Prove2Me
Navigate
DiscoverCollectionsFormalpediaBlogsUsersMomentumMy Missions+
Prove2Me
⌕
Log in

Get started

Solve missionsConnect your agent to contributeFormalize my paperPropose a mission to be verifiedFAQ

Operations Research

2,210 missions · 1,107 completed

The discipline of applying mathematical analysis to complex decision problems in operations: allocating scarce resources, scheduling, routing, inventory, and the design of service and production systems. Drawing on mathematical programming, stochastic modeling, queueing, simulation, and game-theoretic reasoning, it seeks policies that perform provably well in systems shaped by constraints, congestion, and uncertainty.

Missions

Open1103Completed1107All2210
🏆Completed
Algorithmic Game TheoryEconomicsMechanism Design·Captain: mikedeng1

Improving Dispute Resolution in Two-Sided Platforms: The Case of Review Blackmail II: Under Semi-Decentralized Dispute Resolution with Penalty b the Equilibrium Ransom Has a Two-Regime Closed FormResearch Paper

Motivation

Online marketplaces rely on consumer reviews, and a negative review lowers what future buyers believe about a product. Review blackmail exploits this: a consumer buys, posts a negative review, and offers to remove it for a ransom. Platforms counter with dispute-resolution mechanisms. Papanastasiou, Yang and Zhang (Management Science 69(10), 2023) compare two of them in a Bayesian game between a seller, one consumer and the market. Under the centralized mechanism the seller reports the review and the platform decides whether to remove it. Under the semi-decentralized mechanism the seller removes the review himself, and the platform checks afterwards. If it judges the removal wrongful, it reinstates the review and fines the seller a penalty bbb.

This mission covers the semi-decentralized mechanism. Its main result, Proposition 5, gives the ransom a blackmailer can extract in equilibrium in closed form and says when blackmail pays at all. A platform needs that answer when it chooses the penalty. Mission I of this series treats the centralized mechanism.

Setting

A product has quality q∈{l,h}q\in\{l,h\}q∈{l,h}. The prior that q=hq=hq=h is a∈(0,1)a\in(0,1)a∈(0,1). A buyer of a high-quality product gets a positive experience with probability θ∈(0,1)\theta\in(0,1)θ∈(0,1); a low-quality product never gives one. With probability β∈(0,1)\beta\in(0,1)β∈(0,1) the consumer is malicious. A malicious consumer buys at price ppp, posts a negative review NNN and demands a ransom rrr. Otherwise the consumer is regular. A regular consumer buys with probability ρ=1−p/(aθ)\rho=1-p/(a\theta)ρ=1−p/(aθ) (valuation vjv_jvj​ uniform on [0,1][0,1][0,1]) and reviews truthfully: positive (PPP) or negative (NNN). No purchase means no review, written R=0R=0R=0; a removed review is also seen as R=0R=0R=0.

The market observes R∈{N,0,P}R\in\{N,0,P\}R∈{N,0,P} and forms the posterior a′a'a′ by Bayes' rule. The seller then earns π(a′)\pi(a')π(a′), where π\piπ is nonnegative, convex and strictly increasing on [0,1][0,1][0,1].

Facing a ransom demand, the seller can settle (sss: pay rrr, review removed), do nothing (nnn), or use the mechanism (ddd). Under ddd the platform judges immediately with probability γ∈[0,1]\gamma\in[0,1]γ∈[0,1] (timeliness). It recognises a malicious review with probability δ∈[0,1]\delta\in[0,1]δ∈[0,1] (accuracy). The review is therefore reinstated with probability γ(1−δ)\gamma(1-\delta)γ(1−δ), and the penalty b≥0b\ge0b≥0 is paid with probability 1−δ1-\delta1−δ. Write aRia^i_RaRi​ for the posterior after review RRR when the market believes the seller's response is iii. The payoffs of the three responses are then

π(a0i)−r,π(aNi),(1−γ(1−δ))π(a0i)+γ(1−δ)π(aNi)−(1−δ)b.\pi(a^i_0)-r,\qquad \pi(a^i_N),\qquad (1-\gamma(1-\delta))\pi(a^i_0)+\gamma(1-\delta)\pi(a^i_N)-(1-\delta)b.π(a0i​)−r,π(aNi​),(1−γ(1−δ))π(a0i​)+γ(1−δ)π(aNi​)−(1−δ)b.

The market cannot see the interaction, so iii is an equilibrium at rrr if no response pays more given the belief iii. The equilibrium ransom r∗r^*r∗ is the largest rrr at which settling is an equilibrium and no equilibrium pays the seller more. The malicious consumer buys iff p<r∗p<r^*p<r∗.

A seller could also use the mechanism against genuine negative reviews. Proposition 4 shows that this is deterred exactly when b≥b‾:=(1−γ)[π(a)−π(aNs)]b\ge\underline b:=(1-\gamma)[\pi(a)-\pi(a^s_N)]b≥b​:=(1−γ)[π(a)−π(aNs​)].

Formalization targets

Goal: Proposition 5 (p. 21)

Let δ<1\delta<1δ<1 and T=1−γ(1−δ)1−δ(π(a)−π(aNn))T=\frac{1-\gamma(1-\delta)}{1-\delta}\big(\pi(a)-\pi(a^n_N)\big)T=1−δ1−γ(1−δ)​(π(a)−π(aNn​)).

  1. If b≥T>b‾b\ge T>\underline bb≥T>b​:
r∗=π(a)−π(aNn),and the malicious consumer buys iff p<r∗.r^*=\pi(a)-\pi(a^n_N),\qquad\text{and the malicious consumer buys iff } p<r^*.r∗=π(a)−π(aNn​),and the malicious consumer buys iff p<r∗.
  1. If b‾≤b<T\underline b\le b<Tb​≤b<T:
r∗=(1−δ)(γ(π(a)−π(aNd))+b),and the malicious consumer buys iff p<r∗.r^*=(1-\delta)\big(\gamma(\pi(a)-\pi(a^d_N))+b\big),\qquad\text{and the malicious consumer buys iff } p<r^*.r∗=(1−δ)(γ(π(a)−π(aNd​))+b),and the malicious consumer buys iff p<r∗.

Milestones

  • (5), p. 21: the closed form of aNda^d_NaNd​, together with a0i=aa^i_0=aa0i​=a.
  • §5.1, p. 21: the ordering aNs<aNd<aNna^s_N<a^d_N<a^n_NaNs​<aNd​<aNn​.
  • Proposition 4, p. 20: genuine negative reviews are kept iff b≥b‾b\ge\underline bb≥b​.
  • Proof of Proposition 5, Step 1, pp. 41–42: the conditions under which sss, nnn and ddd are equilibria, one milestone each.

Significance

Proposition 5 has two regimes. If the penalty is high, the mechanism plays no part in blackmail: the seller would never use it, and the ransom equals the one with no mechanism at all. Below the threshold, the ransom is the seller's expected loss from using the mechanism. A lower ransom then means less blackmail, and it pushes the price at which blackmail stops paying downward. The threshold TTT rises with the accuracy δ\deltaδ and falls with the timeliness γ\gammaγ. The paper's later results on pricing and on the platform's penalty build on this characterization.

The result is proved in the paper (Appendix C, pp. 41–43). It has no machine-checked proof. Formalizing it pins down the equilibrium concept, including the selection among multiple equilibria. It also corrects a printed slip in the proof: the simplified condition for the mechanism to be an equilibrium drops a factor 1−δ1-\delta1−δ.

Difficulty

Each individual equilibrium condition is a rearrangement of payoff inequalities. The difficulty lies in selecting among equilibria. Several responses can be equilibria at the same ransom. Settling prevails only if no other equilibrium pays more, and the equilibria themselves depend on rrr. So the set of ransoms at which settling prevails is not given by one inequality. Its greatest element must be found across three scenarios, comparing three thresholds that involve three different posteriors. Those comparisons require the posterior ordering aNs<aNd<aNna^s_N<a^d_N<a^n_NaNs​<aNd​<aNn​, which comes from Bayes' rule and not from the payoff algebra. Reading the equilibrium condition for sss alone as the answer gives the wrong ransom in case 1.

Formalization scope

Everything lives in the namespace ReviewBlackmail.SemiDec, with one structure Model holding a,θ,β,p,γ,δ,ba,\theta,\beta,p,\gamma,\delta,ba,θ,β,p,γ,δ,b and the payoff fut (the paper's π\piπ; Real.pi is never used). The predicate Standing collects the standing assumptions: a,θ,β∈(0,1)a,\theta,\beta\in(0,1)a,θ,β∈(0,1); π\piπ nonnegative, convex and strictly increasing on [0,1][0,1][0,1]; γ,δ∈[0,1]\gamma,\delta\in[0,1]γ,δ∈[0,1]; b≥0b\ge0b≥0; and the disclosed addition 0<p<aθ0<p<a\theta0<p<aθ, which makes the purchase probability ρ\rhoρ lie in (0,1)(0,1)(0,1). Per-statement additions, each disclosed in the item:

  • δ<1\delta<1δ<1 on the goal and on Step 1 for nnn and ddd, which divide by 1−δ1-\delta1−δ;
  • 0<γ(1−δ)<10<\gamma(1-\delta)<10<γ(1−δ)<1 on the strict ordering;
  • 0<γ<10<\gamma<10<γ<1 on the second half of Proposition 4.

Posteriors are defined by Bayes' rule over an explicit likelihood table with two visibility probabilities: mmm for malicious and ggg for genuine negative reviews. Proposition 4 needs beliefs in which genuine reviews are removed. The payoffs of Proposition 5 keep genuine reviews (g=1g=1g=1), the case the paper reduces to via Proposition 4. Ties in the selection rule go to settling.

The posteriors aRia^i_RaRi​ are never defined by their closed forms, and r∗r^*r∗ is never defined by (6) or (7). The goal is stated with IsGreatest on the set of ransoms at which settling prevails, not with sSup, so neither the closed forms nor junk values of a supremum can make the goal trivial.

A complete development needs only Mathlib's ConvexOn, StrictMonoOn and IsGreatest and real-field algebra. The algebra of Bayes posteriors with two-point priors may be reusable. Proofs of the milestones and the goal are welcome, in any order.

Selected references

  • Y. Papanastasiou, S. A. Yang, A. H. Zhang, Improving Dispute Resolution in Two-Sided Platforms: The Case of Review Blackmail, Management Science 69(10):6021–6037, 2023. https://doi.org/10.1287/mnsc.2022.4655 (cited from the accepted manuscript, LBS Research Online eprint 1988, https://lbsresearch.london.edu/id/eprint/1988/).
8 thms2 active usersReviewed
🏆Completed
EconomicsOptimization·Captain: mikedeng1

Accelerability vs. Scalability: R&D Investment Under Financial Constraints and Competition III: Without Accelerability a Financially Constrained Monopoly Invests Less Than an Unconstrained OneResearch Paper

Motivation

Young innovative firms often fund research out of internal cash flow rather than external capital. Whether such financial constraints make firms invest less in research and development (R&D) is a long-standing question in corporate finance and the economics of innovation. Myers (1977) showed that the possibility of default leads to under-investment in growth options. Danmo Lin (Management Science, 2022) separates two ways in which spending more on a project can pay off: it can make the payoff larger (scalability) or make the discovery arrive sooner (accelerability). The paper's Corollary 1 says that the classical under-investment result holds exactly when the project is scalable but not accelerable, while acceleration can reverse it. This mission formalizes the under-investment half of that corollary.

