Online Learning with Unknown Constraints

We consider the problem of online learning where the sequence of actions played by the learner must adhere to an unknown safety constraint at every round. The goal is to minimize regret with respect to the best safe action in hindsight while simultaneously satisfying the safety constraint with high probability on each round. We provide a general meta-algorithm that leverages an online regression oracle to estimate the unknown safety constraint, and converts the predictions of an online learning oracle to predictions that adhere to the unknown safety constraint. On the theoretical side, our algorithm's regret can be bounded by the regret of the online regression and online learning oracles, the eluder dimension of the model class containing the unknown safety constraint, and a novel complexity measure that captures the difficulty of safe learning. We complement our result with an asymptotic lower bound that shows that the aforementioned complexity measure is necessary. When the constraints are linear, we instantiate our result to provide a concrete algorithm with $\sqrt{T}$ regret using a scaling transformation that balances optimistic exploration with pessimistic constraint satisfaction.

Contextual Bandits and Imitation Learning via Preference-Based Active Queries

We consider the problem of contextual bandits and imitation learning, where the learner lacks direct knowledge of the executed action's reward. Instead, the learner can actively query an expert at each round to compare two actions and receive noisy preference feedback. The learner's objective is two-fold: to minimize the regret associated with the executed actions, while simultaneously, minimizing the number of comparison queries made to the expert. In this paper, we assume that the learner has access to a function class that can represent the expert's preference model under appropriate link functions, and provide an algorithm that leverages an online regression oracle with respect to this function class for choosing its actions and deciding when to query. For the contextual bandit setting, our algorithm achieves a regret bound that combines the best of both worlds, scaling as $O(\min\{\sqrt{T}, d/\Delta\})$, where $T$ represents the number of interactions, $d$ represents the eluder dimension of the function class, and $\Delta$ represents the minimum preference of the optimal action over any suboptimal action under all contexts. Our algorithm does not require the knowledge of $\Delta$, and the obtained regret bound is comparable to what can be achieved in the standard contextual bandits setting where the learner observes reward signals at each round. Additionally, our algorithm makes only $O(\min\{T, d^2/\Delta^2\})$ queries to the expert. We then extend our algorithm to the imitation learning setting, where the learning agent engages with an unknown environment in episodes of length $H$ each, and provide similar guarantees for regret and query complexity. Interestingly, our algorithm for imitation learning can even learn to outperform the underlying expert, when it is suboptimal, highlighting a practical benefit of preference-based feedback in imitation learning.

Selective Sampling and Imitation Learning via Online Regression

We consider the problem of Imitation Learning (IL) by actively querying noisy expert for feedback. While imitation learning has been empirically successful, much of prior work assumes access to noiseless expert feedback which is not practical in many applications. In fact, when one only has access to noisy expert feedback, algorithms that rely on purely offline data (non-interactive IL) can be shown to need a prohibitively large number of samples to be successful. In contrast, in this work, we provide an interactive algorithm for IL that uses selective sampling to actively query the noisy expert for feedback. Our contributions are twofold: First, we provide a new selective sampling algorithm that works with general function classes and multiple actions, and obtains the best-known bounds for the regret and the number of queries. Next, we extend this analysis to the problem of IL with noisy expert feedback and provide a new IL algorithm that makes limited queries. Our algorithm for selective sampling leverages function approximation, and relies on an online regression oracle w.r.t.~the given model class to predict actions, and to decide whether to query the expert for its label. On the theoretical side, the regret bound of our algorithm is upper bounded by the regret of the online regression oracle, while the query complexity additionally depends on the eluder dimension of the model class. We complement this with a lower bound that demonstrates that our results are tight. We extend our selective sampling algorithm for IL with general function approximation and provide bounds on both the regret and the number of queries made to the noisy expert. A key novelty here is that our regret and query complexity bounds only depend on the number of times the optimal policy (and not the noisy expert, or the learner) go to states that have a small margin.

