Abstract 1 Introduction 2 Preliminaries 3 Central DP Mechanisms 4 Local DP Mechanisms 5 𝒌-Randomized Response 6 𝜼-Bounded Range Mechanisms 7 Conclusion References

Exact zCDP Characterizations for Fundamental Differentially Private Mechanisms

Charlie Harrison ORCID Google, Austin, TX, USA    Pasin Manurangsi ORCID Google Research, Bangkok, Thailand
Abstract

Zero-concentrated differential privacy (zCDP) is a variant of differential privacy (DP) that is widely used partly due to its nice composition property. While a tight conversion from ε-DP to zCDP exists for the worst-case mechanism, many common algorithms satisfy stronger guarantees. In this work, we derive tight zCDP characterizations for several fundamental mechanisms. We prove that the tight zCDP bound for the ε-DP Laplace mechanism is exactly ε+eε1, confirming a recent conjecture by Wang [29]. We further provide tight bounds for the discrete Laplace mechanism, k-Randomized Response (for k6), and RAPPOR. Lastly, we also provide a tight zCDP bound for the worst case bounded range mechanism.

Keywords and phrases:
Zero-Concentrated Differentially Privacy, Laplace Mechanism, Randomized Response
Copyright and License:
[Uncaptioned image] © Charlie Harrison and Pasin Manurangsi; licensed under Creative Commons License CC-BY 4.0
2012 ACM Subject Classification:
Security and privacy
Acknowledgements:
We would like to thank Thomas Steinke for insightful discussions, and for encouraging us to find a tight bound for bounded range mechanisms.
Editor:
Huijia (Rachel) Lin

1 Introduction

Differential privacy (DP) [8] is a strong, formal notion of privacy which bounds the information revealed by the output of an algorithm. In recent years, various relaxations of ε-differential privacy (aka pure-DP) have emerged. Most relevant to this work are Rényi differential privacy (RDP) [23] and zero-concentrated differential privacy (zCDP) [11, 1], which have proven useful in regimes where many algorithms are composed together.

Table 1: Our main contributions: tight zCDP bounds for various ε-DP mechanisms, as well as all ε-bounded range mechanisms. Also included are the asymptotics for all tight bounds as ε0, which is common in practice in the large-composition regime. All bounds are plotted in Figure 1.
Mechanism Tight zCDP bound ε0 Reference
ε-DP εtanh(ε/2) ε2/2 [27]
ε-DP Laplace ε+eε1 ε2/2 Theorem 12
ε-DP discrete Laplace ε(11Δ(1eε)csch(ε/Δ)) ε2/2 Theorem 13
ε-DP k-RR ε(eε1)eε1+k for k6 ε2/k for k6 Theorem 16
ε-DP RAPPOR εtanh(ε/4) ε2/4 Proposition 22
ε-Bounded Range εeε1+log(eε1ε)1 ε2/8 Theorem 23

Obtaining tight privacy guarantees is of paramount importance in both theoretical and practical applications of differential privacy. Therefore, when the algorithms being composed in this manner are themselves ε-DP, having tight translations between ε-DP and zCDP is critical. Bun and Steinke [1] showed that any ε-DP mechanism also satisfies (ε2/2)-zCDP, and it is easy to show that any ε-DP mechanism satisfies ε-zCDP. Noticeably, there is a gap between these two bounds, as the former is better in the low-ε regime but the latter is better in the large-ε regime. This gap was closed in [27] which showed that any ε-DP mechanism tightly satisfies (εtanh(ε/2))-zCDP and the binary Randomized Response (RR) is the worst-case mechanism. Nevertheless, many fundamental mechanisms enjoy better zCDP guarantees than such a generic formula implies. Our main contributions are tight zCDP bounds of several fundamental ε-DP mechanisms, including the Laplace mechanism, discrete Laplace mechanism, RAPPOR and k-RR (when k is sufficiently small). The bounds are listed in Table 1 and plotted in Figure 1. In the case of the Laplace mechanism, we confirm a bound conjectured in [29], and formalize the RAPPOR bound first stated in [17]. The bounds for the other mechanisms are novel to the best of our understanding.

We also provide tight zCDP bounds for ε-bounded range (ε-BR) mechanisms. The notion of BR mechanisms was proposed by [7, 6] in an attempt to achieve better composition properties for the exponential mechanism [22]. From this foundation, [2] proved that the exponential mechanism satisfies (ε2/8)-zCDP, which is only tight asymptotically as ε0. We show a tight bound for worst-case ε-BR mechanisms in Theorem 23.

Properties of our bounds.

All our tight zCDP bounds are exactly the same as the KL divergence between output distributions on neighboring datasets. That is, the RDP bound is achieved when the Rényi divergence order approaches one. However, proving such a statement proved challenging and, for each mechanism, we proceed with different parameterization (and differentiation) to prove such an inequality. Another interesting finding is that the zCDP bound for k-RR does not occur at α1 for any sufficiently large k (Lemma 17).

Why use zCDP accounting.

