Game-Theoretic Statistics and Safe Anytime-Valid Inference

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arXiv:2210.01948v2 [math.ST] 17 Jun 2023
Submitted to Statistical Science
Game-Theoretic Statistics and
Safe Anytime-Valid Inference
Aaditya Ramdas, Peter Grünwald, Vladimir Vovk and Glenn Shafer
Abstract. Safe anytime-valid inference (SAVI) provides measures of statisti-
cal evidence and certainty—e-processes for testing and confidence sequences
for estimation—that remain valid at all stopping times, accommodating con-
tinuous monitoring and analysis of accumulating data and optional stopping
or continuation for any reason. These measures crucially rely on test martin-
gales, which are nonnegative martingales starting at one. Since a test mar-
tingale is the wealth process of a player in a betting game, SAVI centrally
employs game-theoretic intuition, language and mathematics. We summa-
rize the SAVI goals and philosophy, and report recent advances in testing
composite hypotheses and estimating functionals in nonparametric settings.
Key words and phrases: Test martingales, Ville’s inequality, universal in-
ference, reverse information projection, e-process, optional stopping, con-
fidence sequence, nonparametric composite hypothesis testing.
1. INTRODUCTION
Stop when you are ahead. Increase your bet to make up
ground when you are behind. This is called martingaling
in the casino. It often succeeds in the short or medium
term, leading novice gamblers to think they can beat the
odds and day traders to think they can beat the market
(Dimitrov, Shafer and Zhang,2022). The same delusion
arises in science, where sampling until a significant result
is obtained is an important source of irreproducibility.
The fallacy of sampling until a significant result is ob-
tained has been discussed by statisticians at least since the
1940s, when Feller (1940) saw it happening in the study
of extra-sensory perception. Anscombe (1954) famously
called it “sampling to a foregone conclusion”, and this in-
evitability was also pointed out by Robbins (1952).
But disapproval by statisticians has hardly dented the
prevalence of the practice. In one widely publicized ex-
ample, a team of researchers apparently demonstrated
benefits from “power posing” (Carney, Cuddy and Yap,
2010). The lead author later disavowed the conclusion and
identified the team’s peeking at the data as one of her rea-
sons (Carney, Fact 5):
We ran subjects in chunks and checked the ef-
fect along the way. It was something like 25
Carnegie Mellon University, Pittsburgh, USA (e-mail:
aramdas@cmu.edu). Centrum Wiskunde &Informatica,
Amsterdam, Netherlands (e-mail: pdg@cwi.nl). Royal
Holloway London, UK (e-mail: v.vovk@rhul.ac.uk). Rutgers
University, USA (e-mail: gshafer@business.rutgers.edu).
subjects run, then 10, then 7, then 5. Back then
this did not seem like p-hacking. It seemed like
saving money (assuming your eect size was
big enough and p-value was the only issue).
Ten years ago, an anonymous survey of over 2000 psy-
chologists found 56% admitting to deciding whether to
collect more data after looking to see whether the results
were significant” (John, Loewenstein and Prelec,2012).
Bayesian inference with a prior defined by a statisti-
cian’s beliefs before seeing any of the data is not aected
by (planned) peeking. Problems quickly arise, however,
when default or pragmatic priors are used to test com-
posite null hypotheses. These problems are especially se-
vere for commonly used pragmatic priors that depend on
the sample size, covariates, or other aspects of the data
(De Heide and Grünwald,2021).
As emphasized by Johari et al. (2022); Howard et al.
(2021); Grünwald, De Heide and Koolen (2023); Shafer
(2021); Pace and Salvan (2020), amongst others, we need
to go beyond disapproval of peeking, and we instead
should give researchers tools to fully accommodate it.
The branch of mathematical statistics that enables this,
sequential analysis, was brilliantly launched in the 1940s
and 1950s by Wald, Anscombe, Robbins, and others. The
innovations introduced by Robbins, Darling, Siegmund
and Lai included confidence sequences that are valid at
any and all times and tests of power one. But these ideas
occupied only a small niche in sequential analysis re-
search until around 2017. Since then, interest has ex-
ploded and much conceptual progress has been made in
parallel threads, which we attempt to summarize.
