import numpy as np
from PEPit import PEP
from PEPit.functions import SmoothStronglyConvexFunction
[docs]
def wc_sgd(L, mu, gamma, v, R, n, wrapper="cvxpy", solver=None, verbose=1):
"""
Consider the finite sum minimization problem
.. math:: F_\\star \\triangleq \\min_x \\left\\{F(x) \\equiv \\frac{1}{n} \\sum_{i=1}^n f_i(x)\\right\\},
where :math:`f_1, ..., f_n` are :math:`L`-smooth and :math:`\\mu`-strongly convex.
In the sequel, we use the notation :math:`\\mathbb{E}` for denoting the expectation over the uniform distribution
of the index :math:`i \\sim \\mathcal{U}\\left([|1, n|]\\right)`,
e.g., :math:`F(x)\\equiv\\mathbb{E}[f_i(x)]`. In addition, we assume a bounded variance at
the optimal point (which is denoted by :math:`x_\\star`):
.. math:: \\mathbb{E}\\left[\\|\\nabla f_i(x_\\star)\\|^2\\right] = \\frac{1}{n} \\sum_{i=1}^n\\|\\nabla f_i(x_\\star)\\|^2 \\leqslant v^2.
This code computes a worst-case guarantee for one step of the **stochastic gradient descent** (SGD) in expectation,
for the distance to an optimal point. That is, it computes the smallest possible
:math:`\\tau(L, \\mu, \\gamma, v, R, n)` such that
.. math:: \\mathbb{E}\\left[\\|x_1 - x_\\star\\|^2\\right] \\leqslant \\tau(L, \\mu, \\gamma, v, R, n)
where :math:`\\|x_0 - x_\\star\\|^2 \\leqslant R^2`, where :math:`v` is the variance at :math:`x_\\star`, and where
:math:`x_1` is the output of one step of SGD (note that we use the notation :math:`x_0,x_1` to denote two
consecutive iterates for convenience; as the bound is valid for all :math:`x_0`, it is also valid for
any pair of consecutive iterates of the algorithm).
**Algorithm**: One iteration of SGD is described by:
.. math::
\\begin{eqnarray}
\\text{Pick random }i & \\sim & \\mathcal{U}\\left([|1, n|]\\right), \\\\
x_{t+1} & = & x_t - \\gamma \\nabla f_{i}(x_t),
\\end{eqnarray}
where :math:`\\gamma` is a step-size.
**Theoretical guarantee**: An empirically tight one-iteration guarantee is provided in the code of PESTO [1]:
.. math:: \\mathbb{E}\\left[\\|x_1 - x_\\star\\|^2\\right] \\leqslant \\frac{1}{2}\\left(1-\\frac{\\mu}{L}\\right)^2 R^2 + \\frac{1}{2}\\left(1-\\frac{\\mu}{L}\\right) R \\sqrt{\\left(1-\\frac{\\mu}{L}\\right)^2 R^2 + 4\\frac{v^2}{L^2}} + \\frac{v^2}{L^2},
when :math:`\\gamma=\\frac{1}{L}`. Note that we observe the guarantee does not depend on the number :math:`n` of
functions for this particular setting, thereby implying that the guarantees are also valid for expectation
minimization settings (i.e., when :math:`n` goes to infinity).
**References**: Empirically tight guarantee provided in code of [1]. Using SDPs for analyzing SGD-type method was
proposed in [2, 3].
`[1] A. Taylor, J. Hendrickx, F. Glineur (2017). Performance Estimation Toolbox (PESTO): automated worst-case
analysis of first-order optimization methods. In 56th IEEE Conference on Decision and Control (CDC).
<https://github.com/AdrienTaylor/Performance-Estimation-Toolbox>`_
`[2] B. Hu, P. Seiler, L. Lessard (2020). Analysis of biased stochastic gradient descent using sequential
semidefinite programs. Mathematical programming.
<https://arxiv.org/pdf/1711.00987.pdf>`_
`[3] A. Taylor, F. Bach (2019). Stochastic first-order methods: non-asymptotic and computer-aided analyses
via potential functions. Conference on Learning Theory (COLT).
<https://arxiv.org/pdf/1902.00947.pdf>`_
Args:
L (float): the smoothness parameter.
mu (float): the strong convexity parameter.
gamma (float): the step-size.
v (float): the variance bound.
R (float): the initial distance.
n (int): number of functions.
wrapper (str): the name of the wrapper to be used.
solver (str): the name of the solver the wrapper should use.
verbose (int): level of information details to print.
- -1: No verbose at all.
- 0: This example's output.
- 1: This example's output + PEPit information.
- 2: This example's output + PEPit information + solver details.