For all the mechanisms explored here, privacy accounting with zCDP is lossy with respect to accounting with RDP directly, as zCDP provides upper bounds on the RDP at every α simultaneously. Furthermore, composition with privacy loss distributions (PLDs) [3] will yield tighter guarantees than both zCDP and RDP. This raises the question: “why ever do accounting with zCDP?” The short answer is that zCDP accounting excels in its simplicity, but we elaborate on two further points below:

  1. 1.

    zCDP vs. PLD. PLD is not known to be compatible with so-called fully adaptive composition using privacy filters, introduced in [26], where both mechanism and privacy parameters can be adapted based on previous queries. Both zCDP and RDP accounting naturally give “free” filters [20, 14], which enable their use in this setting. Furthermore, composition with PLD requires convolution of probability distributions, which is less efficient than zCDP composition which requires the bookkeeping of a single number.

  2. 2.

    zCDP vs. RDP. While RDP is compatible with the fully adaptive setting, tight accounting with RDP requires tracking many values of α simultaneously. For example, the Google differential-privacy library tracks 156 orders by default [4]. In cases where accounting needs to happen at a more fine-grained level (e.g. with individual differential privacy [12]), this overhead can be substantial compared to zCDP.

2 Preliminaries

Privacy notions.

We recall the various notions of DP considered in this work.

Definition 1 (Differential privacy [8]).

An algorithm M:𝒳n𝒴 satisfies ε-differential privacy (ε-DP) if, for all neighboring111For the purpose of our work, the exact definition of neighboring dataset is unimportant. inputs x,x𝒳n and for all S𝒴, log((M(x)S)(M(x)S))ε.

Definition 2 (Rényi divergence [24]).

Let P and Q be probability distributions on Ω. Then the Rényi divergence between P and Q at order α, denoted Dα(PQ), is

Dα(PQ)=1α1log(ΩP(x)αQ(x)1αdx),

where P(),Q() denote the probability mass/density functions of P and Q, respectively.222In this work, P and Q are always absolutely continuous with respect to one another. The Rényi divergence at α=1 is defined as

D1(PQ)=limα1Dα(PQ)=DKL(P||Q)=ΩP(x)log(P(x)Q(x))dx.

For notational convenience, we will sometimes write random variables in place of their distributions in Dα() when there is no ambiguity.

Definition 3 (Rényi DP [23]).

An algorithm M:𝒳n𝒴 satisfies (α,ε^)-Rényi differential privacy ((α,ε^)-RDP) if, for all neighboring inputs x,x𝒳n, Dα(M(x)M(x))ε^.

M is tightly-(α,ε^)-RDP if it is (α,ε^)-RDP and it is not (α,ε^)-RDP for any ε^<ε^.

Definition 4 (Concentrated DP [1]).

An algorithm M:𝒳n𝒴 satisfies ρ-zero concentrated differential privacy (ρ-zCDP) if it satisfies (α,ρα)-RDP for all α1.

M is tightly-ρ-zCDP if it is ρ-zCDP and it is not ρ-zCDP for any ρ<ρ.

Finally, we recall the notion of bounded range mechanisms.

Definition 5 (Bounded range DP [7, 6, 25]).

An algorithm M:𝒳n𝒴 satisfies η-bounded range (η-BR) if, for all neighboring inputs x,x𝒳n differing on a single row and for all S𝒴, there exists a t such that log((M(x)S)(M(x)S))[t,t+η].

It is immediate from the definition that η-BR implies η-DP, and ε-DP implies (2ε)-BR.

Sensitivity.

We will consider mechanisms that simply adds noise to the output of a function. The privacy guarantees of this mechanism depends on the sensitivity of the function, defined as follows.

Definition 6 (Sensitivity).

The sensitivity of a function g:𝒳n is Δ(g):=maxX,X|g(X)g(X)| where the maximum is over all neighboring inputs X and X.

Noise distributions.
  • The continuous Laplace distribution with scale parameter λ is denoted by Lap(λ) and has support on . Its probability density function is fLap(λ)(x)=12λe|x|/λ.

  • The discrete Laplace distribution with scale parameter a is denoted by DLap(a) and has support on . Its probability mass function is fDLap(a)(x)=tanh(a/2)ea|x|.

Existing tight bounds.

We will leverage (and extend) the following existing tight bounds.

Proposition 7 (DP to RDP [27]).

If M is ε-DP, then M satisfies (α,ε^(α))-RDP for all α>1 where ε^(α)=1α1log(eαε+eε(1α)eε+1).

Proposition 8 (DP to zCDP [27]).

If M is ε-DP, then M satisfies εtanh(ε/2)-zCDP.

Some Useful Functions and Their Properties.

Recall the hyperbolic functions: sinh(x)=exex2,cosh(x)=ex+ex2, tanh(x)=sinh(x)cosh(x),coth(x)=cosh(x)sinh(x),csch(x)=1sinh(x). These functions are related by the identity cosh2(x)sinh2(x)=1. We also note the parity of the basic functions: cosh(x) is an even function, while sinh(x) is an odd function.

The function sinh(x)x will appear often in the proofs, so we list a few of its properties below. Throughout, we let sinh00=limx0sinh(x)x=1 for convenience.

Lemma 9.

sinhxx is strictly increasing for x[0,).

Proof.

We have dsinhxxdx=xcoshxsinhxx2=sinhx(cothx1x)x. It is well known that tanh(x)<x for all x>0. (See e.g. [30].) Thus, x,sinhx and coth(x)1/x are all positive for x>0.

