Francesco Orabona

Michael Crawshaw, Mingrui Liu, Francesco Orabona et al.

Traditional analyses in non-convex optimization typically rely on the smoothness assumption, namely requiring the gradients to be Lipschitz. However, recent evidence shows that this smoothness condition does not capture the properties of some deep learning objective functions, including the ones involving Recurrent Neural Networks and LSTMs. Instead, they satisfy a much more relaxed condition, with potentially unbounded smoothness. Under this relaxed assumption, it has been theoretically and empirically shown that the gradient-clipped SGD has an advantage over the vanilla one. In this paper, we show that clipping is not indispensable for Adam-type algorithms in tackling such scenarios: we theoretically prove that a generalized SignSGD algorithm can obtain similar convergence rates as SGD with clipping but does not need explicit clipping at all. This family of algorithms on one end recovers SignSGD and on the other end closely resembles the popular Adam algorithm. Our analysis underlines the critical role that momentum plays in analyzing SignSGD-type and Adam-type algorithms: it not only reduces the effects of noise, thus removing the need for large mini-batch in previous analyses of SignSGD-type algorithms, but it also substantially reduces the effects of unbounded smoothness and gradient norms. We also compare these algorithms with popular optimizers on a set of deep learning tasks, observing that we can match the performance of Adam while beating the others.

Francesco Orabona

In this book, I introduce the basic concepts of Online Learning through the modern view of Online Convex Optimization. Here, online learning refers to the framework of regret minimization under worst-case assumptions. I present first-order and second-order algorithms for online learning with convex losses, in Euclidean and non-Euclidean settings. All the algorithms are clearly presented as instantiation of Online Mirror Descent or Follow-The-Regularized-Leader and their variants. Particular attention is given to the issue of tuning the parameters of the algorithms and learning in unbounded domains, through adaptive and parameter-free online learning algorithms. Non-convex losses are addressed through convex surrogate losses and randomization. The bandit setting is also briefly discussed, touching on the problem of adversarial and stochastic multi-armed bandits. Finally, I also cover advanced topics, including black-box reductions, saddle-point optimization, sequential investment, and non-stationary forms of regret analysis. The book concludes with a selection of applications of online learning to domains far from it, such as generalization theory and concentration inequalities. I tried to maintain an informal, but mathematically serious, tone throughout the book. No prior knowledge of convex analysis is required. Moreover, all the included proofs have been carefully chosen to be as simple and as short as possible. This also means that sometimes I have added one or two additional assumptions, just to simplify the proofs.

Ashok Cutkosky, Harsh Mehta, Francesco Orabona

We present new algorithms for optimizing non-smooth, non-convex stochastic objectives based on a novel analysis technique. This improves the current best-known complexity for finding a $(δ,ε)$-stationary point from $O(ε^{-4}δ^{-1})$ stochastic gradient queries to $O(ε^{-3}δ^{-1})$, which we also show to be optimal. Our primary technique is a reduction from non-smooth non-convex optimization to online learning, after which our results follow from standard regret bounds in online learning. For deterministic and second-order smooth objectives, applying more advanced optimistic online learning techniques enables a new complexity of $O(ε^{-1.5}δ^{-0.5})$. Our techniques also recover all optimal or best-known results for finding $ε$ stationary points of smooth or second-order smooth objectives in both stochastic and deterministic settings.

Kyoungseok Jang, Kwang-Sung Jun, Ilja Kuzborskij et al.

We consider the problem of estimating the mean of a sequence of random elements $f(X_1, θ)$ $, \ldots, $ $f(X_n, θ)$ where $f$ is a fixed scalar function, $S=(X_1, \ldots, X_n)$ are independent random variables, and $θ$ is a possibly $S$-dependent parameter. An example of such a problem would be to estimate the generalization error of a neural network trained on $n$ examples where $f$ is a loss function. Classically, this problem is approached through concentration inequalities holding uniformly over compact parameter sets of functions $f$, for example as in Rademacher or VC type analysis. However, in many problems, such inequalities often yield numerically vacuous estimates. Recently, the \emph{PAC-Bayes} framework has been proposed as a better alternative for this class of problems for its ability to often give numerically non-vacuous bounds. In this paper, we show that we can do even better: we show how to refine the proof strategy of the PAC-Bayes bounds and achieve \emph{even tighter} guarantees. Our approach is based on the \emph{coin-betting} framework that derives the numerically tightest known time-uniform concentration inequalities from the regret guarantees of online gambling algorithms. In particular, we derive the first PAC-Bayes concentration inequality based on the coin-betting approach that holds simultaneously for all sample sizes. We demonstrate its tightness showing that by \emph{relaxing} it we obtain a number of previous results in a closed form including Bernoulli-KL and empirical Bernstein inequalities. Finally, we propose an efficient algorithm to numerically calculate confidence sequences from our bound, which often generates nonvacuous confidence bounds even with one sample, unlike the state-of-the-art PAC-Bayes bounds.

Francesco Orabona

In this short note, I show how to adapt to Hölder smoothness using normalized gradients in a black-box way. Moreover, the bound will depend on a novel notion of local Hölder smoothness. The main idea directly comes from Levy [2017].

Alexandru Meterez, Amir Joudaki, Francesco Orabona et al. · harvard

Normalization layers are one of the key building blocks for deep neural networks. Several theoretical studies have shown that batch normalization improves the signal propagation, by avoiding the representations from becoming collinear across the layers. However, results on mean-field theory of batch normalization also conclude that this benefit comes at the expense of exploding gradients in depth. Motivated by these two aspects of batch normalization, in this study we pose the following question: "Can a batch-normalized network keep the optimal signal propagation properties, but avoid exploding gradients?" We answer this question in the affirmative by giving a particular construction of an Multi-Layer Perceptron (MLP) with linear activations and batch-normalization that provably has bounded gradients at any depth. Based on Weingarten calculus, we develop a rigorous and non-asymptotic theory for this constructed MLP that gives a precise characterization of forward signal propagation, while proving that gradients remain bounded for linearly independent input samples, which holds in most practical settings. Inspired by our theory, we also design an activation shaping scheme that empirically achieves the same properties for certain non-linear activations.

