Constant step-size Stochastic Gradient Descent exhibits two phases: a transient phase during which iterates make fast progress towards the optimum, followed by a stationary phase during which iterates oscillate around the optimal point. In this paper, we show that efficiently detecting this transition and appropriately decreasing the step size can lead to fast convergence rates. We analyse the classical statistical test proposed by Pflug (1983), based on the inner product between consecutive stochastic gradients. Even in the simple case where the objective function is quadratic we show that this test cannot lead to an adequate convergence diagnostic. We then propose a novel and simple statistical procedure that accurately detects stationarity and we provide experimental results showing state-of-the-art performance on synthetic and real-world datasets.
University of Chicago（芝加哥大学）；University of Chicago, Booth School of Business（芝加哥大学布斯商学院）
Many iterative procedures in stochastic optimization exhibit a transient phase followed by a stationary phase. During the transient phase the procedure converges towards a region of interest, and during the stationary phase the procedure oscillates in that region, commonly around a single point. In this paper, we develop a statistical diagnostic test to detect such phase transition in the context of stochastic gradient descent with constant learning rate. We present theory and experiments suggesting that the region where the proposed diagnostic is activated coincides with the convergence regio…
This work addresses distributed optimization, where a network of agents wants to minimize a global strongly convex objective function. The global function can be written as a sum of local convex functions, each of which is associated with an agent. We propose a continuous-time distributed mirror descent algorithm that uses purely local information to converge to the global optimum. Unlike previous work on distributed mirror descent, we incorporate an integral feedback in the update, allowing the algorithm to converge with a constant step-size when discretized. We establish the asymptotic conve…
Weizmann Institute of Science（魏茨曼科学研究所）；TTI Chicago（芝加哥丰田工业大学）
We provide tight finite-time convergence bounds for gradient descent and stochastic gradient descent on quadratic functions, when the gradients are delayed and reflect iterates from $τ$ rounds ago. First, we show that without stochastic noise, delays strongly affect the attainable optimization error: In fact, the error can be as bad as non-delayed gradient descent ran on only $1/τ$ of the gradients. In sharp contrast, we quantify how stochastic noise makes the effect of delays negligible, improving on previous work which only showed this phenomenon asymptotically or for much smaller delays. Al…
It has been shown that gradient descent can yield the zero training loss in the over-parametrized regime (the width of the neural networks is much larger than the number of data points). In this work, combining the ideas of some existing works, we investigate the gradient descent method for training two-layer neural networks for approximating some target continuous functions. By making use the generic chaining technique from probability theory, we show that gradient descent can yield an exponential convergence rate, while the width of the neural networks needed is independent of the size of th…
We consider stochastic gradient descent and its averaging variant for binary classification problems in a reproducing kernel Hilbert space. In the traditional analysis using a consistency property of loss functions, it is known that the expected classification error converges more slowly than the expected risk even when assuming a low-noise condition on the conditional label probabilities. Consequently, the resulting rate is sublinear. Therefore, it is important to consider whether much faster convergence of the expected classification error can be achieved. In recent research, an exponential …
Stochastic gradient descent (SGD) on a low-rank factorization is commonly employed to speed up matrix problems including matrix completion, subspace tracking, and SDP relaxation. In this paper, we exhibit a step size scheme for SGD on a low-rank least-squares problem, and we prove that, under broad sampling conditions, our method converges globally from a random starting point within $O(ε^{-1} n \log n)$ steps with constant probability for constant-rank problems. Our modification of SGD relates it to stochastic power iteration. We also show experiments to illustrate the runtime and convergence…
Massachusetts Institute of Technology（麻省理工学院）；University of California, San Diego（加利福尼亚大学圣地亚哥分校）
The Polyak-Lojasiewicz (PL) inequality is a sufficient condition for establishing linear convergence of gradient descent, even in non-convex settings. While several recent works use a PL-based analysis to establish linear convergence of stochastic gradient descent methods, the question remains as to whether a similar analysis can be conducted for more general optimization methods. In this work, we present a PL-based analysis for linear convergence of generalized mirror descent (GMD), a generalization of mirror descent with a possibly time-dependent mirror. GMD subsumes popular first order opti…
Convergence detection of iterative stochastic optimization methods is of great practical interest. This paper considers stochastic gradient descent (SGD) with a constant learning rate and momentum. We show that there exists a transient phase in which iterates move towards a region of interest, and a stationary phase in which iterates remain bounded in that region around a minimum point. We construct a statistical diagnostic test for convergence to the stationary phase using the inner product between successive gradients and demonstrate that the proposed diagnostic works well. We theoretically …