From Gradient Flow on Population Loss to Learning with Stochastic Gradient Descent

Stochastic Gradient Descent (SGD) has been the method of choice for learning large-scale non-convex models. While a general analysis of when SGD works has been elusive, there has been a lot of recent progress in understanding the convergence of Gradient Flow (GF) on the population loss, partly due to the simplicity that a continuous-time analysis buys us. An overarching theme of our paper is providing general conditions under which SGD converges, assuming that GF on the population loss converges. Our main tool to establish this connection is a general converse Lyapunov like theorem, which implies the existence of a Lyapunov potential under mild assumptions on the rates of convergence of GF. In fact, using these potentials, we show a one-to-one correspondence between rates of convergence of GF and geometrical properties of the underlying objective. When these potentials further satisfy certain self-bounding properties, we show that they can be used to provide a convergence guarantee for Gradient Descent (GD) and SGD (even when the paths of GF and GD/SGD are quite far apart). It turns out that these self-bounding assumptions are in a sense also necessary for GD/SGD to work. Using our framework, we provide a unified analysis for GD/SGD not only for classical settings like convex losses, or objectives that satisfy PL / KL properties, but also for more complex problems including Phase Retrieval and Matrix sq-root, and extending the results in the recent work of Chatterjee 2022.

On the Complexity of Adversarial Decision Making

A central problem in online learning and decision making -- from bandits to reinforcement learning -- is to understand what modeling assumptions lead to sample-efficient learning guarantees. We consider a general adversarial decision making framework that encompasses (structured) bandit problems with adversarial rewards and reinforcement learning problems with adversarial dynamics. Our main result is to show -- via new upper and lower bounds -- that the Decision-Estimation Coefficient, a complexity measure introduced by Foster et al. in the stochastic counterpart to our setting, is necessary and sufficient to obtain low regret for adversarial decision making. However, compared to the stochastic setting, one must apply the Decision-Estimation Coefficient to the convex hull of the class of models (or, hypotheses) under consideration. This establishes that the price of accommodating adversarial rewards or dynamics is governed by the behavior of the model class under convexification, and recovers a number of existing results -- both positive and negative. En route to obtaining these guarantees, we provide new structural results that connect the Decision-Estimation Coefficient to variants of other well-known complexity measures, including the Information Ratio of Russo and Van Roy and the Exploration-by-Optimization objective of Lattimore and Gy\"{o}rgy.

Guarantees for Epsilon-Greedy Reinforcement Learning with Function Approximation

Myopic exploration policies such as epsilon-greedy, softmax, or Gaussian noise fail to explore efficiently in some reinforcement learning tasks and yet, they perform well in many others. In fact, in practice, they are often selected as the top choices, due to their simplicity. But, for what tasks do such policies succeed? Can we give theoretical guarantees for their favorable performance? These crucial questions have been scarcely investigated, despite the prominent practical importance of these policies. This paper presents a theoretical analysis of such policies and provides the first regret and sample-complexity bounds for reinforcement learning with myopic exploration. Our results apply to value-function-based algorithms in episodic MDPs with bounded Bellman Eluder dimension. We propose a new complexity measure called myopic exploration gap, denoted by alpha, that captures a structural property of the MDP, the exploration policy and the given value function class. We show that the sample-complexity of myopic exploration scales quadratically with the inverse of this quantity, 1 / alpha^2. We further demonstrate through concrete examples that myopic exploration gap is indeed favorable in several tasks where myopic exploration succeeds, due to the corresponding dynamics and reward structure.

