openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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from tinygrad import Tensor, dtypes
from tinygrad.nn.optim import Optimizer
from extra.lr_scheduler import LR_Scheduler
# https://github.com/mlcommons/training/blob/e237206991d10449d9675d95606459a3cb6c21ad/image_classification/tensorflow2/lars_util.py
class PolynomialDecayWithWarmup(LR_Scheduler):
def __init__(self, optimizer: Optimizer, initial_lr, end_lr, train_steps, warmup, power=2):
super().__init__(optimizer)
self.epoch_counter = self.epoch_counter.cast(dtypes.float32)
assert train_steps > 0 and warmup > 0
self.warmup = min(warmup, train_steps)
self.initial_lr, self.end_lr, self.epochs, self.power = initial_lr, end_lr, train_steps, power
# set lr for first warmup step
self.optimizer.lr.assign(self.get_lr()).realize()
def get_lr(self):
# LR is 0 on the first step, matching the reference.
warmup_lr = (self.epoch_counter * (1.0 / self.warmup)) * self.initial_lr
x = (1 - (self.epoch_counter - self.warmup) / (self.epochs - self.warmup + 1))
return (self.epoch_counter <= self.warmup).where(warmup_lr, (self.initial_lr - self.end_lr) * x ** self.power + self.end_lr).cast(self.optimizer.lr.dtype)