Lemma 10.

ϕ(x)=log(sinhxx) is strictly convex and superadditive for x[0,).

Proof.

First, we compute the derivatives of ϕ(x)=log(sinhx)logx.

ϕ(x) =coshxsinhx1x=cothx1x
ϕ′′(x) =csch2x+1x2=1x21sinh2x

Since sinhx>x for all x>0 (which follows from Lemma 9), we have ϕ′′(x)>0.

To prove superadditivity, since ϕ is convex, ϕ is increasing. For y0, let H(x)=ϕ(x+y)ϕ(x). Then, H(x)=ϕ(x+y)ϕ(x)0, so H(x) is increasing. Thus, for any x0, H(x)H(0), which implies that ϕ(x+y)ϕ(x)+ϕ(y)ϕ(0)=ϕ(x)+ϕ(y) as desired. What follows is a simple lemma which allows us to leverage concavity of the Rényi curve.

Lemma 11.

Let f(x) be concave and differentiable on the domain [1,). If f(1)f(1), then g(x)=f(x)/x is maximized at x=1.

Proof.

It suffices to show g(x)=xf(x)f(x)x20h(x)=xf(x)f(x)0. This holds, as h(1)=f(1)f(1)0 by construction, and h(x)=xf′′(x)0 by concavity.

3 Central DP Mechanisms

In this section, we derive the tight zCDP bounds for Laplace and discrete Laplace mechanisms. In both cases, we show that the tight zCDP bound occurs when α1+.

3.1 Laplace Mechanism

The Laplace mechanism was the first mechanism proposed alongside the definition of differential privacy in [8]. For any function g:𝒳n, it simply works by outputting g(x)+Z where ZLap(Δ(g)/ε). This mechanism achieves ε-DP.

In the work proposing RDP [23], Mironov showed that the Laplace mechanism is tightly-(α,ε^(α))-RDP for α>1 where

ε^L(α)=1α1log(α2α1e(α1)/λ+α12α1eα/λ)

and λ=Δ(g)ε. Given the above bound, it has been conjectured [29] that the tight zCDP bound occurs when α1, which yields limα1ε^(α)=ε+eε1. However, the proof of such a statement has never been published. Below we give a proof of this conjecture.

Theorem 12 (zCDP for Laplace).

The ε-DP Laplace mechanism is tightly-(ε+eε1)-zCDP.

Proof.

We start by showing that the mechanism is (ε+eε1)-zCDP. From the aforementioned RDP bound, our goal is to prove that

f(ε)=(ε+eε1)1αε^L(α)=(ε+eε1)1α(α1)log(α2α1e(α1)ε+α12α1eαε)

is non-negative for all ε>0 and α>1. To do this, it suffices to argue that f(0)=0 and f(ε)0 for x>0. Simple calculation confirms that f(0)=0, and that

f(ε) =(1eε)e(α1)εeαεαe(α1)ε+(α1)eαε =2eαεα(α1)ε(sinh(αε)αεsinh((α1)ε)(α1)ε)(α1)eε+αe2αε,

which is non-negative due to Lemma 9. Finally, the bound is tight as limα1ε^(α)=ε+eε1.

3.2 Discrete Laplace

When the range of g is integers, the Laplace mechanism can be improved by using the discrete Laplace (aka Geometric) mechanism [16]. In particular, for g:𝒳n, the ε-DP discrete Laplace mechanism outputs g(x)+Z where ZDLap(ε/Δ(g)). The privacy profile of this mechanism depends on the value of the sensitivity, Δ(g). Thus, our bound depends on Δ:=Δ(g) as well. We state its tight bound for zCDP below.

Theorem 13 (zCDP of discrete Laplace).

The ε-DP discrete Laplace mechanism for sensitivity Δ is tightly-(ε(1(1eε)csch(ε/Δ)Δ))-zCDP.

Before we prove the above, let us first remark that, when Δ=1, Theorem 13 yields the bound of εtanh(ε/2), matching the worst case bound for ε-DP algorithm in Proposition 8. This is as expected, since the privacy loss distribution333See e.g. [3] for the definition of privacy loss distributions (PLDs) and derivations of PLDs for discrete Laplace and Randomized Response. of the ε-DP discrete Laplace mechanism for Δ=1 coincides with the ε-DP binary Randomized Response, which is known to be the worst case ε-DP mechanism in terms of its zCDP guarantee.

On the other hand, if we take Δ, then we have limΔ(ε(1(1eε)csch(ε/Δ)Δ))=ε+eε1, which coincides with the zCDP bound of the Laplace mechanism (Theorem 12). Again, this is expected since the behavior of discrete Laplace mechanism more closely resembles the Laplace mechanism as Δ.

3.2.1 RDP Bound Derivation

We will next prove Lemma 15. We start by directly computing the Rényi divergence between the discrete Laplace distribution and its shift, as stated below.

Proposition 14.

Let ZDLap(a) and d0, then

Dα(Z+dZ)=Dα(ZZ+d)
=1α1log(tanh(a/2)(eaαdea1+eaaαdea(α(d+2)d)eae2aα+ea(1α)dea1))
Proof.

