Stacking Recurrent Layers

Just as we stack dense layers in a feedforward network to create deeper models capable of learning more complex representations, we can also stack recurrent layers like LSTMs or GRUs. This technique allows the network to learn hierarchical temporal features. The first recurrent layer might process the raw input sequence and capture lower-level patterns, while subsequent layers operate on the sequence of hidden states from the layer below, potentially learning higher-level or longer-range temporal abstractions.

Why Stack Recurrent Layers?

Stacking recurrent layers increases the model's representational capacity. Each layer adds more parameters and computational steps, allowing the network to model more intricate relationships within the sequential data.

1. Hierarchical Feature Learning: Lower layers can learn basic sequence patterns (like local dependencies in text or short-term trends in time series), while upper layers can integrate information over longer time spans using the outputs from lower layers.
2. Increased Model Depth: Similar to deep feedforward networks, depth in RNNs can sometimes lead to better performance on complex tasks, assuming sufficient data and proper training techniques.

The return_sequences Parameter

The most important concept when stacking recurrent layers is controlling what each layer outputs. Recurrent layers in frameworks like TensorFlow/Keras and PyTorch typically have an option, often named return_sequences (Keras) or implicitly controlled by how you use the output (PyTorch), that determines whether the layer outputs:

1. The final hidden state only: This happens when return_sequences=False (Keras default). The output shape is typically (batch_size, units), representing the hidden state after processing the very last time step. This is suitable for the final recurrent layer if the task involves summarizing the entire sequence, like in sequence classification.
2. The full sequence of hidden states: This happens when return_sequences=True. The output shape is (batch_size, time_steps, units), providing the hidden state for each time step in the input sequence. This is necessary for any recurrent layer whose output needs to be fed into another recurrent layer, as the next layer expects a sequence as input. It's also used when the output at each time step is required, such as in sequence-to-sequence tasks or when applying attention mechanisms later.

Implementation in Frameworks

Let's see how stacking works in popular frameworks.

TensorFlow (Keras API)

In Keras, stacking is straightforward using the Sequential API or the Functional API. You simply add recurrent layers one after another, ensuring that all layers except possibly the last one have return_sequences=True.

import tensorflow as tf

# Assume input_shape = (time_steps, features)
# For variable length sequences, time_steps can be None: (None, features)
num_features = 10
num_units_l1 = 64
num_units_l2 = 32
output_dim = 5 # Example for classification

model = tf.keras.Sequential([
    # Input shape required only for the first layer
    tf.keras.layers.LSTM(num_units_l1, return_sequences=True, input_shape=(None, num_features)),
    # Layer 1 outputs shape: (batch_size, time_steps, num_units_l1)

    # This layer receives the full sequence from the previous layer
    tf.keras.layers.GRU(num_units_l2, return_sequences=False), # Or True if needed later
    # Layer 2 (with return_sequences=False) outputs shape: (batch_size, num_units_l2)

    # Add a dense layer for classification/regression
    tf.keras.layers.Dense(output_dim, activation='softmax') # Example activation
])

model.summary()

A simple two-layer stacked recurrent network. The first LSTM layer must return sequences to feed the second GRU layer. The final GRU layer returns only the last hidden state, suitable for a subsequent Dense layer performing classification.

PyTorch

In PyTorch, you define the layers in the __init__ method and specify the connections in the forward method. You need to manually pass the output sequence of one layer as the input to the next. PyTorch's nn.LSTM and nn.GRU modules return the full output sequence and the final hidden/cell states. You typically use the output sequence tensor for stacking.

It's worth noting that PyTorch's nn.LSTM and nn.GRU also have a num_layers parameter, allowing you to create a stacked recurrent layer internally within a single module instance. This is often more computationally efficient than manually stacking separate layer instances, especially on GPUs, due to optimized kernels (like cuDNN). However, manually stacking gives more flexibility if you want different layer types (e.g., LSTM followed by GRU) or configurations per layer.

