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ReverseDiff cannot differentiate maxpool #484

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manuelbb-upb opened this issue Mar 30, 2023 · 11 comments · Fixed by #485
Closed

ReverseDiff cannot differentiate maxpool #484

manuelbb-upb opened this issue Mar 30, 2023 · 11 comments · Fixed by #485

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@manuelbb-upb
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manuelbb-upb commented Mar 30, 2023

Edit
I originally thought this to be an issue with Lux. That's not the case.
Please see this message for a brief example where ReverseDiff fails to take the gradient of a pooling operation.


Original Description

ReverseDiff cannot take derivatives of simple models involving Pooling Layers with respect to model parameters.

In the following example, two problems occur:

  • if the model is a Pooling Layer only, then no gradient can be computed, but this is kind of understandable, since there are no parameters.
  • for a model with more parameters, we get a MethodError for maxpool! (see stacktrace below).
    I believe it is due to the strict type restrictions in the method signatures and the way ReverseDiff handles similar

Example for Julia 1.8.5,

  [d360d2e6] ChainRulesCore v1.15.7
  [b0b7db55] ComponentArrays v0.13.8
  [b2108857] Lux v0.4.48
  [872c559c] NNlib v0.8.19
  [37e2e3b7] ReverseDiff v1.14.4
  [e88e6eb3] Zygote v0.6.59
  [9a3f8284] Random
  [8dfed614] Test

Heres the script:

import Lux
import NNlib
import Zygote
import ReverseDiff
import Random
import ComponentArrays
import Test: @test, @test_throws

rng = Random.default_rng()

x = rand(2,2,1,1)

m = Lux.MaxPool((2,2))
ps, st = Lux.setup(rng, m)
ps_c = ComponentArrays.ComponentArray(ps)

@test Zygote.gradient(ps_c) do params
	only(first(Lux.apply(m, x, params, st)))
end isa Tuple{Nothing}

@test_throws(
"MethodError: no method matching zero(::Type{Any})",
ReverseDiff.gradient(ps_c) do params
	only(first(Lux.apply(m, x, params, st)))
end 
)

# put actual parameters into `ps_c`
m = Lux.Chain(Lux.Dense(2=>2),Lux.MaxPool((2,2)))
ps, st = Lux.setup(rng, m)
ps_c = ComponentArrays.ComponentArray(ps)

@test Zygote.gradient(ps_c) do params
	only(first(Lux.apply(m, x, params, st)))
end isa Tuple{<:ComponentArrays.ComponentVector}

@test_throws(
"MethodError: no method matching maxpool!",
ReverseDiff.gradient(ps_c) do params
	only(first(Lux.apply(m, x, params, st)))
end 
)

# Can't use Chain Rules for some reason
@test_throws(
"UndefVarError: NNlib not defined",
ReverseDiff.@grad_from_chainrules NNlib.maxpool(x::ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}, pdims::NNlib.PoolDims{2, 2, 2, 4, 2})
)

