Explore First, Exploit Next: The True Shape of Regret in Bandit Problems I: Expected Draws Weighted by Arm Divergences Dominate the Binary Divergence of the Means of Any [0,1]-Valued StatisticResearch Paper
Motivation
Lower bounds on the regret of stochastic multi-armed bandit strategies say how often any reasonable strategy must sample an arm that is not the best one. They are the benchmark against which upper bounds for UCB, KL-UCB and Thompson sampling are judged optimal. The classical bounds of Lai and Robbins (1985) and Burnetas and Katehakis (1996) were proved by changes of measure on carefully chosen events, combined with Markov–Chernoff estimates of their probabilities.
Garivier, Ménard and Stoltz (arXiv:1602.07182v3), published in Mathematics of Operations Research in 2019, replace those arguments with one inequality, which they call the fundamental inequality of their article, inequality (6), p. 6. Every lower bound in the paper follows from it: the asymptotic Lai–Robbins / Burnetas–Katehakis bound for an arbitrary model (Theorem 1), the non-asymptotic bounds for small horizons (Theorems 2–4), and the non-asymptotic logarithmic bound for large horizons (Theorem 5). The same inequality, in the form of Lemma 1 of Kaufmann, Cappé and Garivier (2016), underlies lower bounds for best-arm identification. This mission formalizes the inequality and the lemma that carries its proof.
Setting
A bandit problem with arms is a family of probability distributions on , each with a finite expectation. A strategy plays for rounds. In round it picks an arm as a measurable function of , where the are independent uniforms on . It then observes a reward drawn from and a fresh independent uniform . The strategy together with the problem determines the law of ; is its expectation. The number of draws of arm is
is the Kullback–Leibler divergence between two probability measures: when is absolutely continuous with respect to and the integral exists, and otherwise. The binary divergence , for , is the Kullback–Leibler divergence between the Bernoulli distributions of parameters and . For it is given by (5):
It equals for and .
The Lean development builds on the published StochasticBandit K, which holds the arm laws ν.P a. The local FullStrategy K implements the paper's measurable strategy on ; fullHistoryMeasure ν ψ T is the law of , fullPullCount ψ a is , and fullExpPulls ν ψ T a is its expectation. The published BanditPolicy K describes the observed-history kernel model used by the two referenced chain-rule results. The shared definitions supply the Bernoulli law and klBer p q for .
Formalization targets
Goal: the fundamental inequality (6), p. 6
For every strategy , every pair of bandit problems , every horizon , and every -measurable statistic with values in :
in , with . The arm laws have the finite expectations required in §1.1; their divergences may be infinite.
Milestones, in the order of the proof (§2.1, pp. 7–8)
- (9), p. 7: the one-round chain rule. Under finite arm divergences, the divergence between the observed-history laws after round is the divergence after round plus . The observed-history kernel version is proved on the platform.
- Equality in (8), p. 7: . The platform has the observed-history kernel version under finite arm divergences; relating it to the full information law is part of the goal's work.
- Lemma 1, first display, p. 8: , with the Lebesgue measure on .
- Lemma 1, second display, p. 8: for every measurable .
- Lemma 1, last display, p. 8: .
- Lemma 1, p. 8: for probability measures on any measurable space and any measurable with values in , .
Significance
The result. Inequality (6) turns a lower bound on the number of draws into a choice of an alternative problem and a statistic , usually . The binary divergence then contains expected numbers of draws directly, and no event or concentration estimate is needed. In the paper this gives a few-line proof of the Lai–Robbins / Burnetas–Katehakis bound for any model. It also gives the non-asymptotic bounds showing that the regret grows almost linearly while is below a divergence-determined threshold. Each of these is a separate mission of this series, and each applies (6) once.
The formalization. The paper calls the equality in (8) standard and re-proves it for completeness; the inequality half, Lemma 1, is its own contribution. Observed-history kernel versions of the equality in (8) and the one-round step (9) are already formalized on the platform, under the hypothesis that every arm divergence is finite. Lemma 1 and the full-information inequality (6) itself are proved in the paper but not formalized. A machine-checked (6), stated with no divergence-finiteness hypothesis, would make every downstream lower bound in the series a matter of calculus with the binary divergence.
Difficulty
Two points need care. First, Lemma 1 is stated for an arbitrary -valued . The data-processing inequality only gives it directly for indicators of events, and pushing forward by gives a law on , not a Bernoulli law. The paper's route enlarges the space by an independent uniform variable, which needs the product with Lebesgue measure, the invariance of the divergence under that product, and Tonelli's theorem. Second, the goal has no finiteness hypothesis on the arm divergences, while the published chain-rule results assume it. When for an arm that is drawn with positive probability, the left side is and there is nothing to prove. When such an arm is never drawn, its term is . The divergence between the history laws must then be shown to be finite and equal to the remaining sum, which the published decomposition does not cover.
Formalization scope
- Arms are
Fin K, indexed from . The horizon is a natural number; at both sides are . For no policy exists, so needs no hypothesis. - Strategies are
FullStrategy K, measurable functions of the paper's . The same strategy runs under and . The local history law includes every auxiliary uniform, so may depend on any of them. - Both bandit problems satisfy
Integrable idfor each arm, expressing §1.1's finite-expectation condition. The publishedStochasticBanditstructure supplies only the probability-law condition. - The binary divergence is the -valued Kullback–Leibler divergence of two Bernoulli laws,
klBer, never a real formula. A real formula would return a finite junk value at , where (5) is , and would make the goal trivially true there. A version with a finiteness hypothesis on the arm divergences, or with a real-valued binary divergence restricted to , would be a weaker theorem and is not the target. - In Lemma 1 and its displays, the "distributions" are probability measures on an arbitrary measurable space. is the volume on Mathlib's
unitInterval. is real-valued and measurable, with values in . - Builds on the published definitions
StochasticBanditandBanditPolicyand on Mathlib'sInformationTheory.klDiv. The goal uses a local explicit auxiliary-uniform strategy; the published chain-rule references use observed-history kernel policies and are related proof tools. Other tools are data processing (klDiv_map_le), the chain rule forklDivand composition products, and Tonelli. The tensorization identity for products of probability measures is Proved on the platform asTensorization.klDiv_prod_eq_add. Lemma 1 is reusable well beyond bandits, wherever a divergence must be compared with the means of a bounded statistic. Proofs of the milestones, and an extension of the chain rule to infinite arm divergences, are welcome.
Selected references
- A. Garivier, P. Ménard, G. Stoltz, Explore First, Exploit Next: The True Shape of Regret in Bandit Problems, Mathematics of Operations Research 44(2), 2019; arXiv:1602.07182v3. https://arxiv.org/abs/1602.07182v3, https://doi.org/10.1287/moor.2017.0928
- T. L. Lai, H. Robbins, Asymptotically efficient adaptive allocation rules, Advances in Applied Mathematics 6, 1985. https://doi.org/10.1016/0196-8858(85)90002-8
- A. N. Burnetas, M. N. Katehakis, Optimal adaptive policies for sequential allocation problems, Advances in Applied Mathematics 17, 1996. https://doi.org/10.1006/aama.1996.0007
- E. Kaufmann, O. Cappé, A. Garivier, On the complexity of best-arm identification in multi-armed bandit models, Journal of Machine Learning Research 17, 2016. https://jmlr.org/papers/v17/kaufman16a.html
- T. Lattimore, C. Szepesvári, Bandit Algorithms, Cambridge University Press, 2020. https://doi.org/10.1017/9781108571401