1
2
This new methodology diers from traditional statisti-
cal testing in the way it quantifies evidence against sta-
tistical hypotheses. The traditional approach casts doubt
on a hypothesis when a selected test statistic takes too ex-
treme a value. This leads to quantifying evidence against
the hypothesis by the p-value—the probability the hy-
pothesis assigns to the test statistic being so large. The
new methodology instead casts doubt on a hypothesis
when a selected nonnegative statistic is large relative to
its expected value. Imagining that we bought the statis-
tic for its expected value when we selected it, we call
the ratio of its realized to its expected value a betting
score and take this as a measure of our evidence. In the
case of a composite hypotheses, we use the infimum of
betting scores for the multiple hypotheses and call this
an e-value. The sequential analog is an e-process—a se-
quence of e-values that monitor the accumulation of ev-
idence. E-processes permit anytime-valid inference; we
can repeatedly decide whether to collect more data based
on the current e-value without invalidating later assess-
ments, stopping whenever and for any reason whatsoever.
This anytime-validity is a form of safety. This safety may
come with a price, of course; there may (or may not) be
tradeos between safety and power; see Section B.
From a technical point of view, the new methodol-
ogy is based on the concept of a test martingale, along
with its betting interpretation. Although martingales be-
came important in probability theory more than a half-
century ago, their potential has still not been fully ex-
ploited in statistics, and the new emphasis on nonnega-
tive (super)martingales has produced a plethora of power-
ful new methods. These include confidence sequences for
many functionals that can be used with multi-armed ban-
dits and new sequential tests for composite null hypothe-
ses. This responds to the need for rigorous methods in
settings that have emerged with the development of infor-
mation technology in the past half-century, including “liv-
ing meta-analysis” (Ter Schure, Grünwald and Ly,2021),
the industrial use of A/B testing (Johari et al.,2022) and
bandit experiments (Howard and Ramdas,2022).
The new methods can be most clearly presented in the
language of game-theoretic probability (Shafer and Vovk,
2001,2019). Here successive observations are Reality’s
moves in a game. Two other players move before Reality
on each round: Forecaster gives probabilities for the out-
come, and Skeptic bets by choosing a real-valued func-
tion of the outcome, paying its expected value, and receiv-
ing its realized value. If Skeptic always chooses nonneg-
ative functions, then the factor by which he multiplies his
money (the ratio of the realized to the expected value un-
der forecaster’s probabilities) is his “betting score” or “e-
value” (Shafer,2021). If he reinvests his money on each
round, the betting scores multiply, producing cumulative
betting scores that are products of the betting scores for
each round so far. Because Skeptic is a free agent, the
option of stopping or continuing or even switching to a
dierent experiment on the next round is intrinsic to the
game, and the cumulative betting score or e-value quanti-
fies the evidence against the Forecaster (and his probabil-
ities): Skeptic refutes the odds by making money betting
at those odds; more money is more evidence that the odds
do not reflect reality.
Betting games often t statistical practice better than
measure-theoretic probability models. In particular, they
accommodate fully the opportunistic behavior that we
want to allow. George Barnard, in his review of Wald’s
book on sequential analysis (Barnard,1947), called for
embedding statisticians in the sequential decision-making
of experimental scientists, in which each batch of obser-
vations is followed by deliberation about whether to stop
or to continue, perhaps with a modified experiment. The
use of a prespecified stopping time, which prescribes con-
tinuing only until a certain data-dependent condition is
met, obscures or erases this sequential deliberation, pre-
tending that all the decisions flow from a stopping strategy
adopted in advance. Barnard’s suggestion is better cap-
tured by our game-theoretic framework, where a single
stopping rule is replaced by notions of evidence that re-
main valid at any stopping time not specified in advance.
Because most readers will be unfamiliar with game-
theoretic probability as developed by Shafer and Vovk
(2001,2019), we use the relatively familiar apparatus of
measure theory (filtrations, stopping times, martingales,
etc.) and new concepts defined within that apparatus (e-
values, e-processes, etc.). Frequently, however, we return
to the betting story, where our martingales are wealth pro-
cesses for Skeptic.
1.1 Basic terminology
We begin with a sample space equipped with a fil-
tration F(Ft)t0(an increasing nested sequence of σ-
fields), and a set Πof probability distributions on (,F).
