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Machine Learning

, Volume 93, Issue 1, pp 163–183 | Cite as

Differential privacy based on importance weighting

  • Zhanglong Ji
  • Charles Elkan
Article

Abstract

This paper analyzes a novel method for publishing data while still protecting privacy. The method is based on computing weights that make an existing dataset, for which there are no confidentiality issues, analogous to the dataset that must be kept private. The existing dataset may be genuine but public already, or it may be synthetic. The weights are importance sampling weights, but to protect privacy, they are regularized and have noise added. The weights allow statistical queries to be answered approximately while provably guaranteeing differential privacy. We derive an expression for the asymptotic variance of the approximate answers. Experiments show that the new mechanism performs well even when the privacy budget is small, and when the public and private datasets are drawn from different populations.

Keywords

Privacy Differential privacy Importance weighting 

1 Introduction

Suppose that a hospital possesses a dataset concerning patients, their diseases, their treatments, and the outcomes of treatments. The hospital faces a fundamental conflict. On the one hand, to protect the privacy of the patients, the hospital wants to keep the dataset secret. On the other hand, to allow science to progress, the hospital wants to make the dataset public. This conflict is the issue addressed by research on privacy-preserving data mining. How can a data owner simultaneously both publish a dataset and conceal it?

We analyze here a new approach to resolving the fundamental tension between publishing and concealing data. The new approach is based on a mathematical technique called importance weighting that has proved to be valuable in several other areas of research (Hastings 1970). The essential idea is as follows. Let D be the set of records that the owner must keep confidential. Let E be a different set of records from a similar domain, and suppose that E is already public. The owner should compute and publish a weight w(x) for each record x in E. Given x in E, its weight is large if x is similar to the records in D while its weight is small otherwise. Data mining on E using the weights will then be approximately equivalent to data mining on D. The owner uses D privately to compute the weights, but never reveals D.

The approach outlined above was suggested originally in a workshop paper (Elkan 2010). This paper proves that the approach does achieve differential privacy, analyzes the variance of answers to queries provided by the approach, and shows experimentally that the approach provides useful accuracy, while still protecting privacy.

2 Framework and related research

A query is a question that people ask about a dataset. For example, if the dataset is a collection of health records, queries can be “how many people in the dataset have disease A?” and “how many people have both disease A and disease B?” In general, let Q be a set of queries. We denote the true answers to all queries in Q based on the dataset D as Q(D). There is a kind of simple and common query called a counting query. These queries are about how many samples in the dataset meet certain conditions. The two example queries above are in this category.

If two datasets D 1 and D 2 differ on at most one entry, then we call them neighbors.1 Since neighbors are different, the answers to queries on them may also differ. The largest change in the true answers, by some norm |.| for all neighbor sets D 1 and D 2, is called the sensitivity of Q:
$$S_Q=\max_{D_1, D_2} \bigl|Q(D_1)-Q(D_2)\bigr|. $$
The maximization ranges over all neighbor sets D 1 and D 2. The |.| can be any norm in the space that Q(D) is from, but usually the L 1 or L 2 norm is used.
A (random) mechanism is a randomized algorithm whose input is a dataset and whose output is in a certain answer space. The notion of differential privacy captures how well a mechanism preserves privacy. The mechanism Open image in new window is defined to have ϵ-differential privacy (Dwork 2006) if for all neighbor sets D 1 and D 2 and all subsets S of the answer space, the probability inequality holds. Note that e ϵ equals 1+ϵ approximately when ϵ is small. In applications, the output Open image in new window often depends not only on Open image in new window and D but also on a query set Q. A mechanism Open image in new window is not required to be able to answer all queries. Given a set of queries Q which the mechanism Open image in new window can answer, Open image in new window denotes the random answer to Q, which is a mapping from datasets to a random variable over the answer space.

In the definition of differential privacy, the smaller that ϵ is, the more that neighboring datasets lead to similar output probabilities, even though the datasets themselves are different. Therefore, when ϵ is smaller, less information is leaked and privacy is protected better. Since ϵ determines how accurately we can answer queries, it is called the privacy budget. A smaller budget corresponds to stronger privacy. Intuitively, to ensure stronger privacy, one way or another more noise must be introduced.

A simple but useful mechanism, which applies to queries having bounded sensitivity, is to add random noise as follows to their answers. Given a query set Q with sensitivity S, the mechanism outputs the answer vector Open image in new window where Q(D) is the true answer vector and the noise δ is a vector of real values, with probability density p(δ)∝exp(−|δ|ϵ/S). The function |.| here is the same norm as in the definition of S. This mechanism is ϵ-differentially private by Theorem 2 of Dwork et al. (2006). Specifically, when |.| is L 1 norm, the noise added to each dimension is i.i.d. and follows the Laplace distribution \(\operatorname{Lap}(S/\epsilon)\) whose density is \(p(x;S/\epsilon)=\frac{\epsilon}{2S}e^{-|x|\epsilon/S}\). The bigger the sensitivity S, or the smaller the privacy budget ϵ, the bigger the added noise x on average.

