Motivation
In a coordination game on a graph, every player is a node and chooses a colour, and a node is rewarded for agreeing with its neighbours. These games model the adoption of a common standard, clustering, and the stabilisation of distributed protocols. When the graph is directed, the dynamics change sharply. A node is paid only by its in-neighbours and pays nothing back. Nash equilibria may fail to exist, and even on a single directed cycle, improvement dynamics can cycle forever. Apt, Simon and Wojtczak (arXiv:1910.02693v2, published in Mathematics of Operations Research, 2022) study when, from every starting configuration, some short sequence of profitable unilateral moves reaches a Nash equilibrium. Their two main graph classes come from networking. Simple cycles model token rings. Open chains of cycles model Ethernet ring protection (ITU-T G.8032), in which rings are joined in a sequence and consecutive rings share a single node.
Timeline:
- 2014–2017: Apt, de Keijzer, Rahn, Schäfer and Simon study coordination games on undirected graphs (WINE 2014; International Journal of Game Theory 46(3), 2017).
- 2016: Apt, Simon and Wojtczak, Coordination games on directed graphs (TARK 2015, EPTCS 215, arXiv:1606.07517), and Simon and Wojtczak, Efficient local search in coordination games on graphs (IJCAI 2016), report the first results for the directed case.
- 2019–2022: the journal version (arXiv:1910.02693v2) improves the bounds. It gives polynomial bounds on improvement paths for simple cycles (Theorems 3, 5, 7, 9) and open chains (Theorem 15), and proves NP-completeness of Nash-equilibrium existence in general (Theorem 36). Weighted open chains are not treated here; the paper points to the IJCAI paper for them (p.34).
Setting
Fix a finite set M of colours. A coordination game is given by a directed graph on a finite vertex set V without self-loops, a positive weight wj→i on each edge, a colour assignment giving every node i a non-empty set C(i)⊆M, and bonuses β(i,c)∈N. A joint strategy s picks si∈C(i) for every node, and the payoff of node i is
pi(s)=j∈Ni, sj=si∑wj→i+β(i,si),
where Ni is the set of in-neighbours of i. Unless stated otherwise, graphs are unweighted (w=1) and there are no bonuses (β=0).
A node plays a best response if no colour in C(i) gives it a higher payoff. A Nash equilibrium is a joint strategy in which every node plays a best response. An improvement step s→s′ changes the colour of a single node to one that strictly increases that node's payoff. A game ensures improvement paths of length at most X if from every joint strategy s0 there are s0→s1→⋯→sL, L≤X, all improvement steps, with sL a Nash equilibrium.
A simple cycle is 1→2→⋯→n→1. An open chain of m≥2 cycles C1,…,Cm, each with v≥3 nodes, has cycles Cj=[j,1]→[j,2]→⋯→[j,v]→[j,1]. For j≤m−1 the node [j,1] coincides with the node [j+1,kj] of the next cycle, for some kj∈{2,…,v}. No other nodes coincide, so the chain has vm−(m−1) nodes.
Formalization targets
Goal: Theorem 15 (p.20)
For every open chain of m≥2 cycles with v≥3 nodes each, every choice of the attachment positions kj, every colour set M and every colour assignment C with non-empty colour sets, the unweighted coordination game without bonuses on the chain satisfies
ensures improvement paths of length≤3vm3.
Milestones
- Theorem 3 (p.11): a weighted simple cycle with at most one bonus node ensures improvement paths of length ≤2n−1.
- Theorem 7 (p.13): a weighted simple cycle with two bonus nodes ensures improvement paths of length ≤3n.
- Cycle reduction (p.16). Given s, the cycle Cj behaves like a simple cycle whose link nodes carry a unit bonus βjs for the colour of their predecessor in the adjacent cycle. Improvement paths of that cycle game lift to the chain.
- Lemma 10 (p.16): on an open chain, and on a simple cycle with unit bonuses, a node with payoff ≥1 plays a best response.
- Lemma 11 (p.17): once a cycle below the cycle being repaired by Algorithm 1 has grade U+, it keeps that grade and the algorithm never returns to it.
- Claim 1 (p.37): a sufficient condition for the progress measure μ to increase.
- Range of μ (p.20): guard(s)+1≤NBR(s)≤∣prefix(s)∣≤m when s is not a Nash equilibrium.
