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On the robustness of posterior means

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On the robustness of posterior means

Consider an observation $X$ whose likelihood is $X \mid \theta \sim \Norm(\theta, \sigma^2)$ for some known $\sigma^2$. There are two priors for $\theta$, denoted by $G_0$ and $G_1$. Suppose both priors have mean zero and have finite variances bounded by $V > 0$. Consider the decision problem of estimating $\theta$ under squared error, with $L(a,\theta) = (a-\theta)^2$. For the Bayesian with prior $G_1$, the Bayes decision rule is the posterior mean $\E_{G_1} [\theta \mid X]$ under the prior $G_1$. This decision rule attains Bayes risk under the prior $G_0$\[ R(G_1, \sigma; G_0) \equiv \E_{\theta \sim G_0}\bk{ (\E_{G_1}[\theta \mid X] - \theta)^2 }. \] We can think of $R(G_1, \sigma; G_0)$ as a measure of decision quality under disagreement. It measures the quality of $G_1$'s decision from $G_0$'s point of view. When $G_1 \neq G_0$, how large can $R (G_1, \sigma; G_0)$ be?

This note bounds $R(G_1, \sigma; G_0)$ uniformly over $G_1, G_0, \sigma$.\footnote {The previous version of this note (arXiv:2303.08653v1) claimed that $R (G_1, \sigma; G_0)$ is uniformly bounded over all $G_0, G_1, \sigma>0$, subjected to the constraints on the moments of $G_0,G_1$. Regrettably, it contained a critical error that rendered its proof incorrect. In particular, in that version, the display before (A1) on p.4 is incorrect: Posterior means of mixture priors are mixtures of posterior means under each mixing component, but the mixing weights are posterior probabilities assigned to each mixing component; thus, the mixing weights depend on the data rather than being fixed.

This version partially restores the main result in the previous version. (ref) shows that the maximum Bayes risk under $G_0$ is uniformly bounded over all $G_0, G_1, \sigma^2$ where $G_1$ satisfies an additional tail condition (ref). The bound we obtain depends on the tail condition, and thus (ref) is insufficient for the result in the previous draft. } Since \[ R(G_1, \sigma; G_0) \le 2\pr{ \E_{G_0}[\E_{G_1}[\theta \mid X]^2] + \E_{G_0}[\theta^2] } \le 2V + 2\E_{G_0}[\E_{G_1} [\theta \mid X]^2],\] it thus suffices to bound $\E_{G_0}[\E_{G_1}[\theta \mid X]^2]$ modulo constants. That is, it suffices to bound the 2-norm $\norm{\E_{G_1} [\theta \mid X]}^2$ under the law $X \sim \Norm(0,\sigma^2) \star G_0$.

The rest of the note shows that this quantity is uniformly bounded over all $G_0, G_1, \sigma^2 > 0$. Specifically, (ref) shows that for all $G_0, G_1$ that are mean zero and have variance bounded by $V$, $\E_{G_0}[\E_{G_1}[\theta \mid X]^2]$ is bounded by a constant that depends only on $(V, \sigma^2)$. This bound is large when $\sigma^2$ is large. To improve this bound, (ref) then shows that, if $G_1$ additionally satisfies some conditions on its tail behavior, $\E_ {G_0}[\E_ {G_1}[\theta \mid X]^2]$ is bounded by a constant that depends only on $V$ and the tail condition---and does not depend on $\sigma$.