And the trace for

ReverseDiff.gradient(ps_c) do params
	only(first(Lux.apply(m, x, params, st)))
end 
ERROR: 
MethodError: no method matching maxpool!(::Array{ReverseDiff.TrackedReal{Float64, Float32, ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}}, 5}, ::ReverseDiff.TrackedArray{Float64, Float32, 5, Array{Float64, 5}, Array{Float32, 5}}, ::NNlib.PoolDims{3, 3, 3, 6, 3})
Closest candidates are:
  maxpool!(::AbstractArray{T, 5}, ::AbstractArray{T, 5}, ::NNlib.PoolDims; kwargs...) where T at ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:38
  maxpool!(::CUDA.CuArray{T, 3}, ::CUDA.CuArray{T, 3}, ::NNlib.PoolDims) where T<:Union{Float16, Float32, Float64} at ~/.julia/packages/NNlibCUDA/C6t0p/src/cudnn/pooling.jl:53
  maxpool!(::CUDA.CuArray{T}, ::CUDA.CuArray{T}, ::NNlib.PoolDims) where T<:Union{Float16, Float32, Float64} at ~/.julia/packages/NNlibCUDA/C6t0p/src/cudnn/pooling.jl:14
  ...
Stacktrace:
  [1] maxpool!(y::Array{ReverseDiff.TrackedReal{Float64, Float32, ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}}, 4}, x::ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}, pdims::NNlib.PoolDims{2, 2, 2, 4, 2}; kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
    @ NNlib ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:73
  [2] maxpool!(y::Array{ReverseDiff.TrackedReal{Float64, Float32, ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}}, 4}, x::ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}, pdims::NNlib.PoolDims{2, 2, 2, 4, 2})
    @ NNlib ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:70
  [3] maxpool(x::ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}, pdims::NNlib.PoolDims{2, 2, 2, 4, 2}; kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
    @ NNlib ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:119
  [4] maxpool(x::ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}, pdims::NNlib.PoolDims{2, 2, 2, 4, 2})
    @ NNlib ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:114
  [5] (::Lux.MaxPool{2, 4})(x::ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}, ps::ReverseDiff.TrackedArray{Float32, Float32, 1, SubArray{Float32, 1, Vector{Float32}, Tuple{UnitRange{Int64}}, true}, SubArray{Float32, 1, Vector{Float32}, Tuple{UnitRange{Int64}}, true}}, st::NamedTuple{(), Tuple{}})
    @ Lux ~/.julia/packages/Lux/mV3Ur/src/layers/conv.jl:214
  [6] apply(model::Lux.MaxPool{2, 4}, x::ReverseDiff.TrackedArray{Float64, Float32, 4, Array{Float64, 4}, Array{Float32, 4}}, ps::ReverseDiff.TrackedArray{Float32, Float32, 1, SubArray{Float32, 1, Vector{Float32}, Tuple{UnitRange{Int64}}, true}, SubArray{Float32, 1, Vector{Float32}, Tuple{UnitRange{Int64}}, true}}, st::NamedTuple{(), Tuple{}})
    @ LuxCore ~/.julia/packages/LuxCore/IgepB/src/LuxCore.jl:100
  [7] macro expansion
    @ ~/.julia/packages/Lux/mV3Ur/src/layers/containers.jl:0 [inlined]
  [8] applychain(layers::NamedTuple{(:layer_1, :layer_2), Tuple{Lux.Dense{true, typeof(identity), typeof(Lux.glorot_uniform), typeof(Lux.zeros32)}, Lux.MaxPool{2, 4}}}, x::Array{Float64, 4}, ps::ReverseDiff.TrackedArray{Float32, Float32, 1, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}}, st::NamedTuple{(:layer_1, :layer_2), Tuple{NamedTuple{(), Tuple{}}, NamedTuple{(), Tuple{}}}})
    @ Lux ~/.julia/packages/Lux/mV3Ur/src/layers/containers.jl:460
  [9] (::Lux.Chain{NamedTuple{(:layer_1, :layer_2), Tuple{Lux.Dense{true, typeof(identity), typeof(Lux.glorot_uniform), typeof(Lux.zeros32)}, Lux.MaxPool{2, 4}}}})(x::Array{Float64, 4}, ps::ReverseDiff.TrackedArray{Float32, Float32, 1, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}}, st::NamedTuple{(:layer_1, :layer_2), Tuple{NamedTuple{(), Tuple{}}, NamedTuple{(), Tuple{}}}})
    @ Lux ~/.julia/packages/Lux/mV3Ur/src/layers/containers.jl:457
 [10] apply(model::Lux.Chain{NamedTuple{(:layer_1, :layer_2), Tuple{Lux.Dense{true, typeof(identity), typeof(Lux.glorot_uniform), typeof(Lux.zeros32)}, Lux.MaxPool{2, 4}}}}, x::Array{Float64, 4}, ps::ReverseDiff.TrackedArray{Float32, Float32, 1, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}}, st::NamedTuple{(:layer_1, :layer_2), Tuple{NamedTuple{(), Tuple{}}, NamedTuple{(), Tuple{}}}})
    @ LuxCore ~/.julia/packages/LuxCore/IgepB/src/LuxCore.jl:100
 [11] (::var"#34#35")(params::ReverseDiff.TrackedArray{Float32, Float32, 1, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}})
    @ Main ./REPL[2]:2
 [12] ReverseDiff.GradientTape(f::var"#34#35", input::ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}, cfg::ReverseDiff.GradientConfig{ReverseDiff.TrackedArray{Float32, Float32, 1, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}}})
    @ ReverseDiff ~/.julia/packages/ReverseDiff/YkVxM/src/api/tape.jl:199
 [13] gradient(f::Function, input::ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}, cfg::ReverseDiff.GradientConfig{ReverseDiff.TrackedArray{Float32, Float32, 1, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}, ComponentArrays.ComponentVector{Float32, Vector{Float32}, Tuple{ComponentArrays.Axis{(layer_1 = ViewAxis(1:6, Axis(weight = ViewAxis(1:4, ShapedAxis((2, 2), NamedTuple())), bias = ViewAxis(5:6, ShapedAxis((2, 1), NamedTuple())))), layer_2 = 7:6)}}}}}) (repeats 2 times)
    @ ReverseDiff ~/.julia/packages/ReverseDiff/YkVxM/src/api/gradients.jl:22
 [14] top-level scope
    @ REPL[2]:1
 [15] top-level scope
    @ ~/.julia/packages/CUDA/N71Iw/src/initialization.jl:163
@ToucheSir
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We could look into relaxing that condition, but it won't help much because ReverseDiff will still be very slow. The correct solution is adding a rule for pooling on the ReverseDiff side. Also, I'm not seeing what Lux and ComponentArrays have to do with any of this? A MWE with just NNlib and ReverseDiff would be better.