Many differentially private mechanisms have been proposed. Some of them answer unrestricted queries without publishing data (Smith 2008; McSherry and Mironov 2009; Li et al. 2010; McSherry and Mahajan 2010; Rastogi and Nath 2010). The data owner gets queries that are issued by outsiders, and then returns noisy answers directly. These mechanisms share two drawbacks. First, if data owners answer queries independently then they must divide the total privacy budget between the queries. Each query will be answered with privacy budget smaller than ϵ, and hence greater noise. There has been some work taking constraints among the queries into consideration (Hay et al. 2010), but such constraints are not always known. Second, after all the privacy budget is spent, no more questions can be answered. Even if we only spend part of the privacy budget now, we can never release information with the full privacy budget later.

The two drawbacks have motivated researchers to devise data-publishing mechanisms that release a synthetic or modified dataset. If a new dataset that statistically approximates the original one is published, then all questions can be answered, albeit not exactly. If the mechanism that creates the new dataset achieves differential privacy, then all queries can get exact answers from the new dataset without the need to add further noise.

A straightforward data-publishing mechanism simply releases a version of the private dataset with noise added. The maximum L 1 norm of changes among two samples is computed, this is regarded as the sensitivity of the dataset, and i.i.d. Laplacian noise is added to each entry in the dataset. This method, which can be called Laplace perturbation, adds too much noise to be useful in practice; for details see Sect. 5.1.

Some methods publish data after analyzing a pre-determined set of given queries (Blum et al. 2008; Hardt et al. 2012; Hardt and Rothblum 2010). If there is a fixed query set Q, these mechanisms can publish a differentially private dataset that depends on Q, and they can make sure that the published dataset can answer queries in Q accurately with high probability. However if queries outside Q are asked, there is no guarantee that these queries can have accurate answers. Thus these methods are appropriate when the data owner has advance knowledge about what queries may be asked, but they do not provide a useful guarantee without advance knowledge, or when the owner wants to allow the freedom to ask any query after data publication.

There are other data-publishing mechanisms that are query-independent. Some of these methods cluster the whole dataset into several groups according to similarity or entropy (this step either involves randomness in order not to destroy privacy, or is data-independent), add noise to the counts of samples in each group, and publish the noisy counts (Xiao et al. 2010; Mohammed et al. 2011; Ding et al. 2011). These methods also have drawbacks. Partitioning typically clusters samples with different values of a variable into the same group, which loses information. A representative method is given in Mohammed et al. (2011), which publishes set-valued variables that may hide all information concerning some variables. Other researchers make assumptions such as sparsity concerning the dataset, and use these assumptions to improve performance (Li et al. 2011).

Here, we describe a new data-publishing mechanism based on importance weighting that makes no assumptions concerning the private dataset, but still achieves differential privacy. Although there has been previous work that uses weighting to publish data with differential privacy (Hardt et al. 2012; Hardt and Rothblum 2010), it only provides guarantees for pre-determined queries.

3 Importance weighting mechanism

Though counting queries are most common in the literature, queries may come in other forms. If someone wants to learn a model from the dataset, s/he may ask what the gradient vector or Hessian matrix of a loss function is. If s/he wants to study causation among variables in the dataset, s/he may ask what the values of correlation coefficients are. Generally, we suppose that the user wants to know the expectation of some function b(x) over the distribution p D (⋅) from which the private dataset D is drawn. That is, the goal is to know \(E_{D}[b(x)] = E_{x \sim p_{D}(\cdot)}[b(x)]\). The function b(x) is not limited to be an indicator function, as it is for counting queries. Note that E D is an expectation over p D , as opposed to over an empirical distribution defined by a specific dataset D.

Suppose that there exists another dataset E that is already public, whose samples are random from the distribution p E (⋅). Since the samples in D have privacy concerns but those in E do not, we want to use E to help estimate E D [b(x)]. Because D and E in general arise from different distributions, it is not reasonable to simply compute the average of b(x) over E. Importance weighting varies the weights of the samples in E in order to improve accuracy. Let the cardinalities of E and D be N E and N D . The goal is to find a weight w(x) for each x in E such that for any function b(x) the following equation is approximately satisfied:
$$ E_D\bigl[b(x)\bigr]= \frac{1}{N_E}\sum _{x\in E}b(x)w(x). $$
(1)
If E is already public and the owner of D publishes the weights w(x) in a way that guarantees differential privacy, then outsiders can estimate E D [b(x)] without access to D, for any b(x), without violating privacy, by computing \(\frac{1}{N_{E}}\sum_{x\in E}b(x)w(x)\).