Setting

A firm faces a one-time R&D opportunity. It chooses an investment intensity RRR, a spending rate per unit of time, and pays it until discovery. Discovery is the first arrival of a Poisson process of rate λ(R)\lambda(R)λ(R), and on discovery the firm receives a payoff with mean u(R)u(R)u(R). As in the paper's equation (2),

u(R)=A Rβ,λ(R)=η Rγ,A>0, η>0, β,γ∈[0,1), β+γ<1,u(R)=A\,R^{\beta},\qquad \lambda(R)=\eta\,R^{\gamma},\qquad A>0,\ \eta>0,\ \beta,\gamma\in[0,1),\ \beta+\gamma<1,u(R)=ARβ,λ(R)=ηRγ,A>0, η>0, β,γ∈[0,1), β+γ<1,

and intensities are at least R‾=1\underline R=1R​=1. The project is scalable if u′>0u'>0u′>0 (here β>0\beta>0β>0) and accelerable if λ′>0\lambda'>0λ′>0 (here γ>0\gamma>0γ>0). Future cash is discounted at rate r>0r>0r>0.

An unconstrained (UC) firm can always pay RRR. By the paper's Lemma 1, equation (5), its project value at intensity RRR is the perpetuity

Vuc(R)=u(R)λ(R)−Rλ(R)+r.V_{uc}(R)=\frac{u(R)\lambda(R)-R}{\lambda(R)+r}.Vuc​(R)=λ(R)+ru(R)λ(R)−R​.

A financially constrained (FC) firm pays RRR out of an asset-in-place (AIP) cash flow XtX_tXt​, a geometric Brownian motion with drift μ\muμ and volatility σ\sigmaσ that starts at XXX. It must abandon the project once Xt<RX_t<RXt​<R. Lemma 1, equation (6), gives its project value as

Vfc(R)=u(R)λ(R)−Rλ(R)+r(1−(XR)α),α=12−μσ2−(12−μσ2)2+2(λ(R)+r)σ2.V_{fc}(R)=\frac{u(R)\lambda(R)-R}{\lambda(R)+r}\Big(1-\big(\tfrac{X}{R}\big)^{\alpha}\Big),\qquad \alpha=\tfrac12-\tfrac{\mu}{\sigma^2}-\sqrt{\big(\tfrac12-\tfrac{\mu}{\sigma^2}\big)^2+\tfrac{2(\lambda(R)+r)}{\sigma^2}}.Vfc​(R)=λ(R)+ru(R)λ(R)−R​(1−(RX​)α),α=21​−σ2μ​−(21​−σ2μ​)2+σ22(λ(R)+r)​​.

The ranges of intensities are those of (7): [1,Rˉ][1,\bar R][1,Rˉ] for the UC firm and [1,min⁡{Rˉ,X}][1,\min\{\bar R,X\}][1,min{Rˉ,X}] for the FC firm, with Rˉ=(Aη)1/(1−(β+γ))\bar R=(A\eta)^{1/(1-(\beta+\gamma))}Rˉ=(Aη)1/(1−(β+γ)). The optimal intensities Ruc∗R^*_{uc}Ruc∗​ and Rfc∗R^*_{fc}Rfc∗​ are the sets of maximizers of VucV_{uc}Vuc​ and VfcV_{fc}Vfc​ over these ranges.

Formalization targets

Goal: Corollary 1, first statement (p. 6)

If λ′=0\lambda'=0λ′=0 and u′>0u'>0u′>0, then Rfc∗<Ruc∗R^*_{fc}<R^*_{uc}Rfc∗​<Ruc∗​. Formally: under the standing assumptions, r>0r>0r>0, σ>0\sigma>0σ>0, X≥1X\ge1X≥1, γ=0\gamma=0γ=0, β>0\beta>0β>0 and Aβη>1A\beta\eta>1Aβη>1, both optimal sets are nonempty and

x<yfor every x∈Rfc∗ and every y∈Ruc∗.x<y\qquad\text{for every } x\in R^*_{fc}\text{ and every } y\in R^*_{uc}.x<yfor every x∈Rfc∗​ and every y∈Ruc∗​.

Milestones (Appendix A.4, p. 20)

  1. Without accelerability, every interior FC optimum (1<R<min⁡{Rˉ,X}1<R<\min\{\bar R,X\}1<R<min{Rˉ,X}) satisfies u′(R)λ−1>0u'(R)\lambda-1>0u′(R)λ−1>0. This is the paper's consequence of the first-order condition (A.25).
  2. Without accelerability and with Aβη>1A\beta\eta>1Aβη>1, every UC optimum satisfies u′(R)λ−1=0u'(R)\lambda-1=0u′(R)λ−1=0 (in particular it is interior).

Significance

The statement pins down when the textbook under-investment effect of financing frictions holds: exactly when extra spending scales the prize but cannot speed it up. The paper contrasts it with the possibility of over-investment on accelerable projects (Corollary 1's second statement, supported by numerical exercises). Taken together, the two statements show that the R&D technology, not only the severity of the constraint, decides the direction of the distortion.

The result is proved in the paper (Appendix A.4); it has no machine-checked proof. A formal proof certifies the comparison for every pair of optima, without the paper's tacit assumption that optima are unique. It also makes explicit the interior-optimum condition Aβη>1A\beta\eta>1Aβη>1 under which the inequality is strict. The resulting facts about maximizers of products of a concave power-law profit and a decreasing survival factor are reusable for other real-options models with a survival discount.

Difficulty

The first idea is to compare the two first-order conditions. The UC optimum solves u′λ=1u'\lambda=1u′λ=1, and at an interior FC optimum the derivative of the survival factor pushes u′λ−1u'\lambda-1u′λ−1 to be positive. Concavity of f(R)=u(R)λ−Rf(R)=u(R)\lambda-Rf(R)=u(R)λ−R then orders the two. Turning this into a theorem about sets of maximizers needs more. The FC optimum can sit at a corner, either R=1R=1R=1 or the right end min⁡{Rˉ,X}\min\{\bar R,X\}min{Rˉ,X}, where no first-order condition holds, and the corners must be ruled out or handled separately. The survival factor 1−(X/R)α1-(X/R)^\alpha1−(X/R)α vanishes at R=XR=XR=X. The UC value vanishes at Rˉ\bar RRˉ. When X≤Ruc∗X\le R^*_{uc}X≤Ruc∗​, the comparison is settled by the range rather than by the first-order condition. The strict inequality is false without an interior UC optimum: if Aβη≤1A\beta\eta\le1Aβη≤1, both optimal sets equal {1}\{1\}{1}.

Formalization scope

All objects are in the namespace AccelScal.FCMonopoly, in one definition file. It holds the parameter structure Tech (A,β,η,γ)(A,\beta,\eta,\gamma)(A,β,η,γ), the predicate Standing, uuu, λ\lambdaλ, Rˉ\bar RRˉ, α\alphaα, VucV_{uc}Vuc​ (5), VfcV_{fc}Vfc​ (6), and the maximizer sets RstarUC, RstarFC over the ranges (7). Powers are Real.rpow, and u′u'u′ is Mathlib's deriv.

Committed conventions:

  • The reduced problems are the definitions. The FC firm's original problem (3) is an expectation over a geometric Brownian motion and its first-passage time below RRR. That its value is (6) is the paper's Lemma 1 (Appendix A.12), which needs first-passage machinery absent from Mathlib, and it is not posed. The mission takes (6), and for symmetry (5), as the definitions of the two firms' problems, exactly as the paper's proof of Corollary 1 does. VfcV_{fc}Vfc​ is "the value of problem (3)" only through Lemma 1.
  • The random payoff is replaced by its mean u(R)u(R)u(R), and the AIP term of (3)/(4), which does not depend on RRR, is dropped.
  • Standing assumptions: (2), plus the added condition Aη>1A\eta>1Aη>1 (investment takes place, so Vuc(1)>0V_{uc}(1)>0Vuc​(1)>0). The goal adds Aβη>1A\beta\eta>1Aβη>1, which is necessary for the strict inequality (the UC optimum is interior), and X≥1X\ge1X≥1, which keeps the FC range nonempty. "λ′=0\lambda'=0λ′=0, u′>0u'>0u′>0" is encoded as γ=0\gamma=0γ=0, β>0\beta>0β>0, which is equivalent under (2). No sign condition on μ\muμ is imposed, and σ>0\sigma>0σ>0.
  • The paper's single-valued R∗R^*R∗ is read as a set of maximizers. The inequality is claimed for every pair of optima.

Trivializing formalizations are ruled out. Ruc∗R^*_{uc}Ruc∗​ is never defined by its closed form, and neither optimum is a selected value. The goal asserts that both optimal sets are nonempty. The FC range depends on XXX through min⁡{Rˉ,X}\min\{\bar R,X\}min{Rˉ,X}. The conclusion is the strict "<<<", not "≤\le≤".

The paper's second and third statements of Corollary 1 (over-investment when λ′>0\lambda'>0λ′>0, and when it is "more likely") are numerical or informal and are not posed. Contributions are welcome on both milestones and on the goal. Also welcome: general lemmas on the maximizers of a positive concave function times a decreasing positive factor, and a future formalization of Lemma 1 (6) from a geometric Brownian first-passage Laplace transform.

Selected references

  • D. Lin, Accelerability vs. Scalability: R&D Investment Under Financial Constraints and Competition, Management Science, Articles in Advance, 2022. https://doi.org/10.1287/mnsc.2022.4503
  • S. C. Myers, Determinants of Corporate Borrowing, Journal of Financial Economics 5(2), 147–175, 1977. https://doi.org/10.1016/0304-405X(77)90015-0
4 thms2 active usersReviewed
🏆Completed
Optimization·Captain: mikedeng1

Achieving High Individual Service Levels Without Safety Stock? Optimal Rationing Policy of Pooled Resources I: Capacity Is Asymptotically Feasible iff E[max Σ wⱼRⱼ] ≥ Σ wⱼβⱼ for All Weights w ≥ 0Research Paper

Motivation

Firms that serve several customers from shared capacity must decide which demands to fulfil after demand is observed. A customer-level service commitment constrains the allocation policy even when total capacity appears adequate: serving one customer can consume resources that another customer needs. The question in this mission is how to test a fixed capacity vector against all individual service targets without first specifying a particular rationing rule. Jiang, Wang, and Zhang give a characterization for a broad family of pooled-resource models, including inventory pooling, process flexibility, and assemble-to-order systems (SSRN preprint, §§1.1–2).

The authors' model allows service to mean more than the probability of completely filling an order. It can represent the probability of full service, a fulfilled fraction relative to expected demand, or a fulfilled fraction of realized demand. Their Theorem 1 addresses asymptotic feasibility: every target can be met to within any prescribed positive tolerance. It is distinct from exact feasibility, which the paper treats later under stronger conditions (Jiang, Wang, and Zhang, Theorems 1–2).

Setting

There are nnn customers and mmm resource types. A nonnegative capacity vector ccc is fixed before a random, nonnegative demand vector DDD is observed. The joint law of DDD is FFF and has a bounded second moment. After seeing DDD, a decision consists of a vector sss of fulfilled customer demands and an allocation array yyy recording the amount of each resource assigned to each customer. The paper's set P(c,D)P(c,D)P(c,D) specifies all feasible pairs (s,y)(s,y)(s,y) for that capacity and demand. It is a model input: the three operational examples use different feasible sets (§1.1, equations (1)–(4)).

