Exact zCDP Characterizations for Fundamental Differentially Private Mechanisms
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 -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 -DP Laplace mechanism is exactly , confirming a recent conjecture by Wang [29]. We further provide tight bounds for the discrete Laplace mechanism, -Randomized Response (for ), 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 ResponseCopyright and License:
2012 ACM Subject Classification:
Security and privacyAcknowledgements:
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) LinSeries and Publisher:
Leibniz International Proceedings in Informatics, Schloss Dagstuhl – Leibniz-Zentrum für Informatik
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 -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.
| Mechanism | Tight zCDP bound | Reference | |
|---|---|---|---|
| -DP | [27] | ||
| -DP Laplace | Theorem 12 | ||
| -DP discrete Laplace | Theorem 13 | ||
| -DP -RR | for | for | Theorem 16 |
| -DP RAPPOR | Proposition 22 | ||
| -Bounded Range | 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 -DP, having tight translations between -DP and zCDP is critical. Bun and Steinke [1] showed that any -DP mechanism also satisfies -zCDP, and it is easy to show that any -DP mechanism satisfies -zCDP. Noticeably, there is a gap between these two bounds, as the former is better in the low- regime but the latter is better in the large- regime. This gap was closed in [27] which showed that any -DP mechanism tightly satisfies -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 -DP mechanisms, including the Laplace mechanism, discrete Laplace mechanism, RAPPOR and -RR (when 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 -bounded range (-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 -zCDP, which is only tight asymptotically as . We show a tight bound for worst-case -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 -RR does not occur at for any sufficiently large (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 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.
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.
zCDP vs. RDP. While RDP is compatible with the fully adaptive setting, tight accounting with RDP requires tracking many values of 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 satisfies -differential privacy (-DP) if, for all neighboring111For the purpose of our work, the exact definition of neighboring dataset is unimportant. inputs and for all , .
Definition 2 (Rényi divergence [24]).
Let and be probability distributions on . Then the Rényi divergence between and at order , denoted , is
where denote the probability mass/density functions of and , respectively.222In this work, and are always absolutely continuous with respect to one another. The Rényi divergence at is defined as
For notational convenience, we will sometimes write random variables in place of their distributions in when there is no ambiguity.
Definition 3 (Rényi DP [23]).
An algorithm satisfies -Rényi differential privacy (-RDP) if, for all neighboring inputs ,
is tightly--RDP if it is -RDP and it is not -RDP for any .
Definition 4 (Concentrated DP [1]).
An algorithm satisfies -zero concentrated differential privacy (-zCDP) if it satisfies -RDP for all .
is tightly--zCDP if it is -zCDP and it is not -zCDP for any .
Finally, we recall the notion of bounded range mechanisms.
Definition 5 (Bounded range DP [7, 6, 25]).
An algorithm satisfies -bounded range (-BR) if, for all neighboring inputs differing on a single row and for all , there exists a such that
It is immediate from the definition that -BR implies -DP, and -DP implies -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 is where the maximum is over all neighboring inputs and .
Noise distributions.
-
The continuous Laplace distribution with scale parameter is denoted by and has support on . Its probability density function is
-
The discrete Laplace distribution with scale parameter is denoted by and has support on . Its probability mass function is
Existing tight bounds.
We will leverage (and extend) the following existing tight bounds.
Proposition 7 (DP to RDP [27]).
If is -DP, then satisfies -RDP for all where .
Proposition 8 (DP to zCDP [27]).
If is -DP, then satisfies -zCDP.
Some Useful Functions and Their Properties.
Recall the hyperbolic functions: . These functions are related by the identity . We also note the parity of the basic functions: is an even function, while is an odd function.
The function will appear often in the proofs, so we list a few of its properties below. Throughout, we let for convenience.
Lemma 9.
is strictly increasing for .
Proof.
We have . It is well known that for all . (See e.g. [30].) Thus, and are all positive for .
Lemma 10.
is strictly convex and superadditive for .
Proof.
To prove superadditivity, since is convex, is increasing. For , let . Then, , so is increasing. Thus, for any , , which implies that as desired. What follows is a simple lemma which allows us to leverage concavity of the Rényi curve.
Lemma 11.
Let be concave and differentiable on the domain . If , then is maximized at .
Proof.
It suffices to show . This holds, as by construction, and 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 .
3.1 Laplace Mechanism
The Laplace mechanism was the first mechanism proposed alongside the definition of differential privacy in [8]. For any function , it simply works by outputting where . This mechanism achieves -DP.
In the work proposing RDP [23], Mironov showed that the Laplace mechanism is tightly--RDP for where
and . Given the above bound, it has been conjectured [29] that the tight zCDP bound occurs when , which yields . 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 -DP Laplace mechanism is tightly--zCDP.
Proof.
We start by showing that the mechanism is -zCDP. From the aforementioned RDP bound, our goal is to prove that
is non-negative for all and . To do this, it suffices to argue that and for . Simple calculation confirms that , and that
which is non-negative due to Lemma 9. Finally, the bound is tight as .