In general, no w(x) can make (1) be satisfied exactly for all possible b(x) when the dataset E is finite. So, we explain here a differentially private mechanism Open image in new window based on logistic regression that yields weights that make the equation hold approximately. The output of the mechanism is the set of weights, that is Open image in new window .

The so-called importance sampling identity is the equation
$$E_D \bigl[b(x)\bigr]=E_E \biggl[b(x)\frac{p_D(x)}{p_E(x)} \biggr]. $$
To be valid, the support of the distribution p E must contain the support of p D , that is if p D (x)>0 then p E (x)>0 must be true also. Equation (1) and the identity make p D (x)/p E (x) a natural choice for w(x).
For a sample x, its importance weight w(x) is the ratio of the probability density of x according to the two different distributions p D and p E . Both these distributions are in general high-dimensional densities, where the dimensionality is the length of the x vectors. Estimating high-dimensional densities is difficult at best, and often infeasible (Scott 1992). Fortunately, one can estimate the ratio w(x) indirectly, without estimating p D and p E explicitly. Consider an equally balanced mixture of the distributions p D and p E , and suppose that samples from p D are extended with the label s=1 while those from p E are extended with the label s=0. A similar idea was used previously by Smith and Elkan (2004) and Elkan and Noto (2008). Then,
$$p(s=1|x) = \frac{p(x|s=1)p(s=1)}{p(x)} = \frac{p_D(x)(1/2)}{p(x)} $$
by Bayes’ rule. Therefore,
$$p(s=1|x) = \frac{p_D(x) (1/2)}{p_D(x) (1/2) + p_E(x) (1/2)} = \frac{1}{1 + {p_E(x)} / {p_D(x)}}. $$
We can derive
$$\begin{aligned} w(x) =\frac{p_D(x)}{p_E(x)} = \frac{1}{1/p(s=1|x) - 1}. \end{aligned}$$
This equation lets us write each weight w(x) as a deterministic transformation of p(s=1|x). The equation is correct as a statement of probability theory. Its practical usefulness depends on having a good model for p(s=1|x).
Concretely, we treat the datasets D and E as training sets for two classes s=1 and s=0. The logistic regression model
$$p(s=1|x) = p(x\in D| x \in D \cup E)= \frac{1}{1+e^{-\beta^Tx}} $$
which yields \(w(x) = e^{\beta^{T}x}\) is an obvious choice. However, it cannot ensure differential privacy directly, because there is no bound on the sensitivity of the logistic regression parameters β when D changes by one sample. If we use a strongly convex penalty function (definition follows), such as the sum of squared components of β in Step 1 of Algorithm 1, and if each sample x in D is a vector of length d with components that are in the range [0,1], then the following theorem says that ϵ-differential privacy is achieved. The proof is in the appendix. The parameter of the Laplace distribution in Algorithm 1 has denominator \(\sqrt{d}\) because that is the maximum norm of any x. In general, \(\sqrt{d}\) can be replaced by the upper bound over D of the L 2 norm of samples.
Algorithm 1

Importance weighting mechanism

Theorem 1

The random mechanism of Algorithm  1 is ϵ-differentially private.

A common issue with importance weighting is that a few samples may have large weights, and these increase the variance of estimates based on the weights. There are various proposals using techniques such as softmax to make weights more uniform. Let τ be a constant. When 0≤τ<1, the modified weights w′(x)∝w(x) τ ∝exp(τβ T x) are less extreme. This is equivalent to replacing β by τβ. Since softmax makes the norm of β smaller, its effect is similar to that of a larger penalty coefficient λ in Algorithm 1. We can use a larger λ to reduce the impact of individual samples in E on estimates, and introducing a separate constant τ is not necessary.2

As the strength of regularization λ increases, the learned coefficients β in Algorithm 1 tend towards zero, and the weights w(x) tend towards one. This implies that estimates computed using (1) increase in bias and tend towards the corresponding mean computed on the public dataset E. This property is evident in the statement of Theorem 2 below and in the experimental results (Fig. 1). In practice, solving the regularized optimization problem in Step 1 of the algorithm is computationally straightforward and fast regardless of the magnitude of λ.
Fig. 1

Performance of the importance weighting method as the strength of regularization λ varies. The query is b(x)=I(income>$50K) and the privacy budget is ϵ=0.1. The vertical axis shows the estimated answer to the query, while the horizontal axis shows values of λ. “Truth” indicates the correct answer. Box plots show variation over 100 randomly created private datasets D. Note that answers based directly on D are unbiased and have standard deviation less than 0.003

Algorithm 1 adds noise to the coefficients β in order to protect privacy. An alternative approach to guarantee privacy with logistic regression is to perturb the objective function used for training (Chaudhuri et al. 2011). Although we do not have theoretical results showing how well this alternative approach works, experiments indicate that its performance is similar to that of Algorithm 1.