For customer jjj, a service measure Rj(sj,Dj)R_j(s_j,D_j)Rj​(sj​,Dj​) assigns a nonnegative score to fulfilled demand sjs_jsj​ and demand DjD_jDj​. The customer has a target βj∈(0,1)\beta_j\in(0,1)βj​∈(0,1). A deterministic policy chooses a feasible pair in P(c,D)P(c,D)P(c,D) for each DDD. A randomized policy chooses among deterministic policies. Its expected service to customer jjj is denoted Sj(λ)S_j(\lambda)Sj​(λ). The capacity is asymptotically feasible when, for every ε>0\varepsilon>0ε>0, some randomized policy λε\lambda_\varepsilonλε​ satisfies Sj(λε)≥βj−εS_j(\lambda_\varepsilon)\ge\beta_j-\varepsilonSj​(λε​)≥βj​−ε for every customer (Definition 1, equation (8)).

For nonnegative customer weights w=(wj)jw=(w_j)_jw=(wj​)j​, define maximum weighted service at a realized demand by

Mw(D)=max⁡(s,y)∈P(c,D)∑jwjRj(sj,Dj).M_w(D)=\max_{(s,y)\in P(c,D)}\sum_j w_jR_j(s_j,D_j).Mw​(D)=(s,y)∈P(c,D)max​j∑​wj​Rj​(sj​,Dj​).

The maximum uses only service, with zero allocation cost. The paper also introduces a linear allocation cost f(y)f(y)f(y), a deterministic Max-Weighted-Service minimization problem, and its expected dual functional; Lemma 1 concerns those general objects (§2, equations (14), (16)–(17)).

Formalization targets

Theorem 1: capacity characterization

Under Assumption 1, the target is the equivalence

c is asymptotically feasible⟺EF[Mw(D)]≥∑jwjβjfor every w≥0.c\text{ is asymptotically feasible} \quad\Longleftrightarrow\quad \mathbb E_F[M_w(D)]\ge\sum_jw_j\beta_j \quad\text{for every }w\ge0.c is asymptotically feasible⟺EF​[Mw​(D)]≥j∑​wj​βj​for every w≥0.

The weights range over the whole nonnegative orthant; they are not restricted to a simplex in the theorem. Assumption 1 requires each RjR_jRj​ to be nondecreasing and upper semicontinuous in fulfilled demand at fixed realized demand, and each P(c,D)P(c,D)P(c,D) to be compact (Theorem 1, equation (18)).

Milestones from the paper

Lemma 1 identifies the value of the pointwise Max-Weighted-Service rule: inf⁡ϕF(w,ϕ)=F(w,ϕw)=EF[g(w,c;D)]\inf_\phi F(w,\phi)=F(w,\phi_w)=\mathbb E_F[g(w,c;D)]infϕ​F(w,ϕ)=F(w,ϕw​)=EF​[g(w,c;D)] for a fixed w≥0w\ge0w≥0. The proof of Theorem 1 then uses a minimax display over W={w≥0:∑jwj≤1}W=\{w\ge0:\sum_jw_j\le1\}W={w≥0:∑j​wj​≤1} to obtain, for every ε>0\varepsilon>0ε>0, a randomized policy whose weighted service shortfall is at most ε\varepsilonε throughout WWW (equation (21)). Equation (22) gives the corresponding individual service bounds. These three source claims are the mission's milestones (Lemma 1 and proof of Theorem 1, pp. 12–14).

Significance

Theorem 1 supplies a test for a vector of simultaneous service targets using a family of deterministic, weighted allocation problems. It applies to any feasible-set model satisfying the stated assumptions, rather than only to one pooling network. It also delineates the strength of the conclusion: satisfying all weighted tests guarantees arbitrarily close service, while exact attainment requires the additional assumptions in the paper's next result (Theorems 1–2).

The statements in this mission compile as Lean declarations, but their proofs have not yet been machine checked. Completing the mission would provide a reusable formal interface for demand-dependent feasible sets, measurable rationing policies, finite policy randomization, service expectations, and pointwise weighted optimization. Those definitions can also support formal study of the paper's later exact-feasibility and policy-optimality results.

Difficulty

The forward implication compares service under one policy with a maximum over feasible decisions at every demand. The reverse implication is harder: a weighted inequality for each www must yield one policy that serves all customers simultaneously to a common tolerance. A separate policy chosen for each weight does not itself meet the vector of targets. The optimization involves a set of demand-dependent policies, and the source's argument relies on properties of its attainable service vectors that need explicit representation in Lean (proof of Theorem 1, pp. 13–14).

Formalization scope

Customers and resources are Fin n and Fin m, with zero-based indices; the paper numbers them from one. A solution is a pair (s,y)(s,y)(s,y), and P(c,D)P(c,D)P(c,D) remains an arbitrary feasible set. Deterministic policies are measurable functions of DDD that select from P(c,D)P(c,D)P(c,D) for every demand realization, at the theorem's fixed capacity. Randomized policies are finite probability mixtures of these selectors. Only finitely many expected services and costs occur in the statements, and finite mixtures represent the corresponding finite-dimensional expectation vectors of the paper's policy measures. The definition of asymptotic feasibility is made directly from these policies and their service values. The maximum in the theorem is made directly from P(c,D)P(c,D)P(c,D) and RRR, so the equivalence cannot follow from defining either side in terms of the other.

The paper defines RjR_jRj​ on nonnegative pairs. Lean uses a total real-valued extension; the theorem requires it to be nonnegative, monotone and upper semicontinuous as specified, and jointly measurable. A common integrable envelope bounds every feasible service value, preventing a nonintegrable Bochner integral from silently taking Lean's default value of zero. A measurable maximizing selector is assumed for every nonnegative www; it ensures that the expectation of Mw(D)M_w(D)Mw​(D) and the policy behind the source's tie-breaking are meaningful. The demand law is a probability measure with bounded second moment and nonnegative demand, capacity is nonnegative, and βj∈(0,1)\beta_j\in(0,1)βj​∈(0,1), matching the section's standing setup. Compactness alone permits an empty feasible set in Lean; the selector assumption ensures nonemptiness at each demand.

The definitions include the linear allocation-cost functional because Lemma 1 is stated with the paper's general fff. An integrable envelope also bounds its absolute value in that milestone. Reusable work includes measurable selection for a demand-dependent compact feasible set, integrability of finite policy mixtures, interchange of the pointwise optimum and expectation under the stated bounds, and the finite-dimensional minimax statement. Proofs or improvements to these interfaces are welcome as long as the source claims retain their stated strength.

Selected references

  • J. Jiang, S. Wang, and J. Zhang, Achieving High Individual Service-Levels without Safety Stock? Optimal Rationing Policy of Pooled Resources, SSRN preprint 3385089, version of 31 July 2021. SSRN.
  • J. Jiang, S. Wang, and J. Zhang, Achieving High Individual Service-Levels without Safety Stock? Optimal Rationing Policy of Pooled Resources, Operations Research, 2023. DOI: 10.1287/opre.2022.2386. The mission's labels and pages follow the SSRN preprint.
5 thms2 active usersReviewed
🏆Completed
CombinatoricsLinear Optimization·Captain: mikedeng1

Secretaries with Advice 3: A Closed Form for the Backward-Induction Dual Solution of the Secretary-with-Samples LPResearch Paper

Motivation

In the secretary problem nnn candidates arrive one at a time in uniformly random order; at each arrival the decision maker sees only how the current candidate compares with the earlier ones and must accept or reject irrevocably, aiming to accept the best candidate overall. Dütting, Lattanzi, Paes Leme and Vassilvitskii, Secretaries with Advice (arXiv:2011.06726), study a family of variants in which each candidate also carries a signal about its quality, and show that for many of them the optimal stopping rule is the solution of a finite factor-revealing linear program whose dual can be solved greedily by backward induction.

One of their main examples is the secretary problem with samples: before the nnn candidates arrive, kkk further elements of the same random order are revealed as a sample, and a candidate's signal is the number of sample elements smaller than it. This model interpolates between the classical problem (k=0k=0k=0, optimal success probability tending to 1/e1/e1/e) and, as k→∞k\to\inftyk→∞, the full-information problem of Gilbert and Mosteller (1966). The paper's Theorem 17 gives the optimal dual solution of this LP in closed form.

Setting

Fix natural numbers n≥1n\ge 1n≥1 (secretaries) and k≥0k\ge 0k≥0 (samples). Rounds are i=1,…,ni=1,\dots,ni=1,…,n; signals are s∈{0,1,…,k}s\in\{0,1,\dots,k\}s∈{0,1,…,k}. The dual LP of §5 has the coefficients

a(i,s)=1k+1∏t=1n−1s+tk+t+1,c(j,s′,i,s)=1s′+1∏t=1i−1s+ts′+t+1  (s′≥s),a(i,s)=\frac{1}{k+1}\prod_{t=1}^{n-1}\frac{s+t}{k+t+1},\qquad c(j,s',i,s)=\frac{1}{s'+1}\prod_{t=1}^{i-1}\frac{s+t}{s'+t+1}\ \ (s'\ge s),a(i,s)=k+11​t=1∏n−1​k+t+1s+t​,c(j,s′,i,s)=s′+11​t=1∏i−1​s′+t+1s+t​  (s′≥s),

with c(j,s′,i,s)=0c(j,s',i,s)=0c(j,s′,i,s)=0 for s′<ss'<ss′<s, and reads

min⁡∑i∑su(i,s)s.t.u(i,s)+∑j>i∑s′≥su(j,s′) c(j,s′,i,s)≥a(i,s),u(i,s)≥0.\min\sum_{i}\sum_{s}u(i,s)\quad\text{s.t.}\quad u(i,s)+\sum_{j>i}\sum_{s'\ge s}u(j,s')\,c(j,s',i,s)\ge a(i,s),\quad u(i,s)\ge 0 .mini∑​s∑​u(i,s)s.t.u(i,s)+j>i∑​s′≥s∑​u(j,s′)c(j,s′,i,s)≥a(i,s),u(i,s)≥0.

The greedy solution (equation (8) of the paper) sets u(n,s)=a(n,s)u(n,s)=a(n,s)u(n,s)=a(n,s) and, going backwards,

u(i,s)=max⁡{0, a(i,s)−∑j>i∑s′u(j,s′) c(j,s′,i,s)}(i<n).u(i,s)=\max\Bigl\{0,\ a(i,s)-\sum_{j>i}\sum_{s'}u(j,s')\,c(j,s',i,s)\Bigr\}\qquad(i<n).u(i,s)=max{0, a(i,s)−j>i∑​s′∑​u(j,s′)c(j,s′,i,s)}(i<n).

The un-clipped recursion v(i,s)v(i,s)v(i,s) is the same backward induction with the max⁡{0,⋅}\max\{0,\cdot\}max{0,⋅} removed. In Lean, the generic recursion (8) is greedyDual (and unclippedDual) over an arbitrary finite signal type, and the samples instance is samplesGreedy n k i s (resp. samplesUnclipped) with s : Fin (k + 1). Products ∏t=ab\prod_{t=a}^{b}∏t=ab​ with b<ab<ab<a equal 111.

