“…When f i 's are convex, the existing algorithms include the (sub)gradient methods [8], [10], [24], [37], [40], [59], [65], [46], and the primal-dual domain methods such as the decentralized alternating direction method of multipliers (DADMM) [51], [52], [9], DLM [31], and EXTRA [53], [54]. When f i 's are nonconvex, some existing results include [4], [5], [18], [35], [36], [56], [57], [27], [60], [62], [68]. In spite of the algorithms and their analysis in these works, the convergence of the simple algorithm Decentralized Gradient Descent (DGD) [40] under nonconvex f i 's is still unknown.…”