4 Analysis

For a query function b(x), the estimate of its true expectation E D [b(x)] obtained via the differentially private importance weighting mechanism is
$$\frac{1}{N_E}\sum_{x\in E}b(x)w(x). $$
Here we analyze the variance of this estimate. We assume that the public dataset E is fixed, so the variance of the estimate comes from the randomness of the dataset D and from the noise in Step 2 of Algorithm 1. Note that even in the absence of privacy concerns, there is variance in any estimate of E D [b(x)] due to randomness in D.

The weights are based on the logistic regression parametric model that p D (x)/p E (x)=exp(β T x) for some β. The difference between the estimate and the true value may not converge to zero when this parametric assumption is not true, that is when logistic regression is not well-specified. However, we can give an upper bound on the variance of the estimate that converges to zero asymptotically, that is as the cardinality of D tends to infinity, regardless of whether logistic regression is well-specified.

Theorem 2

The total variance \(\operatorname{Var}[ \frac{1}{N_{E}} \sum_{x\in E}b(x)w(x) ]\) is asymptotically less than
$$\begin{aligned} \alpha^T \biggl( \frac{d}{N_D\lambda^2}I + \frac{d(d+1)}{(N_D\lambda\epsilon)^2} I \biggr) \alpha \end{aligned}$$
where d is the dimensionality of data points x, I is the identity matrix, and
$$\alpha =\frac{\sum_{x_i,x_j \in E} e^{\beta_0^T (x_i+x_j)}(b(x_i)-b(x_j))(x_i-x_j)}{\sum_{x_i,x_j \in E} e^{\beta_0^T (x_i+x_j)}}. $$

Proof

See Appendix B. The vector β 0 minimizes the loss function of logistic regression on E and the distribution p D . Details are in the appendix. □

Theorem 2 provides a strict inequality. We write \(\operatorname{Var}[]\) and not \(\operatorname{Var}_{D}[]\) because the variance includes not only randomness from D, but also randomness from the noise in Step 2 of Algorithm 1. The factor α comes from the derivative with respect to β of the estimate \(\frac{1}{N_{E}} \sum_{x\in E}b(x)w(x)\).

A large N D ensures a decrease of the variance of β and of estimates, because more samples have less noise on average, and also because the noise needed for privacy is less due to smaller sensitivity of β . The rate of decrease 1/N D is of the same order as for the variance of direct estimates \(\frac{1}{N_{D}} \sum_{x\in D} b(x)\), which of course is \(\frac{1}{N_{D}} \operatorname{Var}_{D} [b(x)]\). Thus differential privacy can be achieved without slowing the convergence of estimates compared to the absence of privacy, that is using the dataset D directly.

A large λ can reduce the Laplacian noise significantly, but if it is too large, then the bias in estimates can be large. A large privacy budget ϵ helps reduce the Laplacian noise, and hence reduces the variance of estimates. However, ϵ may be specified by policy, and making it larger will harm privacy. Moreover, if N D ϵ 2d, then the first term dominates and a smaller ϵ cannot help reduce the variance.

When the number of dimensions d increases, the variance gets larger for two reasons. First, the L 2 sensitivity of β increases. Second, the curse of dimensionality worsens the situation: if p(δ)∝exp(−∥δ2) with δR d then E[∥δ2] increases linearly with d. For details see Appendix B.

The factor α is the most complicated among the factors that determine the variance of estimates. It is not controllable, because the function b(x) and the public dataset E must be taken as fixed. However, the expression for α reveals which b(x) can be estimated with smaller variance: if the values of b(x) in E are close to each other, especially on the samples for which w(x) is large, then α can be small.

Theorem 2 is useful not only for bounding the variance, but also for bounding the total error under some conditions. Specifically, suppose that logistic regression is well-specified and regularization is weak, meaning that λ is small and β 0 exists such that \(p_{D}(x)/p_{E}(x)=\exp(\beta_{0}^{T}x)\). The existence of β 0 means that (1) holds for any b(x) highly accurately with \(w(x)=\exp(\beta_{0}^{T}x)\). Small λ means that β is close to β 0 given large N D , and that the β and β vectors are approximately unbiased. Hence, the estimate is approximately unbiased.