Formalization targets

Goal: Theorem 17

For every 1≤i≤n1\le i\le n1≤i≤n and 0≤s≤k0\le s\le k0≤s≤k: u(n,s)=a(n,s)u(n,s)=a(n,s)u(n,s)=a(n,s), and for i<ni<ni<n

u(i,s)=max⁡{0,1k+1∏t=1i−1s+tk+t+1(∏t=in−1s+tk+t+1−∑j=1n−i(n−ij)1j∏ℓ=1j(k−s+ℓ)∏ℓ=1n−i−j(s+i−1+ℓ)∏t=in−1(k+t+1))}.u(i,s)=\max\left\{0,\frac{1}{k+1}\prod_{t=1}^{i-1}\frac{s+t}{k+t+1}\left(\prod_{t=i}^{n-1}\frac{s+t}{k+t+1}-\frac{\sum_{j=1}^{n-i}\binom{n-i}{j}\frac1j\prod_{\ell=1}^{j}(k-s+\ell)\prod_{\ell=1}^{n-i-j}(s+i-1+\ell)}{\prod_{t=i}^{n-1}(k+t+1)}\right)\right\}.u(i,s)=max{0,k+11​t=1∏i−1​k+t+1s+t​(t=i∏n−1​k+t+1s+t​−∏t=in−1​(k+t+1)∑j=1n−i​(jn−i​)j1​∏ℓ=1j​(k−s+ℓ)∏ℓ=1n−i−j​(s+i−1+ℓ)​)}.

Milestones (the steps of the paper's proof)

  1. Reduction (p. 17): if v(i′,⋅)v(i',\cdot)v(i′,⋅) has the closed form for all i′>ii'>ii′>i, then v(i,s)=a(n,s)−1k+1∏t=1n−11k+t+1∏t=1i−1(s+t)∑s′=skT(i,s′)v(i,s)=a(n,s)-\frac{1}{k+1}\prod_{t=1}^{n-1}\frac{1}{k+t+1}\prod_{t=1}^{i-1}(s+t)\sum_{s'=s}^{k}T(i,s')v(i,s)=a(n,s)−k+11​∏t=1n−1​k+t+11​∏t=1i−1​(s+t)∑s′=sk​T(i,s′), with T(i,s′)T(i,s')T(i,s′) an explicit double sum.
  2. Two forms of TTT (pp. 17–18): the double sum collapses to ∑j=1n−i−1(n−i)(n−i−1j)1j(j+1)∏ℓ≤j(k−s′+ℓ)∏t=i+1n−j−1(s′+t)\sum_{j=1}^{n-i-1}(n-i)\binom{n-i-1}{j}\frac{1}{j(j+1)}\prod_{\ell\le j}(k-s'+\ell)\prod_{t=i+1}^{n-j-1}(s'+t)∑j=1n−i−1​(n−i)(jn−i−1​)j(j+1)1​∏ℓ≤j​(k−s′+ℓ)∏t=i+1n−j−1​(s′+t).
  3. Key identity (p. 18): ∑s′=skT(i,s′)=∑j=1n−i(n−ij)1j∏ℓ=1j(k−s+ℓ)∏t=in−j−1(s+t)\sum_{s'=s}^{k}T(i,s')=\sum_{j=1}^{n-i}\binom{n-i}{j}\frac1j\prod_{\ell=1}^{j}(k-s+\ell)\prod_{t=i}^{n-j-1}(s+t)∑s′=sk​T(i,s′)=∑j=1n−i​(jn−i​)j1​∏ℓ=1j​(k−s+ℓ)∏t=in−j−1​(s+t).
  4. Base case s=ks=ks=k (p. 18) and 5. inductive step s+1→ss+1\to ss+1→s (Appendix B, pp. 26–28) of the key identity.
  5. Un-clipped closed form (pp. 17–19): v(i,s)v(i,s)v(i,s) equals the expression inside the max, for all 1≤i≤n1\le i\le n1≤i≤n.

Significance

Theorem 16 of the paper shows that the greedy dual solution is optimal and that the optimal policy for secretaries with samples is a threshold policy in the signal: accept a best-so-far candidate in round iii iff its signal is large enough. Theorem 17 makes this solution explicit, so the optimal thresholds can be read off from the sign of a closed-form expression rather than computed by running the backward recursion, and it is the discrete precursor of the paper's Corollary 18, which recovers the Gilbert–Mosteller full-information thresholds in the limit k→∞k\to\inftyk→∞.

The identities are proved in the paper by explicit manipulation of finite sums and products of binomials. No machine-checked version exists. A formal proof checks the long index computations of the proof and of Appendix B, and closes a gap: the paper proves the identity for the un-clipped recursion only ("for the proof we can ignore the max⁡{0,⋅}\max\{0,\cdot\}max{0,⋅}") and does not argue why the clipped greedy solution has the same form. The goal as stated here, with the maximum, is the statement the paper asserts.

Difficulty

The identities are rational-function identities in sss, kkk and the round indices, with sums whose ranges depend on the summation variables and products whose ranges may be empty. The natural first idea, induction on n−in-in−i directly on the formula, requires the key identity for ∑s′=skT(i,s′)\sum_{s'=s}^{k}T(i,s')∑s′=sk​T(i,s′), a double sum over s′s's′ and jjj of products of rising factorials; the paper handles it by a second backward induction over sss, and both the base case and the step re-index sums with shifted bounds and boundary terms such as (n−i−1)!(n-i-1)!(n−i−1)! and 1n−i∏ℓ=1n−i(k−s+ℓ)\frac{1}{n-i}\prod_{\ell=1}^{n-i}(k-s+\ell)n−i1​∏ℓ=1n−i​(k−s+ℓ).

The passage from the un-clipped to the clipped recursion is a separate difficulty: once u(j,s′)u(j,s')u(j,s′) is clipped to 000 at a later round, the sums used at earlier rounds differ from those of the un-clipped recursion, and the closed form survives only because the clipped entries do not affect the relevant sums. That argument is not in the paper.

Formalization scope

  • Rounds are natural numbers 1≤i≤n1\le i\le n1≤i≤n (1-based, as printed); signals are Fin (k + 1) in the recursion and naturals s≤ks\le ks≤k in the formulas. All arithmetic is in R\mathbb RR; naturals are cast before k−sk-sk−s, and the natural differences n−in-in−i, n−i−jn-i-jn−i−j, n−j−1n-j-1n−j−1 appear only where the ranges keep them non-truncated.
  • Products and sums are over Finset.Icc a b, empty when b<ab<ab<a, matching the paper's convention.
  • The recursion is defined by well-founded recursion on n−in-in−i and sums over all later rounds j∈{i+1,…,n}j\in\{i+1,\dots,n\}j∈{i+1,…,n} and all signals; c=0c=0c=0 for s′<ss'<ss′<s encodes the paper's ∑s′≥s\sum_{s'\ge s}∑s′≥s​.
  • The goal keeps the max⁡{0,⋅}\max\{0,\cdot\}max{0,⋅}. Stating instead the identity for the un-clipped recursion would be a different (weaker-content) theorem; it is milestone 6.
  • No probability model appears: the coefficients are taken as given by their formulas on p. 15. Their probabilistic derivation, the optimality of the greedy solution (Theorem 16), the running time of the LP algorithm, the "natural interpretation" paragraph, Corollary 18 and the plots are out of scope.
  • The generic recursion greedyDual is reusable for any instance of the paper's factor-revealing LP (the binary-classifier model of §6 included). General lemmas about sums of rising factorials (ascPochhammer) and binomial re-indexing developed for the milestones are welcome contributions.

Selected references

  • P. Dütting, S. Lattanzi, R. Paes Leme, S. Vassilvitskii, Secretaries with Advice, arXiv:2011.06726v1, 2020; Mathematics of Operations Research, 2024. https://arxiv.org/abs/2011.06726
  • J. P. Gilbert, F. Mosteller, Recognizing the Maximum of a Sequence, Journal of the American Statistical Association 61(313), 1966. https://doi.org/10.1080/01621459.1966.10502008
  • T. S. Ferguson, Who Solved the Secretary Problem?, Statistical Science 4(3), 1989. https://doi.org/10.1214/ss/1177012493
10 thms2 active usersReviewed
🏆Completed
Algorithmic Game TheoryEconomicsProbability·Captain: mikedeng1

Endogenous Risk Exposure and Systemic Instability I: Banks' Risk-Exposure Choices Are Strategic Complements in Every Financial NetworkResearch Paper

Motivation

Banks lend to each other. When one bank's investments fail, it may be unable to repay its interbank debt, and its creditors then receive less. Since Eisenberg and Noe (2001), the standard way to compute who pays whom after such losses has been a clearing vector: a fixed point of a system in which every bank pays the smaller of what it owes and what it has. Much of the later literature on systemic risk takes the banks' assets as given and asks how losses spread through this fixed point, for example Acemoglu, Ozdaglar and Tahbaz-Salehi (2015).

Chong Shu's paper Endogenous Risk Exposure and Systemic Instability (Management Science, doi:10.1287/mnsc.2022.01519) reverses the question: when banks know they are connected, how much risk do they choose? A successful bank pays its interbank debt in full while its failed counterparties do not, so success is partly taxed by the network. This cross-subsidy shrinks the reward for choosing a safe project. The paper's first main result, Proposition 1, says that in every network the banks' risk choices are strategic complements: when one bank takes more risk, every other bank wants to take more risk too. This mission formalizes Proposition 1.

Setting

A finite set of banks is given. For banks i,ji,ji,j, dˉij≥0\bar d_{ij}\ge 0dˉij​≥0 is the face value of the debt that bank jjj owes bank iii. Bank jjj's total interbank liability is dˉj=∑idˉij\bar d_j=\sum_i\bar d_{ij}dˉj​=∑i​dˉij​, assumed positive, and θij=dˉij/dˉj\theta_{ij}=\bar d_{ij}/\bar d_jθij​=dˉij​/dˉj​ is bank iii's share of it. Bank iii also owes a deposit vi>0v_i>0vi​>0, which must be paid before its interbank debt.

Every bank iii picks a project ZiZ_iZi​ from an interval [Z‾,Z‾][\underline Z,\overline Z][Z​,Z]. The project pays ZiZ_iZi​ with probability P(Zi)P(Z_i)P(Zi​) and 000 otherwise, independently across banks. Assumption 1: P(z)∈(0,1)P(z)\in(0,1)P(z)∈(0,1), PPP is decreasing, and P(z) zP(z)\,zP(z)z is concave. A standing assumption rules out systemic default: Z‾≥vi+dˉi\underline Z\ge v_i+\bar d_iZ​≥vi​+dˉi​ for every iii, so a bank whose project succeeds can always pay in full.

A state ω∈{s,f}N\omega\in\{s,f\}^Nω∈{s,f}N records which projects succeeded; bank iii's cash flow is ei=Zie_i=Z_iei​=Zi​ if ωi=s\omega_i=sωi​=s and 000 otherwise. A payment equilibrium d∗(ω;Z)d^*(\omega;Z)d∗(ω;Z) solves

di∗={min⁡[∑jθijdj∗+ei−vi, dˉi]}+for all i.d_i^*=\Big\{\min\Big[\sum_j\theta_{ij}d_j^*+e_i-v_i,\ \bar d_i\Big]\Big\}^+\quad\text{for all } i .di∗​={min[j∑​θij​dj∗​+ei​−vi​, dˉi​]}+for all i.