We can compute Dα(Z+dZ) directly as follows.

e(α1)Dα(Z+dZ)=x=fDLap(a)(xd)αfDLap(a)(x)1α
=x=(tanh(a/2)ea|xd|)α(tanh(a/2)ea|x|)1α
=tanh(a/2)x=ea(α|xd|+(1α)|x|)
=tanh(a/2)((x=1ea(xαd))+(x=0dea((2α1)xαd))+(x=d+1ea(αdx)))
=tanh(a/2)(eaαdea1+eaaαdea(α(d+2)d)eae2aα+ea(1α)dea1).

Finally, Dα(Z+dZ)=Dα(ZZ+d) is due to the symmetry of DLap around zero.

We can now prove the RDP bound by showing that the worst case occurs when d=Δ.

Lemma 15 (RDP of discrete Laplace).

The ε-DP discrete Laplace mechanism for sensitivity Δ is tightly-(α,ε^D(α;Δ))-RDP for all α>1 where

ε^D(α;Δ)=1α1log(tanh(a/2)(eaαΔea1+eaaαΔea(α(Δ+2)Δ)eae2aα+ea(1α)Δea1))

with a=ε/Δ.

Proof.

Let f(d)=eaαdea1+eaaαdea(α(d+2)d)eae2aα+ea(1α)dea1. Notice that we have

f(d) =aαeaαdea1+aαeaaαda(α1)ea(α(d+2)d)eae2aα+aαea(1α)dea1
=aα(ea(α1)deaαd)ea1+aαeaaαd+a(α1)ea(α(d+2)d)e2aαea,

which is term-by-term non-negative. Thus, f is an increasing function in d.

Let ZDLap(a). For any function g and neighboring inputs x,x, we have

Dα(g(x)+Zg(x)+Z)=Dα(|g(x)g(x)|+ZZ)Dα(Δ+ZZ)=ε^D(α;Δ),

where the inequality holds since f is increasing. Thus, the mechanism is (α,ε^D(α;Δ))-RDP.

The tightness follows from considering any x,x such that |g(x)g(x)|=Δ.

3.2.2 From RDP to zCDP

Proof of Theorem 13.

Consider the following as a function of Δ,

f(Δ)=a(Δ+(eaΔ1)csch(a))ε^D(α;Δ)/α.

The upper bound follows from showing that f(Δ)0 for all Δ1,a>0,α>1. Recall ε^ from Proposition 7. Observe that f(1)=εtanh(ε/2)ε^(α)α, which is non-negative due to Proposition 8. Thus, to show that f(Δ)0 for all Δ1, it suffices to show that f(Δ) is non-negative for all Δ1.

It will be helpful for us to write out the first and second derivative of f with respect to Δ:

f(Δ)=a((2α1)(e2aα1)e2αaΔ+aα(ea(2α+Δ)+e2αaΔ+ae2αa(Δ+1)+a+ea(Δ+2))a(α1)eaΔcsch(a)+α)α1,
f′′(Δ)=a2((12α)2(e2aαe2a)(e2aα1)eaΔ+a(α1)α(ea(αΔ+Δ+2)ea(α(Δ)+2α+Δ)+eαaΔ+aeαa(Δ+2)+a)2
+aeaΔcsch(a)). (1)

To show that f(Δ) is always non-negative for Δ1, we will first show that f(1)0, and then show f′′(Δ)0 for Δ1.

Proof of Non-negativity of 𝒇(𝟏).

Note that

f(1)=a(1α(α1)e4aα+e2aα+(12α)e2aα(α1)(e4aαe2a)+aacoth(a)+1).

It is simple to check that limα1+f(1)=0. Thus, it suffices for us to show that a f(1) is increasing in α. Since 1α is decreasing in α and aacoth(a)+1 is a constant (w.r.t. to α), it in turn suffices for us to prove that (α1)e4aα+e2aα+(12α)e2aα(α1)(e4aαe2a) is decreasing in α. We can rearrange this terms as follows:

(α1)e4aα+e2aα+(12α)e2aα(α1)(e4aαe2a) =1(2α1)(e2aαe2a)(α1)(e4aαe2a)
=1eaα(2α1)sinh(aαa)(α1)sinh(2aαa)
=1eaα+ϕ(a(α1))ϕ(a(2α1)),

where ϕ is defined in Lemma 10 as ϕ(x)=log(sinh(x)x).

Thus, it suffices to show that aα+ϕ(a(α1))ϕ(a(2α1)) is decreasing in α. To see this, notice that its derivative (in α) is

a+aϕ(a(α1))2aϕ(a(2α1))aaϕ(a(2α1))0,

where the first inequality follows from the convexity of ϕ (Lemma 10) and the second is from ϕ is increasing (Lemma 9). Hence, we have concluded our proof that f(1)0 (for all α>1,a>0).

Proof of Non-negativity of 𝒇′′(𝚫).

To show non-negativity of f′′(Δ), we will compare the log ratio of the two terms within the parenthesis in (1). Denote this quantity by

p(Δ)=logaeaΔcsch(a)(12α)2(e2aαe2a)(e2aα1)eaΔ+a(α1)α(ea(αΔ+Δ+2)ea(α(Δ)+2α+Δ)+eαaΔ+aeαa(Δ+2)+a)2.