We assume that some distribution PΠgoverns our data
X(X1,X2,...). The variables X1,X2,... need not be in-
dependent and identically distributed (iid) under P. We
use Xtas a shorthand for X1,...,Xt.
When we say we are testing P, we mean that we are
testing the null hypothesis H0that PP. When we say
we are testing Pagainst Q, we mean that the alternative
hypothesis H1is that PQ. Typically, Pand Qare either
non-intersecting or nested subsets of Π. We always use
boldface P,Qfor sets of distributions, and a normal P,Q
for a single distribution.
A sequence of random variables Y(Yt)t0is called a
process if it is adapted to F—i.e., if Ytis measurable with
respect to Ftfor every t. Often Ft:=σ(Xt), with F0being
trivial (F=,}), and in this case Ytbeing measurable
with respect to Ftmeans that Ytis a measurable function
GAME-THEORETIC STATISTICS AND SAFE ANYTIME-VALID INFERENCE 3
of X1,...,Xt. But Fis sometimes a coarser filtration (we
discard information, see e.g. Section 4.1.2) or a richer one
(we add external randomization).1Yis called predictable
if Ytis measurable with respect to Ft1.
A stopping time (or rule) τis a nonnegative integer val-
ued random variable such that {τt} ∈ Ftfor each t0.
In words: we know at each time whether the rule is telling
us to stop or keep going. Denote by Tthe set of all stop-
ping times, including ones that may never stop.
1.2 A terse technical summary of the paper
We give a short technical summary below, foreshadow-
ing topics to be defined and discussed in more depth later.
The field of safe anytime-valid inference (SAVI) aims
to develop measures of statistical evidence and cer-
tainty that remain valid at arbitrary stopping times (pos-
sibly unknown in advance), accommodating continuous
monitoring and analysis of accumulating data and op-
tional stopping or continuation for any reason. There is
a strong sense in which admissible SAVI methods —
power-one tests, confidence sequences, anytime-valid p-
values and e-processes — must rely centrally on nonneg-
ative martingales (Ramdas et al.,2020). Nonnegative (su-
per)martingales are endowed with a strong and direct con-
nection to gambling: every nonnegative supermartingale
corresponds to a wealth process in some game, and vice
versa (every “fair/legal” gambling strategy to test the null
hypothesis results in a wealth process that is a nonnega-
tive supermartingale).
These facts give rise to the following central principle
in game-theoretic statistics: “testing by betting”. In order
to test a null hypothesis Pagainst an alternative Q, we
set up a game such that (a) if the null is true, meaning
PP, then no betting strategy can reliably make money
(any gambler’s wealth is a nonnegative supermartingale),
and (b) if the null is false, meaning PQ, it is possible
to bet smartly to make money in that game. This principle
arguably has roots dating back (at least) to Ville (1939),
and was recently discussed in depth in the point null case
by Shafer et al. (2011) and Shafer (2021) and for com-
posite nulls by Grünwald, De Heide and Koolen (2023);
Waudby-Smith and Ramdas (2023), etc.
The game works as follows. Before observing Xt∈ X,
Skeptic puts forward a bet St:X → [0,], which satisfies
EP[St(Xt)] 1 for every PP.(1)
Then, Xtis revealed. The interpretation is that at each time
t, one can buy, at the price of 1 monetary unit, a ticket
1The filtration may be coarsened, as explained by Alan Turing
(c 1941, p.1): “When the whole evidence. . . is taken into account it
may be extremely dicult to estimate the probability of the event,
. . . may be better to form an estimate based on a part of the evidence
...”
that will pay oSt(Xt) units. One can buy as many tick-
ets as one likes. (1) simply expresses that under the null,
one does not expect to get back more than one invests in
this game. At time 1, Skeptic invests 1 monetary unit; at
each time t, she reinvests all the money she observed so
far. Skeptic’s wealth after tsteps is then clearly given by
Qt
i=1Si(Xi), which is nonnegative by definition, and eas-
ily checked to be a supermartingale under P. If Qis ap-
propriately separated from P, good betting strategies can
force the wealth in setting (b) (alternative is true) to grow
to infinity exponentially fast, and we wish to maximize
the exponent. Maximizing the exponent corresponds to
maximizing the expected logarithm of the wealth; such a
“log-optimality” objective has information-theoretic roots
dating back to Kelly (1956) and Breiman (1961), but also
(implicitly or explicitly) appears in the work of Ville,
Wald, Robbins, etc.
