feat(sgd): sgd supports nesterov momentum

GitOrigin-RevId: 13eda179da9b79573f692916a02b2a51a4449a14

imperative/python/megengine/optimizer/sgd.py

@@ -16,7 +16,7 @@ from .optimizer import Optimizer
 
 class SGD(Optimizer):
     r"""Implements stochastic gradient descent.
-    
+
     Nesterov momentum is based on the formula from
     `"On the importance of initialization and momentum in deep learning" <http://www.cs.toronto.edu/%7Ehinton/absps/momentum.pdf>`_ .
 
@@ -25,6 +25,7 @@ class SGD(Optimizer):
             parameter groups.
         lr: learning rate.
         momentum: momentum factor. Default: 0.0
+        nesterov: enables Nesterov momentum. Default: False
         weight_decay: weight decay (L2 penalty). Default: 0.0
     """
 
@@ -33,6 +34,7 @@ class SGD(Optimizer):
         params: Union[Iterable[Parameter], dict],
         lr: float,
         momentum: float = 0.0,
+        nesterov: bool = False,
         weight_decay: float = 0.0,
     ):
         assert lr >= 0.0, "Invalid learning rate: {}".format(lr)
@@ -40,9 +42,11 @@ class SGD(Optimizer):
         assert weight_decay >= 0.0, "Invalid weight_decay value: {}".format(
             weight_decay
         )
+        assert not nesterov or momentum > 0.0, "Nesterov momentum requires a momentum"
 
         defaults = dict(lr=lr, momentum=momentum, weight_decay=weight_decay)
         super().__init__(params, defaults)
+        self.nesterov = nesterov
         self._disable_type_convert = True
 
     def _create_state(self, param_group):
@@ -76,20 +80,22 @@ class SGD(Optimizer):
                 grad = grad + param * _weight_decay
 
             if inplace_mode:
-                if momentum:
+                if momentum != 0.0:
                     v = self._state[param]["momentum_buffer"]
                     _inplace_add_(v, grad, alpha=_momentum, beta=c1)
-                    _inplace_add_(param, v, alpha=c1, beta=_neg_lr)
-                else:
-                    _inplace_add_(param, grad, alpha=c1, beta=_neg_lr)
+                    if self.nesterov:
+                        grad = grad + v * _momentum
+                    else:
+                        grad = v
+                _inplace_add_(param, grad, alpha=c1, beta=_neg_lr)
                 continue
 
-            if momentum:
+            if momentum != 0.0:
                 v = self._state[param]["momentum_buffer"]
-                # v = v * _momentum + grad
                 v *= _momentum
                 v += grad
-
-                param -= _lr * v
-            else:
-                param -= _lr * grad
+                if self.nesterov:
+                    grad = grad + v * _momentum
+                else:
+                    grad = v
+            param -= _lr * grad

imperative/python/test/integration/test_optimizer.py

@@ -124,6 +124,7 @@ def _test_optimizer(opt_str, test_case, check_class, update_lr=False):
     "case",
     [
         {"momentum": 0.9, "lr": 0.01},  # SGD with momentum
+        {"momentum": 0.9, "lr": 0.01, "nesterov": True},  # with nesterov momentum
         {"lr": 0.01},  # simple SGD
         {"weight_decay": 0.1, "lr": 0.01},  # with weight_decay
     ],
@@ -144,9 +145,12 @@ def test_sgd(monkeypatch, case, update_lr, inplace_mode):
                 grad = param.grad.numpy()
                 if hasattr(self, "weight_decay") and self.weight_decay != 0.0:
                     grad = grad + ori_params[param] * self.weight_decay
-                if hasattr(self, "momentum"):
+                if hasattr(self, "momentum") and self.momentum != 0.0:
                     self.slots[param] = grad + self.slots[param] * self.momentum
-                    delta = -self.lr * self.slots[param]
+                    if hasattr(self, "nesterov") and self.nesterov:
+                        delta = -self.lr * (grad + self.slots[param] * self.momentum)
+                    else:
+                        delta = -self.lr * self.slots[param]
                 else:
                     delta = -self.lr * grad
                 np.testing.assert_almost_equal(