TCSLib

107 Learning Theory — Convex Minimax No Regret

107.1 Overview

This module formalises the no-regret proof route for the convex-compact minimax theorem (Cesa-Bianchi–Lugosi Theorem 7.1). Starting from a finite-row sample lower value and the finite minimax theorem, it assembles three ingredients—a finite no-regret bound, a compact approximation step, and uniform equicontinuity—to establish the full minimax equality \(\inf _{x \in X} \sup _{y \in Y} f(x,y) = \sup _{y \in Y} \inf _{x \in X} f(x,y)\) under convexity, concavity, and compactness hypotheses.

107.2 Declarations

Definition 107.1 Finite row sample lower value
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Given a payoff \(f : \mathbb {R} \to \mathbb {R} \to \mathbb {R}\) and a finite subset \(u \subseteq X\), the finite row sample lower value is

\[ \sup _{y \in Y} \inf _{x \in u} f(x, y), \]

i.e. the lower value obtained when the row player is restricted to the finite sample \(u\) while the column player still ranges over all of \(Y\).

Definition 107.2 Finite no-regret bound predicate
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\(\texttt{OnlineLearning.Theorem71FiniteNoRegretBound}\) is the proposition asserting that for every nonempty finite row sample \(u \subseteq X\),

\[ \inf _{x \in X} \sup _{y \in Y} f(x,y) \; \le \; \sup _{y \in Y} \inf _{x \in u} f(x, y). \]

This is the finite-game no-regret ingredient in the Theorem 7.1 proof route.

Definition 107.3 Compact approximation predicate
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\(\texttt{OnlineLearning.Theorem71CompactApproximation}\) is the proposition asserting that for every \(\varepsilon \gt 0\) there exists a nonempty finite sample \(u \subseteq X\) such that

\[ \sup _{y \in Y} \inf _{x \in u} f(x, y) \; \le \; \sup _{y \in Y} \inf _{x \in X} f(x, y) + \varepsilon . \]

This encodes the “let the net size go to zero” compactness step of the textbook proof.

Definition 107.4 Uniform equicontinuity in the row variable
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\(\texttt{OnlineLearning.Theorem71UniformEquicontinuity}\) holds for \(X\), \(Y\), \(f\) when \(f\) is uniformly equicontinuous in its first argument uniformly over all columns: for every \(\varepsilon \gt 0\) there exists \(\rho \gt 0\) such that for all \(x, x' \in X\) and \(y \in Y\),

\[ \operatorname{dist}(x, x') \lt \rho \; \Longrightarrow \; |f(x,y) - f(x',y)| \lt \varepsilon . \]
Definition 107.5 Finite indexed row sample lower value
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For a row sample indexed by \(\mathrm{Fin}\, M\), the finite indexed row sample lower value is

\[ \sup _{y \in Y} \inf _{i \in \mathrm{Fin}\, M} f(x_i, y), \]

where \(x : \mathrm{Fin}\, M \to X\) is the sample. This is a technical variant of \(\texttt{OnlineLearning.finiteRowSampleLowerValue}\) used in intermediate results.

Theorem 107.6 Minimax equality on convex compact sets
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Let \(X, Y \subseteq \mathbb {R}\) and let \(f : \mathbb {R}\to \mathbb {R}\to \mathbb {R}\). Suppose that \(X\) and \(Y\) are nonempty, that \(X\) is compact and convex, that \(Y\) is convex, that the map \(x \mapsto f(x,y)\) is continuous and convex on \(X\) for every \(y \in Y\), that the map \(y \mapsto f(x,y)\) is concave on \(Y\) for every \(x \in X\), and that \(f\) is bounded above and below on \(X \times Y\). Suppose moreover that for every nonempty finite subset \(u \subseteq X\),

\[ \inf _{x \in X} \sup _{y \in Y} f(x,y) \; \le \; \sup _{y \in Y} \inf _{x \in u} f(x,y), \]

and that for every \(\varepsilon \gt 0\) there exists a nonempty finite subset \(u \subseteq X\) with

\[ \sup _{y \in Y} \inf _{x \in u} f(x,y) \; \le \; \sup _{y \in Y} \inf _{x \in X} f(x,y) + \varepsilon . \]

