Understanding the loss surface of neural networks is essential for the design of models with predictable performance and their success in applications. Experimental results suggest that sufficiently deep and wide neural networks are not negatively impacted by suboptimal local minima. Despite recent progress, the reason for this outcome is not fully understood. Could deep networks have very few, if at all, suboptimal local optima? or could all of them be equally good? We provide a construction to show that suboptimal local minima (i.e. non-global ones), even though degenerate, exist for fully connected neural networks with sigmoid activation functions. The local minima obtained by our proposed construction belong to a connected set of local solutions that can be escaped from via a non-increasing path on the loss curve. For extremely wide neural networks with two hidden layers, we prove that every suboptimal local minimum belongs to such a connected set. This provides a partial explanation for the successful application of deep neural networks. In addition, we also characterize under what conditions the same construction leads to saddle points instead of local minima for deep neural networks.
We discuss related work on suboptimal minima of the loss surface. In addition, we refer the reader to the overview article @cite_9 for a discussion on the non-convexity in neural network training.
@cite_9
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In deep learning, , as well as , create non-convex loss surfaces. Then, does depth alone create bad local minima? In this paper, we prove that without nonlinearity, depth alone does not create bad local minima, although it induces non-convex loss surface. Using this insight, we greatly simplify a recently proposed proof to show that all of the local minima of feedforward deep linear neural networks are global minima. Our theoretical results generalize previous results with fewer assumptions, and this analysis provides a method to show similar results beyond square loss in deep linear models. While the optimization problem behind deep neural networks is highly non-convex, it is frequently observed in practice that training deep networks seems possible without getting stuck in suboptimal points. It has been argued that this is the case as all local minima are close to being globally optimal. We show that this is (almost) true, in fact almost all local minima are globally optimal, for a fully connected network with squared loss and analytic activation function given that the number of hidden units of one layer of the network is larger than the number of training points and the network structure from this layer on is pyramidal. It was assumed proven that two-layer feedforward neural networks with t-1 hidden nodes, when presented with t input patterns, can not have any suboptimal local minima on the error surface. In this paper, however, we shall give a counterexample to this assumption. This counterexample consists of a region of local minima with nonzero error on the error surface of a neural network with three hidden nodes when presented with four patterns (the XOR problem). We will also show that the original proof is valid only when an unusual definition of local minimum is used. The article introduces digital image restoration to the reader who is just beginning in this field, and provides a review and analysis for the reader who may already be well-versed in image restoration. The perspective on the topic is one that comes primarily from work done in the field of signal processing. Thus, many of the techniques and works cited relate to classical signal processing approaches to estimation theory, filtering, and numerical analysis. In particular, the emphasis is placed primarily on digital image restoration algorithms that grow out of an area known as "regularized least squares" methods. It should be noted, however, that digital image restoration is a very broad field, as we discuss, and thus contains many other successful approaches that have been developed from different perspectives, such as optics, astronomy, and medical imaging, just to name a few. In the process of reviewing this topic, we address a number of very important issues in this field that are not typically discussed in the technical literature.