Linear Convergence of Gradient and Proximal-Gradient Methods Under the Polyak-Łojasiewicz Condition

In 1963, Polyak proposed a simple condition that is sufficient to show a global linear convergence rate for gradient descent. This condition is a special case of the Łojasiewicz inequality proposed in the same year, and it does not require strong convexity (or even convexity). In this work, we show that this much-older Polyak-Łojasiewicz (PL) inequality is actually weaker than the main conditions that have been explored to show linear convergence rates without strong convexity over the last 25 years. We also use the PL inequality to give new analyses of coordinate descent and stochastic gradient for many non-strongly-convex (and some non-convex) functions. We further propose a generalization that applies to proximal-gradient methods for non-smooth optimization, leading to simple proofs of linear convergence for support vector machines and L1-regularized least squares without additional assumptions.