The argument about asymptotic unbiasedness is formalized in the appendix in Theorem 3. Combining Theorems 2 and 3, variance and bias are both small, and hence total error is small, when the four following conditions hold: (i) there exists β such that \(\frac{p_{D}(x)}{p_{E}(x)}\propto \exp(\beta^{T}x)\), (ii) the regularization strength λ is small so that β 0 is close to β and thus the bias is small, (iii) the number of samples in D is large so that the estimate has small variance, and (iv) the number of samples in E is large so that the weighted sum over E converges to \(E_{E} [b(x)\frac{p_{D}(x)}{p_{E}(x)} ]\)

5 Design of experiments

Here we investigate empirically the usefulness of the importance weighting method. We see how parameter values (the strength of regularization λ and the privacy budget ϵ) affect the accuracy of estimates obtained using the method, and how the method behaves with different target functions, that is queries.

The dataset we use is derived from the “adult” dataset in the UC Irvine repository (Frank and Asuncion 2010). The original dataset contains more than 40,000 records, each corresponding to a person. Each record has 15 features: sex, education level, race, national origin, job, etc. The first 14 features are often used to predict the last one, which is whether a person earns more than $50,000 per year. We use a processed version which has 63 binary variables obtained from 12 original features, taken from the R package named “arules” (Hahsler et al. 2011). In general, preprocessing a dataset is a computation that must be taken into account in a privacy analysis, but here we assume that the private dataset is the preprocessed one as opposed to the original one. The preprocessing was done by other researchers for reasons unrelated to privacy, so the dataset was not created to favor any particular approach to privacy preservation.

Our approach needs a public dataset E. There is a test set that has the same schema as the original “adult” set, but it is from the same distribution, so we expect all weights to be approximately 1/N E , which is uninteresting (but does not violate privacy). To simulate the general situation where the public dataset is not from the same distribution as the private one, we split records from the pre-processed dataset by the feature sex. We place 90 % of males and 10 % of females in D, and the rest in E. The cardinalities of D and E are about 21,000 and 12,000 respectively. We then remove the feature sex, because in typical applications there will not be any single feature that makes learning the weights w(x) easy. Splitting based on sex simulates, in an extreme way, situations where, for example, the public dataset consists of information from volunteers, while the private dataset consists of information from non-volunteers, who are quite different statistically from volunteers.

The experiments use λ=0.1 and ϵ=0.1 as default values. This value for the privacy budget ϵ is commonly used in research. We choose λ=0.1 as a baseline because it is a good choice for training a conventional logistic regression classifier on the preprocessed “adult” dataset. We vary λ and ϵ to see how they affect the accuracy of estimates obtained using the importance weighting method. For each pair of λ and ϵ, we use bootstrap sampling to create randomness in the private dataset D: each time N D samples are drawn from D with replacement to form a new private dataset D′, and this D′ is used with the importance weighting method to get an estimate. The results of 100 estimates from 100 experiments are shown. Note that records in D′ are regarded as independent. Even if bootstrap sampling makes two records be copies of the same record in D, only one of the copies may change in the definition of differential privacy.

5.1 Alternative mechanisms

Some non-data-publishing mechanisms can answer individual queries more accurately than the importance weighting method. In particular, the sensitivity of a count query is 1, so the Laplace mechanism can answer these queries, including the query b(x)=I(income>$50K) used later, directly with high accuracy on the “adult” dataset. For example, with ϵ=0.1 and |D|=21,000 as above, the answer is unbiased, with standard deviation approximately \(10 \sqrt{2} / 21,000 \simeq 0.0007\). However, non-data-publishing mechanisms must consume some of the available privacy budget for each query, leaving a smaller privacy budget for future queries. The point of this paper, in contrast, is to provide a once-and-for-all method of publishing data, after which an unlimited number and range of queries can be answered without consuming any further privacy budget. Therefore, we compare experimentally only to other data publishing mechanisms.

Section 2 describes the alternative data-publishing mechanisms of which we are aware. On the one hand, for the methods that require a predetermined query set Q. it is hard to find a reasonable choice for this set Q. It is too restrictive to make Q simply equal the specific test queries used below. On the other hand, most existing query-independent data-publishing mechanisms either eliminate many features or feature values, or place restrictions on the dataset, so they are not useful for this dataset.

The Laplace perturbation data-publishing mechanism adds noise to each feature in each sample in the dataset. This method is query-independent and does not eliminate any features. However, unfortunately, so much noise must be added that answers to queries are not useful. With 63 binary features obtained from 12 original categorical features, the L 1 sensitivity of the private dataset (viewed as a query) is at least 24. Given the privacy budget 0.1, noise from \(\operatorname{Lap}(240)\) must be added to each binary feature value in D. Suppose that we want to estimate the average value of a feature, a number between 0 and 1. The average of these noisy values is an unbiased estimate, but the standard deviation of the noisy average can be as large as \(\sqrt{2 \cdot 240^{2}/21,000} \simeq 2.34\). This standard deviation is too large for the Laplace publishing mechanism to be practical.