3.2 Discrete Laplace
When the range of is integers, the Laplace mechanism can be improved by using the discrete Laplace (aka Geometric) mechanism [16]. In particular, for , the -DP discrete Laplace mechanism outputs where . The privacy profile of this mechanism depends on the value of the sensitivity, . Thus, our bound depends on as well. We state its tight bound for zCDP below.
Theorem 13 (zCDP of discrete Laplace).
The -DP discrete Laplace mechanism for sensitivity is tightly--zCDP.
Before we prove the above, let us first remark that, when , Theorem 13 yields the bound of , matching the worst case bound for -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 -DP discrete Laplace mechanism for coincides with the -DP binary Randomized Response, which is known to be the worst case -DP mechanism in terms of its zCDP guarantee.
On the other hand, if we take , then we have , 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 .
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 and , then
Proof.
We can compute directly as follows.
Finally, is due to the symmetry of around zero.
We can now prove the RDP bound by showing that the worst case occurs when .
Lemma 15 (RDP of discrete Laplace).
The -DP discrete Laplace mechanism for sensitivity is tightly--RDP for all where
with .
Proof.
Let . Notice that we have
which is term-by-term non-negative. Thus, is an increasing function in .
Let . For any function and neighboring inputs , we have
where the inequality holds since is increasing. Thus, the mechanism is -RDP.
The tightness follows from considering any such that .
3.2.2 From RDP to zCDP
Proof of Theorem 13.
Consider the following as a function of ,
The upper bound follows from showing that for all . Recall from Proposition 7. Observe that , which is non-negative due to Proposition 8. Thus, to show that for all , it suffices to show that is non-negative for all .
It will be helpful for us to write out the first and second derivative of with respect to :
| (1) |
To show that is always non-negative for , we will first show that , and then show for .
Proof of Non-negativity of .
Note that
It is simple to check that . Thus, it suffices for us to show that a is increasing in . Since is decreasing in and is a constant (w.r.t. to ), it in turn suffices for us to prove that is decreasing in . We can rearrange this terms as follows:
where is defined in Lemma 10 as .
Proof of Non-negativity of .
To show non-negativity of , we will compare the log ratio of the two terms within the parenthesis in (1). Denote this quantity by
To prove , it suffices to prove for all . For the latter, it in turn suffices to prove that and for all . To do this, let us first write out the relevant expressions:
We can rewrite as follows:
where the inequality is from the fact that is super-additive (Lemma 10) and increasing (Lemma 9).
As for , we have
Dividing this expression by and rearranging, we have
which is true because and is increasing (Lemma 9).
Altogether, the above argument shows that for all . In other words, the -DP discrete Laplace mechanism is -zCDP
Tightness of the bound follows from the tightness in Lemma 15 by taking .
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. in Definitions 1 and 3). We consider two popular local DP mechanisms: -Randomized Response and RAPPOR.
5 -Randomized Response
The -Randomized Response (-RR) mechanism [18] takes as input a number in outputs its input with probability , and a uniformly random other output symbol with probability . (Note that under the notions of Definitions 1 and 3, both the domain and the range are .)
We prove that the tight zCDP bound is obtained at for :
Theorem 16.
The -DP -RR mechanism is tightly--zCDP for .
Interestingly, the condition on is necessary, as we show below that for any and any sufficiently large , the tight bound is not obtained at . The bound satisfies ; thus, 6 in Theorem 16 is the best possible value one can hope for.
Lemma 17.
For all and , the -DP -RR mechanism is not -zCDP.
Finally, we also obtain zCDP bounds for the case . First, we note that since the RDP curve (see Proposition 20) is clearly decreasing in , the zCDP bound must too. Thus, we immediately obtain the following as a corollary of Theorem 16.
Corollary 18.
The -DP -RR mechanism is -zCDP.
An undesirable aspect of the above corollary is that the bound does not converge to 0 as . As such, we derive a bound with such behavior below. (Note that as , the zCDP bound below becomes .)
Theorem 19.
The -DP -RR mechanism is -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 -RR.
Proposition 20.
The -DP -RR mechanism is tightly--RDP for all where
Furthermore, we have is equal to .
Proof.
Without loss of generality (due to symmetry), it suffices to consider distributions and , which are the distribution of the mechanism’s output on the first symbol and second symbol, respectively. Let and , then
can be computed by a simple application of L’Hôpital’s Rule.
5.2 From RDP to zCDP
A tight zCDP bound for -RR is difficult in general, because the RDP curve is not always concave in . We derive tight bounds in the cases where the curve is concave.
Proof of Theorem 16.
We will show the following two properties of (assuming that )444It is straightforward to improve upon Theorem 16 and Corollary 18 with the current proof technique by taking more complex constraints on . We omit this for sake of presentation, but it allows extending the tightness bound for moderate .: (A) , and (B), for all . (i.e. concavity).
From Lemma 11, these two properties imply that for all . In other words, the mechanism is -zCDP. The tightness also follow immediately from the tightness of the RDP curve (and taking ).
Thus, we are left to prove (A), (B).
Proof of (A).
