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feat: use DI for structured Jacobians #470

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Oct 2, 2024
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feat: use DI for structured Jacobians #470

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35d277b
feat: using DI for structured Jacobians
avik-pal Oct 2, 2024
44143ec
docs: add a table to guarantee selections
avik-pal Oct 2, 2024
8fc028b
chore: apply suggestions from code review
avik-pal Oct 2, 2024
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4 changes: 2 additions & 2 deletions Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,6 @@ Setfield = "efcf1570-3423-57d1-acb7-fd33fddbac46"
SimpleNonlinearSolve = "727e6d20-b764-4bd8-a329-72de5adea6c7"
SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
SparseConnectivityTracer = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
SparseDiffTools = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
SparseMatrixColorings = "0a514795-09f3-496d-8182-132a7b665d35"
StaticArraysCore = "1e83bf80-4336-4d27-bf5d-d5a4f845583c"
SymbolicIndexingInterface = "2efcf032-c050-4f8e-a9bb-153293bab1f5"
Expand Down Expand Up @@ -146,6 +145,7 @@ Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
ReTestItems = "817f1d60-ba6b-4fd5-9520-3cf149f6a823"
SIAMFANLEquations = "084e46ad-d928-497d-ad5e-07fa361a48c4"
SparseDiffTools = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
SpeedMapping = "f1835b91-879b-4a3f-a438-e4baacf14412"
StableRNGs = "860ef19b-820b-49d6-a774-d7a799459cd3"
StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
Expand All @@ -155,4 +155,4 @@ Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"

[targets]
test = ["Aqua", "BandedMatrices", "BenchmarkTools", "CUDA", "Enzyme", "ExplicitImports", "FastLevenbergMarquardt", "FixedPointAcceleration", "Hwloc", "InteractiveUtils", "LeastSquaresOptim", "MINPACK", "ModelingToolkit", "NLSolvers", "NLsolve", "NaNMath", "NonlinearProblemLibrary", "OrdinaryDiffEqTsit5", "Pkg", "Random", "ReTestItems", "SIAMFANLEquations", "SpeedMapping", "StableRNGs", "StaticArrays", "Sundials", "Symbolics", "Test", "Zygote"]
test = ["Aqua", "BandedMatrices", "BenchmarkTools", "CUDA", "Enzyme", "ExplicitImports", "FastLevenbergMarquardt", "FixedPointAcceleration", "Hwloc", "InteractiveUtils", "LeastSquaresOptim", "MINPACK", "ModelingToolkit", "NLSolvers", "NLsolve", "NaNMath", "NonlinearProblemLibrary", "OrdinaryDiffEqTsit5", "Pkg", "Random", "ReTestItems", "SIAMFANLEquations", "SparseDiffTools", "SpeedMapping", "StableRNGs", "StaticArrays", "Sundials", "Symbolics", "Test", "Zygote"]
39 changes: 30 additions & 9 deletions docs/src/basics/sparsity_detection.md
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Expand Up @@ -6,6 +6,34 @@ to use this in an actual problem, see

Notation wise we are trying to solve for `x` such that `nlfunc(x) = 0`.

## Big Table for Determining Sparsity Detection and Coloring Algorithms

| `f.sparsity` | `f.jac_prototype` | `f.colorvec` | Sparsity Detection | Coloring Algorithm |
| :------------------------- | :---------------- | :----------- | :----------------------------------------------- | :---------------------------------------- |
| ❌ | ❌ | `Any` | `NoSparsityDetector()` | `NoColoringAlgorithm()` |
| ❌ | Not Structured | `Any` | `NoSparsityDetector()` | `NoColoringAlgorithm()` |
| ❌ | Structured | ✅ | `KnownJacobianSparsityDetector(f.jac_prototype)` | `GreedyColoringAlgorithm(LargestFirst())` |
| ❌ | Structured | ❌ | `KnownJacobianSparsityDetector(f.jac_prototype)` | `GreedyColoringAlgorithm(LargestFirst())` |
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| - | - | - | - | - |
| `AbstractMatrix` | ❌ | ✅ | `KnownJacobianSparsityDetector(f.sparsity)` | `ConstantColoringAlgorithm(f.colorvec)` |
| `AbstractMatrix` | ❌ | ❌ | `KnownJacobianSparsityDetector(f.sparsity)` | `GreedyColoringAlgorithm(LargestFirst())` |
| `AbstractMatrix` | Not Structured | ✅ | `KnownJacobianSparsityDetector(f.sparsity)` | `ConstantColoringAlgorithm(f.colorvec)` |
| `AbstractMatrix` | Not Structured | ❌ | `KnownJacobianSparsityDetector(f.sparsity)` | `GreedyColoringAlgorithm(LargestFirst())` |
| `AbstractMatrix` | Structured | `Any` | 🔴 | 🔴 |
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| - | - | - | - | - |
| `AbstractSparsityDetector` | ❌ | `Any` | `f.sparsity` | `GreedyColoringAlgorithm(LargestFirst())` |
| `AbstractSparsityDetector` | Not Structured | ✅ | `f.sparsity` | `ConstantColoringAlgorithm(f.colorvec)` |
| `AbstractSparsityDetector` | Not Structured | ❌ | `f.sparsity` | `GreedyColoringAlgorithm(LargestFirst())` |
| `AbstractSparsityDetector` | Structured | ✅ | `KnownJacobianSparsityDetector(f.jac_prototype)` | `ConstantColoringAlgorithm(f.colorvec)` |
| `AbstractSparsityDetector` | Structured | ❌ | `KnownJacobianSparsityDetector(f.jac_prototype)` | `GreedyColoringAlgorithm(LargestFirst())` |