Here's an example of manual stacking:

import torch
import torch.nn as nn

class StackedRNN(nn.Module):
    def __init__(self, input_size, hidden_size1, hidden_size2, output_size):
        super().__init__()
        # batch_first=True makes input/output tensors shape (batch, seq_len, features)
        self.lstm1 = nn.LSTM(input_size, hidden_size1, batch_first=True)
        # The input size for the second layer is the hidden size of the first
        self.gru2 = nn.GRU(hidden_size1, hidden_size2, batch_first=True)
        self.fc = nn.Linear(hidden_size2, output_size)

    def forward(self, x):
        # x shape: (batch_size, seq_length, input_size)

        # output_seq1 shape: (batch_size, seq_length, hidden_size1)
        # final_states1 is a tuple (h_n, c_n) for LSTM
        output_seq1, final_states1 = self.lstm1(x)

        # Feed the output sequence of lstm1 to gru2
        # output_seq2 shape: (batch_size, seq_length, hidden_size2)
        # final_state2 is h_n for GRU
        output_seq2, final_state2 = self.gru2(output_seq1)

        # If we need the output of the last time step for classification:
        # output_seq2[:, -1, :] selects the output for the last time step
        # Shape becomes: (batch_size, hidden_size2)
        last_time_step_output = output_seq2[:, -1, :]

        # Pass the final output through a dense layer
        out = self.fc(last_time_step_output)
        # out shape: (batch_size, output_size)
        return out

# Example usage:
# input_features = 10
# seq_len = 20
# batch_size = 4
# model = StackedRNN(input_size=10, hidden_size1=64, hidden_size2=32, output_size=5)
# dummy_input = torch.randn(batch_size, seq_len, input_features)
# output = model(dummy_input)
# print(output.shape) # Should be torch.Size([4, 5])

Using the num_layers argument in PyTorch:

import torch
import torch.nn as nn

class StackedRNNInternal(nn.Module):
    def __init__(self, input_size, hidden_size, num_layers, output_size):
        super().__init__()
        # Creates a stacked LSTM internally
        self.lstm = nn.LSTM(input_size, hidden_size, num_layers=num_layers,
                            batch_first=True) # Add dropout between layers if needed
        self.fc = nn.Linear(hidden_size, output_size)

    def forward(self, x):
        # output_seq contains the hidden states of the *last* layer for each time step
        # h_n and c_n contain the final hidden/cell states for *all* layers
        output_seq, (h_n, c_n) = self.lstm(x)

        # Use the output of the last time step from the last layer
        last_time_step_output = output_seq[:, -1, :]
        out = self.fc(last_time_step_output)
        return out

# Example usage:
# model_internal = StackedRNNInternal(input_size=10, hidden_size=64, num_layers=2, output_size=5)
# dummy_input = torch.randn(4, 20, 10)
# output = model_internal(dummy_input)
# print(output.shape) # Should be torch.Size([4, 5])

Visualizing the Flow

We can visualize a simple stacked architecture:

Data flow in a two-layer stacked RNN where the final output is taken from the last time step of the second recurrent layer for processing by a Dense layer. Note the requirement return_sequences=True for the first layer.

Considerations

While stacking can enhance model performance, keep these points in mind:

• Computational Cost: Each additional layer increases computation time during both training and inference.
• Vanishing/Exploding Gradients: Although LSTMs and GRUs are designed to mitigate these issues better than simple RNNs, very deep stacks can still sometimes suffer from gradient problems, albeit less severely. Techniques like gradient clipping remain relevant.
• Overfitting: Deeper models have more parameters and are more prone to overfitting, especially with limited data. Regularization techniques, such as dropout (specifically, recurrent dropout variants designed for RNNs), become more significant. We will discuss regularization in Chapter 10.
• Diminishing Returns: Adding more and more layers doesn't always guarantee better performance. Often, two or three recurrent layers are sufficient, and performance might plateau or even degrade at that point. Experimentation is needed to find the optimal depth for a specific task.

In the upcoming sections, we'll explore another common architectural pattern: bidirectional RNNs, which process sequences in both directions. Following that, we'll put these implementation concepts into practice with a hands-on sentiment analysis example.