user: text: Write a concise one-sentence TLDR summary of the scientific paper content below.

Title: On the Convergence of Adam and Beyond

Paper content:
Several recently proposed stochastic optimization methods that have been successfully used in training deep networks such as RMSProp, Adam, Adadelta, Nadam are based on using gradient updates scaled by square roots of exponential moving averages of squared past gradients.
In many applications, e.g. learning with large output spaces, it has been empirically observed that these algorithms fail to converge to an optimal solution (or a critical point in nonconvex settings).
We show that one cause for such failures is the exponential moving average used in the algorithms.
We provide an explicit example of a simple convex optimization setting where Adam does not converge to the optimal solution, and describe the precise problems with the previous analysis of Adam algorithm.
Our analysis suggests that the convergence issues can be fixed by endowing such algorithms with ``long-term memory'' of past gradients, and propose new variants of the Adam algorithm which not only fix the convergence issues but often also lead to improved empirical performance.
Stochastic gradient descent (SGD) is the dominant method to train deep networks today.
This method iteratively updates the parameters of a model by moving them in the direction of the negative gradient of the loss evaluated on a minibatch.
In particular, variants of SGD that scale coordinates of the gradient by square roots of some form of averaging of the squared coordinates in the past gradients have been particularly successful, because they automatically adjust the learning rate on a per-feature basis.
The first popular algorithm in this line of research is ADAGRAD BID2 BID5 , which can achieve significantly better performance compared to vanilla SGD when the gradients are sparse, or in general small.Although ADAGRAD works well for sparse settings, its performance has been observed to deteriorate in settings where the loss functions are nonconvex and gradients are dense due to rapid decay of the learning rate in these settings since it uses all the past gradients in the update.
This problem is especially exacerbated in high dimensional problems arising in deep learning.
To tackle this issue, several variants of ADAGRAD, such as RMSPROP BID7 , ADAM BID3 , ADADELTA (Zeiler, 2012) , NADAM BID1 , etc, have been proposed which mitigate the rapid decay of the learning rate using the exponential moving averages of squared past gradients, essentially limiting the reliance of the update to only the past few gradients.
While these algorithms have been successfully employed in several practical applications, they have also been observed to not converge in some other settings.
It has been typically observed that in these settings some minibatches provide large gradients but only quite rarely, and while these large gradients are quite informative, their influence dies out rather quickly due to the exponential averaging, thus leading to poor convergence.In this paper, we analyze this situation in detail.
We rigorously prove that the intuition conveyed in the above paragraph is indeed correct; that limiting the reliance of the update on essentially only the past few gradients can indeed cause significant convergence issues.
In particular, we make the following key contributions:• We elucidate how the exponential moving average in the RMSPROP and ADAM algorithms can cause non-convergence by providing an example of simple convex optimization prob-lem where RMSPROP and ADAM provably do not converge to an optimal solution.
Our analysis easily extends to other algorithms using exponential moving averages such as ADADELTA and NADAM as well, but we omit this for the sake of clarity.
In fact, the analysis is flexible enough to extend to other algorithms that employ averaging squared gradients over essentially a fixed size window (for exponential moving averages, the influences of gradients beyond a fixed window size becomes negligibly small) in the immediate past.
We omit the general analysis in this paper for the sake of clarity.•
The above result indicates that in order to have guaranteed convergence the optimization algorithm must have "long-term memory" of past gradients. Specifically
, we point out a problem with the proof of convergence of the ADAM algorithm given by BID3 . To resolve
this issue, we propose new variants of ADAM which rely on long-term memory of past gradients, but can be implemented in the same time and space requirements as the original ADAM algorithm. We provide
a convergence analysis for the new variants in the convex setting, based on the analysis of BID3 , and show a datadependent regret bound similar to the one in ADAGRAD.• We provide
a preliminary empirical study of one of the variants we proposed and show that it either performs similarly, or better, on some commonly used problems in machine learning.
In this paper, we study exponential moving variants of ADAGRAD and identify an important flaw in these algorithms which can lead to undesirable convergence behavior.
We demonstrate these problems through carefully constructed examples where RMSPROP and ADAM converge to highly suboptimal solutions.
In general, any algorithm that relies on an essentially fixed sized window of past gradients to scale the gradient updates will suffer from this problem.We proposed fixes to this problem by slightly modifying the algorithms, essentially endowing the algorithms with a long-term memory of past gradients.
These fixes retain the good practical performance of the original algorithms, and in some cases actually show improvements.The primary goal of this paper is to highlight the problems with popular exponential moving average variants of ADAGRAD from a theoretical perspective.
RMSPROP and ADAM have been immensely successful in development of several state-of-the-art solutions for a wide range of problems.
Thus, it is important to understand their behavior in a rigorous manner and be aware of potential pitfalls while using them in practice.
We believe this paper is a first step in this direction and suggests good design principles for faster and better stochastic optimization.

assistant: text: We investigate the convergence of popular optimization algorithms like Adam , RMSProp and propose new variants of these methods which provably converge to optimal solution in convex  settings.