Sharp higher order convergence rates for the Adam optimizer

Gradient descent based optimization methods are the methods of choice to train deep neural networks in machine learning. Beyond the standard gradient descent method, also suitable modified variants of standard gradient descent involving acceleration techniques such as the momentum method and/or adaptivity techniques such as the RMSprop method are frequently considered optimization methods. These days the most popular of such sophisticated optimization schemes is presumably the Adam optimizer that has been proposed in 2014 by Kingma and Ba. A highly relevant topic of research is to investigate the speed of convergence of such optimization methods. In particular, in 1964 Polyak showed that the standard gradient descent method converges in a neighborhood of a strict local minimizer with rate (x - 1)(x + 1)-1 while momentum achieves the (optimal) strictly faster convergence rate (√x - 1)(√x + 1)-1 where x ∈ (1,∞) is the condition number (the ratio of the largest and the smallest eigenvalue) of the Hessian of the objective function at the local minimizer. It is the key contribution of this work to reveal that Adam also converges with the strictly faster convergence rate (√x - 1)(√x + 1)-1 while RMSprop only converges with the convergence rate (x - 1)(x + 1)-1.