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Title: On the Convergence and Robustness of Batch Normalization

Paper content:
Despite its empirical success, the theoretical underpinnings of the stability, convergence and acceleration properties of batch normalization (BN) remain elusive.
In this paper, we attack this problem from a modelling approach, where we perform thorough theoretical analysis on BN applied to simplified model: ordinary least squares (OLS).
We discover that gradient descent on OLS with BN has interesting properties, including a scaling law, convergence for arbitrary learning rates for the weights, asymptotic acceleration effects, as well as insensitivity to choice of learning rates.
We then demonstrate numerically that these findings are not specific to the OLS problem and hold qualitatively for more complex supervised learning problems.
This points to a new direction towards uncovering the mathematical principles that underlies batch normalization.
Batch normalization BID7 (BN) is one of the most important techniques for training deep neural networks and has proven extremely effective in avoiding gradient blowups during back-propagation and speeding up convergence.
In its original introduction BID7 , the desirable effects of BN are attributed to the so-called "reduction of covariate shift".
However, it is unclear what this statement means in precise mathematical terms.
To date, there lacks a comprehensive theoretical analysis of the effect of batch normalization.In this paper, we study the convergence and stability of gradient descent with batch normalization (BNGD) via a modeling approach.
More concretely, we consider a simplified supervised learning problem: ordinary least squares regression, and analyze precisely the effect of BNGD when applied to this problem.
Much akin to the mathematical modeling of physical processes, the least-squares problem serves as an idealized "model" of the effect of BN for general supervised learning tasks.
A key reason for this choice is that the dynamics of GD without BN (hereafter called GD for simplicity) in least-squares regression is completely understood, thus allowing us to isolate and contrast the additional effects of batch normalization.The modeling approach proceeds in the following steps.
First, we derive precise mathematical results on the convergence and stability of BNGD applied to the least-squares problem.
In particular, we show that BNGD converges for any constant learning rate ε ∈ (0, 1], regardless of the conditioning of the regression problem.
This is in stark contrast with GD, where the condition number of the problem adversely affect stability and convergence.
Many insights can be distilled from the analysis of the OLS model.
For instance, we may attribute the stability of BNGD to an interesting scaling law governing ε and the initial condition; This scaling law is not present in GD.
The preceding analysis also implies that if we are allowed to use different learning rates for the BN rescaling variables (ε a ) and the remaining trainable variables (ε), we may conclude that BNGD on our model converges for any ε > 0 as long as ε a ∈ (0, 1].
Furthermore, we discover an acceleration effect of BNGD and moreover, there exist regions of ε such that the performance of BNGD is insensitive to changes in ε, which help to explain the robustness of BNGD to the choice of learning rates.
We reiterate that contrary to many previous works, all the preceding statements are precise mathematical results that we derive for our simplified model.
The last step in our modeling approach is also the most important: we need to demonstrate that these insights are not specific features of our idealized model.
Indeed, they should be true characteristics, at least in an approximate sense, of BNGD for general supervised learning problems.
We do this by numerically investigating the convergence, stability and scaling behaviors of BNGD on various datasets and model architectures.
We find that the key insights derived from our idealized analysis indeed correspond to practical scenarios.
In this paper, we adopted a modeling approach to investigate the dynamical properties of batch normalization.
The OLS problem is chosen as a point of reference, because of its simplicity and the availability of convergence results for gradient descent.
Even in such a simple setting, we saw that BNGD exhibits interesting non-trivial behavior, including scaling laws, robust convergence properties, acceleration, as well as the insensitivity of performance to the choice of learning rates.
Although these results are derived only for the OLS model, we show via experiments that these are qualitatively valid for general scenarios encountered in deep learning, and points to a concrete way in uncovering the reasons behind the effectiveness of batch normalization.Interesting future directions include the extension of the results for the OLS model to more general settings of BNGD, where we believe the scaling law (Proposition 3.2) should play a significant role.
In addition, we have not touched upon another empirically observed advantage of batch normalization, which is better generalization errors.
It will be interesting to see how far the current approach takes us in investigating such probabilistic aspects of BNGD.

assistant: text: We mathematically analyze the effect of batch normalization on a simple model and obtain key new insights that applies to general supervised learning.