Then

\[ \inf _{x \in X} \sup _{y \in Y} f(x,y) \; =\; \sup _{y \in Y} \inf _{x \in X} f(x,y). \]
Theorem 107.7 Compact approximation of the lower value from uniform equicontinuity
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Let \(X, Y \subseteq \mathbb {R}\) be nonempty, with \(X\) compact and convex and \(Y\) convex, and let \(f : \mathbb {R}\times \mathbb {R}\to \mathbb {R}\) be bounded above and below on \(X \times Y\), with \(f(\cdot , y)\) continuous and convex on \(X\) for every \(y \in Y\) and \(f(x, \cdot )\) concave on \(Y\) for every \(x \in X\). Suppose in addition that \(f\) is uniformly equicontinuous in its first argument, uniformly over the columns: for every \(\varepsilon \gt 0\) there is \(\rho \gt 0\) with \(|f(x,y) - f(x',y)| \lt \varepsilon \) whenever \(x, x' \in X\), \(y \in Y\), and \(\operatorname{dist}(x, x') \lt \rho \). Then for every \(\varepsilon \gt 0\) there exists a nonempty finite sample \(u \subseteq X\) such that

\[ \sup _{y \in Y} \inf _{x \in u} f(x, y) \; \le \; \sup _{y \in Y} \inf _{x \in X} f(x, y) + \varepsilon ; \]

that is, restricting the row player to a suitable finite subset of \(X\) raises the lower value of the game by at most \(\varepsilon \).

Theorem 107.8 Uniform equicontinuity in the row variable from joint continuity on a compact domain
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Let \(X, Y \subseteq \mathbb {R}\) and \(f : \mathbb {R}\times \mathbb {R}\to \mathbb {R}\) satisfy the convex-compact minimax hypotheses, and suppose in addition that \(Y\) is compact and that \((x,y) \mapsto f(x,y)\) is continuous on \(X \times Y\). Then \(f\) is uniformly equicontinuous in its first argument, uniformly over all columns: for every \(\varepsilon \gt 0\) there exists \(\rho \gt 0\) such that for all \(x, x' \in X\) and all \(y \in Y\),

\[ \operatorname{dist}(x, x') \lt \rho \; \Longrightarrow \; |f(x,y) - f(x',y)| \lt \varepsilon . \]
Theorem 107.9 Compact approximation from joint continuity on a compact column set
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Let \(X, Y \subseteq \mathbb {R}\) and \(f : \mathbb {R}\times \mathbb {R}\to \mathbb {R}\) satisfy the convex-compact minimax hypotheses, and suppose in addition that \(Y\) is compact and that \(f\) is jointly continuous on \(X \times Y\). Then for every \(\varepsilon \gt 0\) there is a nonempty finite subset \(u \subseteq X\) such that

\[ \sup _{y \in Y} \inf _{x \in u} f(x,y) \; \le \; \sup _{y \in Y} \inf _{x \in X} f(x,y) + \varepsilon ; \]

that is, restricting the row player to a suitable finite sample raises the lower value by at most \(\varepsilon \).

Let \(X, Y \subseteq \mathbb {R}\) satisfy the convex-compact minimax hypotheses for a payoff \(f : \mathbb {R}\to \mathbb {R}\to \mathbb {R}\), and suppose in addition that \(f\) is normalized, \(0 \le f(x,y) \le 1\) for all \(x \in X\) and \(y \in Y\). Fix an integer \(M \ge 2\) and a finite row sample \(x : \mathrm{Fin}\, M \to X\), writing \(x_i\) for its \(i\)-th point. Then