Massachusetts Institute of Technology（麻省理工学院）；University of California, San Diego（加利福尼亚大学圣迭戈分校）
Establishing a fast rate of convergence for optimization methods is crucial to their applicability in practice. With the increasing popularity of deep learning over the past decade, stochastic gradient descent and its adaptive variants (e.g. Adagrad, Adam, etc.) have become prominent methods of choice for machine learning practitioners. While a large number of works have demonstrated that these first order optimization methods can achieve sub-linear or linear convergence, we establish local quadratic convergence for stochastic gradient descent with adaptive step size for problems such as matri…
The multinomial logistic regression (MLR) model is widely used in statistics and machine learning. Stochastic gradient descent (SGD) is the most common approach for determining the parameters of a MLR model in big data scenarios. However, SGD has slow sub-linear rates of convergence. A way to improve these rates of convergence is to use manifold optimization. Along this line, stochastic natural gradient descent (SNGD), proposed by Amari, was proven to be Fisher efficient when it converged. However, SNGD is not guaranteed to converge and it is computationally too expensive for MLR models with a…
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；University of Nevada（内华达大学）
Large-scale optimization problems require algorithms both effective and efficient. One such popular and proven algorithm is Stochastic Gradient Descent which uses first-order gradient information to solve these problems. This paper studies almost-sure convergence rates of the Stochastic Gradient Descent method when instead of deterministic, its learning rate becomes stochastic. In particular, its learning rate is equipped with a multiplicative stochasticity, producing a stochastic learning rate scheme. Theoretical results show accelerated almost-sure convergence rates of Stochastic Gradient De…
We study the convergence properties of gradient descent for training deep linear neural networks, i.e., deep matrix factorizations, by extending a previous analysis for the related gradient flow. We show that under suitable conditions on the step sizes gradient descent converges to a critical point of the loss function, i.e., the square loss in this article. Furthermore, we demonstrate that for almost all initializations gradient descent converges to a global minimum in the case of two layers. In the case of three or more layers we show that gradient descent converges to a global minimum on th…
The stochastic gradient descent has been widely used for solving composite optimization problems in big data analyses. Many algorithms and convergence properties have been developed. The composite functions were convex primarily and gradually nonconvex composite functions have been adopted to obtain more desirable properties. The convergence properties have been investigated, but only when either of composite functions is nonconvex. There is no convergence property when both composite functions are nonconvex, which is named the \textit{doubly-nonconvex} case.To overcome this difficulty, we ass…
In this paper, we study the stochastic gradient descent (SGD) method for the nonconvex nonsmooth optimization, and propose an accelerated SGD method by combining the variance reduction technique with Nesterov's extrapolation technique. Moreover, based on the local error bound condition, we establish the linear convergence of our method to obtain a stationary point of the nonconvex optimization. In particular, we prove that not only the sequence generated linearly converges to a stationary point of the problem, but also the corresponding sequence of objective values is linearly convergent. Fina…
We consider the problem of principal component analysis (PCA) in a streaming stochastic setting, where our goal is to find a direction of approximate maximal variance, based on a stream of i.i.d. data points in $\reals^d$. A simple and computationally cheap algorithm for this is stochastic gradient descent (SGD), which incrementally updates its estimate based on each new data point. However, due to the non-convex nature of the problem, analyzing its performance has been a challenge. In particular, existing guarantees rely on a non-trivial eigengap assumption on the covariance matrix, which is …
Institute of Informatics, University of Warsaw（华沙大学信息学研究所）
We study the overparametrization bounds required for the global convergence of stochastic gradient descent algorithm for a class of one hidden layer feed-forward neural networks, considering most of the activation functions used in practice, including ReLU. We improve the existing state-of-the-art results in terms of the required hidden layer width. We introduce a new proof technique combining nonlinear analysis with properties of random initializations of the network. First, we establish the global convergence of continuous solutions of the differential inclusion being a nonsmooth analogue of…
We analyze the global convergence of gradient descent for deep linear residual networks by proposing a new initialization: zero-asymmetric (ZAS) initialization. It is motivated by avoiding stable manifolds of saddle points. We prove that under the ZAS initialization, for an arbitrary target matrix, gradient descent converges to an $\varepsilon$-optimal point in $O(L^3 \log(1/\varepsilon))$ iterations, which scales polynomially with the network depth $L$. Our result and the $\exp(Ω(L))$ convergence time for the standard initialization (Xavier or near-identity) [Shamir, 2018] together demonstrat…
