The Break-Even Point on Optimization Trajectories of Deep Neural Networks

The early phase of training of deep neural networks is critical for their final performance. In this work, we study how the hyperparameters of stochastic gradient descent (SGD) used in the early phase of training affect the rest of the optimization trajectory. We argue for the existence of the "break-even" point on this trajectory, beyond which the curvature of the loss surface and noise in the gradient are implicitly regularized by SGD. In particular, we demonstrate on multiple classification tasks that using a large learning rate in the initial phase of training reduces the variance of the gradient, and improves the conditioning of the covariance of gradients. These effects are beneficial from the optimization perspective and become visible after the break-even point. Complementing prior work, we also show that using a low learning rate results in bad conditioning of the loss surface even for a neural network with batch normalization layers. In short, our work shows that key properties of the loss surface are strongly influenced by SGD in the early phase of training. We argue that studying the impact of the identified effects on generalization is a promising future direction.Comment: Accepted as a spotlight at ICLR 2020. The last two authors contributed equall

Rotational Optimizers: Simple & Robust DNN Training

The training dynamics of modern deep neural networks depend on complex interactions between the learning rate, weight decay, initialization, and other hyperparameters. These interactions can give rise to Spherical Motion Dynamics in scale-invariant layers (e.g., normalized layers), which converge to an equilibrium state, where the weight norm and the expected rotational update size are fixed. Our analysis of this equilibrium in AdamW, SGD with momentum, and Lion provides new insights into the effects of different hyperparameters and their interactions on the training process. We propose rotational variants (RVs) of these optimizers that force the expected angular update size to match the equilibrium value throughout training. This simplifies the training dynamics by removing the transient phase corresponding to the convergence to an equilibrium. Our rotational optimizers can match the performance of the original variants, often with minimal or no tuning of the baseline hyperparameters, showing that these transient phases are not needed. Furthermore, we find that the rotational optimizers have a reduced need for learning rate warmup and improve the optimization of poorly normalized networks.Comment: 23 pages, 9 figure

Inefficiency of K-FAC for Large Batch Size Training

In stochastic optimization, using large batch sizes during training can leverage parallel resources to produce faster wall-clock training times per training epoch. However, for both training loss and testing error, recent results analyzing large batch Stochastic Gradient Descent (SGD) have found sharp diminishing returns, beyond a certain critical batch size. In the hopes of addressing this, it has been suggested that the Kronecker-Factored Approximate Curvature (\mbox{K-FAC}) method allows for greater scalability to large batch sizes, for non-convex machine learning problems such as neural network optimization, as well as greater robustness to variation in model hyperparameters. Here, we perform a detailed empirical analysis of large batch size training %of these two hypotheses, for both \mbox{K-FAC} and SGD, evaluating performance in terms of both wall-clock time and aggregate computational cost. Our main results are twofold: first, we find that both \mbox{K-FAC} and SGD doesn't have ideal scalability behavior beyond a certain batch size, and that \mbox{K-FAC} does not exhibit improved large-batch scalability behavior, as compared to SGD; and second, we find that \mbox{K-FAC}, in addition to requiring more hyperparameters to tune, suffers from similar hyperparameter sensitivity behavior as does SGD. We discuss extensive results using ResNet and AlexNet on \mbox{CIFAR-10} and SVHN, respectively, as well as more general implications of our findings

DeepOBS: A Deep Learning Optimizer Benchmark Suite

Because the choice and tuning of the optimizer affects the speed, and ultimately the performance of deep learning, there is significant past and recent research in this area. Yet, perhaps surprisingly, there is no generally agreed-upon protocol for the quantitative and reproducible evaluation of optimization strategies for deep learning. We suggest routines and benchmarks for stochastic optimization, with special focus on the unique aspects of deep learning, such as stochasticity, tunability and generalization. As the primary contribution, we present DeepOBS, a Python package of deep learning optimization benchmarks. The package addresses key challenges in the quantitative assessment of stochastic optimizers, and automates most steps of benchmarking. The library includes a wide and extensible set of ready-to-use realistic optimization problems, such as training Residual Networks for image classification on ImageNet or character-level language prediction models, as well as popular classics like MNIST and CIFAR-10. The package also provides realistic baseline results for the most popular optimizers on these test problems, ensuring a fair comparison to the competition when benchmarking new optimizers, and without having to run costly experiments. It comes with output back-ends that directly produce LaTeX code for inclusion in academic publications. It supports TensorFlow and is available open source.Comment: Accepted at ICLR 2019. 9 pages, 3 figures, 2 table