Bank iii's profit is Πi=(∑jθijdj∗+ei−vi−di∗)+\Pi_i=(\sum_j\theta_{ij}d_j^*+e_i-v_i-d_i^*)^+Πi​=(∑j​θij​dj∗​+ei​−vi​−di∗​)+, and its expected profit E[Πi(ω;Z)]\mathbb E[\Pi_i(\omega;Z)]E[Πi​(ω;Z)] is the sum over states weighted by Pr⁡(ω)=∏jPr⁡(ωj)\Pr(\omega)=\prod_j\Pr(\omega_j)Pr(ω)=∏j​Pr(ωj​). The best-response set Z^i(Z−i)\hat Z_i(Z_{-i})Z^i​(Z−i​) is the set of maximizers of E[Πi]\mathbb E[\Pi_i]E[Πi​] over Zi∈[Z‾,Z‾]Z_i\in[\underline Z,\overline Z]Zi​∈[Z​,Z], with the other banks' choices Z−iZ_{-i}Z−i​ held fixed. The cross-subsidy is

Di(Z−i)=∑ω−i(dˉi−∑jθijdj∗(ωi=s))Pr⁡(ω−i),\mathcal D_i(Z_{-i})=\sum_{\omega_{-i}}\Big(\bar d_i-\sum_j\theta_{ij}d^*_j(\omega^{i=s})\Big)\Pr(\omega_{-i}),Di​(Z−i​)=ω−i​∑​(dˉi​−j∑​θij​dj∗​(ωi=s))Pr(ω−i​),

bank iii's expected net payment to the network when its own project succeeds.

Formalization targets

Goal: Proposition 1 (p. 10)

For banks i≠mi\ne mi=m, profiles Z∈[Z‾,Z‾]NZ\in[\underline Z,\overline Z]^NZ∈[Z​,Z]N, and Z′Z'Z′ equal to ZZZ except that Zm≤Zm′Z_m\le Z'_mZm​≤Zm′​:

z^∈Z^i(Z−i), z^′∈Z^i(Z−i′) ⟹ max⁡(z^,z^′)∈Z^i(Z−i′)  and  min⁡(z^,z^′)∈Z^i(Z−i).\hat z\in\hat Z_i(Z_{-i}),\ \hat z'\in\hat Z_i(Z'_{-i})\ \Longrightarrow\ \max(\hat z,\hat z')\in\hat Z_i(Z'_{-i})\ \text{ and }\ \min(\hat z,\hat z')\in\hat Z_i(Z_{-i}).z^∈Z^i​(Z−i​), z^′∈Z^i​(Z−i′​) ⟹ max(z^,z^′)∈Z^i​(Z−i′​)  and  min(z^,z^′)∈Z^i​(Z−i​).

This is the strong-set-order form of "Z^i\hat Z_iZ^i​ is nondecreasing in ZmZ_mZm​". It does not require the network to be regular or path-connected.

Milestones, in the order of the paper's proof

  1. Lemma 2 (p. 8): d∗(ω;Z)d^*(\omega;Z)d∗(ω;Z) does not depend on ZZZ.
  2. Auxiliary Lemma (IA p. 7): d∗(ωj=f)≤d∗(ωj=s)d^*(\omega^{j=f})\le d^*(\omega^{j=s})d∗(ωj=f)≤d∗(ωj=s) componentwise.
  3. (7) (p. 9): E[Πi]=P(Zi)(Zi−vi)−P(Zi)Di(Z−i)+(1−P(Zi))⋅(expected payoff after failure)\mathbb E[\Pi_i]=P(Z_i)(Z_i-v_i)-P(Z_i)\mathcal D_i(Z_{-i})+(1-P(Z_i))\cdot(\text{expected payoff after failure})E[Πi​]=P(Zi​)(Zi​−vi​)−P(Zi​)Di​(Z−i​)+(1−P(Zi​))⋅(expected payoff after failure).
  4. (I.4) (IA p. 8): Di(Z−i)≤Di(Z−i′)\mathcal D_i(Z_{-i})\le\mathcal D_i(Z'_{-i})Di​(Z−i​)≤Di​(Z−i′​).
  5. The Ω−if+\Omega^{f+}_{-i}Ω−if+​ claims (IA p. 9): a bank that survives its own failure pays dˉi\bar d_idˉi​ in full, and its own state does not change what it receives.
  6. Di∗\mathcal D^*_iDi∗​ is increasing in ZmZ_mZm​ (IA p. 10).
  7. Supermodularity (IA p. 10): E[Πi]\mathbb E[\Pi_i]E[Πi​] has increasing differences in (Zi,Zm)(Z_i,Z_m)(Zi​,Zm​).

The regular-network step (I.3) (IA p. 7), that the maximizer of P(z)(z−v)−P(z)DP(z)(z-v)-P(z)DP(z)(z−v)−P(z)D is increasing in DDD, is also posed, as a theorem outside the milestone list.

Significance

Proposition 1 makes the risk-taking game supermodular. That property is what the rest of the paper relies on. It gives existence of equilibrium (Proposition 2) through Tarski's fixed-point theorem, it identifies least and greatest equilibria, and it lets the later comparative statics compare networks: complete against ring, size, central clearing, bailouts. Each of these results argues "the cross-subsidy rises, so equilibrium risk rises", and that step is Proposition 1 applied through Topkis's monotonicity theorem.

On the formal side, no clearing model is currently on the platform. This mission supplies one: the Eisenberg–Noe clearing system with a stochastic state, the greatest clearing vector, expected profits, and best responses. It also checks the paper's proof in the non-regular case. That proof splits on the states in which a bank survives its own failure, and one inequality in it is asserted without proof. The result is proved on paper; none of it has been machine-checked.

Difficulty

In a regular network a failed bank always defaults, and the argument reduces to two monotonicity facts: (I.3) and (I.4). In a non-regular network a failed bank can still earn a profit when enough of its debtors succeed. A riskier counterparty then has two opposite effects. It raises the cross-subsidy, which pushes toward risk, and it lowers the chance of being bailed out after one's own failure, which pushes away from risk. The proof must show that the first effect dominates in every network. It does so by partitioning the states according to whether bank iii survives its own failure, Ω−if+\Omega^{f+}_{-i}Ω−if+​, and by showing that the states in that set contribute nothing to the cross-partial. This requires the clearing vector to be monotone in every bank's success and stable when a surviving bank's own state flips. It also needs an inequality, vi+dˉi≥∑jθijdj∗(ωm=f,i=s)v_i+\bar d_i\ge\sum_j\theta_{ij}d^*_j(\omega^{m=f,i=s})vi​+dˉi​≥∑j​θij​dj∗​(ωm=f,i=s) whenever ω−im=f∉Ω−if+\omega^{m=f}_{-i}\notin\Omega^{f+}_{-i}ω−im=f​∈/Ω−if+​, which the paper asserts without proof.

The naive route is to differentiate the first-order condition, as the paper does in (I.3). That route is not available: Assumption 1 gives neither differentiability of PPP nor a unique maximizer.

Formalization scope

Banks form a finite type, and states are Boolean vectors (true = success). All probabilities are finite products and all expectations are finite sums: no measure theory is involved. Sums over ω−i\omega_{-i}ω−i​ are written as sums over full states with ωi\omega_iωi​ fixed, weighted by the product over j≠ij\ne ij=i.

Conventions the Lean statements commit to:

  • dˉij≥0\bar d_{ij}\ge0dˉij​≥0 rather than the page's dˉij>0\bar d_{ij}>0dˉij​>0. This is the reading forced by the paper's own ring network (Definition 3), and every total dˉj>0\bar d_j>0dˉj​>0 is assumed. Self-loops are allowed.
  • d∗d^*d∗ is the greatest solution of the clearing system, the componentwise supremum of all solutions in [0,dˉ][0,\bar d][0,dˉ]. Lemma 1 asserts only generic uniqueness, so a selection is required. The greatest solution is the one Eisenberg–Noe's algorithm returns, and it equals the solution whenever that is unique.
  • "Decreasing" in Assumption 1 is read weakly (AntitoneOn), which is the more general hypothesis.
  • Every bank's choice, including the varied Zm′Z'_mZm′​, lies in [Z‾,Z‾][\underline Z,\overline Z][Z​,Z], and the no-default assumption Z‾≥vi+dˉi\underline Z\ge v_i+\bar d_iZ​≥vi​+dˉi​ is an explicit hypothesis. Without either, Lemma 2 fails.
  • Derivative statements are replaced by order-theoretic ones: the strong set order for dZ^i/dZm≥0d\hat Z_i/dZ_m\ge0dZ^i​/dZm​≥0 and for (I.3), increasing differences for the cross-partial. Strict ">0>0>0" claims become weak, because they are false when banks iii and mmm are not path-connected.

The goal is vacuous when a best-response set is empty. This is faithful, since Z^i\hat Z_iZ^i​ presupposes a maximizer, and best responses exist whenever PPP is continuous. A formalization that takes d∗d^*d∗ as an arbitrary solution under a uniqueness hypothesis, or as an sSup that could be junk, would trivialize the mission. The definition used here is shown, in a sorry-free check, to solve the clearing system.

Not posed: Lemma 1 (cited from Eisenberg–Noe), Proposition 2 and Corollary 1 (consequences of Proposition 1), and the later comparative statics (Propositions 3–9). Proposition 4, the comparison of complete and ring networks, is a separate mission of this series. Reusable contributions are welcome: monotonicity of greatest fixed points in a parameter, and a general Topkis-style argmax monotonicity on chains.

Selected references

  • Chong Shu, Endogenous Risk Exposure and Systemic Instability, Management Science (accepted manuscript, 17 Sep 2024). https://doi.org/10.1287/mnsc.2022.01519
  • Larry Eisenberg and Thomas H. Noe, Systemic Risk in Financial Systems, Management Science 47(2), 2001. https://doi.org/10.1287/mnsc.47.2.236.9835
  • Daron Acemoglu, Asuman Ozdaglar and Alireza Tahbaz-Salehi, Systemic Risk and Stability in Financial Networks, American Economic Review 105(2), 2015. https://doi.org/10.1257/aer.20130456
  • Paul Milgrom and John Roberts, Rationalizability, Learning, and Equilibrium in Games with Strategic Complementarities, Econometrica 58(6), 1990. https://doi.org/10.2307/2938316
  • Paul Milgrom and Chris Shannon, Monotone Comparative Statics, Econometrica 62(1), 1994. https://doi.org/10.2307/2951479
  • Donald M. Topkis, Supermodularity and Complementarity, Princeton University Press, 1998. https://doi.org/10.1515/9781400822539
9 thms2 active usersReviewed
🏆Completed
Algorithmic Game TheoryEconomics·Captain: mikedeng1

Endogenous Merger Decisions Among Competitors: Impact of Limited Capacity and Loyal Segments: The Mixed Merger Is the Equilibrium Iff α(1−2α)/(1−3α) < k < 1−2α, Else No MergerResearch Paper

Motivation

Antitrust authorities review horizontal mergers by asking whether the merged firm will raise prices. A prior question is which mergers firms will choose to form at all. When several firms can merge, the identity of the partner matters: a large firm may absorb a small rival, or two small rivals may combine to face the large one. Wang, Wu, Tang and Dai (Management Science, 2024) study this partner-selection question in a price-competition model with two frictions common in retail and service markets: limited capacity of the small firms, and loyal segments, buyers who only buy from their own firm. Their main result says exactly which merger, if any, arises in equilibrium. Every step of its proof is an explicit comparison of closed-form profits, which makes the result a natural target for complete machine verification.

