Multilevel stochastic gradient methods for nested composition optimization

Stochastic gradient methods are scalable for solving large-scale optimization problems that involve empirical expectations of loss functions. Existing results mainly apply to optimization problems where the objectives are one- or two-level expectations. In this paper, we consider the multilevel composition optimization problem that involves compositions of multilevel component functions and nested expectations over a random path. This finds applications in risk-averse optimization and sequential planning. We propose a class of multilevel stochastic gradient methods that are motivated by the method of multitimescale stochastic approximation. First, we propose a basic T -level stochastic compositional gradient algorithm. Then we develop accelerated multilevel stochastic gradient methods by using an extrapolation-interpolation scheme to take advantage of the smoothness of individual component functions. When all component functions are smooth, we show that the convergence rate improves to O(n^-4=(7+T )) for general objectives and O^{(n-4=(3+T )}) for strongly convex objectives. We also provide almost sure convergence and rate of convergence results for nonconvex problems. The proposed methods and theoretical results are validated using numerical experiments.