Many recent problems in signal processing and machine learning such as compressed sensing, image restoration, matrix/tensor recovery, and non-negative matrix factorization can be cast as constrained optimization. Projected gradient descent is a simple yet efficient method for solving such constrained optimization problems. Local convergence analysis furthers our understanding of its asymptotic behavior near the solution, offering sharper bounds on the convergence rate compared to global convergence analysis. However, local guarantees often appear scattered in problem-specific areas of machine …
Convergence of the gradient descent algorithm has been attracting renewed interest due to its utility in deep learning applications. Even as multiple variants of gradient descent were proposed, the assumption that the gradient of the objective is Lipschitz continuous remained an integral part of the analysis until recently. In this work, we look at convergence analysis by focusing on a property that we term as concavifiability, instead of Lipschitz continuity of gradients. We show that concavifiability is a necessary and sufficient condition to satisfy the upper quadratic approximation which i…
University of Edinburgh（爱丁堡大学）；KAIST（韩国科学技术院）；Samsung AI Research, Cambridge（三星剑桥人工智能研究院）
Optimisers are an essential component for training machine learning models, and their design influences learning speed and generalisation. Several studies have attempted to learn more effective gradient-descent optimisers via solving a bi-level optimisation problem where generalisation error is minimised with respect to optimiser parameters. However, most existing optimiser learning methods are intuitively motivated, without clear theoretical support. We take a different perspective starting from mirror descent rather than gradient descent, and meta-learning the corresponding Bregman divergenc…
University of Oxford（牛津大学）；Instadeep Ltd（Instadeep有限公司）；University of Southern California（南加州大学）
We prove linear convergence of gradient descent to a global optimum for the training of deep residual networks with constant layer width and smooth activation function. We show that if the trained weights, as a function of the layer index, admit a scaling limit as the depth increases, then the limit has finite $p-$variation with $p=2$. Proofs are based on non-asymptotic estimates for the loss function and for norms of the network weights along the gradient descent path. We illustrate the relevance of our theoretical results to practical settings using detailed numerical experiments on supervis…
University of Toronto（多伦多大学）；Vector Institute（向量研究所）；DeepMind（深度思维）
Natural gradient descent has proven effective at mitigating the effects of pathological curvature in neural network optimization, but little is known theoretically about its convergence properties, especially for \emph{nonlinear} networks. In this work, we analyze for the first time the speed of convergence of natural gradient descent on nonlinear neural networks with squared-error loss. We identify two conditions which guarantee efficient convergence from random initializations: (1) the Jacobian matrix (of network's output for all training cases with respect to the parameters) has full row ra…
In this book chapter, we briefly describe the main components that constitute the gradient descent method and its accelerated and stochastic variants. We aim at explaining these components from a mathematical point of view, including theoretical and practical aspects, but at an elementary level. We will focus on basic variants of the gradient descent method and then extend our view to recent variants, especially variance-reduced stochastic gradient schemes (SGD). Our approach relies on revealing the structures presented inside the problem and the assumptions imposed on the objective function. …
We study the dynamics of gradient descent on objective functions of the form $f(\prod_{i=1}^{k} w_i)$ (with respect to scalar parameters $w_1,\ldots,w_k$), which arise in the context of training depth-$k$ linear neural networks. We prove that for standard random initializations, and under mild assumptions on $f$, the number of iterations required for convergence scales exponentially with the depth $k$. We also show empirically that this phenomenon can occur in higher dimensions, where each $w_i$ is a matrix. This highlights a potential obstacle in understanding the convergence of gradient-base…
Australian National University（澳大利亚国立大学）；University of Sydney（悉尼大学）
In distributed learning, a central server trains a model according to updates provided by nodes holding local data samples. In the presence of one or more malicious servers sending incorrect information (a Byzantine adversary), standard algorithms for model training such as stochastic gradient descent (SGD) fail to converge. In this paper, we present a simplified convergence theory for the generic Byzantine Resilient SGD method originally proposed by Blanchard et al. [NeurIPS 2017]. Compared to the existing analysis, we shown convergence to a stationary point in expectation under standard assu…
We address the rectangular matrix completion problem by lifting the unknown matrix to a positive semidefinite matrix in higher dimension, and optimizing a nonconvex objective over the semidefinite factor using a simple gradient descent scheme. With $O( μr^2 κ^2 n \max(μ, \log n))$ random observations of a $n_1 \times n_2$ $μ$-incoherent matrix of rank $r$ and condition number $κ$, where $n = \max(n_1, n_2)$, the algorithm linearly converges to the global optimum with high probability.