To prove f′′(Δ)0, it suffices to prove p(Δ)0 for all Δ1. For the latter, it in turn suffices to prove that p(1)0 and p′′(Δ)0 for all Δ1. To do this, let us first write out the relevant expressions:

p(1) =log(a(α1)αcsch(a)sinh2(a2aα)csch(aα)csch(aαa)(12α)2)
p(Δ) =2a(2α1)(e2aα1)e2αaΔ+aea(2α+Δ)e2αaΔ+a+e2αa(Δ+1)+aea(Δ+2)2aα

We can rewrite p(1) as follows:

p(1) =log(a(α1)αcsch(a)sinh2(a2aα)csch(aα)csch(aαa)(12α)2)
=2ϕ((2α1)a)ϕ((α1)a)ϕ(aα)ϕ(a)
=(ϕ((2α1)a)ϕ((α1)a)ϕ(aα))+(ϕ((2α1)a)ϕ(a)) 0,

where the inequality is from the fact that ϕ is super-additive (Lemma 10) and increasing (Lemma 9).

As for p(Δ), we have

p(Δ) =2a(2α1)(e2aα1)e2αaΔ+aeaΔ(e2aαe2a)+ea(2αΔ+1)(e2aα1)2aα

Dividing this expression by 2a and rearranging, we have

p(Δ)0 (α1)ea(2αΔ+1)(e2aα1)αeaΔ(e2aαe2a)
ea(2α1)Δsinh(aα)aαsinh((α1)a)(α1)a,

which is true because a(2α1)Δ>0 and sinhxx is increasing (Lemma 9).

Altogether, the above argument shows that f(Δ)0 for all Δ1. In other words, the ε-DP discrete Laplace mechanism is a(Δ+(eaΔ1)csch(a))-zCDP

Tightness of the bound follows from the tightness in Lemma 15 by taking α1+.

4 Local DP Mechanisms

We next move on towards local DP mechanisms [19] where the randomizer is now run on a single data point (i.e. n=1 in Definitions 1 and 3). We consider two popular local DP mechanisms: k-Randomized Response and RAPPOR.

5 𝒌-Randomized Response

The k-Randomized Response (k-RR) mechanism [18] takes as input a number in [k]:={1,,k} outputs its input with probability p=eεeε+k1, and a uniformly random other output symbol with probability 1p. (Note that under the notions of Definitions 1 and 3, both the domain 𝒳 and the range 𝒴 are [k].)

We prove that the tight zCDP bound is obtained at α1 for 2k6:

Theorem 16.

The ε-DP k-RR mechanism is tightly-(εeε1eε+k1)-zCDP for 2k6.

Interestingly, the condition on k is necessary, as we show below that for any ε>0 and any sufficiently large k>k(ε), the tight bound is not obtained at α1. The bound k(ε) satisfies limε1k(ε)=6; thus, 6 in Theorem 16 is the best possible value one can hope for.

Lemma 17.

For all ε>0 and k>k(ε):=2(eε1)(eε1ε)ε(eε+1)2eε+2, the ε-DP k-RR mechanism is not (εeε1eε+k1)-zCDP.

Finally, we also obtain zCDP bounds for the case k>6. First, we note that since the RDP curve (see Proposition 20) is clearly decreasing in k, the zCDP bound must too. Thus, we immediately obtain the following as a corollary of Theorem 16.

Corollary 18.

The ε-DP k-RR mechanism is (εeε1eε1+min(k,6))-zCDP.

An undesirable aspect of the above corollary is that the bound does not converge to 0 as k. As such, we derive a bound with such behavior below. (Note that as k, the zCDP bound below becomes O(ε2logk).)

Theorem 19.

The ε-DP k-RR mechanism is ε2max{1log(1εk1+eε),1k1+eε}-zCDP.

We stress that the bounds in Corollary 18 and Theorem 19 are not tight and it remains an interesting question to obtain tight bounds for these regimes of parameters.

5.1 RDP Bound Derivation

We start by computing the tight bounds for RDP guarantees of k-RR.

Proposition 20.

The ε-DP k-RR mechanism is tightly-(α,ε^(α))-RDP for all α>1 where

ε^RR(α) =1α1log(eαε+e(1α)ε+k2k1+eε).

Furthermore, we have ε^RR(1):=limα1ε^RR(α) is equal to εeε1eε1+k.

Proof.

Without loss of generality (due to symmetry), it suffices to consider distributions P and Q, which are the distribution of the mechanism’s output on the first symbol and second symbol, respectively. Let p=eεk1+eε and q=1k1+eε, then

e(α1)ε^RR(α)=e(α1)Dα(PQ)=xXfP(x)αfQ(x)1α =pαq1α+qαp1α+(k2)q
=eαε+e(1α)ε+k2k1+eε.

ε^RR(1) can be computed by a simple application of L’Hôpital’s Rule.

5.2 From RDP to zCDP

A tight zCDP bound for k-RR is difficult in general, because the RDP curve is not always concave in α. We derive tight bounds in the cases where the curve is concave.

Proof of Theorem 16.

We will show the following two properties of ε^RR (assuming that 2k6)444It is straightforward to improve upon Theorem 16 and Corollary 18 with the current proof technique by taking more complex constraints on k. We omit this for sake of presentation, but it allows extending the tightness bound for moderate k>6.: (A) limα1+ε^RR(α)=ε^(1), and (B), ε^′′(α)0 for all α>1. (i.e. concavity).