Keyi Chen, Ashok Cutkosky, Francesco Orabona

Parameter-free algorithms are online learning algorithms that do not require setting learning rates. They achieve optimal regret with respect to the distance between the initial point and any competitor. Yet, parameter-free algorithms do not take into account the geometry of the losses. Recently, in the stochastic optimization literature, it has been proposed to instead use truncated linear lower bounds, which produce better performance by more closely modeling the losses. In particular, truncated linear models greatly reduce the problem of overshooting the minimum of the loss function. Unfortunately, truncated linear models cannot be used with parameter-free algorithms because the updates become very expensive to compute. In this paper, we propose new parameter-free algorithms that can take advantage of truncated linear models through a new update that has an "implicit" flavor. Based on a novel decomposition of the regret, the new update is efficient, requires only one gradient at each step, never overshoots the minimum of the truncated model, and retains the favorable parameter-free properties. We also conduct an empirical study demonstrating the practical utility of our algorithms.

Keyi Chen, Francesco Orabona

Due to its speed and simplicity, subgradient descent is one of the most used optimization algorithms in convex machine learning algorithms. However, tuning its learning rate is probably its most severe bottleneck to achieve consistent good performance. A common way to reduce the dependency on the learning rate is to use implicit/proximal updates. One such variant is the Importance Weight Aware (IWA) updates, which consist of infinitely many infinitesimal updates on each loss function. However, IWA updates' empirical success is not completely explained by their theory. In this paper, we show for the first time that IWA updates have a strictly better regret upper bound than plain gradient updates in the online learning setting. Our analysis is based on the new framework, generalized implicit Follow-the-Regularized-Leader (FTRL) (Chen and Orabona, 2023), to analyze generalized implicit updates using a dual formulation. In particular, our results imply that IWA updates can be considered as approximate implicit/proximal updates.

Václav Voráček, Francesco Orabona

The construction of confidence intervals for the mean of a bounded random variable is a classical problem in statistics with numerous applications in machine learning and virtually all scientific fields. In particular, obtaining the tightest possible confidence intervals is vital every time the sampling of the random variables is expensive. The current state-of-the-art method to construct confidence intervals is by using betting algorithms. This is a very successful approach for deriving optimal confidence sequences, even matching the rate of law of iterated logarithms. However, in the fixed horizon setting, these approaches are either sub-optimal or based on heuristic solutions with strong empirical performance but without a finite-time guarantee. Hence, no betting-based algorithm guaranteeing the optimal $\mathcal{O}(\sqrt{\frac{σ^2\log\frac1δ}{n}})$ width of the confidence intervals are known. This work bridges this gap. We propose a betting-based algorithm to compute confidence intervals that empirically outperforms the competitors. Our betting strategy uses the optimal strategy in every step (in a certain sense), whereas the standard betting methods choose a constant strategy in advance. Leveraging this fact results in strict improvements even for classical concentration inequalities, such as the ones of Hoeffding or Bernstein. Moreover, we also prove that the width of our confidence intervals is optimal up to an $1+o(1)$ factor diminishing with $n$. The code is available at https://github.com/vvoracek/STaR-bets-confidence-interval.

Sultan Alrashed, Francesco Orabona

We present AraMix, a deduplicated Arabic pretraining corpus containing approximately 178 billion tokens across 179 million documents. Rather than scraping the web again, AraMix demonstrates that substantial value lies in systematically reusing and curating existing pretraining datasets: we combine seven publicly available Arabic web datasets, apply quality filtering designed specifically for Arabic text to re-filter some datasets, and perform cross-dataset deduplication, both MinHash and sentence-level. This approach reveals that nearly 60% of tokens across these independently collected corpora are duplicates, redundancy that any new scraping efforts will reproduce. Our work suggests that for lower resource languages, investment in curation pipelines for existing data yields greater returns than additional web crawls, an approach that allowed us to curate the largest heavily filtered publicly available Arabic pretraining corpus.

Georgy Sokolov, Maximilian Thiessen, Margarita Akhmejanova et al.

We study the problem of classifying the nodes of a given graph in the self-directed learning setup. This learning setting is a variant of online learning, where rather than an adversary determining the sequence in which nodes are presented, the learner autonomously and adaptively selects them. While self-directed learning of Euclidean halfspaces, linear functions, and general multiclass hypothesis classes was recently considered, no results previously existed specifically for self-directed node classification on graphs. In this paper, we address this problem developing efficient algorithms for it. More specifically, we focus on the case of (geodesically) convex clusters, i.e., for every two nodes sharing the same label, all nodes on every shortest path between them also share the same label. In particular, we devise an algorithm with runtime polynomial in $n$ that makes only $3(h(G)+1)^4 \ln n$ mistakes on graphs with two convex clusters, where $n$ is the total number of nodes and $h(G)$ is the Hadwiger number, i.e., the size of the largest clique minor of the graph $G$. We also show that our algorithm is robust to the case that clusters are slightly non-convex, still achieving a mistake bound logarithmic in $n$. Finally, we devise a simple and efficient algorithm for homophilic clusters, where strongly connected nodes tend to belong to the same class.

Ilja Kuzborskij, Kwang-Sung Jun, Yulian Wu et al.

