Learning with Simulators: No Regret in a Computationally Bounded World

Valiant's 1984 paper is widely credited with introducing the PAC learning model, but it, in fact, introduced a different model: unlike PAC learning, the learner receives only positives, may issue membership queries, and must output a hypothesis with no false positives. Prior work characterized variants, including the case without queries. We revisit Valiant's original model and ask: Which classes are learnable in it? For every finite domain, including Valiant's Boolean-hypercube setting, we show that a class is learnable if and only if every realizable positive sample can be certified by a poly-size adaptive query-compression scheme. This is a new variant of sample compression where the learner certifies samples via a short interaction with the membership oracle. Our characterization shows that learnability in Valiant's model is strictly sandwiched between learnability in the PAC model and the variant of Valiant's model without membership queries. This is one of the rare cases where introducing membership queries changes the set of learnable classes, and not just the sample or computational complexity. Next, we study the natural extension of the model to arbitrary domains. While we do not obtain an exact characterization, our techniques readily generalize and show that the same strict sandwiching persists. Finally, we show that $d$-dimensional halfspaces, which are not learnable without queries, are learnable with queries: we give a $\mathrm{poly}(d) \tilde{O}(1/ε)$ sample and $\mathrm{poly}(d) \mathrm{polylog}(1/ε)$ query algorithm, and prove that at least $Ω(d)$ samples or queries are necessary. To our knowledge, this is the first algorithm for halfspaces in Valiant's model. Together, these results uncover a surprisingly rich theory behind Valiant's original notion of learnability and introduce ideas that may be of independent interest in learning theory.

We study computable probably approximately correct (CPAC) learning, where learners are required to be computable functions. It had been previously observed that the Fundamental Theorem of Statistical Learning, which characterizes PAC learnability by finiteness of the Vapnik-Chervonenkis (VC-)dimension, no longer holds in this framework. Recent works recovered analogs of the Fundamental Theorem in the computable setting, for instance by introducing an effective VC-dimension. Guided by this, we investigate the connection between CPAC learning and recursively enumerable representable (RER) classes, whose members can be algorithmically listed. Our results show that the effective VC-dimensions can take arbitrary values above the traditional one, even for RER classes, which creates a whole family of (non-)examples for various notions of CPAC learning. Yet the two dimensions coincide for classes satisfying sufficiently strong notions of CPAC learning. We then observe that CPAC learnability can also be characterized via containment of RER classes that realize the same samples. Furthermore, it is shown that CPAC learnable classes satisfying a unique identification property are necessarily RER. Finally, we establish that agnostic learnability can be guaranteed for RER classes, by considering the relaxed notion of nonuniform CPAC learning.

We revisit the problem of learning predictors robust to adversarial examples at test-time. We prove that VC classes are adversarially robustly learnable with sample complexity linear in the VC dimension $d$, providing an exponential improvement over the previous upper bound of Montasser, Hanneke, and Srebro (2019). Remarkably, this result is achieved with a simple improper algorithm that combines the classic heuristic bagging (bootstrap aggregation) of Breiman (1996) with robust empirical risk minimization (RERM). Our algorithm computes RERMs on $O(d^\star)$ independent bootstrap samples and outputs their majority vote, where $d^\star$ denotes the dual VC dimension. We complement this result with a lower bound showing that this is unavoidable: in general, any learner in this oracle model requires $Ω(d^\star)$ calls to an RERM oracle, even when given arbitrarily many training examples.