SGD: The Role of Implicit Regularization, Batch-size and Multiple-epochs

Multi-epoch, small-batch, Stochastic Gradient Descent (SGD) has been the method of choice for learning with large over-parameterized models. A popular theory for explaining why SGD works well in practice is that the algorithm has an implicit regularization that biases its output towards a good solution. Perhaps the theoretically most well understood learning setting for SGD is that of Stochastic Convex Optimization (SCO), where it is well known that SGD learns at a rate of $O(1/\sqrt{n})$, where $n$ is the number of samples. In this paper, we consider the problem of SCO and explore the role of implicit regularization, batch size and multiple epochs for SGD. Our main contributions are threefold: (a) We show that for any regularizer, there is an SCO problem for which Regularized Empirical Risk Minimzation fails to learn. This automatically rules out any implicit regularization based explanation for the success of SGD. (b) We provide a separation between SGD and learning via Gradient Descent on empirical loss (GD) in terms of sample complexity. We show that there is an SCO problem such that GD with any step size and number of iterations can only learn at a suboptimal rate: at least $\widetilde{\Omega}(1/n^{5/12})$. (c) We present a multi-epoch variant of SGD commonly used in practice. We prove that this algorithm is at least as good as single pass SGD in the worst case. However, for certain SCO problems, taking multiple passes over the dataset can significantly outperform single pass SGD. We extend our results to the general learning setting by showing a problem which is learnable for any data distribution, and for this problem, SGD is strictly better than RERM for any regularization function. We conclude by discussing the implications of our results for deep learning, and show a separation between SGD and ERM for two layer diagonal neural networks.

Agnostic Reinforcement Learning with Low-Rank MDPs and Rich Observations

There have been many recent advances on provably efficient Reinforcement Learning (RL) in problems with rich observation spaces. However, all these works share a strong realizability assumption about the optimal value function of the true MDP. Such realizability assumptions are often too strong to hold in practice. In this work, we consider the more realistic setting of agnostic RL with rich observation spaces and a fixed class of policies $\Pi$ that may not contain any near-optimal policy. We provide an algorithm for this setting whose error is bounded in terms of the rank $d$ of the underlying MDP. Specifically, our algorithm enjoys a sample complexity bound of $\widetilde{O}\left((H^{4d} K^{3d} \log |\Pi|)/\epsilon^2\right)$ where $H$ is the length of episodes, $K$ is the number of actions and $\epsilon>0$ is the desired sub-optimality. We also provide a nearly matching lower bound for this agnostic setting that shows that the exponential dependence on rank is unavoidable, without further assumptions.

Online learning with dynamics: A minimax perspective

We study the problem of online learning with dynamics, where a learner interacts with a stateful environment over multiple rounds. In each round of the interaction, the learner selects a policy to deploy and incurs a cost that depends on both the chosen policy and current state of the world. The state-evolution dynamics and the costs are allowed to be time-varying, in a possibly adversarial way. In this setting, we study the problem of minimizing policy regret and provide non-constructive upper bounds on the minimax rate for the problem. Our main results provide sufficient conditions for online learnability for this setup with corresponding rates. The rates are characterized by 1) a complexity term capturing the expressiveness of the underlying policy class under the dynamics of state change, and 2) a dynamics stability term measuring the deviation of the instantaneous loss from a certain counterfactual loss. Further, we provide matching lower bounds which show that both the complexity terms are indeed necessary. Our approach provides a unifying analysis that recovers regret bounds for several well studied problems including online learning with memory, online control of linear quadratic regulators, online Markov decision processes, and tracking adversarial targets. In addition, we show how our tools help obtain tight regret bounds for a new problems (with non-linear dynamics and non-convex losses) for which such bounds were not known prior to our work.

Second-Order Information in Non-Convex Stochastic Optimization: Power and Limitations

We design an algorithm which finds an $\epsilon$-approximate stationary point (with $\|\nabla F(x)\|\le \epsilon$) using $O(\epsilon^{-3})$ stochastic gradient and Hessian-vector products, matching guarantees that were previously available only under a stronger assumption of access to multiple queries with the same random seed. We prove a lower bound which establishes that this rate is optimal and---surprisingly---that it cannot be improved using stochastic $p$th order methods for any $p\ge 2$, even when the first $p$ derivatives of the objective are Lipschitz. Together, these results characterize the complexity of non-convex stochastic optimization with second-order methods and beyond. Expanding our scope to the oracle complexity of finding $(\epsilon,\gamma)$-approximate second-order stationary points, we establish nearly matching upper and lower bounds for stochastic second-order methods. Our lower bounds here are novel even in the noiseless case.