Let $f(θ, X_1),$ $ \dots,$ $ f(θ, X_n)$ be a sequence of random elements, where $f$ is a fixed scalar function, $X_1, \dots, X_n$ are independent random variables (data), and $θ$ is a random parameter distributed according to some data-dependent posterior distribution $P_n$. In this paper, we consider the problem of proving concentration inequalities to estimate the mean of the sequence. An example of such a problem is the estimation of the generalization error of some predictor trained by a stochastic algorithm, such as a neural network where $f$ is a loss function. Classically, this problem is approached through a PAC-Bayes analysis where, in addition to the posterior, we choose a prior distribution which captures our belief about the inductive bias of the learning problem. Then, the key quantity in PAC-Bayes concentration bounds is a divergence that captures the complexity of the learning problem where the de facto standard choice is the KL divergence. However, the tightness of this choice has rarely been questioned. In this paper, we challenge the tightness of the KL-divergence-based bounds by showing that it is possible to achieve a strictly tighter bound. In particular, we demonstrate new high-probability PAC-Bayes bounds with a novel and better-than-KL divergence that is inspired by Zhang et al. (2022). Our proof is inspired by recent advances in regret analysis of gambling algorithms, and its use to derive concentration inequalities. Our result is first-of-its-kind in that existing PAC-Bayes bounds with non-KL divergences are not known to be strictly better than KL. Thus, we believe our work marks the first step towards identifying optimal rates of PAC-Bayes bounds.

Artavazd Maranjyan, El Mehdi Saad, Peter Richtárik et al.

Asynchronous methods are fundamental for parallelizing computations in distributed machine learning. They aim to accelerate training by fully utilizing all available resources. However, their greedy approach can lead to inefficiencies using more computation than required, especially when computation times vary across devices. If the computation times were known in advance, training could be fast and resource-efficient by assigning more tasks to faster workers. The challenge lies in achieving this optimal allocation without prior knowledge of the computation time distributions. In this paper, we propose ATA (Adaptive Task Allocation), a method that adapts to heterogeneous and random distributions of worker computation times. Through rigorous theoretical analysis, we show that ATA identifies the optimal task allocation and performs comparably to methods with prior knowledge of computation times. Experimental results further demonstrate that ATA is resource-efficient, significantly reducing costs compared to the greedy approach, which can be arbitrarily expensive depending on the number of workers.

Egor Shulgin, Sultan AlRashed, Francesco Orabona et al.

The Muon optimizer has rapidly emerged as a powerful, geometry-aware alternative to AdamW, demonstrating strong performance in large-scale training of neural networks. However, a critical theory-practice disconnect exists: Muon's efficiency relies on fast, approximate orthogonalization, yet all prior theoretical work analyzes an idealized, computationally intractable version assuming exact SVD-based updates. This work moves beyond the ideal by providing the first analysis of the inexact orthogonalized update at Muon's core. We develop our analysis within the general framework of Linear Minimization Oracle (LMO)-based optimization, introducing a realistic additive error model to capture the inexactness of practical approximation schemes. Our analysis yields explicit bounds that quantify performance degradation as a function of the LMO inexactness/error. We reveal a fundamental coupling between this inexactness and the optimal step size and momentum: lower oracle precision requires a smaller step size but larger momentum parameter. These findings elevate the approximation procedure (e.g., the number of Newton-Schulz steps) from an implementation detail to a critical parameter that must be co-tuned with the learning schedule. NanoGPT experiments directly confirm the predicted coupling, with optimal learning rates clearly shifting as approximation precision changes.

Andrew Jacobsen, Alessandro Rudi, Francesco Orabona et al.

We study dynamic regret in online convex optimization, where the objective is to achieve low cumulative loss relative to an arbitrary benchmark sequence. By observing that competing with an arbitrary sequence of comparators $u_{1},\ldots,u_{T}$ in $\mathcal{W}\subseteq\mathbb{R}^{d}$ is equivalent to competing with a fixed comparator function $u:[1,T]\to \mathcal{W}$, we frame dynamic regret minimization as a static regret problem in a function space. By carefully constructing a suitable function space in the form of a Reproducing Kernel Hilbert Space (RKHS), our reduction enables us to recover the optimal $R_{T}(u_{1},\ldots,u_{T}) = \mathcal{O}(\sqrt{\sum_{t}\|u_{t}-u_{t-1}\|T})$ dynamic regret guarantee in the setting of linear losses, and yields new scale-free and directionally-adaptive dynamic regret guarantees. Moreover, unlike prior dynamic-to-static reductions -- which are valid only for linear losses -- our reduction holds for any sequence of losses, allowing us to recover $\mathcal{O}\big(\|u\|^2+d_{\mathrm{eff}}(λ)\ln T\big)$ bounds in exp-concave and improper linear regression settings, where $d_{\mathrm{eff}}(λ)$ is a measure of complexity of the RKHS. Despite working in an infinite-dimensional space, the resulting reduction leads to algorithms that are computable in practice, due to the reproducing property of RKHSs.

Xingyu Zhou, Yulian Wu, Wenqian Weng et al.

In this paper, we theoretically study the offline alignment of language models with human preference feedback, under both preference label corruption and privacy protections. To this end, we propose Square$χ$PO, a simple one-line change to $χ$PO where the standard log-loss is replaced by a new square loss over probability. Thanks to the inherent properties of this new loss, we have advanced the state-of-the-art of differentially private and robust offline direct alignment. Specifically, for the local model of label privacy, Square$χ$PO is the first algorithm that attains an optimal rate based on single-policy concentrability even with general function approximations. It also gives the first result under the central model of privacy protection over both prompts (responses) and labels. On the robustness side against Huber label corruption, Square$χ$PO is the first alignment method that has a meaningful theoretical guarantee under general function approximations. More importantly, Square$χ$PO can address privacy protection and corruption simultaneously, where an interesting separation is observed, implying that the order of privacy and corruption matters. Furthermore, we show that Square$χ$PO can also be easily extended to handle the scenario of the general preference model with state-of-the-art guarantees under corruption and privacy. Last but not least, all of our theoretical guarantees enjoy a unified analysis, building upon a new result on the generalization error bounds of least-square regression under corruption and privacy constraints, which we believe is of independent interest to the community.