In an alternative use of the Laplace publishing mechanism, the noisy features are trimmed to [0,1]. In this case the variance can be small, about \(0.25/ \sqrt{21,000}\simeq 0.002\). However, trimming causes large bias. When the noise-free true answer is 1, the expectation of the answer based on trimmed noisy values is 0.501. Similarly, when the true answer is 0, the expectation is 0.499. In both cases, the bias is 0.499.

In summary, for the first experiment we are not aware of an alternative method with which comparison would be appropriate. In the second experiment, we do compare the importance weighting method to the non-data-publishing method of Chaudhuri et al. (2011).

5.2 Queries and measures of success

The queries used in the two experiments are as follows. The first is a typical count query, namely the function b(x)=I(income>$50K). The second is a sequence of complex queries: all functions of the training data computed by the liblinear software while training a linear SVM. We investigate this because outsiders will often want to use the dataset E and the published weights to learn a model that applies to the private dataset D, or to learn relationships between features within it. Linear SVMs are one of the most popular modeling methods. The outcome of SVM training depends on the gradients of the loss function, so training an SVM is equivalent to getting answers to queries concerning these. To evaluate success, we compare the SVM parameters β D and β E learned directly from D versus from the weighted E. As is standard, the linear SVM is trained to predict income>$50K from the other features.

For the count query, we plot the true empirical average on D and the estimates obtained using the importance weighting mechanism. To show the distribution of estimates, we plot the 95 % confidence interval and quantiles at 1/4, 1/2 and 3/4. For the SVM, we plot the distribution of the Euclidean distance between the weight vectors β D and β E . We do not compare the prediction errors because the weight vectors are more informative, and because the relationship between prediction error and the gradient queries is not as close as the relationship between the parameters and the queries. Since the parameter corresponding to an unpredictive feature is close to 0, absolute Euclidean distance is more informative than relative distance \(\sum_{i} (\beta^{D}_{i}-\beta^{E}_{i})/\beta^{D}_{i}\) where i ranges over the components of β D and β E .

We compare SVM learning results with results from the method of Chaudhuri et al. (2011), which outputs differentially private SVM parameters directly. Note that this comparison method is more specialized than the importance weighting method, which is general for all queries and all learning algorithms, linear and nonlinear.

6 Results of experiments

The unweighted average of b(x)=I(income>$50K) on E is around 0.15, which is far from the true value of E D [b(x)], which is approximately 0.3. However, in most of the experiments below, the estimates from the importance weighting method are close to 0.3. This shows that the method is successful on a typical query, for a real-world dataset of limited size and a realistic privacy budget.

Figure 1 shows that the variance decreases as λ gets larger, while the bias increases and the estimate tends towards E E [b(x)]=0.15. This happens because when regularization becomes stronger, the β from the logistic regression is closer to the zero vector, and all the weights are closer to 1. Then E E [b(x)w(x)] tends to E E [b(x)]. Note that privacy is guaranteed by setting ϵ=0.1 regardless of λ.

Figure 2 shows that changing ϵ has a large effect on the variance of the estimate, but little effect on its mean. This means that a smaller privacy budget causes greater noise in estimates, but does not make these estimates more biased. This behavior is the best that we can hope for from any method that preserves privacy.
Fig. 2

Performance of the importance weighting method as the privacy budget ϵ varies. The query is b(x)=I(income>$50K) and λ=0.1. The vertical axis shows the estimated answer to the query (note the magnified scale compared to Fig. 1), while the horizontal axis shows values of ϵ. “Truth” indicates the correct answer. Box plots show variation over 100 randomly created private datasets D

Figure 3 shows the Euclidean distance between the parameters of the SVM model trained on D and the parameters of the model trained on E using weights. The norm of the parameters learned from D is 7.17, so distances around 1 indicate successful SVM training. As expected, the variance and bias both become smaller when the privacy requirement is less strict, that is when ϵ is larger. Regardless of how relaxed the privacy requirement is, distances remain above 0.8. Increasing ϵ cannot reduce the distance to zero mainly because p D (x)/p E (x)∝exp(β T x) is not satisfied exactly. With a better-specified model for the importance weights, the proposed method would perform even better.
Fig. 3

Euclidean distance (vertical axis) between linear SVM parameter vectors learned from D and from E, with λ=0.1 and regularization strength Λ=0.1 for the SVM. The horizontal axis shows various values of the privacy budget ϵ. The “No Noise” result is the distance with bootstrapping but without privacy-protecting noise added. Box plots show variation over 100 random versions of D