Define . The RDP curve for -RR can be written as . The first derivative of is
Applying L’Hôpital’s Rule, we get
Proof of (B).
The second derivative of is
Let denote the numerator of above. To show that , it suffices to show that for all . Observe that . Thus, to prove the non-negativity of , it in turn suffices to show that for all .
To show this, note that , so the sign of is determined by the sign of
which is non-positive if the last term in the numerator is non-negative (since all other terms but are non-negative). It is clear that this last term is increasing in . This means that
which is non-negative for . Thus, , implying that is concave.
5.3 Non-Optimality of
The above proof also yields a rather simple criterion to certify that is not the optimal for sufficiently large , as formalized below.
Proof of Lemma 17.
From (2), in this regime . Since is continuous (in ), there exists such that for all . Thus,
Thus, , implying that the mechanism is not -zCDP.
5.4 Loose zCDP for Large Regime
Finally, we prove a loose bound that converges to zero as via a commonly used approach of separately considering smaller and larger .
Proof of Theorem 19.
Let and . Consider two cases based on the value of :
-
Case I: . In this case, we simply have , where the first inequality follows from the fact that any -DP algorithm is -DP for all .
-
Case II: . In this case, we have
Thus, the mechanism is -zCDP as claimed.
5.5 RAPPOR
Next, we consider the (basic) RAPPOR mechanism [13]. The mechanism takes input from and outputs a -bit string (i.e. 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 -DP, its output distribution is
where is the -length one-hot vector where the th 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 -DP RAPPOR mechanism is tightly--RDP for all where
Proof.
Without loss of generality (due to symmetry), it suffices to consider distributions and , which are the distribution of the mechanism’s output on the first symbol and second symbol, respectively. Let denote the distributions of the -th coordinate of respectively. Notice that are product distributions, and that for all . Thus, from additivity of Rényi divergence, we have
Finally, observe that for are exactly the same distribution as that of the -DP Binary RR. Thus, Proposition 20 implies the claimed bound.
Proposition 22.
The -DP RAPPOR mechanism is tightly--zCDP.
Proof.
This follows immediately from Theorem 16 since the RDP bound is exactly twice the RDP bound for -DP Binary RR.
6 -Bounded Range Mechanisms
Finally, we consider -Bounded Range (-BR) mechanisms, and we prove a tight zCDP bound in this case as well.
Theorem 23.
Any -BR mechanism satisfies -CDP where Furthermore, this is tight555Note that we do not use the terminology tightly--zCDP directly here, since “-BR mechanisms” constitute a class of mechanisms rather than a single mechanism., i.e. there exists an -BR mechanism which is tightly--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 in Definition 5.
Lemma 24.
Let be real numbers such that and , and let and be distributions such that for all . Then, for all , we have
Moreover, there exist a pair of distributions with for all such that the above inequality is an equality.
Proof.
We will first show achieveability of the bound by describing a pair of distributions and . Define and as follows:
It is easy to show that are valid probability distributions, and 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 such that
This satisfies . Thus, by Jensen’s inequality (and by the convexity of ),
Consider any distributions and such that for all . Setting , we have
The above lemma allows us to easily compute the tight RDP bound for -BR mechanism by optimizing over the value of .
Theorem 25 (RDP for Bounded Range Mechanisms).
Any -BR mechanism satisfies -RDP for all where
Furthermore, the above bound is tight, i.e. there exists an -BR mechanism which is tightly--RDP. Moreover, is equal to .
Proof.
From Lemma 24, any -BR mechanism is -RDP where . Since is continuous and differentiable, it must achieve a maximum value at some , and must satisfy (i) , or (ii) its derivative is zero. It is clear that we cannot be in case (i) since but for .
The derivative of is
Its only root (in ) is . Thus, we have
The tightness follows from that of Lemma 24 by letting be the mechanism such that and where are the tight example for from Lemma 24.
It remains to compute
This is an indeterminate form 0/0, so we can apply L’Hôpital’s Rule by considering with . We have , and
Note that Theorem 25 matches the RDP bound implied by [6, Theorem 5], though their bound does not find the maximal analytically and therefore relies on a search.
6.2 From RDP to zCDP
Finally, we show below that any -BR mechanism is -zCDP for (Theorem 23).
Proof of Theorem 23.
Let where is from Theorem 25. Our proof will proceed by showing that is decreasing in (for ), which implies that any -BR mechanism is -zCDP. To do this, let
Let us view as function of , i.e. . Recall that we wish to show that for all . Simple calculation verifies that for all , so the desired inequality will follow from showing that . For this, first note that
where
Given the rest of the terms are trivially non-negative, it remains to show that is positive and is negative. To do this, recall the identities and .
Using the first identity, we can simplify as follows:
and the last inequality is true due to Lemma 9.
Similarly, using the two identities, we can simplify as follows:
Thus, as desired. This concludes the proof that is decreasing in . Hence, any -BR mechanism is -zCDP.
The tightness follows from letting be the mechanism such that
for . It is simple to verify that is -BR and that , 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, -Randomized Response (for sufficiently small ) 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 -RR when 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.
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