For testing a point null Pagainst a point alternative Q,
the log-optimal bet is simply given by the likelihood ratio
St=dQt/dPt, where Ptand Qtare the conditional prob-
abilities for the tth observation given the past, under P
and Qrespectively. Thus the realized likelihood ratio of
Qagainst Pis precisely the optimal wealth of a gambler
betting against P. This central fact provides much intu-
ition for extensions and generalizations.
For composite alternatives Q, the Skeptic often hedges
their bets by not betting all their money on a single QQ,
instead spreading their investment over Qusing a mixture
(“prior”) distribution R. To illustrate using the toy case in
which Qis countable and Rhas mass function r,r(q)=a
would mean that a fraction aof Skeptic’s money is in-
vested in q importantly in general Rneither has a fre-
quentist (‘drawing from an urn’) nor a Bayesian (‘belief’)
interpretation here. This method of mixtures plays a cen-
tral role in this paper: an instance of Laplace’s method
for approximating a maximum by an integral, it appears
directly within our anytime-valid context in Ville (1939)
and Robbins (1970), and in broader sequential contexts in
Wald (1947a) and Cover (1974), among many others.
The most interesting questions in this area involve com-
posite (and often nonparametrically specified) nulls P.
Indeed, there really was no general theory for dealing
with composite nulls until 2017 — when, almost out of
the blue, several generic proposals for dealing with com-
posite nulls appeared. Arguably, it is this development
which caused the aforementioned explosion of interest in
the area suddenly there was an indication that eventu-
ally almost any interesting statistical testing or estimation
problem could be converted into an anytime-valid version
with a gambling interpretation.
For such composite P, a fascinating phenomenon some-
times presents itself: for some “extremely rich” nulls P,
the game described above is hopelessly restraining: the
constraint (1) is too stringent, and the only functions St
4
that satisfy it are either constant or decreasing (meaning
that they cannot increase under any alternative). This hap-
pens, for example, when testing exchangeability or testing
log-concavity; see Section 5.5 for references and details.
Luckily, generalizing the above game protocol resusci-
tates the approach. There appear to be two dierent types
of generalized games: (a) one can restrict the amount of
information available to the Skeptic by introducing a third
player (an “Intermediary”) who throws away some infor-
mation revealed by Reality (mathematically, Skeptic op-
erates in a shrunk filtration), (b) one can instead make
the Skeptic play many games in parallel, each against a
dierent subset of P, with the Skeptic’s net wealth be-
ing their worst wealth across all the parallel games. In
the first case, Skeptic’s wealth may remain a nonnega-
tive (super)martingale, but in the second case, their wealth
is an e-process (under the null, their wealth is upper-
bounded by a dierent supermartingale in each game,
and thus is bounded by one at any stopping time). While
these solutions may seem almost magical at first glance,
they both yield fruit for the same problem mentioned
above of testing exchangeability: approach (a) is used
in Vovk, Gammerman and Shafer (2022, Part III) and ap-
proach (b) in Ramdas et al. (2022). The latter work, along
with Ruf et al. (2022), together show the centrality of e-
processes in game-theoretic statistics: e-processes exist
for many Pfor which nonnegative (super)martingales do
not.
When Pand Qhave a common reference measure,
meaning that likelihood-ratio based methods are still in
play, two key ideas stand out: universal inference (Wasserman, Ramdas and Balakrishnan,
2020), and the reverse information projection (Grünwald, De Heide and Koolen,
2023). The former always yields an e-process, but lat-
ter always results in an e-value which can be multiplied
across batches of data to yield a supermartingale. But
sometimes the latter also directly yields an e-process (and
when it does, it dominates universal inference).
When Pand Qdo not have any common reference mea-
sures — and thus likelihood-ratio based methods may not
make any sense at the outset — the design of nonneg-
ative (super)martingales or e-processes occupies center
stage. Sometimes, the nonparametric definition of Pdi-
rectly yields a natural game, like when testing if a “sub-
Gaussian” mean is positive (Darling and Robbins,1967).
