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IDSIA Lugano Switzerland Master Algorithms for Active Experts Problems based on Increasing Loss Values Jan Poland and Marcus Hutter Defensive Universal Learning or

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2 What Universal learning: Algorithm that performs asymptotically optimal for any online decision problem. AgentEnvironment Actions/ Decisions Loss/ Reward

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3 How Prediction with Expert Advice Bandit techniques Infinite Expert classes Growing Losses

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4 Prediction with Expert Advice t = 1 2 3 4 5... Expert 1: loss = Expert 2: loss = Expert 3: loss =... Master: loss = 1 ½ 0 1 0 1 0 0 1 1 ½ ½ 0 0 1 0 instantaneous losses are bounded in [0,1]

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5 Prediction with Expert Advice Expert 1: loss = Expert 2: loss = 0 ½ 1 0 0 1 1 0... Do not follow the leader:... but the perturbed leader: Regret = E loss(Master) – loss(Best expert) [Hannan, Littlestone, Warmuth, Cesa-Bianchi, McMahan, Blum, etc.] proven for adversarial environments!

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6 Learning Rate Cumulative loss grows has to be scaled down (otherwise we end up following the leader) dynamic learning rate [Cesa-Bianchi et al., Auer et al., etc.] learning rate and bounds can be significantly improved for small losses things get more complicated

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7 Priors for Expert Classes Expert class of finite size n uniform prior 1/n is common uniform complexity log n [Hutter, Poland for dynamic learning rate] Countably infinite expert class n = uniform prior impossible bounds are instead in log w i -1 i is the best expert in hindsight

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8 Universal Expert Class Expert i = i th program on some universal Turing machine Prior complexity = length of the program Interprete the output appropriately, depending on the problem This construction is common in Algorithmic Information Theory

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9 Bandit Case t = 1 2 3 4 5... Expert 1: loss = Expert 2: loss = Expert 3: loss =... Master: loss = 1 ? ? 1 ? ? 0 0 ? ? ½ ½ ? 0 ? 0

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10 Bandit Case Explore with small probability t, otherwise exploit t is the exploration rate t 0 as t Deal with estimated losses: observed loss of the action probability of the action unbiased estimate [Auer et al., McMahan and Blum]

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11 Bandit Case: Consequences Bounds are in w i instead of -log w i this (exponentially worse) bound is sharp in general Analysis gets harder for adaptive adversaries (with martingales...)

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12 Reactive Environments Repeated game: Prisoners Dilemma CD Cooperate (C)0.31 Defect (D)00.7 [de Farias and Megiddo, 2003] Cooperate: loss = Defect: loss = 0.3 0 1 0.7 1 0.3 0 0

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13 Prisoners Dilemma [de Farias and Megiddo, 2003] defecting is dominant but still cooperating may have the better long term reward e.g. against Tit for Tat Expert Advice fails against Tit for Tat Tit for Tat is reactive Cooperate: loss = Defect: loss = 0.3 0 1 0.7 1 0.3 0 0

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14 Time Scale Change Idea: Yield control to selected expert for increasingly many time steps 1 2 3 4.... original time scale new master time scale instantaneous losses may grow in time

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15 Follow or Explore (FoE) Need master algorithm +analysis for losses in [0,B t ], B t grows countable expert classes dynamic learning rate dynamic exploration rate technical issue: dynamic confidence for almost sure assertions Algorithm FoE (Follow or Explore) (details are in the paper)

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16 Main Result Theorem: For any online decision problem, FoE performs in the limit as well as any computable strategy (expert). That is, FoEs average per round regret converges to 0. Moreover, FoE uses only finitely many experts at each time, thus is computationally feasible.

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17 Universal Optimality universal optimal = the average per-round regret tends to zero the cumulative regret grows slower than t

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18 Universal Optimality finite regret logarithmic regret (square) root regret linear

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19 Conclusions Adversary Actions/ Decisions FoE is universally optimal in the limit but maybe too defensive for practice?! Loss/ Reward Thank you!

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