From Lemma 11, these two properties imply that ε^RR(α)αε^RR(1) for all α>1. In other words, the mechanism is ε^RR(1)-zCDP. The tightness also follow immediately from the tightness of the RDP curve (and taking α1).

Thus, we are left to prove (A), (B).

Proof of (A).

Define H(α)=log(e(1α)ε+eαε+k2). The RDP curve for k-RR can be written as ε^RR(α)=H(α)H(1)α1. The first derivative of ε^RR is

ε^(α) =(α1)H(α)H(α)+H(1)(α1)2.

Applying L’Hôpital’s Rule, we get

limα1ε^RR(α)=limα1H′′(α)2 =ε2((k+2)eε+k2)2(k+eε1)2.

Thus,

limα1+ε^RR(α)ε^RR(1) ε2((k+2)eε+k2)2(k+eε1)2εeε1eε1+k
k2(eε1)(eε1ε)ε(eε+1)2eε+2 (2)

We conclude by noting this constraint is satisfied when k6, i.e. the RHS of (2) is at least 6. To see this, consider the Taylor’s expansion of 6 times the denominator, we have

6(ε(eε+1)2eε+2) =6((eε1ε)ε2(eε1εε22))
=6((i=2εii!)ε2(i=3εii!))
=(ε2)(i=1εi6(1(i+1)!2(i+2)!))
=(ε2)(i=1εii!6i(i+1)(i+2))
(2i=2εii!)(i=1εii!)=2(eε1ε)(eε1),

where the inequality is true term-by-term. Thus, (2) always holds for k6.

Proof of (B).

The second derivative of ε^RR is

ε^RR′′(α)=(α1)2H′′(α)2(α1)H(α)+2H(α)2H(1)(α1)3.

Let ψ(α) denote the numerator of ε^RR′′(α) above. To show that ε^RR′′(α)0, it suffices to show that ψ(α)0 for all α>1. Observe that limα1+ψ(α)=0. Thus, to prove the non-negativity of ψ(α), it in turn suffices to show that ψ(α)0 for all α>1.

To show this, note that ψ(α)=H′′′(α)(α1)2, so the sign of ψ(α) is determined by the sign of

H′′′(α)=ε3(eεαεeαε)((k2)eαε+(k2)eεαε(k2)2+8eε)(eαε+eεαε+k2)3,

which is non-positive if the last term in the numerator is non-negative (since all other terms but (eεαεeαε) are non-negative). It is clear that this last term is increasing in ε[0,). This means that

(k2)eαε+(k2)eεαε(k2)2+8eε(k2)+(k2)(k2)2+8=k(6k),

which is non-negative for k6. Thus, H′′′(α)0, implying that ε^RR′′(α) is concave.

5.3 Non-Optimality of 𝜶=𝟏

The above proof also yields a rather simple criterion to certify that α=1 is not the optimal for sufficiently large k, as formalized below.

Proof of Lemma 17.

From (2), in this regime limα1+ε^RR(α)>ε^RR(1). Since ε^RR(α)2α1 is continuous (in α), there exists α0>1 such that ε^RR(α)2α1>ε^RR(1) for all α(1,α). Thus,

ε^RR(α0)α0ε^RR(1)=1α0(ε^RR(α)ε^RR(1))dα>0.

Thus, ε^RR(α0)α0>ε^RR(1), implying that the mechanism is not ε^RR(1)-zCDP.

5.4 Loose zCDP for Large 𝒌 Regime

Finally, we prove a loose bound that converges to zero as k via a commonly used approach of separately considering smaller and larger α.

Proof of Theorem 19.

Let ρ=ε2max{1log(εk1+eε),1k1+eε} and α=ερ. Consider two cases based on the value of α:

  • Case I: αα. In this case, we simply have ε^RR(α)αεαρ, where the first inequality follows from the fact that any ε-DP algorithm is (α,ε)-DP for all α>1.

  • Case II: α<α. In this case, we have

    ε^(α)αε^(α) =1α1log(eαε+e(1α)ε+k2k1+eε)
    1α1(eαε+e(1α)ε+k2k1+eε1)
    =1e(1α)εα1eαε1k1+eε
    εeαεk1+eε=εeε2/ρk1+eεε2k1+eερ.

Thus, the mechanism is ρ-zCDP as claimed.

5.5 RAPPOR

Next, we consider the (basic) RAPPOR mechanism [13]. The mechanism takes input from [d] and outputs a d-bit string (i.e. 𝒳=[d],𝒴={0,1}d in Definitions 1 and 3). It first encodes its input as a one-hot vector, and then flips each bit in the vector independently. To satisfy ε-DP, its output distribution is

Pr[M(X)=x]=i=1d{eε/2eε/2+1 if hot(X)i=xi1eε/2+1 if hot(X)ixi,

where hot(X) is the d-length one-hot vector where the Xth entry is 1 and the rest are 0.

The tight RDP and zCDP bounds for RAPPOR follows almost immediately from those of Binary RR (from the previous section), as formalized below.

Proposition 21.

The ε-DP RAPPOR mechanism is tightly-(α,ε^RAP(α))-RDP for all α>1 where

ε^RAP(α)=2α1log(eαε/2+e(1α)ε/2eε/2+1).
Proof.