Wei-Cheng Lee, Francesco Orabona

We investigate the finite-time convergence properties of Temporal Difference (TD) learning with linear function approximation, a cornerstone algorithm in the field of reinforcement learning. We are interested in the so-called ``robust'' setting, where the convergence guarantee does not depend on the minimal curvature of the potential function. While prior work has established convergence guarantees in this setting, these results typically rely on the assumption that each iterate is projected onto a bounded set, a condition that is both artificial and does not match the current practice. In this paper, we challenge the necessity of such an assumption and present a refined analysis of TD learning. For the first time, we show that the simple projection-free variant converges with a rate of $\widetilde{\mathcal{O}}(\frac{||θ^*||^2_2}{\sqrt{T}})$, even in the presence of Markovian noise. Our analysis reveals a novel self-bounding property of the TD updates and exploits it to guarantee bounded iterates.

El Mehdi Saad, Wei-Cheng Lee, Francesco Orabona

We study fundamental limits of first-order stochastic optimization in a range of nonconvex settings, including L-smooth functions satisfying Quasar-Convexity (QC), Quadratic Growth (QG), and Restricted Secant Inequalities (RSI). While the convergence properties of standard algorithms are well-understood in deterministic regimes, significantly fewer results address the stochastic case, where only unbiased and noisy gradients are available. We establish new lower bounds on the number of noisy gradient queries to minimize these classes of functions, also showing that they are tight (up to a logarithmic factor) in all the relevant quantities characterizing each class. Our approach reformulates the optimization task as a function identification problem, leveraging divergence decomposition arguments to construct a challenging subclass that leads to sharp lower bounds. Furthermore, we present a specialized algorithm in the one-dimensional setting that achieves faster rates, suggesting that certain dimensional thresholds are intrinsic to the complexity of non-convex stochastic optimization.

Andrew Jacobsen, Francesco Orabona

We study the problem of dynamic regret minimization in online convex optimization, in which the objective is to minimize the difference between the cumulative loss of an algorithm and that of an arbitrary sequence of comparators. While the literature on this topic is very rich, a unifying framework for the analysis and design of these algorithms is still missing. In this paper we show that for linear losses, dynamic regret minimization is equivalent to static regret minimization in an extended decision space. Using this simple observation, we show that there is a frontier of lower bounds trading off penalties due to the variance of the losses and penalties due to variability of the comparator sequence, and provide a framework for achieving any of the guarantees along this frontier. As a result, we also prove for the first time that adapting to the squared path-length of an arbitrary sequence of comparators to achieve regret $R_{T}(u_{1},\dots,u_{T})\le O(\sqrt{T\sum_{t} \|u_{t}-u_{t+1}\|^{2}})$ is impossible. However, using our framework we introduce an alternative notion of variability based on a locally-smoothed comparator sequence $\bar u_{1}, \dots, \bar u_{T}$, and provide an algorithm guaranteeing dynamic regret of the form $R_{T}(u_{1},\dots,u_{T})\le \tilde O(\sqrt{T\sum_{i}\|\bar u_{i}-\bar u_{i+1}\|^{2}})$, while still matching in the worst case the usual path-length dependencies up to polylogarithmic terms.

Keyi Chen, Francesco Orabona

We propose a new class of online learning algorithms, generalized implicit Follow-The-Regularized-Leader (FTRL), that expands the scope of FTRL framework. Generalized implicit FTRL can recover known algorithms, as FTRL with linearized losses and implicit FTRL, and it allows the design of new update rules, as extensions of aProx and Mirror-Prox to FTRL. Our theory is constructive in the sense that it provides a simple unifying framework to design updates that directly improve the worst-case upper bound on the regret. The key idea is substituting the linearization of the losses with a Fenchel-Young inequality. We show the flexibility of the framework by proving that some known algorithms, like the Mirror-Prox updates, are instantiations of the generalized implicit FTRL. Finally, the new framework allows us to recover the temporal variation bound of implicit OMD, with the same computational complexity.

Zhenxun Zhuang, Mingrui Liu, Ashok Cutkosky et al.

Adam has been widely adopted for training deep neural networks due to less hyperparameter tuning and remarkable performance. To improve generalization, Adam is typically used in tandem with a squared $\ell_2$ regularizer (referred to as Adam-$\ell_2$). However, even better performance can be obtained with AdamW, which decouples the gradient of the regularizer from the update rule of Adam-$\ell_2$. Yet, we are still lacking a complete explanation of the advantages of AdamW. In this paper, we tackle this question from both an optimization and an empirical point of view. First, we show how to re-interpret AdamW as an approximation of a proximal gradient method, which takes advantage of the closed-form proximal mapping of the regularizer instead of only utilizing its gradient information as in Adam-$\ell_2$. Next, we consider the property of "scale-freeness" enjoyed by AdamW and by its proximal counterpart: their updates are invariant to component-wise rescaling of the gradients. We provide empirical evidence across a wide range of deep learning experiments showing a correlation between the problems in which AdamW exhibits an advantage over Adam-$\ell_2$ and the degree to which we expect the gradients of the network to exhibit multiple scales, thus motivating the hypothesis that the advantage of AdamW could be due to the scale-free updates.

Jeffrey Negrea, Blair Bilodeau, Nicolò Campolongo et al.

Quantile (and, more generally, KL) regret bounds, such as those achieved by NormalHedge (Chaudhuri, Freund, and Hsu 2009) and its variants, relax the goal of competing against the best individual expert to only competing against a majority of experts on adversarial data. More recently, the semi-adversarial paradigm (Bilodeau, Negrea, and Roy 2020) provides an alternative relaxation of adversarial online learning by considering data that may be neither fully adversarial nor stochastic (i.i.d.). We achieve the minimax optimal regret in both paradigms using FTRL with separate, novel, root-logarithmic regularizers, both of which can be interpreted as yielding variants of NormalHedge. We extend existing KL regret upper bounds, which hold uniformly over target distributions, to possibly uncountable expert classes with arbitrary priors; provide the first full-information lower bounds for quantile regret on finite expert classes (which are tight); and provide an adaptively minimax optimal algorithm for the semi-adversarial paradigm that adapts to the true, unknown constraint faster, leading to uniformly improved regret bounds over existing methods.