Simons Institute for the Theory of Computing（西蒙斯计算理论研究所）；MIT（麻省理工学院）；Tsinghua University（清华大学）
Most existing analyses of (stochastic) gradient descent rely on the condition that for $L$-smooth costs, the step size is less than $2/L$. However, many works have observed that in machine learning applications step sizes often do not fulfill this condition, yet (stochastic) gradient descent still converges, albeit in an unstable manner. We investigate this unstable convergence phenomenon from first principles, and discuss key causes behind it. We also identify its main characteristics, and how they interrelate based on both theory and experiments, offering a principled view toward understandi…
University of British Columbia（不列颠哥伦比亚大学）；Cornell University（康奈尔大学）；Amii（阿尔伯塔机器智能研究所）
Expectation maximization (EM) is the default algorithm for fitting probabilistic models with missing or latent variables, yet we lack a full understanding of its non-asymptotic convergence properties. Previous works show results along the lines of "EM converges at least as fast as gradient descent" by assuming the conditions for the convergence of gradient descent apply to EM. This approach is not only loose, in that it does not capture that EM can make more progress than a gradient step, but the assumptions fail to hold for textbook examples of EM like Gaussian mixtures. In this work we first…
Exponential Convergence of (Stochastic) Gradient Descent for Separable Logistic Regression
Undergraduate Programme Indian Institute of Science, Bangalore（印度科学研究院布达佩斯分校本科项目）；Dept. of Computer Science and Automation Indian Institute of Science, Bangalore（计算机科学与自动化系印度科学研究院布达佩斯分校）；Inria, Ecole Normale Supérieure PSL Research University, Paris, France（法国巴黎PSL研究大学埃cole Normale Supérieure与Inria）
We consider the maximum mean discrepancy ($\mathrm{MMD}$) GAN problem and propose a parametric kernelized gradient flow that mimics the min-max game in gradient regularized $\mathrm{MMD}$ GAN. We show that this flow provides a descent direction minimizing the $\mathrm{MMD}$ on a statistical manifold of probability distributions. We then derive an explicit condition which ensures that gradient descent on the parameter space of the generator in gradient regularized $\mathrm{MMD}$ GAN is globally convergent to the target distribution. Under this condition, we give non asymptotic convergence resul…
University of Science and Technology of China（中国科学技术大学）；University of Warwick（华威大学）
Federated learning (FL) provides a communication-efficient approach to solve machine learning problems concerning distributed data, without sending raw data to a central server. However, existing works on FL only utilize first-order gradient descent (GD) and do not consider the preceding iterations to gradient update which can potentially accelerate convergence. In this paper, we consider momentum term which relates to the last iteration. The proposed momentum federated learning (MFL) uses momentum gradient descent (MGD) in the local update step of FL system. We establish global convergence pr…
We describe a necessary and sufficient condition for the convergence to minimum Bayes risk when training two-layer ReLU-networks by gradient descent in the mean field regime with omni-directional initial parameter distribution. This article extends recent results of Chizat and Bach to ReLU-activated networks and to the situation in which there are no parameters which exactly achieve MBR. The condition does not depend on the initalization of parameters and concerns only the weak convergence of the realization of the neural network, not its parameter distribution.