Without loss of generality (due to symmetry), it suffices to consider distributions P and Q, which are the distribution of the mechanism’s output on the first symbol and second symbol, respectively. Let Pi,Qi denote the distributions of the i-th coordinate of P,Q respectively. Notice that P,Q are product distributions, and that Pi=Qi for all i{1,2}. Thus, from additivity of Rényi divergence, we have

ε^RAP(α)=Dα(PQ)=Dα(P1Q1)+Dα(P2Q2).

Finally, observe that Pi,Qi for i{1,2} are exactly the same distribution as that of the (ε/2)-DP Binary RR. Thus, Proposition 20 implies the claimed bound.

Proposition 22.

The ε-DP RAPPOR mechanism is tightly-(εtanh(ε/4))-zCDP.

Proof.

This follows immediately from Theorem 16 since the RDP bound is exactly twice the RDP bound for (ε/2)-DP Binary RR.

6 𝜼-Bounded Range Mechanisms

Finally, we consider η-Bounded Range (η-BR) mechanisms, and we prove a tight zCDP bound in this case as well.

Theorem 23.

Any η-BR mechanism satisfies ρ-CDP where ρ=ηeη1+log(eη1η)1. Furthermore, this is tight555Note that we do not use the terminology tightly-(α,ρ)-zCDP directly here, since “η-BR mechanisms” constitute a class of mechanisms rather than a single mechanism., i.e. there exists an η-BR mechanism which is tightly-ρ(η)-CDP.

6.1 RDP Bound Derivation

We start by proving the following lemma, which yields a bound for the Rényi divergence when given a parameter t in Definition 5.

Lemma 24.

Let t,η be real numbers such that η>0 and 0tη, and let P and Q be distributions such that log(P(x)Q(x))[t,t+η] for all xsupp(P)supp(Q). Then, for all α>1, we have

Dα(PQ)1α1log(eηeteη1etα+et1eη1e(t+η)α)=:ε^BR(t;α).

Moreover, there exist a pair of distributions P,Q with log(P(x)Q(x)){t,t+η} for all xsupp(P)supp(Q) such that the above inequality is an equality.

Proof.

We will first show achieveability of the bound by describing a pair of distributions P and Q. Define P and Q as follows:

fP(x)={et(eηet)eη1 if x=0(et1)eηteη1 if x=1,fQ(x)={eηeteη1 if x=0et1eη1 if x=1

It is easy to show that P,Q are valid probability distributions, fP(0)fQ(0)=et and fP(1)fQ(1)=et+η as desired, and that the Rényi divergence is exactly equal to the required bound.

We next prove that this is the worst case bound, using a proof technique due to [1, 27]. Define the randomized rounding function A:[et,et+η]{et,et+η} such that

(A(z)=et)=eηzeteη1,(A(z)=et+η)=zet1eη1

This satisfies 𝔼[A(z)]=z. Thus, by Jensen’s inequality (and by the convexity of xxα),

zα=𝔼[A(z)]α𝔼[A(z)α]=eηzeteη1etα+zet1eη1e(t+η)α.

Consider any distributions P and Q such that log(P(x)Q(x))[t,t+η] for all xsupp(P)supp(Q). Setting z=P(x)/Q(x), we have

e(α1)Dα(PQ) =𝔼xQ[(P(x)Q(x))α]
𝔼xQ[eηP(x)Q(x)eteη1etα+P(x)Q(x)et1eη1e(t+η)α]
=𝔼xQ[eηP(x)Q(x)eteη1etα]+𝔼xQ[P(x)Q(x)et1eη1e(t+η)α]
=eηeteη1etα+et1eη1e(t+η)α.

The above lemma allows us to easily compute the tight RDP bound for η-BR mechanism by optimizing over the value of t.

Theorem 25 (RDP for Bounded Range Mechanisms).

Any η-BR mechanism satisfies (α,ε^BR(α))-RDP for all α>1 where

ε^BR(α) =1α1log((eαη1)α(α(eαηeη)α1)1αα(eη1)).

Furthermore, the above bound is tight, i.e. there exists an η-BR mechanism which is tightly-(α,ε^BR(α))-RDP. Moreover, ε^BR(1):=limα1ε^BR(α) is equal to ηeη1+log(eη1η)1.

Proof.

From Lemma 24, any η-BR mechanism is (α,ε^(α))-RDP where ε^BR(α)=supt[0,η]ε^BR(t;α). Since ε^BR(t;α) is continuous and differentiable, it must achieve a maximum value at some t=t[0,η], and t must satisfy (i) t{0,η}, or (ii) its derivative is zero. It is clear that we cannot be in case (i) since ε^BR(0;α)=ε^BR(η;α)=0 but ε^BR(t;α)>0 for t(0,η).

The derivative of ε^BR(t;α) is

ddtε^BR(t;α) =1α1(eαη+teteη+(et1)eαηetα).

Its only root (in [0,η]) is t=log(α(eαηeη)(α1)(eαη1)). Thus, we have

ε^BR(α)=ε^BR(t;α)=1α1log((eαη1)α(α(eαηeη)α1)1αα(eη1)).