Francesco Orabona, Kwang-Sung Jun

A classic problem in statistics is the estimation of the expectation of random variables from samples. This gives rise to the tightly connected problems of deriving concentration inequalities and confidence sequences, that is confidence intervals that hold uniformly over time. Previous work has shown how to easily convert the regret guarantee of an online betting algorithm into a time-uniform concentration inequality. In this paper, we show that we can go even further: We show that the regret of universal portfolio algorithms give rise to new implicit time-uniform concentrations and state-of-the-art empirically calculated confidence sequences. In particular, our numerically obtained confidence sequences can never be vacuous, even with a single sample, and satisfy the law of iterated logarithm.

Genevieve Flaspohler, Francesco Orabona, Judah Cohen et al.

Inspired by the demands of real-time climate and weather forecasting, we develop optimistic online learning algorithms that require no parameter tuning and have optimal regret guarantees under delayed feedback. Our algorithms -- DORM, DORM+, and AdaHedgeD -- arise from a novel reduction of delayed online learning to optimistic online learning that reveals how optimistic hints can mitigate the regret penalty caused by delay. We pair this delay-as-optimism perspective with a new analysis of optimistic learning that exposes its robustness to hinting errors and a new meta-algorithm for learning effective hinting strategies in the presence of delay. We conclude by benchmarking our algorithms on four subseasonal climate forecasting tasks, demonstrating low regret relative to state-of-the-art forecasting models.

Mingrui Liu, Francesco Orabona

Convex-concave min-max problems are ubiquitous in machine learning, and people usually utilize first-order methods (e.g., gradient descent ascent) to find the optimal solution. One feature which separates convex-concave min-max problems from convex minimization problems is that the best known convergence rates for min-max problems have an explicit dependence on the size of the domain, rather than on the distance between initial point and the optimal solution. This means that the convergence speed does not have any improvement even if the algorithm starts from the optimal solution, and hence, is oblivious to the initialization. Here, we show that strict-convexity-strict-concavity is sufficient to get the convergence rate to depend on the initialization. We also show how different algorithms can asymptotically achieve initialization-dependent convergence rates on this class of functions. Furthermore, we show that the so-called "parameter-free" algorithms allow to achieve improved initialization-dependent asymptotic rates without any learning rate to tune. In addition, we utilize this particular parameter-free algorithm as a subroutine to design a new algorithm, which achieves a novel non-asymptotic fast rate for strictly-convex-strictly-concave min-max problems with a growth condition and H{ö}lder continuous solution mapping. Experiments are conducted to verify our theoretical findings and demonstrate the effectiveness of the proposed algorithms.

Nicolò Campolongo, Francesco Orabona

This work focuses on the setting of dynamic regret in the context of online learning with full information. In particular, we analyze regret bounds with respect to the temporal variability of the loss functions. By assuming that the sequence of loss functions does not vary much with time, we show that it is possible to incur improved regret bounds compared to existing results. The key to our approach is to use the loss function (and not its gradient) during the optimization process. Building on recent advances in the analysis of Implicit algorithms, we propose an adaptation of the Implicit version of Online Mirror Descent to the dynamic setting. Our proposed algorithm is adaptive not only to the temporal variability of the loss functions, but also to the path length of the sequence of comparators when an upper bound is known. Furthermore, our analysis reveals that our results are tight and cannot be improved without further assumptions. Next, we show how our algorithm can be applied to the setting of learning with expert advice or to settings with composite loss functions. Finally, when an upper bound to the path-length is not fixed beforehand we show how to combine a greedy strategy with existing strongly-adaptive algorithms to compete optimally against different sequences of comparators simultaneously.

Xiaoyu Li, Mingrui Liu, Francesco Orabona

SGD with Momentum (SGDM) is a widely used family of algorithms for large-scale optimization of machine learning problems. Yet, when optimizing generic convex functions, no advantage is known for any SGDM algorithm over plain SGD. Moreover, even the most recent results require changes to the SGDM algorithms, like averaging of the iterates and a projection onto a bounded domain, which are rarely used in practice. In this paper, we focus on the convergence rate of the last iterate of SGDM. For the first time, we prove that for any constant momentum factor, there exists a Lipschitz and convex function for which the last iterate of SGDM suffers from a suboptimal convergence rate of $Ω(\frac{\ln T}{\sqrt{T}})$ after $T$ iterations. Based on this fact, we study a class of (both adaptive and non-adaptive) Follow-The-Regularized-Leader-based SGDM algorithms with increasing momentum and shrinking updates. For these algorithms, we show that the last iterate has optimal convergence $O(\frac{1}{\sqrt{T}})$ for unconstrained convex stochastic optimization problems without projections onto bounded domains nor knowledge of $T$. Further, we show a variety of results for FTRL-based SGDM when used with adaptive stepsizes. Empirical results are shown as well.

Francesco Orabona, Dávid Pál

We design and analyze an algorithm for first-order stochastic optimization of a large class of functions on $\mathbb{R}^d$. In particular, we consider the \emph{variationally coherent} functions which can be convex or non-convex. The iterates of our algorithm on variationally coherent functions converge almost surely to the global minimizer $\boldsymbol{x}^*$. Additionally, the very same algorithm with the same hyperparameters, after $T$ iterations guarantees on convex functions that the expected suboptimality gap is bounded by $\widetilde{O}(\|\boldsymbol{x}^* - \boldsymbol{x}_0\| T^{-1/2+ε})$ for any $ε>0$. It is the first algorithm to achieve both these properties at the same time. Also, the rate for convex functions essentially matches the performance of parameter-free algorithms. Our algorithm is an instance of the Follow The Regularized Leader algorithm with the added twist of using \emph{rescaled gradients} and time-varying linearithmic regularizers.