We also compare our result with that of the differentially private SVM derived by Chaudhuri et al. (2011). We use the first algorithm of that paper, which adds noise to the true SVM coefficients. Fortunately, the scale of noise in the algorithm can be computed explicitly. The sensitivity stated in the paper is 2/, under the assumption that ∥x2≤1, where n is the cardinality of the training set and Λ is the regularization strength of the SVM. Because \(\|x\|_{2}\leq \sqrt{d}\) for the “adult” dataset, the sensitivity for it is \({2\sqrt{d}}/{N_{D} \varLambda \epsilon}\) and the density function of noise b in the algorithm is \(v(b)\propto \exp(-\frac{N_{D}\varLambda\epsilon}{2\sqrt{d}}\|b\|_{2})\).

The distribution of noise is symmetric around zero and \(b\in \mathbb{R}^{+d} = [0,+\infty]^{d}\), so
$$\begin{aligned} E\bigl[\|b\|_2^2\bigr] =&\int_{\mathbb{R}^{+d}} v(b)\|b\|_2^2 db \\ =&\frac{\int_{\mathbb{R}^{+d}} \exp(-\frac{N_D\varLambda\epsilon\|b\|_2}{2\sqrt{d}})\|b\|_2^2 db}{\int_{\mathbb{R}^{+d}} \exp(-\frac{N_D\varLambda\epsilon\|b\|_2}{2\sqrt{d}}) db} \\ =&\frac{4d}{N_D^2\varLambda^2\epsilon^2} \frac{\int_{\mathbb{R}^{+d}} \exp(-\|s\|_2)\|s\|_2^2 ds}{\int_{\mathbb{R}^{+d}} \exp(-\|s\|_2) ds} \\ =&\frac{4d}{N_D^2\varLambda^2\epsilon^2} \frac{\int_{\mathbb{R}^+} t^2\exp(-t) d(t^d)}{\int_{\mathbb{R}^+} \exp(-t) d(t^d)} \\ =&\frac{4d}{N_D^2\varLambda^2\epsilon^2} \frac{\int_{\mathbb{R}^+} t^{d+1}\exp(-t) dt}{\int_{\mathbb{R}^+} t^{d-1}\exp(-t) dt} \\ =&\frac{4d}{N_D^2\varLambda^2\epsilon^2} \frac{\varGamma(d+2)}{\varGamma(d)} =\frac{4d^2(d+1)}{N_D^2\varLambda^2\epsilon^2}. \end{aligned}$$
Thus the expected L 2 norm of the noise is \(\frac{2d\sqrt{d+1}}{N_{D}\varLambda\epsilon}\simeq 4.8\) given dimensionality d=63. The importance weighting method has smaller error, less than 1.5.
Another experimental question is the effect of λ on the accuracy of estimates. We know theoretically that larger λ brings smaller standard deviation and larger bias, and vice versa. Figure 4 shows this trade-off between bias and standard deviation.
Fig. 4

Trade-off between bias (horizontal axis) and standard deviation (vertical axis) when the strength of regularization λ varies, for the query b(x)=I(income>$50K) and with privacy budget ϵ=0.1

Last but not least, we would like to know how the importance weighting mechanism performs in extreme cases. One such case occurs when the public dataset and the private dataset are the same. Another extreme case is when the public dataset is uniformly drawn from the sample space. Results for these cases are shown in Figs. 5 and 6. As before, ϵ=0.1 and λ=0.1, and the same two queries from before are used, so previous experimental results are shown. Not surprisingly, for both queries the best performance is when E is identical to D. Performance with the skewed E used previously is not much worse. Performance with the uniformly drawn E is worst, but in particular the trained SVM classifier (Fig. 6) is still useful.
Fig. 5

Performance of the importance weighting mechanism in extreme cases, for the query b(x)=I(income>$50K). The closer an output is to the truth, the better

Fig. 6

Performance of the importance weighting mechanism in extreme cases, for training an SVM. The smaller the distance is, the better. The norm of the true SVM parameter vector is about 7, so the mechanism provides useful information in all three cases

7 Discussion

The experimental results in Sect. 6 show that the differential privacy mechanism proposed in this paper is useful in practice, both for answering individual queries and for training supervised learning models. The theoretical results in Sect. 4 show that if the private dataset is large, then privacy can be preserved while still allowing queries to be answered with variance asymptotically similar to the variance that stems from the private dataset itself being random.

Naturally, variations on the importance weighting approach are possible. One idea is to draw a new dataset from E using the computed weights, instead of publishing the weights. However, this will increase the variance of estimates without changing their expectation. Thus publishing the weights explicitly is preferable. Algorithm 1 ensures that the weights are limited in magnitude and have enough noise to protect privacy.

