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--- author: __Lilian Besson__ *Advised by Christophe Moy Émilie Kaufmann title: Aggregation of MAB Learning Algorithms for OSA institute: PhD Student, Team SCEE, IETR, CentraleSupélec, Rennes & Team SequeL, CRIStAL, Inria, Lille date: IEEE WCNC - 16th April 2018 lang: english --- ### IEEE WCNC: **« Aggregation of Multi-Armed Bandits Learning Algorithms for Opportunistic Spectrum Access »** - *Date* 📅 : $16$th of April $2018$ - *Who:* [Lilian Besson](https://GitHub.com/Naereen/slides/) 👋 , PhD Student in France, co-advised by | *Christophe Moy* <br> @ CentraleSupélec <br>& IETR, Rennes | *Émilie Kaufmann* <br> @ Inria, Lille | |:---:|:---:| | ![7%](../common/LogoCS.png) ![14%](../common/LogoIETR.png) | ![12%](../common/LogoInria.jpg) | > See our paper [`HAL.Inria.fr/hal-01705292`](https://hal.inria.fr/hal-01705292) --- # Introduction - Cognitive Radio (CR) is known for being one of the possible solution to tackle the spectrum scarcity issue - Opportunistic Spectrum Access (OSA) is a good model for CR problems in **licensed bands** - Online learning strategies, mainly using multi-armed bandits (MAB) algorithms, were recently proved to be efficient `[Jouini 2010]` - 💥 But there is many different MAB algorithms… which one should you choose in practice? $\Longrightarrow$ we propose to use an online learning algorithm to also decide which algorithm to use, to be more robust and adaptive to unknown environments. --- # ⏲ Outline 1. Opportunistic Spectrum Access 2. Multi-Armed Bandits 3. MAB algorithms 4. Aggregation of MAB algorithms 5. Illustration <br><br> ### Please 🙏 Ask questions *at the end* if you want! --- # 1. Opportunistic Spectrum Access - Spectrum scarcity is a well-known problem - Different range of solutions… - Cognitive Radio is one of them - Opportunistic Spectrum Access is a kind of cognitive radio --- # Communication & interaction model <img width="75%" src="plots/diagram_model_of_OSA.png"> - 📱 Primary users are occupying $K$ radio channels - ☎ Secondary users can sense and exploit free channels: want to **explore** the channels, and learn to **exploit** the best one - Discrete time for everything $t\geq1,t\in\mathbb{N}$ --- # 2. Multi-Armed Bandits ## Model - Again $K \geq 2$ resources (*e.g.*, channels), called **arms** - Each time slot $t=1,\ldots,T$, you must choose one arm, denoted $A(t)\in\{1,\ldots,K\}$ - You receive some reward $r(t) \sim \nu_k$ when playing $k = A(t)$ - **Goal:** maximize your sum reward $\sum\limits_{t=1}^{T} r(t)$ - Hypothesis: rewards are stochastic, of mean $\mu_k$. *E.g.*, Bernoulli ## Why is it famous? Simple but good model for **exploration/exploitation** dilemma. --- # 3. MAB algorithms - Main idea: index $I_k(t)$ to approximate the quality of each arm $k$ - First example: *UCB algorithm* - Second example: *Thompson Sampling* --- # 3.1 Multi-Armed Bandit algorithms ### Often *index* based - Keep *index* $I_k(t) \in \mathbb{R}$ for each arm $k=1,\ldots,K$ - Always play $A(t) = \arg\max I_k(t)$ - $I_k(t)$ should represent our belief of the *quality* of arm $k$ at time $t$ ### Example: "Follow the Leader" - $X_k(t) := \sum\limits_{s < t} r(s) \bold{1}(A(s)=k)$ sum reward from arm $k$ - $N_k(t) := \sum\limits_{s < t} \bold{1}(A(s)=k)$ number of samples of arm $k$ - And use $I_k(t) = \hat{\mu}_k(t) := \frac{X_k(t)}{N_k(t)}$. --- # 3.2 First example of algorithm <br>*Upper Confidence Bounds* algorithm (UCB) - Instead of using $I_k(t) = \frac{X_k(t)}{N_k(t)}$, add an exploration term $$ I_k(t) = \frac{X_k(t)}{N_k(t)} + \sqrt{\frac{\alpha \log(t)}{2 N_k(t)}} $$ ### Parameter $\alpha$: tradeoff exploration *vs* exploitation - Small $\alpha$: focus more on **exploitation** - Large $\alpha$: focus more on **exploration** ### 💥 Problem: how to choose "the good $\alpha$" for a certain problem? --- # 3.3 Second example of algorithm <br> *Thompson sampling* (TS) - Choose an initial belief on $\mu_k$ (uniform) and a prior $p^t$ (*e.g.