            the signature:
                ``callback(xk, OptimizeResult state) -> bool``
            where ``xk`` is the current parameter vector represented as a PyTree,
             and ``state`` is an `OptimizeResult` object, with the same fields
            as the ones from the return. If callback returns True the algorithm 
            execution is terminated.
            
            For all the other methods, the signature is:
                ```callback(xk)```
            where `xk` is the current parameter vector, represented as a PyTree.
            
    Returns:
        res : The optimization result represented as a ``OptimizeResult`` object.
        Important attributes are: 
            ``x``: the solution array, represented as a JAX PyTree 
            ``success``: a Boolean flag indicating if the optimizer exited successfully
            ``message``: describes the cause of the termination. 
        See `scipy.optimize.OptimizeResult` for a description of other attributes.
        
    """
    # Use tree flatten and unflatten to convert params x0 from PyTrees to flat arrays
    x0_flat, unravel = ravel_pytree(x0)
    
    # Wrap the objective function to consume flat _original_ 
    # numpy arrays and produce scalar outputs.
    def fun_wrapper(x_flat, *args):
        x = unravel(x_flat)
        return float(fun(x, *args))
    
    # Wrap the gradient in a similar manner
    jac = jit(grad(fun))
    def jac_wrapper(x_flat, *args):
        x = unravel(x_flat)
        g_flat, _ = ravel_pytree(jac(x, *args))
        return onp.array(g_flat)
    
    # Wrap the callback to consume a pytree
    def callback_wrapper(x_flat, *args):
        if callback is not None:
            x = unravel(x_flat)
            return callback(x, *args)
    
    # Minimize with scipy
    results = scipy.optimize.minimize(fun_wrapper, 
                                      x0_flat, 
                                      args=args,
                                      method=method,
                                      jac=jac_wrapper, 
                                      callback=callback_wrapper, 
                                      bounds=bounds, 
                                      constraints=constraints, 
                                      tol=tol,
                                      options=options)
    
    # pack the output back into a PyTree
    results["x"] = unravel(results["x"])
    return results

Hi Slinderman, Thanks for the wrapper. I would like to ask if there is a way to make the code vmappable? Currently I can use vmap on jax.scipy.optimize.minimize. However the downside is that it only supports the BFGS algorithm. Also, the scipy minimize wrapper in jaxopt is not vmappable. When I run the code below, I get the jax conversion error.

def do_minimize(p, x, y, z, lb, ub, smf):
    return minimize(cost_fun, p, args = (x, y, z, lb, ub, smf) , method = 'TNC', tol=1e-12,  options = {'maxiter':20000})

sol = jax.vmap(do_minimize)(par_log, F, Y, sigma_Y, lb_mat, ub_mat, smoothing_mat)

    154     # Minimize with scipy
# --> 155     results = scipy.optimize.minimize(fun_wrapper, 
#     156                                       x0_flat,
#     157                                       args=args,

# ~/anaconda3/envs/simulation/lib/python3.10/site-packages/scipy/optimize/_minimize.py in minimize(fun, x0, args, method, jac, hess, hessp, bounds, constraints, tol, callback, options)
#     494 
# ...
#               4.3169071 , 4.3169071 ],
#              [2.67476726, 2.67476726, 2.67476726, ..., 4.3169071 ,
#               4.3169071 , 4.3169071 ]], dtype=float64)
#   batch_dim = 0
# See https://jax.readthedocs.io/en/latest/errors.html#jax.errors.TracerArrayConversionError

I just realized that using 'list(map(func, *args)' instead of vmap works well.

Hi, I wanted to check if there's a similar wrapper for linprog? Thank you!

I would like to know if there will be a benefit of also JIT-ing the objective fun?

Context: Methods like Nelder-Mead do not use the jac.