lemmaSuppose $G_0, G_1$ have mean zero and variances bounded by $V$, then \[ \E_{G_0}[\E_{G_1}[\theta \mid X]^2] \le 6V + 4\sigma^2 \] uniformly over $G_0, G_1, \sigma^2$.
proofLet $f_{G,\sigma}(x) = \int f_X(x \mid \theta) \,G(d\theta)$. jiang2020general (Lemma 1) shows that \[ \pr{\frac{f'_{G,\sigma}(x)}{f_{G,\sigma}(x)}}^2 \le \frac{1}{\sigma^2} \log \pr{\frac{1} {2\pi \sigma^2 f^2_{G,\sigma}(x)}}. \] Plugging in the bound (ref) in (ref), we have that pointwise in $X$, \[ \pr{\E_{G_1}[\theta \mid X] - X}^2 = \pr{\sigma^2\frac{f'_{G_1,\sigma}(x)}{f_ {G_1,\sigma} (x)}}^2 \le \sigma^4 \frac{1} {\sigma^2} \frac{X^2 + V} {\sigma^2} = X^2 + V, \] where the first equality is due to Tweedie's formula. Now, note that \[ (\E_{G_1}[\theta \mid X])^2 \le 2 \pr{ (\E_{G_1}[\theta \mid X] - X)^2 + X^2 } \tag{$(a+b)^2 \le 2(a^2 + b^2)$}. \] Hence, \[ \E_{G_0}\bk{ \E_{G_1}[\theta \mid X])^2 } \le 2 \E_{G_0}[2X^2+V] \le 2(2(V+\sigma^2) + V) = 6V + 4\sigma^2. \qedhere \]

To show a more powerful bound, we require a stronger condition on the tails of $G_1$ and derive bounds that are independent of $\sigma$ but are dependent on the tail conditions. In particular, assume \[ \max\pr{1-G_1(s), G_1(-s) }\le C_{G_1} s^{-k} \addtocounter{equation}{1}\tag{\theequation}\label{eq:g1_cond} \] for some $k > 2$ and $C_{G_1} > 0$, for all $s > 0$. We will also assume that $\E _{G_1}[\theta^2 \mid X]$ exists almost surely. Note that if $\E_{G_1} |\theta|^ {2+\epsilon} < m$, then $k$ can be taken to be $2+\epsilon$ and $C_{G_1}$ can be taken to be $m$ by Markov's inequality. In the rest of the proof, we let $C_t < \infty$ denote a positive constant that depends only on $t$. Occurrences of $C_t$ might correspond to different constant values.

theoremSuppose $k > 2.$ There exists a constant $Q < \infty$ that depends solely on $(C_ {G_1}, k, V)$ such that, uniformly for all $(G_0, G_1)$ and $\sigma \in \R$, where (i) $G_0,G_1$ have mean zero and variance bounded by $V$ and (ii) $G_1$ satisfies (ref) with $(C_{G_1}, k)$ where $\E_{G_1}[\theta^2 \mid X]$ exists for almost every $X$, \[ \E_{G_0}\bk{\E_{G_1}[\theta\mid X]^2} \le Q. \]
proofAssume that $ \sigma^2 \ge 1 $. For all $\sigma^2 < 1$, we can apply (ref) so that $\E_{G_0}\bk{\E_{G_1}[\theta\mid X]^2} \le 6V + 4$. Observe that \begin{align*} \E_{G_0}\bk{\E_{G_1} [\theta \mid X]^2} &\le \E_{G_0} \bk{\E_{G_1}[\theta^2 \mid X]} \tag{Jensen's inequality} \\ &= \E_{G_0}\bk{\int_{0}^\infty P_{G_1}(\theta^2 > t \mid X) \,dt} \\ &= 2\E_{G_0}\bk{\int_0^\infty s P_{G_1}(|\theta| > s \mid X)\,ds \tag{Change of variable $s = \sqrt{t}$}} \\ &= 2\E_{G_0}\bk{\int_0^\infty s P_{G_1}(\theta > s \mid X)\,ds + \int_0^\infty s P_{G_1} (-\theta > -s \mid X)\,ds}. \end{align*} Therefore, it suffices to bound the first term, since the second term follows by a symmetric argument. We do so in the remainder of the proof. Writing out the first term as an integral: \begin{align*} &\E_{G_0} \bk{\int_0^\infty s P_ {G_1} (\theta > s \mid X)\,ds} \\ &= \int_ {\mu=-\infty}^\infty\int_{x=-\infty}^\infty \int_{s=0}^\infty s P_{G_1}[\theta > s \mid X=x]\, ds f_X (x\mid \mu) \,dx\,G_0(d\mu)\\ &= \int_ {\mu=-\infty}^\infty \int_{s=0}^\infty s \int_{x=-\infty}^\infty P_{G_1}[\theta > s \mid X=x] f_X (x\mid \mu) \,dx \,ds \,G_0(d\mu). \tag{Fubini's theorem} \end{align*} The outer integral in $\mu$ can be decomposed into $|\mu| \le \sigma$ and $|\mu| > \sigma$: \begin{align} &\E_{G_0}\bk{\int_0^\infty s P_ {G_1} (\theta > s \mid X)\,ds} \nonumber\\ &= \int_ {|\mu| > \sigma} \int_{s=0}^\infty s \int_{x=-\infty}^\infty P_{G_1}[\theta > s \mid X=x] f_X (x\mid \mu) \,dx \,ds \,G_0(d\mu) \\ &\quad+ \int_ {|\mu| < \sigma} \int_{s=0}^\infty s \int_{x=-\infty}^\infty P_{G_1}[\theta > s \mid X=x] f_X (x\mid \mu) \,dx \,ds \,G_0(d\mu) \end{align} First, we consider (ref). Decompose the integral in $x$ further along $x \le s/2$ and $x > s/2$: \begin{align} (ref) &= \int_{|\mu| > \sigma} \int_0^\infty s \int_{s/2}^{\infty}P_{G_1} (\theta > s \mid X=x) f_X(x\mid \mu) \,dx \,ds \,G_0(d\mu) \&\quad + \int_{|\mu| > \sigma} \int_0^\infty s \int_{-\infty}^{s/2} P_{G_1} (\theta > s \mid X=x) f_X(x\mid \mu) \,dx \,ds\,G_0(d\mu) \end{align} For large $\mu$ and large $x$ (ref), we have that \begin{align*} (ref) &\le \int_{|\mu| > \sigma} \int_0^\infty s \int_{s/2}^{\infty} f_X(x\mid \mu) \,dx ds G_0(d\mu) \tag{$P_{G_1} (\theta > s \mid X=x) \le 1$}\\ &= \int_{|\mu| > \sigma} \int_0^\infty s P(X > s/2 \mid \mu)\,ds \,G_0(d\mu) \\ &\le C\int_{|\mu| > \sigma} \underbrace{\E[X^2 \mid \mu]}_{\mu^2 + \sigma^2 \le 2\mu^2}\, G_0(d\mu) \le C \int 2\mu^2 \,G_0(d\mu) \le C_{V}.\tag{$\int 2sP(X > s \mid \mu)\,ds \le \E[X^2 \mid \mu]$} \end{align*} For large $\mu$ and small $x$ (ref), note that for $x < s/2< s$, by (ref) \begin{align*} P_{G_1}(\theta > s \mid X=x) &\le C_{V} e^{x^2/(2\sigma^2)} e^{-\frac{1}{2\sigma^2}(x-s)^2} (1-G_1(s)). \tag{$f_X(x\mid \theta) \le \frac{1}{\sqrt{2\pi} \sigma} e^{-\frac{1} {2\sigma^2} (x-s)^2}$} \end{align*} Now, integrating the above display with respect to $f_X(x\mid \mu)\,dx$ yields \[ \int_{-\infty}^{s/2}P_{G_1} (\theta > s \mid X=x) f_X(x\mid \mu) \,dx \le C_{V}(1-G_1(s)) \cdot \frac{\sigma^2}{s} \le C_{V}(1-G_1(s)) \frac{\mu^2} {s} \tag{$|\mu| > \sigma$ for \eqref{eq:small_sigma}} \] Finally, integrating it again with respect to $s$ yields \[ \int_0^\infty s \times C_{V}(1-G_1(s)) \frac{\mu^2} {s} \,ds = C_V \mu^2 \int_{0}^\infty 1-G_1(s)\,ds \le C_V \mu^2 \E_{G_1}[|\theta|] \le C_V \mu^2. \] Therefore, \[ \eqref{eq:term2} \le C_V \E_{G_0}\mu^2 \le C_V. \] This shows that (ref) is uniformly bounded. Moving on to (ref), we first decompose the integral on $s$ into $s \le K$ and $s > K$, for some $K \ge e$ to be chosen: \[ \eqref{eq:large_sigma} \le \underbrace{\int_{|\mu| < \sigma} \int_0^K s \,ds \,G_0(d\mu)}_ {\le K^{2}/2} + \int_ {|\mu| < \sigma} \int_K^\infty s \int_{-\infty}^\infty P_{G_1}(\theta > s \mid X=x) f_X (x\mid \mu) \,dx\,G_0(d\mu) \addtocounter{equation}{1}\tag{\theequation} \label{eq:large_sigma_bound} \] Thus we focus on the piece where $s > K$. Fix \[u = C \sigma \sqrt{\log (s)}\] for some $C \ge 2$ to be chosen. On $s > K$, $u/\sigma > 2$ and thus $\frac{u}{\sigma} - 1 > \frac{u}{2\sigma}$. Observe that by (ref) and the fact that $\sigma > 1$, \[ P_{G_1}(\theta > s \mid X=x) \le C_V \exp\pr{\frac{x^2}{2\sigma^2}} (1-G(s)). \addtocounter{equation}{1}\tag{\theequation} \label{eq:survival_bound} \] Therefore, \begin{align*} &\int_{-\infty}^\infty P_{G_1}(\theta > s \mid X=x) f_X (x\mid \mu)\,dx \\ &\le \int_{|x| \le u} P_{G_1}(\theta > s \mid X=x) f_X (x\mid \mu)\,dx + \P(|X|>u \mid \mu) \tag{$P_{G_1}(\theta > s \mid X=x) \le 1$}\\ &\le C_V e^{-\mu^2/(2\sigma^2)}(1-G(s)) \bk{ \frac{\sinh\pr{\frac{\mu}{\sigma} \frac{u}{\sigma}}}{\mu/\sigma} } + 2\underbrace{\bar\Phi\pr{\frac{u}{\sigma} - \frac{|\mu|}{\sigma}}}_{\le \bar\Phi \pr{u/\sigma - 1} \le \bar\Phi\pr{\frac{u}{2 \sigma}}} \tag{$\bar\Phi$ is the complementary Gaussian CDF}\\ &\le C_V(1-G(s)) \frac{\sinh\pr{\frac{\mu}{\sigma} \frac{u}{\sigma}}}{\mu/\sigma} + 2\bar\Phi\pr{\frac{u}{2 \sigma}} \addtocounter{equation}{1}\tag{\theequation} \end{align*} where the second inequality follows from directly integrating the upper bound (ref) within $|x| \le u$. Now, observe that, for $|c| < 1$ and $t > 0$, \begin{align*} t \frac{\sinh(ct)}{ct} &\le t \frac{\sinh(|c|t)}{|c|t} \tag{$\sinh(x)/x$ is an even function} \\ &\le t \frac{\sinh(t)}{t} \tag{$\sinh(x)/x$ is an increasing function on $x > 0$} \\ &\le \frac{1}{2}e^{t} \tag{$\sinh(x) = (e^x-e^{-x})/2\le \frac{1}{2}e^x$}. \end{align*} Therefore, \begin{align*} (ref) &\le C_V (1-G(s)) \exp\pr{\frac{C}{\sqrt{\log