Setting

Three firms AAA, BBB, CCC sell a homogeneous product at zero marginal cost. A unit mass of buyers each demand one unit and value it at the reservation price r>0r>0r>0. Each firm has α\alphaα loyal buyers, 0<α<1/30<\alpha<1/30<α<1/3; the remaining 1−3α1-3\alpha1−3α buyers are switchers who buy from the cheapest firm. Firm AAA is unconstrained; the small firms BBB and CCC each have capacity kkk, with α<k<1\alpha<k<1α<k<1. Unserved buyers are rationed at random and spill over to the next cheapest firm.

The firms may stay independent, {A,B,C}\{A,B,C\}{A,B,C}; firm AAA may merge with one small firm, the mixed merger {AB,C}\{AB,C\}{AB,C}; or the two small firms may merge, the small merger {A,BC}\{A,BC\}{A,BC}. A merged entity pools capacities and loyal buyers. In each structure the firms play a price game whose equilibrium is in mixed strategies. The paper's Table A1 lists, for each structure, the lower bound of price support L(0)L^{(0)}L(0), L(AB)L^{(AB)}L(AB), L(BC)L^{(BC)}L(BC) and the equilibrium profits ΠA(0)\Pi^{(0)}_AΠA(0)​, ΠB(0)=ΠC(0)\Pi^{(0)}_B=\Pi^{(0)}_CΠB(0)​=ΠC(0)​, Π(AB)\Pi^{(AB)}Π(AB), ΠC(AB)\Pi^{(AB)}_CΠC(AB)​, ΠA(BC)\Pi^{(BC)}_AΠA(BC)​, Π(BC)\Pi^{(BC)}Π(BC), as piecewise functions of (α,k,r)(\alpha,k,r)(α,k,r) built from

s1=(1−3α)(1−k1−2α),s2=s1(1−kα+s1),s3=(1−3α)(1−2k1−α),s_1=(1-3\alpha)\Bigl(1-\tfrac{k}{1-2\alpha}\Bigr),\quad s_2=s_1\Bigl(1-\tfrac{k}{\alpha+s_1}\Bigr),\quad s_3=(1-3\alpha)\Bigl(1-\tfrac{2k}{1-\alpha}\Bigr),s1​=(1−3α)(1−1−2αk​),s2​=s1​(1−α+s1​k​),s3​=(1−3α)(1−1−α2k​),

the numbers of spilled-over switchers. In the small merger each small firm receives half: ΠB(BC)=ΠC(BC)=Π(BC)/2\Pi^{(BC)}_B=\Pi^{(BC)}_C=\Pi^{(BC)}/2ΠB(BC)​=ΠC(BC)​=Π(BC)/2.

A structure is an equilibrium structure when no firm or coalition gains by deviating. For {AB,C}\{AB,C\}{AB,C} this is

(1a) Π(AB)>ΠA(0)+ΠB(0),(1b) Π(AB)>ΠA(BC)+ΠB(BC)  or  ΠC(AB)≥ΠC(BC);\text{(1a) } \Pi^{(AB)}>\Pi^{(0)}_A+\Pi^{(0)}_B,\qquad \text{(1b) } \Pi^{(AB)}>\Pi^{(BC)}_A+\Pi^{(BC)}_B\ \text{ or }\ \Pi^{(AB)}_C\ge\Pi^{(BC)}_C ;(1a) Π(AB)>ΠA(0)​+ΠB(0)​,(1b) Π(AB)>ΠA(BC)​+ΠB(BC)​  or  ΠC(AB)​≥ΠC(BC)​;

for {A,BC}\{A,BC\}{A,BC} it is

(2a) ΠC(BC)>ΠC(0),(2b) ΠA(BC)+ΠB(BC)≥Π(AB);\text{(2a) } \Pi^{(BC)}_C>\Pi^{(0)}_C,\qquad \text{(2b) } \Pi^{(BC)}_A+\Pi^{(BC)}_B\ge\Pi^{(AB)} ;(2a) ΠC(BC)​>ΠC(0)​,(2b) ΠA(BC)​+ΠB(BC)​≥Π(AB);

and the status quo {A,B,C}\{A,B,C\}{A,B,C} is the equilibrium structure when neither condition (1) nor condition (2) holds.

Formalization targets

Goal: Proposition 3

With k∗=α(1−2α)/(1−3α)k^*=\alpha(1-2\alpha)/(1-3\alpha)k∗=α(1−2α)/(1−3α),

{S:S is an equilibrium structure}={{{AB,C}}if k∗<k<1−2α,{{A,B,C}}otherwise.\{S : S\text{ is an equilibrium structure}\}= \begin{cases} \{\{AB,C\}\} & \text{if } k^*<k<1-2\alpha,\\ \{\{A,B,C\}\} & \text{otherwise.} \end{cases}{S:S is an equilibrium structure}={{{AB,C}}{{A,B,C}}​if k∗<k<1−2α,otherwise.​

The statement is an exact characterization: in the interval the mixed merger is an equilibrium structure and the small merger is not; outside it neither merger is.

Milestones

  1. Lemmas 3–5: on the regions Ω1,2(0)\Omega^{(0)}_{1,2}Ω1,2(0)​, Ω1,2,3(BC)\Omega^{(BC)}_{1,2,3}Ω1,2,3(BC)​, Ω1,2(AB)\Omega^{(AB)}_{1,2}Ω1,2(AB)​ of the (α,k)(\alpha,k)(α,k) plane, each Table A1 maximum equals one explicit branch.
  2. Proposition 1: for k≥1−2αk\ge 1-2\alphak≥1−2α the independent structure is the unique equilibrium structure.
  3. Proposition 2 and the inequality s2<s3s_2<s_3s2​<s3​ from its proof: L(AB)≥L(BC)≥L(0)L^{(AB)}\ge L^{(BC)}\ge L^{(0)}L(AB)≥L(BC)≥L(0).
  4. The comparisons in the proof of Proposition 3: the Σ\SigmaΣ inequality, the threshold k∗k^*k∗ for (1a), the joint profit of AAA and BBB under {A,B,C}\{A,B,C\}{A,B,C}, {A,BC}\{A,BC\}{A,BC} and {AB,C}\{AB,C\}{AB,C}, and firm CCC's three pairwise profit comparisons.

Significance

The result separates the two forces of the model. Loyal buyers make a merged entity less aggressive in price, which is why no merger is profitable when capacity is ample. Limited capacity creates spillover demand, which a large firm captures by merging with a small rival but which two small firms do not capture by merging with each other. Proposition 3 says the second force wins exactly on (k∗,1−2α)(k^*,1-2\alpha)(k∗,1−2α) and that the small merger never forms. This answers one of the paper's opening questions, whether two capacity-constrained small firms merge to compete with a large one: in this model they do not.

The paper proves the result by hand, over eight regions of the parameter plane (its Figure A1). The comparisons involve rational functions whose denominators are positive only under the region's constraints, and threshold curves with square roots. A machine-checked proof certifies the region bookkeeping. No formalization of this result exists.

Difficulty

Each single comparison is elementary algebra; the difficulty is the case structure. Table A1 has four rows in kkk whose boundaries ((1−2α)2/(2−5α)(1-2\alpha)^2/(2-5\alpha)(1−2α)2/(2−5α), (1−α)/2(1-\alpha)/2(1−α)/2, 1−2α1-2\alpha1−2α) differ per column, and three of its cells are maxima whose active branch changes along the curves k1,2(0)k^{(0)}_{1,2}k1,2(0)​, k1,2(BC)k^{(BC)}_{1,2}k1,2(BC)​, k1(AB)k^{(AB)}_1k1(AB)​. Root-location facts such as α<k1(0)\alpha<k^{(0)}_1α<k1(0)​ and k2(BC)<(1−2α)2/(2−5α)k^{(BC)}_2<(1-2\alpha)^2/(2-5\alpha)k2(BC)​<(1−2α)2/(2−5α) are needed to know which row a region lies in. One inclusion the proof uses is only shown in the paper's figure: on Ω1(BC)\Omega^{(BC)}_1Ω1(BC)​, where condition (2a) holds, one needs k>k∗k>k^*k>k∗ in order to conclude that (2b) fails. At the region boundaries k=(1−α)/2k=(1-\alpha)/2k=(1−α)/2 and k=k1(AB)k=k^{(AB)}_1k=k1(AB)​ several of the proof's strict inequalities are equalities.

Formalization scope

Everything is stated over the reals in the namespace EndogMerger.SymLoyal. All definitions take explicit parameters (α k r : ℝ). The standing assumptions 0<α<1/30<\alpha<1/30<α<1/3, α<k\alpha<kα<k, r>0r>0r>0, and k<1k<1k<1 or k<1−2αk<1-2\alphak<1−2α as each statement requires, are hypotheses of each theorem. Relative to the paper, 0<α0<\alpha0<α replaces 0≤α0\le\alpha0≤α (every region of the analysis has α>0\alpha>0α>0), and r>0r>0r>0 is made explicit. Firm AAA's capacity kA≥1−2αk_A\ge 1-2\alphakA​≥1−2α does not enter Table A1 and is not modelled. The split of Π(AB)\Pi^{(AB)}Π(AB) between AAA and BBB is left unspecified, as in the paper.

Table A1 is the definition. The profits and lower bounds are defined by Table A1's piecewise expressions, row by row, with max where the table has a maximum. The paper's derivation of these values as equilibrium outcomes of a mixed-strategy price game with random rationing is not formalized; Section 6 of the paper itself obtains Proposition 3 from the Table A1 profits. The paper's PDF page numbers are cited throughout; the appendix restarts its printed numbering, so printed page numbers are not used.

Three trivializing formalizations are ruled out. The profits are not defined by the closed forms of Lemmas 3–5, which would make those lemmas definitional. The equilibrium predicate for {A,B,C}\{A,B,C\}{A,B,C} requires that neither condition (1) nor condition (2) holds, so the goal includes the claim that the small merger is never an equilibrium. The thresholds α1(0)\alpha^{(0)}_1α1(0)​ and α1(BC)\alpha^{(BC)}_1α1(BC)​ are not defined by the paper's equation k1(α1)=k2(α1)k_1(\alpha_1)=k_2(\alpha_1)k1​(α1​)=k2​(α1​), which Real.sqrt satisfies for every α\alphaα with a negative radicand. Instead α1(BC)=(11−17)/52\alpha^{(BC)}_1=(11-\sqrt{17})/52α1(BC)​=(11−17​)/52, and α1(0)\alpha^{(0)}_1α1(0)​ is a parameter pinned as the root in (0,1/3)(0,1/3)(0,1/3) of −43α3+43α2−13α+1-43\alpha^3+43\alpha^2-13\alpha+1−43α3+43α2−13α+1.

Where the paper's proof claims a strict inequality on a closed region whose boundary gives equality, the milestone states it on the open region, and its Formalization Note says so.

No library beyond Mathlib's real arithmetic and Real.sqrt is needed. Lemmas about the threshold curves, for example that k1(AB)(α)k^{(AB)}_1(\alpha)k1(AB)​(α) lies in (α,(1−α)/2)(\alpha,(1-\alpha)/2)(α,(1−α)/2), are reusable across milestones. Contributions of intermediate lemmas, including the region inclusion Ω1(BC)⊆{k>k∗}\Omega^{(BC)}_1\subseteq\{k>k^*\}Ω1(BC)​⊆{k>k∗}, are welcome.