Mingrui Liu, Wei Zhang, Francesco Orabona et al.

Adam is a widely used stochastic optimization method for deep learning applications. While practitioners prefer Adam because it requires less parameter tuning, its use is problematic from a theoretical point of view since it may not converge. Variants of Adam have been proposed with provable convergence guarantee, but they tend not be competitive with Adam on the practical performance. In this paper, we propose a new method named Adam$^+$ (pronounced as Adam-plus). Adam$^+$ retains some of the key components of Adam but it also has several noticeable differences: (i) it does not maintain the moving average of second moment estimate but instead computes the moving average of first moment estimate at extrapolated points; (ii) its adaptive step size is formed not by dividing the square root of second moment estimate but instead by dividing the root of the norm of first moment estimate. As a result, Adam$^+$ requires few parameter tuning, as Adam, but it enjoys a provable convergence guarantee. Our analysis further shows that Adam$^+$ enjoys adaptive variance reduction, i.e., the variance of the stochastic gradient estimator reduces as the algorithm converges, hence enjoying an adaptive convergence. We also propose a more general variant of Adam$^+$ with different adaptive step sizes and establish their fast convergence rate. Our empirical studies on various deep learning tasks, including image classification, language modeling, and automatic speech recognition, demonstrate that Adam$^+$ significantly outperforms Adam and achieves comparable performance with best-tuned SGD and momentum SGD.

Xiaoyu Li, Francesco Orabona

Stochastic Gradient Descent (SGD) and its variants are the most used algorithms in machine learning applications. In particular, SGD with adaptive learning rates and momentum is the industry standard to train deep networks. Despite the enormous success of these methods, our theoretical understanding of these variants in the nonconvex setting is not complete, with most of the results only proving convergence in expectation and with strong assumptions on the stochastic gradients. In this paper, we present a high probability analysis for adaptive and momentum algorithms, under weak assumptions on the function, stochastic gradients, and learning rates. We use it to prove for the first time the convergence of the gradients to zero in high probability in the smooth nonconvex setting for Delayed AdaGrad with momentum.

Keyi Chen, John Langford, Francesco Orabona

Parameter-free stochastic gradient descent (PFSGD) algorithms do not require setting learning rates while achieving optimal theoretical performance. In practical applications, however, there remains an empirical gap between tuned stochastic gradient descent (SGD) and PFSGD. In this paper, we close the empirical gap with a new parameter-free algorithm based on continuous-time Coin-Betting on truncated models. The new update is derived through the solution of an Ordinary Differential Equation (ODE) and solved in a closed form. We show empirically that this new parameter-free algorithm outperforms algorithms with the "best default" learning rates and almost matches the performance of finely tuned baselines without anything to tune.

Nicolò Campolongo, Francesco Orabona

In the setting of online learning, Implicit algorithms turn out to be highly successful from a practical standpoint. However, the tightest regret analyses only show marginal improvements over Online Mirror Descent. In this work, we shed light on this behavior carrying out a careful regret analysis. We prove a novel static regret bound that depends on the temporal variability of the sequence of loss functions, a quantity which is often encountered when considering dynamic competitors. We show, for example, that the regret can be constant if the temporal variability is constant and the learning rate is tuned appropriately, without the need of smooth losses. Moreover, we present an adaptive algorithm that achieves this regret bound without prior knowledge of the temporal variability and prove a matching lower bound. Finally, we validate our theoretical findings on classification and regression datasets.

Xiaoyu Li, Zhenxun Zhuang, Francesco Orabona

Stochastic Gradient Descent (SGD) is a popular tool in training large-scale machine learning models. Its performance, however, is highly variable, depending crucially on the choice of the step sizes. Accordingly, a variety of strategies for tuning the step sizes have been proposed, ranging from coordinate-wise approaches (a.k.a. ``adaptive'' step sizes) to sophisticated heuristics to change the step size in each iteration. In this paper, we study two step size schedules whose power has been repeatedly confirmed in practice: the exponential and the cosine step sizes. For the first time, we provide theoretical support for them proving convergence rates for smooth non-convex functions, with and without the Polyak-Łojasiewicz (PL) condition. Moreover, we show the surprising property that these two strategies are \emph{adaptive} to the noise level in the stochastic gradients of PL functions. That is, contrary to polynomial step sizes, they achieve almost optimal performance without needing to know the noise level nor tuning their hyperparameters based on it. Finally, we conduct a fair and comprehensive empirical evaluation of real-world datasets with deep learning architectures. Results show that, even if only requiring at most two hyperparameters to tune, these two strategies best or match the performance of various finely-tuned state-of-the-art strategies.

Francesco Orabona

In this monograph, I introduce the basic concepts of Online Learning through a modern view of Online Convex Optimization. Here, online learning refers to the framework of regret minimization under worst-case assumptions. I present first-order and second-order algorithms for online learning with convex losses, in Euclidean and non-Euclidean settings. All the algorithms are clearly presented as instantiation of Online Mirror Descent or Follow-The-Regularized-Leader and their variants. Particular attention is given to the issue of tuning the parameters of the algorithms and learning in unbounded domains, through adaptive and parameter-free online learning algorithms. Non-convex losses are dealt through convex surrogate losses and through randomization. The bandit setting is also briefly discussed, touching on the problem of adversarial and stochastic multi-armed bandits. These notes do not require prior knowledge of convex analysis and all the required mathematical tools are rigorously explained. Moreover, all the included proofs have been carefully chosen to be as simple and as short as possible.

