The success of deep learning is due, to a large extent, to the remarkable effectiveness of gradient-based optimization methods applied to large neural networks. In this talk I will discuss some general mathematical principles allowing for efficient optimization in over-parameterized non-linear systems, a setting that includes deep neural networks. Remarkably, it seems that optimization of such systems is "easy". In particular, optimization problems corresponding to these systems are not convex, even locally,but instead satisfy locally the Polyak-Lojasiewicz (PL) condition allowing for efficient optimization by gradient descent or SGD. We connect the PL condition of these systems to the condition number associated to the tangent kernel and develop a non-linear theory parallel to classical analyses of over-parameterized linear equations.