1. `Structured` means either a `AbstractSparseMatrix` or `ArrayInterface.isstructured(x)` is true.
2. ❌ means not provided (default)
3. ✅ means provided
4. 🔴 means an error will be thrown
5. Providing a colorvec without specifying either sparsity or jac_prototype with a sparse or structured matrix will cause us to ignore the colorvec.
6. The function calls demonstrated above are simply pseudo-code to show the general idea.
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## Case I: Sparse Jacobian Prototype is Provided

Let's say you have a Sparse Jacobian Prototype `jac_prototype`, in this case you can
Expand All @@ -27,19 +55,12 @@ prob = NonlinearProblem(
If the `colorvec` is not provided, then it is computed on demand.

!!! note

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One thing to be careful about in this case is that `colorvec` is dependent on the
autodiff backend used. `ADTypes.mode(ad) isa ADTypes.ForwardMode` will assume that the
colorvec is the column colorvec, otherwise we will assume that the colorvec is the
row colorvec.

!!! warning

Previously you could provide a `sparsity` argument to `NonlinearFunction` to specify
the jacobian prototype. However, to avoid confusion, this is now deprecated. Instead,
use the `jac_prototype` argument. `sparsity` must be used to exclusively specify the
sparsity detection algorithm.

## Case II: Sparsity Detection algorithm is provided

If you don't have a Sparse Jacobian Prototype, but you know the which sparsity detection
Expand All @@ -59,7 +80,7 @@ for more information on sparsity detection algorithms.
## Case III: Sparse AD Type is being Used

!!! warning

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This is now deprecated. Please use the previous two cases instead.

If you constructed a Nonlinear Solver with a sparse AD type, for example
Expand Down
3 changes: 0 additions & 3 deletions src/NonlinearSolve.jl
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Expand Up @@ -54,9 +54,6 @@ using SciMLJacobianOperators: AbstractJacobianOperator, JacobianOperator, VecJac
## Sparse AD Support
using SparseArrays: AbstractSparseMatrix, SparseMatrixCSC
using SparseConnectivityTracer: TracerSparsityDetector # This can be dropped in the next release
using SparseDiffTools: SparseDiffTools, JacPrototypeSparsityDetection,
PrecomputedJacobianColorvec, init_jacobian, sparse_jacobian,
sparse_jacobian!, sparse_jacobian_cache
using SparseMatrixColorings: ConstantColoringAlgorithm, GreedyColoringAlgorithm,
LargestFirst

Expand Down
140 changes: 37 additions & 103 deletions src/internal/jacobian.jl
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Expand Up @@ -37,7 +37,6 @@ Construct a cache for the Jacobian of `f` w.r.t. `u`.
stats::NLStats
autodiff
di_extras
sdifft_extras
end

function reinit_cache!(cache::JacobianCache{iip}, args...; p = cache.p,
Expand All @@ -63,31 +62,13 @@ function JacobianCache(prob, alg, f::F, fu_, u, p; stats, autodiff = nothing,