@manuelbb-upb
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You are right, I messed up. Meant to open this issue in the Lux repo 🙈
But even there it would have felt out of place because --as you say-- the problem does not stem from Lux and ComponentArrays per se, but that's where I noticed it. I guess it's a pretty rare issue to run into, and as I am not very familiar with the internals of ReverseDiff or NNlib I could not think of a more minimal example.

Should I close the issue here, and re-open at Lux or ReverseDiff?

@ToucheSir
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Again, my recommendation would be to remove Lux and ComponentArrays from your example. In other words, make the entrypoint the first call which only uses ReverseDiff and NNlib types/functions. You can find this from the stacktrace quite easily. It'll also help you with debugging why @grad_from_chainrules doesn't seem to be working because you have more direct access to the function with the imported rule.

@manuelbb-upb manuelbb-upb changed the title ReverseDiff does not work with Lux.MaxPool and ComponentArrays ReverseDiff cannot differentiate maxpool Mar 30, 2023
@manuelbb-upb
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Alright. Was not as hard as expected 😅
Here is a more minimal example without Lux and ComponentArrays. I'll link it above:

import NNlib
import ReverseDiff

x = rand(1,1,1,1)
sz = (1,1)
pdims = NNlib.PoolDims(x, sz)
NNlib.maxpool(x, pdims)  # isa Array{Float64, 4}

ReverseDiff.gradient(x) do _x
  only(NNlib.maxpool(_x, pdims))
end # throws

The stacktrace now is

RROR: MethodError: no method matching maxpool!(::Array{ReverseDiff.TrackedReal{Float64, Float64, ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}}}, 5}, ::ReverseDiff.TrackedArray{Float64, Float64, 5, Array{Float64, 5}, Array{Float64, 5}}, ::PoolDims{3, 3, 3, 6, 3})
Closest candidates are:
  maxpool!(::AbstractArray{T, 5}, ::AbstractArray{T, 5}, ::PoolDims; kwargs...) where T at ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:38
  maxpool!(::AbstractArray{T, 3}, ::AbstractArray{T, 3}, ::PoolDims; kwargs...) where T at ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:70
  maxpool!(::AbstractArray{T, 4}, ::AbstractArray{T, 4}, ::PoolDims; kwargs...) where T at ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:70
Stacktrace:
 [1] maxpool!(y::Array{ReverseDiff.TrackedReal{Float64, Float64, ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}}}, 4}, x::ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}}, pdims::PoolDims{2, 2, 2, 4, 2}; kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
   @ NNlib ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:73
 [2] maxpool!(y::Array{ReverseDiff.TrackedReal{Float64, Float64, ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}}}, 4}, x::ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}}, pdims::PoolDims{2, 2, 2, 4, 2})
   @ NNlib ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:70
 [3] maxpool(x::ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}}, pdims::PoolDims{2, 2, 2, 4, 2}; kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
   @ NNlib ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:119
 [4] maxpool(x::ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}}, pdims::PoolDims{2, 2, 2, 4, 2})
   @ NNlib ~/.julia/packages/NNlib/ydqxJ/src/pooling.jl:114
 [5] (::var"#14#15")(x::ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}})
   @ Main ./REPL[25]:2
 [6] ReverseDiff.GradientTape(f::var"#14#15", input::Array{Float64, 4}, cfg::ReverseDiff.GradientConfig{ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}}})
   @ ReverseDiff ~/.julia/packages/ReverseDiff/YkVxM/src/api/tape.jl:199
 [7] gradient(f::Function, input::Array{Float64, 4}, cfg::ReverseDiff.GradientConfig{ReverseDiff.TrackedArray{Float64, Float64, 4, Array{Float64, 4}, Array{Float64, 4}}}) (repeats 2 times)
   @ ReverseDiff ~/.julia/packages/ReverseDiff/YkVxM/src/api/gradients.jl:22
 [8] top-level scope
   @ REPL[25]:1