The regularized logistic regression approach of Algorithm 1 is not the only possible way to obtain privacy-preserving importance weights. As mentioned earlier, the approach to privacy-preserving logistic regression of Chaudhuri et al. (2011) could be applied also. Other methods of estimating well-calibrated conditional probabilities (Zadrozny and Elkan 2001; Kanamori et al. 2009; Menon et al. 2012) can be used also, if modified to guarantee differential privacy.

The theory of importance weighting says that the closer the two distributions p D and p E are, the better the estimates based on E are. Thus, not surprisingly, the more similar the distribution of E is to that of D, the better. However, the experiments above use sets D and E with quite different distributions, and results are still good. Specifically, the set D is 90 % male, while the set E is 90 % female.

An obvious issue is where the public dataset E can come from. This question has no universal answer, but it does have several possible answers. First, E may be synthetic. The experiments section shows that even if E is uniformly drawn from the sample space, the importance mechanism can still provide useful output. Second, E may be the result of a previous breach of privacy. Any such event is regrettable, but if it does happen, using E as suggested above does not worsen the breach. Third, E may be a subset of examples from the original dataset for which privacy is not a concern. In a medical scenario, E may contain the records of volunteers who have agreed to let their data be used for scientific benefit. In the U.S., laws on the privacy of health information are less restrictive when a patient is deceased, and such records have already been released for research by some hospitals.

Another issue is how to define E if more than one public dataset is available. If we know which public dataset was sampled from a distribution most similar to that of the private dataset D, then is natural to select that dataset as E. Otherwise, in particular if all the public datasets follow the same distribution or if their distributions are unknown, then it is natural to take their union as E. However, if the public datasets follow varying distributions, then logistic regression is likely to be mis-specified for representing the contrast between D and the union of the public datasets, so it can be preferable to select just one of these datasets, for example the one with highest cardinality.

The schemas of D and E may be different. In this case, only the features that appear in both datasets can be used. However, if prior knowledge is available, disparate features can be used after pre-processing. For example, D may include patients’ diseases, while E records patients’ medications. If a probabilistic model relating diseases and medications is known, and this model is independent of the datasets D and E, then the two features can still contribute to the ratio of probability densities.

The usefulness of the method proposed in this paper is not restricted to medical domains. For example, consider a social network such as Facebook or Linkedin, and an advertiser such as Toyota. Let the profiles of all users be the dataset D. For privacy reasons, the network cannot give the advertiser direct access to D. However, suppose that some users have opted-in to allowing the advertiser access to their profiles. The profiles of these users can be the dataset E. The social network can compute privacy-protecting weights that make the dataset E reflect the entire population D, and let the advertiser use these weights. Note that both in medical and other domains, an advantage of the importance weighting method is that all analysis is performed on genuine data, that is on the records of E. In contrast, other data-publishing methods require analyses to be done on synthetic or perturbed data.

Footnotes

  1. 1.

    There are two different understandings of “differ on at most one entry.” Some researchers consider deletion or addition of an entry (Hay et al. 2010; Mohammed et al. 2011), while others consider only replacement (Chaudhuri et al. 2011; Li et al. 2011). The two interpretations are both reasonable. We use the former because it is broader.

  2. 2.
    In standard regularized logistic regression, the loss function that is minimized is
    $$-\frac{1}{N_E + N_D} \biggl[ \sum_{x\in E}\log p(x \in E) + \sum_{x\in D}\log p(x \in D) \biggr] + \frac{\lambda}{2}\|\beta\|^2. $$
    Instead, we use the balanced loss function
    $$-\frac{1}{N_E}\sum_{x\in E}\log p(x \in E)- \frac{1}{N_D}\sum_{x\in D}\log p(x \in D) + \frac{\lambda}{2}\|\beta\|^2 $$
    which gives the log likelihoods for examples from D and E equal mass. In our scenarios, the samples in E are fixed, while the samples in D are random. With the usual form of logistic regression, the asymptotic convergence, in Step 1 of Algorithm 1, of β to the true parameter vector is not guaranteed.

Notes

Acknowledgements

Zhanglong Ji was funded in part by NIH grants UH2HL108785, U54HL108460, and UL1TR0001000. Charles Elkan was funded in part by NIH grant GM077402-05A1. The authors are grateful to the anonymous reviewers and to Kamalika Chaudhuri for comments that helped to improve the paper notably.

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Copyright information

© The Author(s) 2013

Authors and Affiliations

  1. 1.Department of Computer Science and Engineering 0404University of CaliforniaSan DiegoUSA

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