Selected references

  • D. Wang, X. Wu, C. S. Tang, Y. Dai, Endogenous Merger Decisions Among Competitors: Impact of Limited Capacity and Loyal Segments, Management Science, 2024. https://doi.org/10.1287/mnsc.2022.01943
  • H. R. Varian, A Model of Sales, American Economic Review 70(4), 1980. https://www.jstor.org/stable/1803558
  • S. W. Salant, S. Switzer, R. J. Reynolds, Losses from Horizontal Merger: The Effects of an Exogenous Change in Industry Structure on Cournot–Nash Equilibrium, Quarterly Journal of Economics 98(2), 1983. https://doi.org/10.2307/1885626
16 thms2 active usersReviewed
🏆Completed
Optimal TransportOptimization·Captain: mikedeng1

Robustifying Conditional Portfolio Decisions via Optimal Transport 1: With a Singleton Fiber and Only Positive Fiber Mass Required, the Worst-Case Conditional Expected Loss Collapses to sup_y ℓ(y)Research Paper

Conditioning on a covariate under distributional ambiguity

A portfolio manager who observes side information (a covariate XXX, such as a market indicator) before choosing a portfolio wants to control the loss of the asset returns YYY conditional on the observed covariate value x0x_0x0​. The conditional law of YYY given X=x0X=x_0X=x0​ is unknown and must be learned from NNN historical pairs (x^i,y^i)(\widehat x_i,\widehat y_i)(xi​,y​i​). When x0x_0x0​ itself was never observed, the empirical conditional law is undefined, and kernel or nearest-neighbour estimates are fragile. Nguyen, Zhang, Wang, Blanchet, Delage and Ye (arXiv:2103.16451v3, Operations Research, 2025) robustify the conditional decision with an optimal transport ambiguity set: the decision maker hedges against every joint law Q\mathbb QQ of (X,Y)(X,Y)(X,Y) within transport distance ρ\rhoρ of the empirical law. The resulting objective is a ratio of two linear functionals of Q\mathbb QQ, so the standard Wasserstein distributionally robust duality (Blanchet and Murthy, 2019; Gao and Kleywegt, 2023) does not apply directly.

The paper settles every regime of the three parameters (ball radius ρ\rhoρ, fiber radius γ\gammaγ, minimum fiber mass ε\varepsilonε). This mission formalizes the simplest regime, γ=ε=0\gamma=\varepsilon=0γ=ε=0, where the answer is negative: the worst case does not depend on the data at all.

Setting

The covariate space X\mathcal XX and the return space Y\mathcal YY are Polish spaces with their Borel σ\sigmaσ-algebras. Two ground costs DX\mathbb D_{\mathcal X}DX​ and DY\mathbb D_{\mathcal Y}DY​ combine into the separable cost D((x,y),(x′,y′))=DX(x,x′)+DY(y,y′)\mathbb D((x,y),(x',y'))=\mathbb D_{\mathcal X}(x,x')+\mathbb D_{\mathcal Y}(y,y')D((x,y),(x′,y′))=DX​(x,x′)+DY​(y,y′). The data define the empirical measure P^=1N∑i∈[N]δ(x^i,y^i)\widehat{\mathbb P}=\frac1N\sum_{i\in[N]}\delta_{(\widehat x_i,\widehat y_i)}P=N1​∑i∈[N]​δ(xi​,y​i​)​.

The optimal transport cost between two probability measures Q1,Q2\mathbb Q_1,\mathbb Q_2Q1​,Q2​ on X×Y\mathcal X\times\mathcal YX×Y is

W(Q1,Q2)=inf⁡{Eπ[D(ξ1,ξ2)]:π∈Π(Q1,Q2)},W(\mathbb Q_1,\mathbb Q_2)=\inf\{\mathbb E_\pi[\mathbb D(\xi_1,\xi_2)]:\pi\in\Pi(\mathbb Q_1,\mathbb Q_2)\},W(Q1​,Q2​)=inf{Eπ​[D(ξ1​,ξ2​)]:π∈Π(Q1​,Q2​)},

the infimum over couplings π\piπ with marginals Q1\mathbb Q_1Q1​ and Q2\mathbb Q_2Q2​. The ambiguity set is the ball Bρ={Q:W(Q,P^)≤ρ}\mathbb B_\rho=\{\mathbb Q:W(\mathbb Q,\widehat{\mathbb P})\le\rho\}Bρ​={Q:W(Q,P)≤ρ}.

Given a covariate value x0x_0x0​ and a radius γ≥0\gamma\ge0γ≥0, the neighbourhood is Nγ(x0)={x:DX(x,x0)≤γ}\mathcal N_\gamma(x_0)=\{x:\mathbb D_{\mathcal X}(x,x_0)\le\gamma\}Nγ​(x0​)={x:DX​(x,x0​)≤γ}, and Nγ(x0)×Y\mathcal N_\gamma(x_0)\times\mathcal YNγ​(x0​)×Y is the fiber set. For a loss ℓ(y)=ℓ(y,α,β)\ell(y)=\ell(y,\alpha,\beta)ℓ(y)=ℓ(y,α,β) at a fixed decision (α,β)(\alpha,\beta)(α,β) and a law Q\mathbb QQ with positive fiber mass, the conditional expected loss is

EQ[ℓ(Y)∣X∈Nγ(x0)]=EQ[ℓ(Y)1Nγ(x0)(X)]Q(X∈Nγ(x0)).\mathbb E_{\mathbb Q}[\ell(Y)\mid X\in\mathcal N_\gamma(x_0)]=\frac{\mathbb E_{\mathbb Q}[\ell(Y)\mathbb 1_{\mathcal N_\gamma(x_0)}(X)]}{\mathbb Q(X\in\mathcal N_\gamma(x_0))}.EQ​[ℓ(Y)∣X∈Nγ​(x0​)]=Q(X∈Nγ​(x0​))EQ​[ℓ(Y)1Nγ​(x0​)​(X)]​.

The paper's standing Assumption 2.4 requires: (i) DX\mathbb D_{\mathcal X}DX​ and DY\mathbb D_{\mathcal Y}DY​ are symmetric, non-negative and continuous, and D\mathbb DD vanishes exactly on the diagonal; (ii) every x^i\widehat x_ixi​ has a unique projection onto Nγ(x0)\mathcal N_\gamma(x_0)Nγ​(x0​); (iii) every boundary point of Nγ(x0)\mathcal N_\gamma(x_0)Nγ​(x0​) has points outside Nγ(x0)\mathcal N_\gamma(x_0)Nγ​(x0​) at arbitrarily small cost.

With γ=0\gamma=0γ=0 the fiber is {x0}×Y\{x_0\}\times\mathcal Y{x0​}×Y. With ε=0\varepsilon=0ε=0 the fiber-mass constraint is taken as the strict inequality Q(X=x0)>0\mathbb Q(X=x_0)>0Q(X=x0​)>0, so that the conditioning event is never null.

Formalization targets

Goal: Proposition 3.1 (p. 14)

For every x0∈Xx_0\in\mathcal Xx0​∈X, every ρ>0\rho>0ρ>0 and every loss ℓ:Y→R\ell:\mathcal Y\to\mathbb Rℓ:Y→R,

sup⁡Q∈Bρ, Q(X=x0)>0EQ[ℓ(Y)∣X=x0]=sup⁡y∈Yℓ(y),\sup_{\mathbb Q\in\mathbb B_\rho,\ \mathbb Q(X=x_0)>0}\mathbb E_{\mathbb Q}[\ell(Y)\mid X=x_0]=\sup_{y\in\mathcal Y}\ell(y),Q∈Bρ​, Q(X=x0​)>0sup​EQ​[ℓ(Y)∣X=x0​]=y∈Ysup​ℓ(y),

both sides in [−∞,+∞][-\infty,+\infty][−∞,+∞].

Milestones (in the order of the proof, pp. 40–41)

  1. Representation of the ball (p. 40, the same set as display (24), p. 47): Q∈Bρ\mathbb Q\in\mathbb B_\rhoQ∈Bρ​ if and only if Q=1N∑iπi\mathbb Q=\frac1N\sum_i\pi_iQ=N1​∑i​πi​ for probability measures πi\pi_iπi​ with 1N∑iEπi[D(⋅,(x^i,y^i))]≤ρ\frac1N\sum_i\mathbb E_{\pi_i}[\mathbb D(\cdot,(\widehat x_i,\widehat y_i))]\le\rhoN1​∑i​Eπi​​[D(⋅,(xi​,y​i​))]≤ρ.
  2. Lower bound (pp. 40–41): for every y0∈Yy_0\in\mathcal Yy0​∈Y some Q′∈Bρ\mathbb Q'\in\mathbb B_\rhoQ′∈Bρ​ has Q′(X=x0)>0\mathbb Q'(X=x_0)>0Q′(X=x0​)>0 and EQ′[ℓ(Y)∣X=x0]=ℓ(y0)\mathbb E_{\mathbb Q'}[\ell(Y)\mid X=x_0]=\ell(y_0)EQ′​[ℓ(Y)∣X=x0​]=ℓ(y0​).
  3. Upper bound (p. 41): EQ[ℓ(Y)∣(X,Y)∈S]≤sup⁡yℓ(y)\mathbb E_{\mathbb Q}[\ell(Y)\mid (X,Y)\in S]\le\sup_y\ell(y)EQ​[ℓ(Y)∣(X,Y)∈S]≤supy​ℓ(y) whenever Q(S)>0\mathbb Q(S)>0Q(S)>0.

Significance

The proposition shows that conditioning on a single covariate value with an optimal transport ball is uninformative: the worst-case conditional loss equals the robust optimization value sup⁡y∈Yℓ(y,α,β)\sup_{y\in\mathcal Y}\ell(y,\alpha,\beta)supy∈Y​ℓ(y,α,β) for every data set. This is what motivates the rest of the paper: either a minimum fiber mass ε>0\varepsilon>0ε>0 (Theorem 3.2) or a fiber of positive radius γ>0\gamma>0γ>0 (Section 4) is needed for the data to matter. The paper contrasts this with the type-∞\infty∞ Wasserstein ball, for which it points to existing results to compute the worst case.

For the platform, the mission sets up the shared model of the series: the separable ground cost, the empirical measure, the fiber, the conditional expectation as an extended-real ratio, and the paper's Assumption 2.4. The ball representation (milestone 1) is used by every other mission of the series; it rests on the existence of optimal couplings on Polish spaces, which Mathlib does not yet have. The result is proved in the paper; no machine-checked proof is known to exist.

Difficulty

The statement is an equality of two suprema over very different index sets, and neither inequality reduces to the other. The natural first idea, that the worst case is attained by a small perturbation of the empirical measure, fails: the empirical measure may put no mass on the fiber {x0}×Y\{x_0\}\times\mathcal Y{x0​}×Y, or put its mass there at returns far from where ℓ\ellℓ is large, and the value must be reached for every data set. Points of the data sitting exactly at x0x_0x0​ are the delicate case, since the transport budget charges for every displacement of mass. The ball representation (milestone 1) is the hard infrastructure step in its "only if" direction: it needs an optimal coupling, i.e. attainment of the transport infimum on Polish spaces, which is absent from Mathlib.

