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Finite-horizon SGD trajectories have integrable objectives
Statement
Let , let be a probability space, and let be continuously differentiable with an -Lipschitz gradient for some finite . Fix an integer , measurable maps , and finite real stepsizes . Suppose and for every , and define . Then every and for has finite second moment, and every has finite absolute expectation.
Facts & Assumptions
Given: The probability space, measurable finite-dimensional vector maps, continuously differentiable , finite-horizon update and finite second-moment assumptions in the Statement.
Descent inequality for a Lipschitz gradient: if is -Lipschitz, then for all .
The principle of mathematical induction: a property true at the first index and inherited by each successor holds at every natural index.
Expectation of a nonnegative or integrable random variable: expectations of nonnegative measurable functions are their extended integrals; an integrable real random variable has finite absolute integral.
Proof
By [F3] and , . Thus for every . The right side is finite whenever has finite second moment, using the expectation convention [F5].
The initial second moment is finite by the Statement, and step 1.1 carries finiteness from to . Finite induction using [F4] therefore gives for all .
The Lipschitz-gradient condition [F1] and [F3] give , so . Step 2.1 makes the right side integrable; hence every stated gradient has finite second moment.
Apply [F1] to and . The upper bound gives . The lower bound and the Lipschitz-gradient condition give . Thus [F3] and imply . The right side has finite expectation by step 2.1, so for every .
Depends on
- Descent inequality for a Lipschitz gradient
- The Euclidean inner product $\langle x,y\rangle = \sum_{k<n} x_k y_k$ on $\mathbb{R}^n$
- Cauchy-Schwarz $\lvert\langle x,y\rangle\rvert \le \lVert x\rVert_2\lVert y\rVert_2$ with its equality case, the triangle inequality for $\lVert\cdot\rVert_2$, the parallelogram law and polarisation
- The principle of mathematical induction
- Expectation of a nonnegative or integrable random variable
Used by
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Sources
- Léon Bottou, Frank E. Curtis, and Jorge Nocedal, Optimization Methods for Large-Scale Machine Learning, §4.1 (standard reference, not scraped)
- MIT 6.7220/15.084 Nonlinear Optimization, Lecture 15: Stochastic Gradient Descent (standard reference, not scraped)