pointing to the same issue as before: strict method signatures for NNlib.maxpool! and similar maybe not doing what is expected for other kinds of arrays.

I still cannot get @grad_from_chainrules to work. E.g.,

import ReverseDiff: maxpool, PoolDims, @grad_from_chainrules
@grad_from_chainrules maxpool(x::TrackedArray, pdims::PoolDims; kwargs...)

gives ERROR: UndefVarError: PoolDims not defined.
But that's rather a ReverseDiff issue...

@ToucheSir
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You're importing PoolDims from ReverseDiff, but it actually lives in NNlib. I'm surprised that import statement runs at all! Maybe a typo?

@manuelbb-upb
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Oops, yes, that's just a typo, should have been

import NNlib: maxpool, PoolDims
import ReverseDiff: @grad_from_chainrules
@grad_from_chainrules maxpool(x::TrackedArray, pdims::PoolDims; kwargs...)

That's where I get ERROR: UndefVarError: PoolDims not defined, which sounds like a scoping issue in @grad_from_chainrules.

@ToucheSir
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If that's the case, then @grad_from_chainrules NNlib.maxpool(x::TrackedArray, pdims::NNlib.PoolDims; kwargs...) with the NNlib API prefixed would help.

@manuelbb-upb
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That's what I tried first, but then I get NNlib not defined.
I had a quick glance at the macro definition, and that error is probably due to the method arguments not being escaped, neither in this line nor later on.

Regarding the method signatures: I did some very rudimentary test and broadened the method signatures for some pooling operations. In most places it should not pose problems.
Only in "src/impl/pooling_direct.jl" the eltype is used, e.g. to initialize variables for optimized code, avoiding type changes in re-assignments. I'll continue to fiddle a bit with this and open a draft pull request when ready.

@ToucheSir
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Widening the signature should be fine and I'd be happy to review a PR, but presumably you want acceptable performance and you won't get that without a custom rule. One thing would be to file an issue on the ReverseDiff side about the macro expansion problem. In the meantime, maybe try using ReverseDiff.@grad and seeing if that works?

@manuelbb-upb
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Thanks! There is an initial draft to fix this now.
I will open an issue at ReverseDiff for the macro next week.

I am in no hurry to get this working with ReverseDiff. My initial motivation was curiosity mainly: I often ran into situations where I had to restart my REPL or messed up in some other way, and Zygote would take ages for initial gradients. I wanted to see if ReverseDiff could do the initial gradient faster to better suit my messy interactive development at the time. That's also why overall performance would not have been an issue, if just the initial gradients were faster.

@ToucheSir
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I'd be curious to know how the performance stacks up :). Will have a look at #485 soon.

ToucheSir added a commit that referenced this issue Jul 15, 2023
* broaden pooling method signatures

* pooling: revert type predition for target array

* add ReverseDiff as test dependency

* Update test/pooling.jl

reformat whitespace in tests

Co-authored-by: Brian Chen <[email protected]>

* Update test/pooling.jl

remove unused type parameters from function signatures

Co-authored-by: Brian Chen <[email protected]>

* Update src/impl/pooling_direct.jl

remove unused type parameters from function signatures

Co-authored-by: Brian Chen <[email protected]>

* remove unused type parameters in pooling methods

---------

Co-authored-by: Brian Chen <[email protected]>
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