Matrix completion is a basic machine learning problem that has wide applications, especially in collaborative filtering and recommender systems. Simple non-convex optimization algorithms are popular and effective in practice. Despite recent progress in proving various non-convex algorithms converge from a good initial point, it remains unclear why random or arbitrary initialization suffices in practice. We prove that the commonly used non-convex objective function for matrix completion has no spurious local minima --- all local minima must also be global. Therefore, many popular optimization algorithms such as (stochastic) gradient descent can provably solve matrix completion with \textit{arbitrary} initialization in polynomial time.

We propose two stochastic gradient MCMC methods for sampling from Bayesian posterior distributions defined on Riemann manifolds with a known geodesic flow, e.g.

We consider the problem of building continuous occupancy representations in dynamic environments for robotics applications. The problem has hardly been discussed previously due to the complexity of patterns in urban environments, which have both spatial and temporal dependencies. We address the problem as learning a kernel classifier on an efficient feature space. The key novelty of our approach is the incorporation of variations in the time domain into the spatial domain. We propose a method to propagate motion uncertainty into the kernel using a hierarchical model. The main benefit of this approach is that it can directly predict the occupancy state of the map in the future from past observations, being a valuable tool for robot trajectory planning under uncertainty. Our approach preserves the main computational benefits of static Hilbert maps -- using stochastic gradient descent for fast optimization of model parameters and incremental updates as new data are captured. Experiments conducted in road intersections of an urban environment demonstrated that spatio-temporal Hilbert maps can accurately model changes in the map while outperforming other techniques on various aspects.

Solving statistical learning problems often involves nonconvex optimization. Despite the empirical success of nonconvex statistical optimization methods, their global dynamics, especially convergence to the desirable local minima, remain less well understood in theory. In this paper, we propose a new analytic paradigm based on diffusion processes to characterize the global dynamics of nonconvex statistical optimization. As a concrete example, we study stochastic gradient descent (SGD) for the tensor decomposition formulation of independent component analysis. In particular, we cast different phases of SGD into diffusion processes, i.e., solutions to stochastic differential equations.

We develop efficient solution methods for a robust empirical risk minimization problem designed to give calibrated confidence intervals on performance and provide optimal tradeoffs between bias and variance. Our methods apply to distributionally robust optimization problems proposed by Ben-Tal et al., which put more weight on observations inducing high loss via a worst-case approach over a non-parametric uncertainty set on the underlying data distribution. Our algorithm solves the resulting minimax problems with nearly the same computational cost of stochastic gradient descent through the use of several carefully designed data structures. For a sample of size n, the per-iteration cost of our method scales as O(log n), which allows us to give optimality certificates that distributionally robust optimization provides at little extra cost compared to empirical risk minimization and stochastic gradient methods.

Matrix completion, where we wish to recover a low rank matrix by observing a few entries from it, is a widely studied problem in both theory and practice with wide applications. Most of the provable algorithms so far on this problem have been restricted to the offline setting where they provide an estimate of the unknown matrix using all observations simultaneously. However, in many applications, the online version, where we observe one entry at a time and dynamically update our estimate, is more appealing. While existing algorithms are efficient for the offline setting, they could be highly inefficient for the online setting. In this paper, we propose the first provable, efficient online algorithm for matrix completion. Our algorithm starts from an initial estimate of the matrix and then performs non-convex stochastic gradient descent (SGD). After every observation, it performs a fast update involving only one row of two tall matrices, giving near linear total runtime. Our algorithm can be naturally used in the offline setting as well, where it gives competitive sample complexity and runtime to state of the art algorithms. Our proofs introduce a general framework to show that SGD updates tend to stay away from saddle surfaces and could be of broader interests to other non-convex problems.

We analyze stochastic algorithms for optimizing nonconvex, nonsmooth finite-sum problems, where the nonsmooth part is convex. Surprisingly, unlike the smooth case, our knowledge of this fundamental problem is very limited. For example, it is not known whether the proximal stochastic gradient method with constant minibatch converges to a stationary point. To tackle this issue, we develop fast stochastic algorithms that provably converge to a stationary point for constant minibatches. Furthermore, using a variant of these algorithms, we obtain provably faster convergence than batch proximal gradient descent. Our results are based on the recent variance reduction techniques for convex optimization but with a novel analysis for handling nonconvex and nonsmooth functions. We also prove global linear convergence rate for an interesting subclass of nonsmooth nonconvex functions, which subsumes several recent works.

Many practical perception systems exist within larger processes which often include interactions with users or additional components that are capable of evaluating the quality of predicted solutions. In these contexts, it is beneficial to provide these oracle mechanisms with multiple highly likely hypotheses rather than a single prediction. In this work, we pose the task of producing multiple outputs as a learning problem over an ensemble of deep networks -- introducing a novel stochastic gradient descent based approach to minimize the loss with respect to an oracle. Our method is simple to implement, agnostic to both architecture and loss function, and parameter-free. Our approach achieves lower oracle error compared to existing methods on a wide range of tasks and deep architectures. We also show qualitatively that solutions produced from our approach often provide interpretable representations of task ambiguity.

The optimization problem behind neural networks is highly non-convex. Training with stochastic gradient descent and variants requires careful parameter tuning and provides no guarantee to achieve the global optimum. In contrast we show under quite weak assumptions on the data that a particular class of feedforward neural networks can be trained globally optimal with a linear convergence rate. Up to our knowledge this is the first practically feasible method which achieves such a guarantee. While the method can in principle be applied to deep networks, we restrict ourselves for simplicity in this paper to one-and two hidden layer networks. Our experiments confirms that these models are already rich enough to achieve good performance on a series of real-world datasets.

Word embeddings are a powerful approach to capturing semantic similarity among terms in a vocabulary. In this paper, we develop exponential family embeddings, which extends the idea of word embeddings to other types of high-dimensional data. As examples, we studied several types of data: neural data with real-valued observations, count data from a market basket analysis, and ratings data from a movie recommendation system. The main idea is that each observation is modeled conditioned on a set of latent embeddings and other observations, called the context, where the way the context is defined depends on the problem. In language the context is the surrounding words; in neuroscience the context is close-by neurons; in market basket data the context is other items in the shopping cart. Each instance of an embedding defines the context, the exponential family of conditional distributions, and how the embedding vectors are shared across data. We infer the embeddings with stochastic gradient descent, with an algorithm that connects closely to generalized linear models. On all three of our applications--neural activity of zebrafish, users' shopping behavior, and movie ratings--we found that exponential family embedding models are more effective than other dimension reduction methods. They better reconstruct held-out data and find interesting qualitative structure.