Kwang-Sung Jun, Francesco Orabona

We consider the problem of minimizing a convex risk with stochastic subgradients guaranteeing $ε$-locally differentially private ($ε$-LDP). While it has been shown that stochastic optimization is possible with $ε$-LDP via the standard SGD (Song et al., 2013), its convergence rate largely depends on the learning rate, which must be tuned via repeated runs. Further, tuning is detrimental to privacy loss since it significantly increases the number of gradient requests. In this work, we propose BANCO (Betting Algorithm for Noisy COins), the first $ε$-LDP SGD algorithm that essentially matches the convergence rate of the tuned SGD without any learning rate parameter, reducing privacy loss and saving privacy budget.

Kwang-Sung Jun, Ashok Cutkosky, Francesco Orabona

In this paper, we consider the nonparametric least square regression in a Reproducing Kernel Hilbert Space (RKHS). We propose a new randomized algorithm that has optimal generalization error bounds with respect to the square loss, closing a long-standing gap between upper and lower bounds. Moreover, we show that our algorithm has faster finite-time and asymptotic rates on problems where the Bayes risk with respect to the square loss is small. We state our results using standard tools from the theory of least square regression in RKHSs, namely, the decay of the eigenvalues of the associated integral operator and the complexity of the optimal predictor measured through the integral operator.

Ashok Cutkosky, Francesco Orabona

Variance reduction has emerged in recent years as a strong competitor to stochastic gradient descent in non-convex problems, providing the first algorithms to improve upon the converge rate of stochastic gradient descent for finding first-order critical points. However, variance reduction techniques typically require carefully tuned learning rates and willingness to use excessively large "mega-batches" in order to achieve their improved results. We present a new algorithm, STORM, that does not require any batches and makes use of adaptive learning rates, enabling simpler implementation and less hyperparameter tuning. Our technique for removing the batches uses a variant of momentum to achieve variance reduction in non-convex optimization. On smooth losses $F$, STORM finds a point $\boldsymbol{x}$ with $\mathbb{E}[\|\nabla F(\boldsymbol{x})\|]\le O(1/\sqrt{T}+σ^{1/3}/T^{1/3})$ in $T$ iterations with $σ^2$ variance in the gradients, matching the optimal rate but without requiring knowledge of $σ$.

Kwang-Sung Jun, Francesco Orabona

We consider the problem of unconstrained online convex optimization (OCO) with sub-exponential noise, a strictly more general problem than the standard OCO. In this setting, the learner receives a subgradient of the loss functions corrupted by sub-exponential noise and strives to achieve optimal regret guarantee, without knowledge of the competitor norm, i.e., in a parameter-free way. Recently, Cutkosky and Boahen (COLT 2017) proved that, given unbounded subgradients, it is impossible to guarantee a sublinear regret due to an exponential penalty. This paper shows that it is possible to go around the lower bound by allowing the observed subgradients to be unbounded via stochastic noise. However, the presence of unbounded noise in unconstrained OCO is challenging; existing algorithms do not provide near-optimal regret bounds or fail to have a guarantee. So, we design a novel parameter-free OCO algorithm for Banach space, which we call BANCO, via a reduction to betting on noisy coins. We show that BANCO achieves the optimal regret rate in our problem. Finally, we show the application of our results to obtain a parameter-free locally private stochastic subgradient descent algorithm, and the connection to the law of iterated logarithms.

Zhenxun Zhuang, Ashok Cutkosky, Francesco Orabona

Stochastic Gradient Descent (SGD) has played a central role in machine learning. However, it requires a carefully hand-picked stepsize for fast convergence, which is notoriously tedious and time-consuming to tune. Over the last several years, a plethora of adaptive gradient-based algorithms have emerged to ameliorate this problem. They have proved efficient in reducing the labor of tuning in practice, but many of them lack theoretic guarantees even in the convex setting. In this paper, we propose new surrogate losses to cast the problem of learning the optimal stepsizes for the stochastic optimization of a non-convex smooth objective function onto an online convex optimization problem. This allows the use of no-regret online algorithms to compute optimal stepsizes on the fly. In turn, this results in a SGD algorithm with self-tuned stepsizes that guarantees convergence rates that are automatically adaptive to the level of noise.

Xiaoyu Li, Francesco Orabona

Stochastic gradient descent is the method of choice for large scale optimization of machine learning objective functions. Yet, its performance is greatly variable and heavily depends on the choice of the stepsizes. This has motivated a large body of research on adaptive stepsizes. However, there is currently a gap in our theoretical understanding of these methods, especially in the non-convex setting. In this paper, we start closing this gap: we theoretically analyze in the convex and non-convex settings a generalized version of the AdaGrad stepsizes. We show sufficient conditions for these stepsizes to achieve almost sure asymptotic convergence of the gradients to zero, proving the first guarantee for generalized AdaGrad stepsizes in the non-convex setting. Moreover, we show that these stepsizes allow to automatically adapt to the level of noise of the stochastic gradients in both the convex and non-convex settings, interpolating between $O(1/T)$ and $O(1/\sqrt{T})$, up to logarithmic terms.

Ashok Cutkosky, Francesco Orabona

We introduce several new black-box reductions that significantly improve the design of adaptive and parameter-free online learning algorithms by simplifying analysis, improving regret guarantees, and sometimes even improving runtime. We reduce parameter-free online learning to online exp-concave optimization, we reduce optimization in a Banach space to one-dimensional optimization, and we reduce optimization over a constrained domain to unconstrained optimization. All of our reductions run as fast as online gradient descent. We use our new techniques to improve upon the previously best regret bounds for parameter-free learning, and do so for arbitrary norms.

Kwang-Sung Jun, Francesco Orabona, Stephen Wright et al.