*, a Beta prior on $[0,1]$) - At each time, update the prior $p^{t+1}$ from $p^t$ using Bayes theorem - And use $I_k(t) \sim p^t$ as *random* index ### Example with Beta prior, for binary rewards - $p^t = \mathrm{Beta}(1 + \text{nb successes}, 1 + \text{nb failures})$. - Mean of $p^t$ $= \frac{1 + X_k(t)}{2 + N_k(t)} \simeq \hat{\mu}_k(t)$. ### 💥 How to choose "the good prior" for a certain problem? --- # 4. Aggregation of MAB algorithms ## Problem - How to choose which algorithm to use? - But also… Why commit to one only algorithm? ## Solutions - Offline benchmarks? - Or online selections from a pool of algorithms? ## $\hookrightarrow$ Aggregation? > Not a new idea, studied from the 90s in the ML community. - Also use online learning to *select the best algorithm*! --- ## 4.1 Basic idea for online aggregation If you have $\mathcal{A}_1,\ldots,\mathcal{A}_N$ different algorithms - At time $t=0$, start with a uniform distribution $\pi^0$ on $\{1,\ldots,N\}$ (to represent the **trust** in each algorithm) - At time $t$, choose $a^t \sim \pi^t$, then play with $\mathcal{A}_{a^t}$ - Compute next distribution $\pi^{t+1}$ from $\pi^t$: + increase $\pi^{t+1}_{a^t}$ if choosing $\mathcal{A}_{a^t}$ gave a good reward + or decrease it otherwise ## Problems 1. How to increase $\pi^{t+1}_{a^t}$ ? 2. What information should we give to which algorithms? --- ## 4.2 Overview of the *Exp4* aggregation algorithm > For rewards in $r(t) \in [-1,1]$. - Use $\pi^t$ to choose randomly the algorithm to trust, $a^t \sim \pi^t$ - Play its decision, $A_{\text{aggr}}(t) = A_{a^t}(t)$, receive reward $r(t)$ - And give feedback of observed reward $r(t)$ only to this one - Increase or decrease $\pi^t_{a^t}$ using an exponential weight: $$ \pi^{t+1}_{a^t} := \pi^{t}_{a^t} \times \exp\left(\eta_t \times \frac{r(t)}{\pi^t_{a^t}}\right).$$ - Renormalize $\pi^{t+1}$ to keep a distribution on $\{1,\ldots,N\}$ - Use a sequence of decreasing *learning rate* $\eta_t = \frac{\log(N)}{t \times K}$ (cooling scheme, $\eta_t \to 0$ for $t\to\infty$) --- ## Use an *unbiased* estimate of the rewards Using directly $r(t)$ to update trust probability yields a biased estimator - So we use instead $\hat{r}(t) = r(t) / \pi^t_{a}$ if we trusted algorithm $\mathcal{A}_a$ - This way $$\mathbb{E}[\hat{r}(t)] = \sum\limits_{a=1}^N \mathbb{P}(a^t = a) \mathbb{E}[r(t) / \pi^t_{a}]$$ $$= \mathbb{E}[r(t)] \sum\limits_{a=1}^N \frac{\mathbb{P}(a^t = a)}{\pi^t_{a}} = \mathbb{E}[r(t)] $$ --- ## 4.3 Our *Aggregator* aggregation algorithm Improves on *Exp4* by the following ideas: - First let each algorithm vote for its decision $A_1^t,\ldots,A_N^t$ - Choose arm $A_{\text{aggr}}(t) \sim p_j^{t+1} := \sum\limits_{a=1}^N \pi_a^t \mathbf{1}(A_a^t = j)$ - Update trust for each of the trusted algorithm, not only one (*i.e.*, if $A_a^t = A_{\text{aggr}}^t$) $\hookrightarrow$ faster convergence - Give feedback of reward $r(t)$ to *each* algorithm! (and not only the one trusted at time $t$) $\hookrightarrow$ each algorithm have more data to learn from --- # 5. Some illustrations - Artificial simulations of stochastic bandit problems - Bernoulli bandits but not only - Pool of different algorithms (UCB, Thompson Sampling etc) - Compared with other state-of-the-art algorithms for *expert aggregation* (Exp4, CORRAL, LearnExp) - What is plotted it the *regret* for problem of means $\mu_1,\ldots,\mu_K$ : $$ R_T^{\mu}(\mathcal{A}) = \max_k (T \mu_k) - \sum_{t=1}^T \mathbb{E}[r(t)] $$ - Regret is known to be lower-bounded by $C(\mu) \log(T)$ - and upper-bounded by $C'(\mu) \log(T)$ for efficient algorithms --- # On a simple Bernoulli problem ![bg original 105%](plots/main_semilogy____env1-4_932221613383548446.png) --- # On a "hard" Bernoulli problem ![bg original 105%](plots/main____env2-4_932221613383548446.png) --- # On a mixed problem ![bg original 105%](plots/main_semilogy____env4-4_932221613383548446.png) --- # Conclusion (1/2) - Online learning can be a powerful tool for Cognitive Radio, and many other real-world applications - Many formulation exist, a simple one is the Multi-Armed Bandit - Many algorithms exist, to tackle different situations - It's hard to know before hand which algorithm is efficient for a certain problem… - Online learning can also be used to select *on the run* which algorithm to prefer, for a specific situation! --- # Conclusion (2/2) - Our algorithm **Aggregator** is efficient and easy to implement - For $N$ algorithms $\mathcal{A}_1,\ldots,\mathcal{A}_N$, it costs $\mathcal{O}(N)$ memory, and $\mathcal{O}(N)$ extra computation time at each time step - For stochastic bandit problem, it outperforms empirically the other state-of-the-arts (Exp4, CORRAL, LearnExp). ### See our paper [`HAL.Inria.fr/hal-01705292`](https://hal.inria.fr/hal-01705292) ### See our code for experimenting with bandit algorithms Python library, open source at [`SMPyBandits.GitHub.io`](https://SMPyBandits.GitHub.io) > Thanks for listening !