The paper studies the performance of the Model-Agnostic Meta-Learning (MAML) algorithm as an optimization method. The goal is to determine the global convergence of MAML on sequential decision-making tasks possessing a common structure. We prove that the benign landscape of a single task leads to the global convergence of MAML in the single-task scenario and in the scenario of multiple structurally connected tasks. We also show that there is a two-task scenario that does not possess this global convergence property even for identical tasks. We analyze the landscape of the MAML objective on LQR tasks to determine what type of similarities in their structures enables the algorithm to converge to the globally optimal solution.

Global Convergence of MAML for LQR