- Counting (p.20): μ takes at most 1+m(m+1)(m+5)/6≤m3 values.
Significance
The result shows that on open chains of directed cycles, which lack the finite improvement property, short improvement paths always exist. Their length is polynomial in both the ring size and the number of rings. In particular a Nash equilibrium always exists and can be reached by local, one-node-at-a-time improvements, which is the kind of guarantee a distributed protocol needs. The same construction underlies the paper's polynomial-time algorithm for finding a Nash equilibrium on open chains and its bound for coalitional improvement paths (Theorem 23).
Formalizing it adds to the platform coordination games on directed graphs, improvement paths with a length bound, and the open-chain graph class. None of these are on the platform today. The results are proved in the paper. None of them has a machine-checked proof.
Status of the printed proof. A check of Lemmas 12 and 14 (pp.17–20, Appendix pp.35–39) found that both fail for some attachment positions. Lemma 12 claims that one round of Algorithm 1 on Cj changes only the grades of Cj−1,Cj,Cj+1, and Lemma 14 claims that μ increases in every round. When kj−2=2, the node [j−1,2] is the link node [j−2,1], so recolouring [j−1,1] can change the grade of Cj−2. A concrete chain with m=3, v=4, k1=2, k2=3 has a round of Algorithm 1 in which μ drops from (0,1,0,−3) to (0,0,1,−1). These two lemmas are therefore not milestones. Theorem 15 itself is not contradicted: exhaustive search on small chains found improvement paths well within 3vm3. A complete proof needs a repaired progress argument or a different one.
Difficulty
The obvious argument fails at the start. Scheduling the nodes round-robin does not terminate on a directed cycle, since a colour can chase itself around the ring forever (Example 2, p.10). Even the cycle bounds need a specific schedule and a specific choice among best responses. On an open chain, repairing one cycle recolours its link nodes and can destroy the equilibrium of the neighbouring cycles. The index of the lowest broken cycle can therefore move down by an arbitrary amount (Figure 9, p.19). Termination needs a progress measure that increases at every round despite this back-and-forth, and the attachment positions kj=2 and kj=v let a single repair reach two cycles away.
Formalization scope
A joint strategy is a function s:V→M with si∈C(i). Payoffs are real. An improvement path of length at most X is a list s0,…,sL, L≤X, of joint strategies in which each step changes exactly one node's colour to a colour in its set and strictly raises that node's payoff, and whose last element is a Nash equilibrium. Length counts steps. Simple cycles live on Fin n with edges a→a+1(modn) and n≥2. An open chain is a structure with m≥2, v≥3, a surjective naming map (j,i)↦[j+1,i+1] from Fin m × Fin v onto V, attachment positions with kj≥2, the link identifications, and nothing else identified. Its edges are exactly the cycle edges. The game on an open chain is unweighted and has no bonuses, as in the paper. Weighted open chains are outside this paper (p.34).
Non-empty colour sets are hypotheses everywhere. Without them there is no joint strategy and every statement would be vacuous. Improvement steps require a strict gain, so constant paths do not count.
The development needs the general strategic-game notions (best response, Nash equilibrium, improvement steps and paths, schedules), coordination games, simple cycles and open chains, and, for the milestones about Algorithm 1, the link bonuses βjs, grades, NBR, guard, prefix, the measure μ and one round of the algorithm. The strategic-game layer is reusable for any finite game. Contributions are welcome on the cycle theorems, on a repaired progress measure for open chains, or on any other proof of Theorem 15.
Selected references
- K. R. Apt, S. Simon, D. Wojtczak, Coordination Games on Weighted Directed Graphs, arXiv:1910.02693v2, 2021; Mathematics of Operations Research, 2022. https://arxiv.org/abs/1910.02693v2
- K. R. Apt, S. Simon, D. Wojtczak, Coordination games on directed graphs, Proc. TARK 2015, EPTCS 215, pp. 67–80, 2016. https://arxiv.org/abs/1606.07517
- S. Simon, D. Wojtczak, Efficient local search in coordination games on graphs, Proc. IJCAI 2016, pp. 482–488, 2016. https://arxiv.org/abs/1604.04809
- K. R. Apt, B. de Keijzer, M. Rahn, G. Schäfer, S. Simon, Coordination games on graphs, International Journal of Game Theory 46(3):851–877, 2017. https://arxiv.org/abs/1501.07388