Mila and DIRO, Université de Montréal（蒙特利尔大学 Mila 与 DIRO）
Two of the most prominent algorithms for solving unconstrained smooth games are the classical stochastic gradient descent-ascent (SGDA) and the recently introduced stochastic consensus optimization (SCO) [Mescheder et al., 2017]. SGDA is known to converge to a stationary point for specific classes of games, but current convergence analyses require a bounded variance assumption. SCO is used successfully for solving large-scale adversarial problems, but its convergence guarantees are limited to its deterministic variant. In this work, we introduce the expected co-coercivity condition, explain it…
We analyze the convergence of the averaged stochastic gradient descent for overparameterized two-layer neural networks for regression problems. It was recently found that a neural tangent kernel (NTK) plays an important role in showing the global convergence of gradient-based methods under the NTK regime, where the learning dynamics for overparameterized neural networks can be almost characterized by that for the associated reproducing kernel Hilbert space (RKHS). However, there is still room for a convergence rate analysis in the NTK regime. In this study, we show that the averaged stochastic…
We present a convergence rate analysis for biased stochastic gradient descent (SGD), where individual gradient updates are corrupted by computation errors. We develop stochastic quadratic constraints to formulate a small linear matrix inequality (LMI) whose feasible points lead to convergence bounds of biased SGD. Based on this LMI condition, we develop a sequential minimization approach to analyze the intricate trade-offs that couple stepsize selection, convergence rate, optimization accuracy, and robustness to gradient inaccuracy. We also provide feasible points for this LMI and obtain theor…
Boston University（波士顿大学）；Northeastern University（东北大学）
In this work, we describe a generic approach to show convergence with high probability for stochastic convex optimization. In previous works, either the convergence is only in expectation or the bound depends on the diameter of the domain. Instead, we show high probability convergence with bounds depending on the initial distance to the optimal solution as opposed to the domain diameter. The algorithms use step sizes analogous to the standard settings and are universal to Lipschitz functions, smooth functions, and their linear combinations.
Univ. Grenoble Alpes（格勒诺布尔阿尔卑斯大学）；CNRS（法国国家科学研究中心）；Inria（法国国家信息与自动化研究所）；LIG（格勒诺布尔信息学实验室）；Criteo AI Lab（Criteo人工智能实验室）；École Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）
This paper analyzes the trajectories of stochastic gradient descent (SGD) to help understand the algorithm's convergence properties in non-convex problems. We first show that the sequence of iterates generated by SGD remains bounded and converges with probability $1$ under a very broad range of step-size schedules. Subsequently, going beyond existing positive probability guarantees, we show that SGD avoids strict saddle points/manifolds with probability $1$ for the entire spectrum of step-size policies considered. Finally, we prove that the algorithm's rate of convergence to Hurwicz minimizers…
INRIA（法国国家信息与自动化研究所）；Ecole Normale Supérieure（高等师范学校）；PSL Research University（巴黎文理研究大学）
In the context of statistical supervised learning, the noiseless linear model assumes that there exists a deterministic linear relation $Y = \langle θ_*, X \rangle$ between the random output $Y$ and the random feature vector $Φ(U)$, a potentially non-linear transformation of the inputs $U$. We analyze the convergence of single-pass, fixed step-size stochastic gradient descent on the least-square risk under this model. The convergence of the iterates to the optimum $θ_*$ and the decay of the generalization error follow polynomial convergence rates with exponents that both depend on the regulari…
In this paper, we examine the convergence of mirror descent in a class of stochastic optimization problems that are not necessarily convex (or even quasi-convex), and which we call variationally coherent. Since the standard technique of "ergodic averaging" offers no tangible benefits beyond convex programming, we focus directly on the algorithm's last generated sample (its "last iterate"), and we show that it converges with probabiility $1$ if the underlying problem is coherent. We further consider a localized version of variational coherence which ensures local convergence of stochastic mirro…
In this work we consider stochastic gradient descent (SGD) for solving linear inverse problems in Banach spaces. SGD and its variants have been established as one of the most successful optimisation methods in machine learning, imaging and signal processing, etc. At each iteration SGD uses a single datum, or a small subset of data, resulting in highly scalable methods that are very attractive for large-scale inverse problems. Nonetheless, the theoretical analysis of SGD-based approaches for inverse problems has thus far been largely limited to Euclidean and Hilbert spaces. In this work we pres…
Georgia Institute of Technology（佐治亚理工学院）；IBM Thomas J. Watson Research Center（IBM托马斯·J·沃森研究中心）
Despite their popularity, the practical performance of asynchronous stochastic gradient descent methods (ASGD) for solving large scale machine learning problems are not as good as theoretical results indicate. We adopt and analyze a synchronous K-step averaging stochastic gradient descent algorithm which we call K-AVG. We establish the convergence results of K-AVG for nonconvex objectives and explain why the K-step delay is necessary and leads to better performance than traditional parallel stochastic gradient descent which is a special case of K-AVG with $K=1$. We also show that K-AVG scales …
In this work we introduce a conditional accelerated lazy stochastic gradient descent algorithm with optimal number of calls to a stochastic first-order oracle and convergence rate $O\left(\frac{1}{\varepsilon^2}\right)$ improving over the projection-free, Online Frank-Wolfe based stochastic gradient descent of Hazan and Kale [2012] with convergence rate $O\left(\frac{1}{\varepsilon^4}\right)$.