\[ \inf _{x' \in X}\; \sup _{y \in Y}\; f(x', y) \; \le \; \sup _{y \in Y}\; \inf _{i \in \mathrm{Fin}\, M}\; f(x_i, y). \]
Theorem 107.11 Finite no-regret bound for normalized convex-compact games
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Let \(X, Y \subseteq \mathbb {R}\) and \(f : \mathbb {R}\to \mathbb {R}\to \mathbb {R}\) satisfy the convex-compact minimax hypotheses, and suppose the payoff is normalized so that \(0 \le f(x,y) \le 1\) for all \(x \in X\) and \(y \in Y\). Then for every nonempty finite subset \(u \subseteq X\),

\[ \inf _{x \in X} \sup _{y \in Y} f(x,y) \; \le \; \sup _{y \in Y} \inf _{x \in u} f(x,y); \]

that is, the game’s upper value is bounded above by the lower value of the game in which the row player is restricted to the finite sample \(u\) while the column player still ranges over all of \(Y\).

Theorem 107.12 A normalized convex–concave minimax equality
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Let \(X, Y \subseteq \mathbb {R}\) be nonempty, compact, convex sets, and let \(f : \mathbb {R}\times \mathbb {R}\to \mathbb {R}\) be jointly continuous on \(X \times Y\) and normalized so that \(0 \le f(x,y) \le 1\) for all \(x \in X\) and \(y \in Y\). Suppose that \(f\) is bounded above and below on \(X \times Y\), that for every \(y \in Y\) the map \(x \mapsto f(x,y)\) is continuous and convex on \(X\), and that for every \(x \in X\) the map \(y \mapsto f(x,y)\) is concave on \(Y\). Then

\[ \inf _{x \in X}\, \sup _{y \in Y}\, f(x,y) \; =\; \sup _{y \in Y}\, \inf _{x \in X}\, f(x,y). \]

107.3 Additional declarations

Lemma 107.13 Range bounded above for a family with values at most one
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If \(g : \iota \to \mathbb {R}\) satisfies \(g(i) \le 1\) for every index \(i\), then the range of \(g\) is bounded above.

Lemma 107.14 Range bounded below for a nonnegative family
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If \(g : \iota \to \mathbb {R}\) satisfies \(0 \le g(i)\) for every index \(i\), then the range of \(g\) is bounded below.

Lemma 107.15 Infima of a unit-interval family are bounded above
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Let \(\iota \) be nonempty and let \(g : \iota \to \kappa \to \mathbb {R}\) take values in \([0,1]\), i.e. \(0 \le g(i,j) \le 1\) for all \(i, j\). Then the family \(j \mapsto \inf _{i \in \iota } g(i, j)\) has range bounded above.

Lemma 107.16 Suprema of a unit-interval family are bounded below
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Let \(\kappa \) be nonempty and let \(g : \iota \to \kappa \to \mathbb {R}\) take values in \([0,1]\), i.e. \(0 \le g(i,j) \le 1\) for all \(i, j\). Then the family \(i \mapsto \sup _{j \in \kappa } g(i, j)\) has range bounded below.

Let \(X, Y \subseteq \mathbb {R}\) and \(f : \mathbb {R}\to \mathbb {R}\to \mathbb {R}\) satisfy the convex-compact minimax hypotheses, and suppose \(f\) is normalized so that \(0 \le f(x,y) \le 1\) for all \(x \in X\) and \(y \in Y\). Fix an integer \(M \ge 2\), a row sample \(x : \mathrm{Fin}\, M \to X\), a real \(\varepsilon \gt 0\), and a finite column sample \(v \subseteq Y\). Write

\[ K \; :=\; \sup _{y \in Y}\; \inf _{i \in \mathrm{Fin}\, M}\; f(x_i, y) \]

for the indexed sampled lower value. Then the set

\[ X \; \cap \; \bigcap _{y \in v} \bigl\{ \, x' \in X : f(x', y) \le K + \varepsilon \, \bigr\} \]

is nonempty; that is, there is a row \(\bar{x} \in X\) with \(f(\bar{x}, y) \le K + \varepsilon \) for every \(y \in v\). This is the finite \(\varepsilon \)-net step in the proof of Cesa-Bianchi–Lugosi Theorem 7.1.