if !has_analytic_jac && needs_jac
autodiff = construct_concrete_adtype(f, autodiff)
using_sparsedifftools = autodiff isa StructuredMatrixAutodiff
# SparseMatrixColorings can't handle structured matrices
if using_sparsedifftools
di_extras = nothing
uf = JacobianWrapper{iip}(f, p)
sdifft_extras = if iip
sparse_jacobian_cache(
autodiff.autodiff, autodiff.sparsity_detection, uf, fu, u)
else
sparse_jacobian_cache(autodiff.autodiff, autodiff.sparsity_detection,
uf, __maybe_mutable(u, autodiff); fx = fu)
end
autodiff = autodiff.autodiff # For saving we unwrap
di_extras = if iip
DI.prepare_jacobian(f, fu, autodiff, u, Constant(prob.p))
else
sdifft_extras = nothing
di_extras = if iip
DI.prepare_jacobian(f, fu, autodiff, u, Constant(prob.p))
else
DI.prepare_jacobian(f, autodiff, u, Constant(prob.p))
end
DI.prepare_jacobian(f, autodiff, u, Constant(prob.p))
end
else
using_sparsedifftools = false
di_extras = nothing
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sdifft_extras = nothing
end

J = if !needs_jac
Expand All @@ -98,22 +79,18 @@ function JacobianCache(prob, alg, f::F, fu_, u, p; stats, autodiff = nothing,
JacobianOperator(prob, fu, u; jvp_autodiff, vjp_autodiff)
else
if f.jac_prototype === nothing
if !using_sparsedifftools
# While this is technically wasteful, it gives out the type of the Jacobian
# which is needed to create the linear solver cache
stats.njacs += 1
if has_analytic_jac
__similar(
fu, promote_type(eltype(fu), eltype(u)), length(fu), length(u))
# While this is technically wasteful, it gives out the type of the Jacobian
# which is needed to create the linear solver cache
stats.njacs += 1
if has_analytic_jac
__similar(
fu, promote_type(eltype(fu), eltype(u)), length(fu), length(u))
else
if iip
DI.jacobian(f, fu, di_extras, autodiff, u, Constant(p))
else
if iip
DI.jacobian(f, fu, di_extras, autodiff, u, Constant(p))
else
DI.jacobian(f, autodiff, u, Constant(p))
end
DI.jacobian(f, autodiff, u, Constant(p))
end
else
zero(init_jacobian(sdifft_extras; preserve_immutable = Val(true)))
end
else
jac_proto = if eltype(f.jac_prototype) <: Bool
Expand All @@ -126,20 +103,19 @@ function JacobianCache(prob, alg, f::F, fu_, u, p; stats, autodiff = nothing,
end
end

return JacobianCache{iip}(
J, f, fu, u, p, stats, autodiff, di_extras, sdifft_extras)
return JacobianCache{iip}(J, f, fu, u, p, stats, autodiff, di_extras)
end

function JacobianCache(prob, alg, f::F, ::Number, u::Number, p; stats,
autodiff = nothing, kwargs...) where {F}
fu = f(u, p)
if SciMLBase.has_jac(f) || SciMLBase.has_vjp(f) || SciMLBase.has_jvp(f)
return JacobianCache{false}(u, f, fu, u, p, stats, autodiff, nothing, nothing)
return JacobianCache{false}(u, f, fu, u, p, stats, autodiff, nothing)
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Same question about cases where DI preparation is skipped

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Only where the user provides an analytic jacobian. This one is a special case for scalars when DI is skipped if jacobian/jvp/vjp is provided.

end
autodiff = get_dense_ad(get_concrete_forward_ad(
autodiff, prob; check_forward_mode = false))
di_extras = DI.prepare_derivative(f, get_dense_ad(autodiff), u, Constant(prob.p))
return JacobianCache{false}(u, f, fu, u, p, stats, autodiff, di_extras, nothing)
return JacobianCache{false}(u, f, fu, u, p, stats, autodiff, di_extras)
end

(cache::JacobianCache)(u = cache.u) = cache(cache.J, u, cache.p)
Expand Down Expand Up @@ -172,27 +148,16 @@ function (cache::JacobianCache{iip})(
if iip
if SciMLBase.has_jac(cache.f)
cache.f.jac(J, u, p)
elseif cache.di_extras !== nothing
else
DI.jacobian!(
cache.f, cache.fu, J, cache.di_extras, cache.autodiff, u, Constant(p))
else
uf = JacobianWrapper{iip}(cache.f, p)
sparse_jacobian!(J, cache.autodiff, cache.sdifft_extras, uf, cache.fu, u)
end
return J
else
if SciMLBase.has_jac(cache.f)
return cache.f.jac(u, p)
elseif cache.di_extras !== nothing
return DI.jacobian(cache.f, cache.di_extras, cache.autodiff, u, Constant(p))
else
uf = JacobianWrapper{iip}(cache.f, p)
if __can_setindex(typeof(J))
sparse_jacobian!(J, cache.autodiff, cache.sdifft_extras, uf, u)
return J
else
return sparse_jacobian(cache.autodiff, cache.sdifft_extras, uf, u)
end
return DI.jacobian(cache.f, cache.di_extras, cache.autodiff, u, Constant(p))
end
end
end
Expand All @@ -207,10 +172,13 @@ function construct_concrete_adtype(f::NonlinearFunction, ad::AbstractADType)
end
return ad # No sparse AD
else
if ArrayInterface.isstructured(f.jac_prototype)
return select_fastest_structured_matrix_autodiff(f.jac_prototype, f, ad)
if !sparse_or_structured_prototype(f.jac_prototype)
if SciMLBase.has_colorvec(f)
@warn "`colorvec` is provided but `jac_prototype` is not a sparse \
or structured matrix. `colorvec` will be ignored."
end
return ad
end