Other times, one must design new games in possibly
shrunk filtrations, which may not be obvious at the outset,
like in two-sample testing (Shekhar and Ramdas,2021).
The entire discussion above was centered on testing by
betting, because this typically forms the technical heart
of other problems that are not cast explicitly as testing.
For example, appropriate duality concepts and inversions
allow us to translate many of these results into those for
estimation of appropriate functionals using confidence se-
quences (Section 5). Both e-processes and confidence se-
quences can in turn be extended to other problems like
change detection (Section 5.7), model selection, etc.
In fact, our investigations reveal a curious phenomenon:
at the heart of many (and plausibly, all) nonparametric
testing and estimation problems is a “hidden” game (of-
ten not unique: the same Pand Qmay be associated
with dierent filtrations and betting strategies that are e-
processses under Pand make money under Q). Further,
explicitly bringing out such games (and betting well in
them) can yield powerful new methodology as well as
new theoretical insights (Howard et al.,2020)
A full understanding of when and why this happens
is open, but we provide one hint here. Likelihood ratios
have been at the center of statistics for nearly a century.
Nonnegative (super)martingales and e-processes are sim-
ply nonparametric, composite generalizations of likeli-
hood ratios, and these have been found to exist in dozens
of problems where one cannot even begin to talk about
likelihood-ratio based methods. Thus, these tools give
us a way to work implicitly with likelihood ratios, even
when there appears to be no explicit way to do so. Given
the power (and sometimes optimality) of likelihood-ratio
based tests in parametric settings, we perhaps get a hint of
the power of our game-theoretic approaches in composite
(often nonparametric) settings.
The rest of this paper will formally define the key con-
cepts, and provide technical details of the aforementioned
methods and phenomena in dierent problem settings.
2. CENTRAL CONCEPTS
In the sequel, we leave measurability assumptions and
other measure-theoretic details implicit so far as possible.
2.1 E-values
An e-variable for Pis a nonnegative random variable E
such that EP[E]1 for all PP. Its realized value, after
observing the data, is an e-value.2Often we call Eitself
an e-value, blurring the distinction between the random
variable and its realized value. (The term “p-value” is also
often used for both random variables and their values.)
When EP[E]=1, we call the e-value Eaunit bet
against P. This name evokes a story in which expected
values are prices of payo: the Forecaster predicts that
XP, and in order to bet against them, a Skeptic could
buy one unit of E, for the price of 1, delivering the Skep-
tic a payoof E(X). Mathematically, a unit bet against P
is simply3a likelihood ratio dQ/dP for some alternative
Q. This is elementary when we use probability densities:
2Observe that we use boldface Efor expectation and normal Efor
e-values. The “e” in e-value stands both for “evidence” (because it
quantifies statistical evidence against the null) and for “expectation”
(because its central property is its expectation).
3In some sense, statisticians have always been using e-values (and
test martingales), because likelihood ratios are the most important ex-
ample of e-values (and test martingales). But this direct analog only
holds when testing a single distribution P. The power and utility of e-
values, test (super)martingales and e-processes are truly realized only
dealing with a composite (and sometimes nonparametric) P.
GAME-THEORETIC STATISTICS AND SAFE ANYTIME-VALID INFERENCE 5
EP[E]=1 can be written as RE(x)p(x)dx=1, so
that q:=E×pis a density, and E=q/p.
If qand pare Qs and Ps densities, then EP[q/p]=
Rp(x)q(x)
p(x)dx =1.
We use e-values when data are treated as a batch.
Their dynamic counterparts are test martingales and e-
processes, introduced next.
2.2 Test (Super)Martingales
A process Mis a martingale for Pif
(2) EP[Mt|Ft1]=Mt1
for all t1. Mis a supermartingale for Pif it satisfies (2)
with “=” relaxed to ”. A (super)martingale is called a
test (super)martingale if it is nonnegative and M0=1.
Game-theoretically, a test martingale for Pis the wealth
process of a gambler who bets against P. If Mis a test
martingale for P, then EP[Mt]=1 for any t0, and
thus each Mtis itself a unit bet against P; it is the fac-
tor by which Mmultiplies its money from time 0 to time
t. Similarly, the optional stopping theorem implies that
for any stopping time τ even potentially infinite —
EP[Mτ]1, and thus each Mτis also an e-value for P.