s}} \log s} + 2 \bar\Phi (C \sqrt{\log s}) \\ &\le C_V (1-G(s)) \exp\pr{\frac{C}{\sqrt{\log s}} \log s} + \exp\pr{-\frac{C^2}{2} \log s} \tag{(ref)}. \end{align*} Choose $C = k$ and $ K = \exp\pr{1 \vee \frac{(2C)^2}{(k-2)^2}}$. This yields that, for $s > K$, \[ \frac{C}{\sqrt{\log s}} \le \frac{k-2}{2} \quad \frac{C^2}{2} = \frac{k^2}{2}. \] Hence, integrating with respect to $s$: \begin{align*} &\int_K^\infty s \int_{-\infty}^\infty P_{G_1}(\theta > s \mid X=x) f_X (x\mid \mu)\,dx\,ds \\ &\le \int_K^\infty s \pr{C_V (1-G(s)) \exp\pr{ \frac{k-2}{2} \log s} + \exp\pr{-\frac{k^2}{2} \log s}} \,ds \\ &\le C_{V} C_{G_1} \int_K^\infty s^{1-k+\frac{k-2}{2}}\,ds + \int_{K}^\infty s^{-k^2/2 +1} \,ds \\ &\le C_V C_{G_1} C_k + C_k. \tag{$1-k+(k-2)/2 < -1$ and $-k^2/2+1 < -1$} \end{align*} as both integrals converge and depend only on $k > 2$. Returning to (ref), this shows that (ref) is uniformly bounded with a constant that depends only on $V, C_{G_1}, k$. This concludes the proof.
lemmaSuppose $G_1$ has mean zero and variance bounded by $V$. Let \[ f_{G_1, \sigma}(x) \equiv \int f_X(x\mid \theta) \, G_1(d\theta). \] Then, \[ f_{G_1,\sigma}(x) \ge \frac{1}{\sqrt{2\pi}\sigma} \exp\pr{-\frac{x^2 + V} {2\sigma^2}} \text{, or } \frac{1}{f_{G_1, \sigma}(x)} \le \sqrt{2\pi} \sigma \exp\pr{\frac{x^2 + V}{2\sigma^2}}. \addtocounter{equation}{1}\tag{\theequation} \label{eq:jensen_denom} \]
proofObserve that, by Jensen's inequality, \[ f_{G_1, \sigma}(x) \equiv \int f_X(x\mid \theta) \, G_1(d\theta) \ge \exp \int \log f_X (x\mid \theta) \,G_1(d\theta). \] We compute \[ \log f_X(x \mid \theta) = \log\frac{1}{\sqrt{2\pi} \sigma} - \frac{1}{2\sigma^2} (x-\theta)^2. \] Note that $\E_{\theta \sim G_1}[(x-\theta)^2] = x^2 - 2x \E_{G_1}[\theta] + \E_ {G_1}\theta^2 \le x^2 + V$. Thus (ref) follows.
lemmaFor all $x \ge 0$, $\bar\Phi(x) \le \frac{1}{2} e^{-x^2/2}$.
proofNote that $\bar\Phi(0) = \frac{1}{2}$ and thus the bound holds with equality at $x=0$. Differentiate, \[ \bar \Phi'(x) = -\varphi(x) \quad \frac{d}{dx} \frac{1}{2} e^{-x^2/2} = -\frac{x}{2} e^ {-x^2/2} = (-x \sqrt{\pi/2}) \varphi(x) \] For $x \in [0, \sqrt{2/\pi}]$, \[ \frac{d}{dx}\bar\Phi(x) \le \frac{d}{dx} \frac{1}{2} e^{-x^2/2} \implies \bar\Phi(x) \le \frac{1}{2} e^{-x^2/2}. \] Note that since Mill's ratio is bounded by $1/x$, we have that for all $x > 0$ \[ \bar\Phi(x) \le \varphi(x)/x. \] Take $x > \sqrt{2/\pi}$, we have that\[ \bar \Phi(x) \le \varphi(x) \sqrt{\frac{\pi}{2}} = \frac{1}{2} e^{-x^2/2}. \] Hence the inequality holds for all $ x \ge 0 $.