return AutoSparse(
ad;
sparsity_detector = KnownJacobianSparsityDetector(f.jac_prototype),
Expand All @@ -220,17 +188,14 @@ function construct_concrete_adtype(f::NonlinearFunction, ad::AbstractADType)
end
else
if f.sparsity isa AbstractMatrix
if f.jac_prototype !== nothing && f.jac_prototype !== f.sparsity
throw(ArgumentError("`sparsity::AbstractMatrix` and `jac_prototype` cannot \
be both provided. Pass only `jac_prototype`."))
end
Base.depwarn("`sparsity::typeof($(typeof(f.sparsity)))` is deprecated. \
Pass it as `jac_prototype` instead.",
:NonlinearSolve)
if ArrayInterface.isstructured(f.sparsity)
return select_fastest_structured_matrix_autodiff(f.sparsity, f, ad)
if f.jac_prototype !== f.sparsity
if f.jac_prototype !== nothing &&
sparse_or_structured_prototype(f.jac_prototype)
throw(ArgumentError("`sparsity::AbstractMatrix` and a sparse or \
structured `jac_prototype` cannot be both \
provided. Pass only `jac_prototype`."))
end
end

return AutoSparse(
ad;
sparsity_detector = KnownJacobianSparsityDetector(f.sparsity),
Expand All @@ -252,11 +217,7 @@ function construct_concrete_adtype(f::NonlinearFunction, ad::AbstractADType)
coloring_algorithm = GreedyColoringAlgorithm(LargestFirst())
)
else
if ArrayInterface.isstructured(f.jac_prototype)
return select_fastest_structured_matrix_autodiff(f.jac_prototype, f, ad)
end

if f.jac_prototype isa AbstractSparseMatrix
if sparse_or_structured_prototype(f.jac_prototype)
if !(sparsity_detector isa NoSparsityDetector)
@warn "`jac_prototype` is a sparse matrix but sparsity = $(f.sparsity) \
has also been specified. Ignoring sparsity field and using \
Expand All @@ -275,38 +236,6 @@ function construct_concrete_adtype(f::NonlinearFunction, ad::AbstractADType)
end
end

@concrete struct StructuredMatrixAutodiff <: AbstractADType
autodiff <: AbstractADType
sparsity_detection
end

function select_fastest_structured_matrix_autodiff(
prototype::AbstractMatrix, f::NonlinearFunction, ad::AbstractADType)
sparsity_detection = if SciMLBase.has_colorvec(f)
PrecomputedJacobianColorvec(;
jac_prototype = prototype,
f.colorvec,
partition_by_rows = ADTypes.mode(ad) isa ADTypes.ReverseMode
)
else
if ArrayInterface.fast_matrix_colors(prototype)
colorvec = if ADTypes.mode(ad) isa ADTypes.ForwardMode
ArrayInterface.matrix_colors(prototype)
else
ArrayInterface.matrix_colors(prototype')
end
PrecomputedJacobianColorvec(;
jac_prototype = prototype,
colorvec,
partition_by_rows = ADTypes.mode(ad) isa ADTypes.ReverseMode
)
else
JacPrototypeSparsityDetection(; jac_prototype = prototype)
end
end
return StructuredMatrixAutodiff(AutoSparse(ad), sparsity_detection)
end

function select_fastest_coloring_algorithm(
prototype, f::NonlinearFunction, ad::AbstractADType)
if SciMLBase.has_colorvec(f)
Expand All @@ -332,3 +261,8 @@ end

get_dense_ad(ad) = ad
get_dense_ad(ad::AutoSparse) = ADTypes.dense_ad(ad)

sparse_or_structured_prototype(::AbstractSparseMatrix) = true
function sparse_or_structured_prototype(prototype::AbstractMatrix)
return ArrayInterface.isstructured(prototype)
end
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