The correspondence between unit bets against Pand
likelihood ratios with Pas the denominator extends to a
related correspondence for test martingales for P. If Qis
absolutely continuous with respect to P, we can write
(3) q(Xt)
p(Xt)=q(X1)
p(X1)
q(X2|X1)
p(X2|X1)··· q(Xt|Xt1)
p(Xt|Xt1),
where Xt:=(X1,...,Xt), p(Xt) is Ps density for Xt, and
q(Xt) is Qs density for Xt. Denote the sequence defined
by (3) as M; then Mis a test martingale for P, and
Mt=
t
Y
i=1
Bi=q(Xt)
p(Xt),(4)
where Bt:=q(Xt|Xt1)
p(Xt|Xt1).(5)
Note that each Btis a unit bet against P, conditional on
Ft1; we call BtMs unit bet on round t.
Test martingales for Pare always of the form (4). So
choosing a test martingale for Pcomes down to choosing
an alternative Q. In applications, constructing a test mar-
tingale for Pusually amounts to constructing the numer-
ator q(Xt|Xt1) in (5); see Section 3.2. Test supermartin-
gales can also be decomposed in the style of (4), where
the Btare single-round e-values (i.e. defined as function
on a single outcome Xt) conditional on Ft1.
Test martingales become more interesting objects in the
composite setting.
2.3 Composite Test (Super)Martingales
A process Mis a test (super)martingale for Pif it
is a test (super)martingale for every PP. Such com-
posite test (super)martingales are important in this pa-
per. Composite test martingales also decompose as in (4):
for every PP, there is a Qthat is absolutely contin-
uous with respect to Pand satisfies Mt=q(Xt)/p(Xt);
see Ramdas et al. (2020, Proposition 4). In other words,
composite test martingales are simultaneous likelihood
ratios.
Trivially, the constant process Mt=1 is a test martin-
gale for any P, and a decreasing process is a test super-
martingale for any P. We call a test (super)martingale
nontrivial if it is not always a constant (or decreasing)
process. In particular, we would like test martingales for P
that increase to infinity under the alternative Q. But there
may be no nontrivial test martingales if Pis too large.
In this case there may still be nontrivial test supermartin-
gales (Section 5.1), but even these may not exist (Sec-
tion 5.5). For this reason, we also need e-processes.
2.4 E-processes
A family (MP)PPis a test martingale family if MPis
always a test martingale for P. A nonnegative process E
is called an e-process for Pif there is a test martingale
family (MP)PPsuch that
(6) EtMP
tfor every PP,t0.
This type of definition was used by Howard et al. (2020),
who used the name “sub-ψprocess”. In parallel, Grünwald, De Heide and Koolen
(2023) implicitly defined an e-process for P, also without
using the name “e-process”, as a nonnegative process E
such that
E[Eτ]1 for every τ T ,PP.
In words, Emust be an e-value at any stopping time.
Ramdas et al. (2020) proved that the two definitions are
equivalent and that if Pis “locally dominated”, then ad-
missible4e-processes (see Section 8.2.3) must satisfy
(7) Et=inf
PPMP
t
for some test martingale family (MP)PP. (Technically, the
inf above is an essential infimum”.)
Whereas a test martingale for Pis the wealth process
of a gambler who bets against P, an e-process for Pre-
ports the minimum wealth across many simultaneous bet-
ting games, one against each PP, all with the same out-
comes X1,X2,... (Ramdas et al.,2022, Section 5.4).
4An e-process E(Et)t1for Pis inadmissible if there exists an-
other e-process Efor Psuch that EE(E
tEtalmost surely P,
for all PPand all t1), and E
t>Etwith positive probability under
some PPand some t1; Eis admissible if it is not inadmissible.
摘要:

arXiv:2210.01948v2[math.ST]17Jun2023SubmittedtoStatisticalScienceGame-TheoreticStatisticsandSafeAnytime-ValidInferenceAadityaRamdas,PeterGrünwald,VladimirVovkandGlennShaferAbstract.Safeanytime-validinference(SAVI)providesmeasuresofstatisti-calevidenceandcertainty—e-processesfortestingandconfidenceseq...

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