The tightness follows from that of Lemma 24 by letting M:{0,1}supp(P)supp(Q) be the mechanism such that M(0)P and M(1)Q where P,Q are the tight example for t=t from Lemma 24.

It remains to compute

ε^BR(1)=limα1ε^BR(α)=limα11α1log((eαη1)α(α(eαηeη)α1)1αα(eη1)).

This is an indeterminate form 0/0, so we can apply L’Hôpital’s Rule by considering f(α)=N(α)D(α) with D(α)=α1. We have D(α)=1, and

N(α) =(α1)eηηeηeαη+αηeαη1log(α(eαηeη)(α1)(eαη1))+η
limα1N(α) =1+ηeη1+ηlog(limα1α(eαηeη)(α1)(eαη1))
=1+ηeη1+ηlog(eηηeη1)
=ηeη1+log(eη1η)1.

Note that Theorem 25 matches the RDP bound implied by [6, Theorem 5], though their bound does not find the maximal t analytically and therefore relies on a supt search.

6.2 From RDP to zCDP

Finally, we show below that any η-BR mechanism is ρ-zCDP for ρ=ε^BR(1) (Theorem 23).

Proof of Theorem 23.

Let f(α):=ε^BR(α)α where ε^BR(α) is from Theorem 25. Our proof will proceed by showing that f is decreasing in α (for α>1), which implies that any η-BR mechanism is ε^BR(1)-zCDP. To do this, let

g :=ddαf(α)
=(12α)log(eαηeη)+(2α1)log((α1)(eη1))(α1)2α2
+(α1)η+αlog(α(eαηeη)(α1)(eαη1))(α1)2α+η(α1)(eαη1)+eηηαeηαeαη

Let us view g as function of η, i.e. g=gα(η). Recall that we wish to show that gα(η)0 for all η>0,α>1. Simple calculation verifies that limη0+gα(η)=0 for all α>1, so the desired inequality will follow from showing that gα(η)0. For this, first note that

gα(η) =h1(α,η)h2(α,η)csch2(αη2)csch2(12(ηαη))8(α1)2α2

where

h1(α) =(α2cosh(ηαη)+(α1)2cosh(αη)+2α1)
h2(α) =(α1)αη+sinh(αη)coth(η2)(cosh(αη)1).

Given the rest of the terms are trivially non-negative, it remains to show that h1 is positive and h2 is negative. To do this, recall the identities cosh(2x)=1+2sinh2x and sinh(xy)=sinhxcoshycoshxsinhy.

Using the first identity, we can simplify h10 as follows:

h1(α)0 (α1)2cosh(αη)+α2(α1)2α2cosh(η(α1))
cosh(αη)1α2cosh(η(α1))1(α1)2
sinh2(αη/2)α2sinh2(η(α1)/2)(α1)2
sinh(αη/2)αη/2sinh(η(α1)/2)η(α1)/2,

and the last inequality is true due to Lemma 9.

Similarly, using the two identities, we can simplify h2 as follows:

(α1)αηh2 =2sinh(αη2)cosh(αη2)+coth(η2)(2sinh2(αη2))
=2sinh(αη2)(cosh(η2)sinh(αη2)sinh(η2)cosh(αη2)sinh(η2))
=2sinh(αη2)(sinh((α1)η2)sinh(η2))
=α2sinh((α1)η2)(sinh(αη2)αη2sinh(η2)η2)
(Lemma 9) α2((α1)η2)1=α(α1)η.

Thus, h20 as desired. This concludes the proof that f is decreasing in α. Hence, any η-BR mechanism is ε^BR(1)-zCDP.

The tightness follows from letting M:{0,1}{0,1} be the mechanism such that

(M(0)=y)={et(eηet)eη1 if y=0(et1)eηteη1 if y=1,(M(1)=1)={eηeteη1 if x=0et1eη1 if x=1

for t=ηlog(eη1η). It is simple to verify that M is η-BR and that D1(M(0)M(1))=ε^BR(1), which implies the claimed tightness.

7 Conclusion

In this work, we continue the direction started by [27] in finding exactly tight zCDP bounds for differentially private mechanisms. In particular, we derive tight zCDP bounds for fundamental mechanisms, including Laplace and Discrete Laplace mechanisms, k-Randomized Response (for sufficiently small k) and RAPPOR. Given the ubiquity of these mechanisms and the wide adoption of zCDP for privacy accounting, we hope that our precise characterizations provide additional tools for accurate privacy accounting both in theory and practice.

The obvious open problem is to give a precise characterization for zCDP of k-RR when k is large. It is unclear if a closed-form expression can be derived in this setting. Nevertheless, an efficient numerical algorithm for computing a precise bound should still be useful in practice. Finally, there are still many widely used mechanisms for which tight zCDP characterizations are not yet known (e.g. Sparse Vector Technique [9], continuous and discrete staircase mechanism [15], report noisy max / permute and flip [10, 21, 5], or the optimized unary encoding mechanism [28]); it would be interesting to prove tight bounds for them as well.

Figure 1: Tight zCDP bounds for all mechanisms as a function of ε, where each mechanism that satisfies ε-DP tightly satisfies ρ-zCDP. All bounds use the formulas listed in Table 1. Note that the topmost blue line in each plot (corresponding to ε-DP, 2-RR, and DLap with Δ=1) all share the exact same curve.

References