A key challenge in online learning is that classical algorithms can be slow to adapt to changing environments. Recent studies have proposed "meta" algorithms that convert any online learning algorithm to one that is adaptive to changing environments, where the adaptivity is analyzed in a quantity called the strongly-adaptive regret. This paper describes a new meta algorithm that has a strongly-adaptive regret bound that is a factor of $\sqrt{\log(T)}$ better than other algorithms with the same time complexity, where $T$ is the time horizon. We also extend our algorithm to achieve a first-order (i.e., dependent on the observed losses) strongly-adaptive regret bound for the first time, to our knowledge. At its heart is a new parameter-free algorithm for the learning with expert advice (LEA) problem in which experts sometimes do not output advice for consecutive time steps (i.e., \emph{sleeping} experts). This algorithm is derived by a reduction from optimal algorithms for the so-called coin betting problem. Empirical results show that our algorithm outperforms state-of-the-art methods in both learning with expert advice and metric learning scenarios.

Francesco Orabona, Tatiana Tommasi

Deep learning methods achieve state-of-the-art performance in many application scenarios. Yet, these methods require a significant amount of hyperparameters tuning in order to achieve the best results. In particular, tuning the learning rates in the stochastic optimization process is still one of the main bottlenecks. In this paper, we propose a new stochastic gradient descent procedure for deep networks that does not require any learning rate setting. Contrary to previous methods, we do not adapt the learning rates nor we make use of the assumed curvature of the objective function. Instead, we reduce the optimization process to a game of betting on a coin and propose a learning-rate-free optimal algorithm for this scenario. Theoretical convergence is proven for convex and quasi-convex functions and empirical evidence shows the advantage of our algorithm over popular stochastic gradient algorithms.

Alina Beygelzimer, Francesco Orabona, Chicheng Zhang

We present an efficient second-order algorithm with $\tilde{O}(\frac{1}η\sqrt{T})$ regret for the bandit online multiclass problem. The regret bound holds simultaneously with respect to a family of loss functions parameterized by $η$, for a range of $η$ restricted by the norm of the competitor. The family of loss functions ranges from hinge loss ($η=0$) to squared hinge loss ($η=1$). This provides a solution to the open problem of (J. Abernethy and A. Rakhlin. An efficient bandit algorithm for $\sqrt{T}$-regret in online multiclass prediction? In COLT, 2009). We test our algorithm experimentally, showing that it also performs favorably against earlier algorithms.

Kwang-Sung Jun, Francesco Orabona, Rebecca Willett et al.

This paper describes a new parameter-free online learning algorithm for changing environments. In comparing against algorithms with the same time complexity as ours, we obtain a strongly adaptive regret bound that is a factor of at least $\sqrt{\log(T)}$ better, where $T$ is the time horizon. Empirical results show that our algorithm outperforms state-of-the-art methods in learning with expert advice and metric learning scenarios.

Francesco Orabona, Dávid Pál

In the recent years, a number of parameter-free algorithms have been developed for online linear optimization over Hilbert spaces and for learning with expert advice. These algorithms achieve optimal regret bounds that depend on the unknown competitors, without having to tune the learning rates with oracle choices. We present a new intuitive framework to design parameter-free algorithms for \emph{both} online linear optimization over Hilbert spaces and for learning with expert advice, based on reductions to betting on outcomes of adversarial coins. We instantiate it using a betting algorithm based on the Krichevsky-Trofimov estimator. The resulting algorithms are simple, with no parameters to be tuned, and they improve or match previous results in terms of regret guarantee and per-round complexity.

Tamir Hazan, Francesco Orabona, Anand D. Sarwate et al.

This paper presents a new approach, called perturb-max, for high-dimensional statistical inference that is based on applying random perturbations followed by optimization. This framework injects randomness to maximum a-posteriori (MAP) predictors by randomly perturbing the potential function for the input. A classic result from extreme value statistics asserts that perturb-max operations generate unbiased samples from the Gibbs distribution using high-dimensional perturbations. Unfortunately, the computational cost of generating so many high-dimensional random variables can be prohibitive. However, when the perturbations are of low dimension, sampling the perturb-max prediction is as efficient as MAP optimization. This paper shows that the expected value of perturb-max inference with low dimensional perturbations can be used sequentially to generate unbiased samples from the Gibbs distribution. Furthermore the expected value of the maximal perturbations is a natural bound on the entropy of such perturb-max models. A measure concentration result for perturb-max values shows that the deviation of their sampled average from its expectation decays exponentially in the number of samples, allowing effective approximation of the expectation.

Alon Gonen, Francesco Orabona, Shai Shalev-Shwartz

We develop a novel preconditioning method for ridge regression, based on recent linear sketching methods. By equipping Stochastic Variance Reduced Gradient (SVRG) with this preconditioning process, we obtain a significant speed-up relative to fast stochastic methods such as SVRG, SDCA and SAG.

Francesco Orabona, Dávid Pál

We design and analyze algorithms for online linear optimization that have optimal regret and at the same time do not need to know any upper or lower bounds on the norm of the loss vectors. Our algorithms are instances of the Follow the Regularized Leader (FTRL) and Mirror Descent (MD) meta-algorithms. We achieve adaptiveness to the norms of the loss vectors by scale invariance, i.e., our algorithms make exactly the same decisions if the sequence of loss vectors is multiplied by any positive constant. The algorithm based on FTRL works for any decision set, bounded or unbounded. For unbounded decisions sets, this is the first adaptive algorithm for online linear optimization with a non-vacuous regret bound. In contrast, we show lower bounds on scale-free algorithms based on MD on unbounded domains.

Francesco Orabona, David Pal

We prove non-asymptotic lower bounds on the expectation of the maximum of $d$ independent Gaussian variables and the expectation of the maximum of $d$ independent symmetric random walks. Both lower bounds recover the optimal leading constant in the limit. A simple application of the lower bound for random walks is an (asymptotically optimal) non-asymptotic lower bound on the minimax regret of online learning with expert advice.