Returns:
pepit_tau (float): worst-case value
theoretical_tau (float): theoretical value
Example:
>>> mu = 0.1
>>> L = 1
>>> gamma = 1 / L
>>> pepit_tau, theoretical_tau = wc_sgd(L=L, mu=mu, gamma=gamma, v=1, R=2, n=5, wrapper="cvxpy", solver=None, verbose=1)
(PEPit) Setting up the problem: size of the Gram matrix: 11x11
(PEPit) Setting up the problem: performance measure is the minimum of 1 element(s)
(PEPit) Setting up the problem: Adding initial conditions and general constraints ...
(PEPit) Setting up the problem: initial conditions and general constraints (2 constraint(s) added)
(PEPit) Setting up the problem: interpolation conditions for 5 function(s)
Function 1 : Adding 2 scalar constraint(s) ...
Function 1 : 2 scalar constraint(s) added
Function 2 : Adding 2 scalar constraint(s) ...
Function 2 : 2 scalar constraint(s) added
Function 3 : Adding 2 scalar constraint(s) ...
Function 3 : 2 scalar constraint(s) added
Function 4 : Adding 2 scalar constraint(s) ...
Function 4 : 2 scalar constraint(s) added
Function 5 : Adding 2 scalar constraint(s) ...
Function 5 : 2 scalar constraint(s) added
(PEPit) Setting up the problem: additional constraints for 0 function(s)
(PEPit) Compiling SDP
(PEPit) Calling SDP solver
(PEPit) Solver status: optimal (wrapper:cvxpy, solver: MOSEK); optimal value: 5.041652165318314
(PEPit) Primal feasibility check:
The solver found a Gram matrix that is positive semi-definite up to an error of 7.85488416412956e-09
All the primal scalar constraints are verified up to an error of 2.157126582913449e-08
(PEPit) Dual feasibility check:
The solver found a residual matrix that is positive semi-definite
All the dual scalar values associated with inequality constraints are nonnegative
(PEPit) The worst-case guarantee proof is perfectly reconstituted up to an error of 1.9611762548955365e-07
(PEPit) Final upper bound (dual): 5.041652154374022 and lower bound (primal example): 5.041652165318314
(PEPit) Duality gap: absolute: -1.094429169512523e-08 and relative: -2.170774844486766e-09
*** Example file: worst-case performance of stochastic gradient descent with fixed step-size ***
PEPit guarantee: E[||x_1 - x_*||^2] <= 5.04165
Theoretical guarantee: E[||x_1 - x_*||^2] <= 5.04165
"""
# Instantiate PEP
problem = PEP()
# Declare a smooth strongly convex function
fn = [problem.declare_function(SmoothStronglyConvexFunction, L=L, mu=mu) for _ in range(n)]
func = np.mean(fn)
# Start by defining its unique optimal point xs = x_*
xs = func.stationary_point()
# Then define the starting point x0 of the algorithm
x0 = problem.set_initial_point()
# Set the initial constraint that is the bounded variance and the distance between initial point and optimal one
var = np.mean([f.gradient(xs) ** 2 for f in fn])
problem.add_constraint(var <= v ** 2)
problem.set_initial_condition((x0 - xs) ** 2 <= R ** 2)
# Compute the *expected* distance to optimality after running one step of the stochastic gradient descent
distavg = np.mean([(x0 - gamma * f.gradient(x0) - xs) ** 2 for f in fn])
# Set the performance metric to the distance average to optimal point
problem.set_performance_metric(distavg)
# Solve the PEP
pepit_verbose = max(verbose, 0)
pepit_tau = problem.solve(wrapper=wrapper, solver=solver, verbose=pepit_verbose)
# Compute theoretical guarantee (for comparison)
kappa = L / mu
theoretical_tau = 1 / 2 * (1 - 1 / kappa) ** 2 * R ** 2 + 1 / 2 * (1 - 1 / kappa) * R * np.sqrt(
(1 - 1 / kappa) ** 2 * R ** 2 + 4 * v ** 2 / L ** 2) + v ** 2 / L ** 2
# Print conclusion if required
if verbose != -1:
print('*** Example file: worst-case performance of stochastic gradient descent with fixed step-size ***')
print('\tPEPit guarantee:\t E[||x_1 - x_*||^2] <= {:.6}'.format(pepit_tau))
print('\tTheoretical guarantee:\t E[||x_1 - x_*||^2] <= {:.6}'.format(theoretical_tau))
# Return the worst-case guarantee of the evaluated method (and the reference theoretical value)
return pepit_tau, theoretical_tau
if __name__ == "__main__":
mu = 0.1
L = 1
gamma = 1 / L
pepit_tau, theoretical_tau = wc_sgd(L=L, mu=mu, gamma=gamma, v=1, R=2, n=5, wrapper="cvxpy", solver=None, verbose=1)