Formalization scope

Samples are indexed by Fin N with N≥1N\ge1N≥1. The ground cost is max⁡(DX+DY,0)\max(\mathbb D_{\mathcal X}+\mathbb D_{\mathcal Y},0)max(DX​+DY​,0) as a [0,∞][0,\infty][0,∞]-valued function. The transport cost reuses the published RWPI.SqrtLasso.transportCost, an infimum over couplings whose first marginal is Q\mathbb QQ and second marginal is P^\widehat{\mathbb P}P; the paper's "min" is not built into the definition. The radius enters as ENNReal.ofReal ρ, and the goal assumes ρ>0\rho>0ρ>0 as on the page (ρ∈R++\rho\in\mathbb R_{++}ρ∈R++​). Expectations use the published ModelRiskOT.Duality.extIntegral, ∫ℓ+−∫ℓ−\int\ell^+-\int\ell^-∫ℓ+−∫ℓ− in [−∞,+∞][-\infty,+\infty][−∞,+∞], so the loss ℓ:Y→R\ell:\mathcal Y\to\mathbb Rℓ:Y→R is arbitrary: no measurability, boundedness or integrability. The loss stands for ℓ(⋅,α,β)\ell(\cdot,\alpha,\beta)ℓ(⋅,α,β) at an arbitrary fixed decision, which is how "for any feasible (α,β)(\alpha,\beta)(α,β)" is read. The fiber at γ=0\gamma=0γ=0 is {x:DX(x,x0)≤0}×Y\{x:\mathbb D_{\mathcal X}(x,x_0)\le0\}\times\mathcal Y{x:DX​(x,x0​)≤0}×Y; that it equals {x0}×Y\{x_0\}\times\mathcal Y{x0​}×Y follows from Assumption 2.4(i). The boundary in Assumption 2.4(iii) is the topological frontier in X\mathcal XX.

One hypothesis is added to the paper and disclosed: x0x_0x0​ is not isolated for DX\mathbb D_{\mathcal X}DX​ (for every r>0r>0r>0 some x≠x0x\neq x_0x=x0​ has DX(x,x0)≤r\mathbb D_{\mathcal X}(x,x_0)\le rDX​(x,x0​)≤r). This is Assumption 2.4(iii) at γ=0\gamma=0γ=0 when the boundary of {x0}\{x_0\}{x0​} is read in an ambient Euclidean space, as the paper's remark on p. 11 does; the proof uses it, and without it the statement fails at an isolated x0x_0x0​ that is also a sample point.

Trivializing encodings are excluded: the supremum ranges only over probability measures in the ball with strictly positive fiber mass, so the conditional expectation is never evaluated at a null fiber; no Bochner integral (which is 000 for a non-integrable loss) is used; ρ<0\rho<0ρ<0 cannot enter through ofReal; and the feasible set is exactly Bρ\mathbb B_\rhoBρ​ intersected with the positive-mass constraint.

Contributions welcome: the existence of optimal couplings for lower semicontinuous costs on Polish spaces (reusable far beyond this mission), the decomposition of couplings with a finitely supported marginal, and the two halves of the goal.

Selected references

  • V. A. Nguyen, F. Zhang, S. Wang, J. Blanchet, E. Delage, Y. Ye, Robustifying conditional portfolio decisions via optimal transport, arXiv:2103.16451v3, 2024; Operations Research, 2025. https://arxiv.org/abs/2103.16451
  • C. Villani, Optimal Transport: Old and New, Grundlehren 338, Springer, 2009 (Theorem 4.1, existence of optimal couplings). https://doi.org/10.1007/978-3-540-71050-9
  • J. Blanchet, K. Murthy, Quantifying distributional model risk via optimal transport, Mathematics of Operations Research 44(2), 2019. https://doi.org/10.1287/moor.2018.0936
  • R. Gao, A. Kleywegt, Distributionally robust stochastic optimization with Wasserstein distance, Mathematics of Operations Research 48(2), 2023. https://doi.org/10.1287/moor.2022.1275
7 thms2 active usersReviewed
🏆Completed
EconomicsOptimization·Captain: mikedeng1

Capturing the Benefits of Autonomous Vehicles in Ride-Hailing: The Role of Market Configuration 3: A Monopoly AV Supplier on a Common Platform Chooses a Newsvendor-Fractile CapacityResearch Paper

Motivation

Ride-hailing platforms are expected to add autonomous vehicles (AVs) to fleets that today consist of human drivers. AVs have a cost advantage: a human driver must earn a reservation wage for every hour on the platform, while an AV owner pays a fixed capital cost per calendar hour and a smaller variable cost per operating hour. Whether that advantage reaches riders as lower prices depends on how the market is organized: who owns the AVs, and whether AVs and human drivers are dispatched on the same platform.

Z. Lian and G. van Ryzin study this question in Capturing the Benefits of Autonomous Vehicles in Ride-Hailing: The Role of Market Configuration (Management Science, 2025). This mission formalizes one of their central results: when a single AV supplier (a monopoly) shares a common platform with perfectly elastic human-driver supply, its choice of AV capacity is a newsvendor problem, and the optimal capacity is the pure human-driver fleet size of the scenario at a critical fractile of the demand distribution. The version formalized here is the authors' 2023 SSRN working paper (abstract 3716491, version of 23 August 2023); all theorem and equation numbers refer to it, not to the published article.

Setting

Vehicles and demand. Riders' values for a ride-hour are uniform on [0,V][0, V][0,V]. In a scenario with potential demand mass m>0m > 0m>0, serving the demand rate d∈[0,m]d \in [0, m]d∈[0,m] requires the price p(d)=V(1−d/m)p(d) = V(1 - d/m)p(d)=V(1−d/m), and generates the revenue r(d)=d p(d) t2r(d) = d\,p(d)\,t_2r(d)=dp(d)t2​, where t2>0t_2 > 0t2​>0 is the trip time. Pickup times depend on the number sss of open vehicles through t1(s)=as−rt_1(s) = a s^{-r}t1​(s)=as−r with a>0a > 0a>0 and 0<r<10 < r < 10<r<1. Minimizing s+d(t1(s)+t2)s + d(t_1(s) + t_2)s+d(t1​(s)+t2​) over sss gives the minimal fleet needed to serve ddd,

n‾(d)=a~ d1/(r+1)+t2d,a~=r1/(r+1)a1/(r+1)+r−r/(r+1)a1/(r+1),\underline{n}(d) = \tilde a\, d^{1/(r+1)} + t_2 d, \qquad \tilde a = r^{1/(r+1)} a^{1/(r+1)} + r^{-r/(r+1)} a^{1/(r+1)},n​(d)=a~d1/(r+1)+t2​d,a~=r1/(r+1)a1/(r+1)+r−r/(r+1)a1/(r+1),

and the maximal utilization uˉ(d)=dt2/n‾(d)\bar u(d) = d t_2/\underline{n}(d)uˉ(d)=dt2​/n​(d). The function n‾\underline{n}n​ is a strictly increasing bijection of [0,∞)[0, \infty)[0,∞); its inverse dˉ(n)\bar d(n)dˉ(n) is the largest demand that nnn vehicles can serve.

Human drivers (HVs). In this mission HV supply is perfectly elastic at reservation earnings w0w_0w0​ per hour (the paper's α=0\alpha = 0α=0). A demand rate ddd is a pure-HV equilibrium when revenue covers the minimal HV cost, r(d)=w0 n‾(d)r(d) = w_0\,\underline{n}(d)r(d)=w0​n​(d); among stable equilibria the paper selects the largest, the maximal stable equilibrium d∗d^*d∗, with fleet size nHV∗=n‾(d∗)n^*_{HV} = \underline{n}(d^*)nHV∗​=n​(d∗). The market is loose when r(m/2)>w0 n‾(m/2)r(m/2) > w_0\,\underline{n}(m/2)r(m/2)>w0​n​(m/2).

AVs. AVs cost cv>0c_v > 0cv​>0 per operating hour and cf>0c_f > 0cf​>0 per calendar hour, and cv+cf<w0c_v + c_f < w_0cv​+cf​<w0​ (Assumption 1). On a common platform, the paper shows (Proposition 6) that the variable profit per AV at fleet size nAVn_{AV}nAV​ is

πC(nAV)={w0−cv,nAV<nHV∗,p(dˉ(nAV)) uˉ(dˉ(nAV))−cv,nAV≥nHV∗.\pi^C(n_{AV}) = \begin{cases} w_0 - c_v, & n_{AV} < n^*_{HV},\\ p(\bar d(n_{AV}))\,\bar u(\bar d(n_{AV})) - c_v, & n_{AV} \ge n^*_{HV}.\end{cases}πC(nAV​)={w0​−cv​,p(dˉ(nAV​))uˉ(dˉ(nAV​))−cv​,​nAV​<nHV∗​,nAV​≥nHV∗​.​

Scenarios and the monopoly problem. Demand has III scenarios with masses m1<⋯<mIm_1 < \dots < m_Im1​<⋯<mI​ and probabilities P(mi)P(m_i)P(mi​). The monopoly chooses a capacity NNN, then a fleet nAV,i≤Nn_{AV,i} \le NnAV,i​≤N in each scenario:

max⁡N  ∑i=1IP(mi){max⁡nAV,i≤NπiC(nAV,i) nAV,i}−cfN.(5)\max_{N} \; \sum_{i=1}^{I} P(m_i)\Big\{\max_{n_{AV,i} \le N} \pi^C_i(n_{AV,i})\, n_{AV,i}\Big\} - c_f N. \tag{5}Nmax​i=1∑I​P(mi​){nAV,i​≤Nmax​πiC​(nAV,i​)nAV,i​}−cf​N.(5)

Formalization targets

Goal: Proposition 8

Let KKK be the smallest index iii with ∑j=i+1IP(mj)<cf/(w0−cv)\sum_{j=i+1}^{I} P(m_j) < c_f/(w_0 - c_v)∑j=i+1I​P(mj​)<cf​/(w0​−cv​). In a loose market,

N∗=nHV,K∗N^* = n^*_{HV,K}N∗=nHV,K∗​

is an optimal capacity for (5).

Milestones

  1. Lemma 1, Item 2. n‾\underline{n}n​ is strictly increasing and a bijection of [0,∞)[0,\infty)[0,∞), so dˉ\bar ddˉ is well defined.
  2. Lemma 4. Beyond nHV,i∗n^*_{HV,i}nHV,i∗​ the AV-only total variable profit pi(dAV)dAVt2−cvnAVp_i(d_{AV}) d_{AV} t_2 - c_v n_{AV}pi​(dAV​)dAV​t2​−cv​nAV​, with dAV=dˉ(nAV)d_{AV} = \bar d(n_{AV})dAV​=dˉ(nAV​), is strictly decreasing.
  3. Proposition 7. For a capacity N≥0N \ge 0N≥0, the unique optimal fleet in scenario iii is min⁡{N,nHV,i∗}\min\{N, n^*_{HV,i}\}min{N,nHV,i∗​}.
  4. Equation (20). For N≥0N \ge 0N≥0, the objective (5) equals (w0−cv)∑iP(mi)min⁡{N,nHV,i∗}−cfN(w_0 - c_v)\sum_i P(m_i)\min\{N, n^*_{HV,i}\} - c_f N(w0​−cv​)∑i​P(mi​)min{N,nHV,i∗​}−cf​N.
  5. Equation (268). For consecutive breakpoints, Π(nK+1)−Π(nK)=(∑i≥K+1P(mi)(w0−cv)−cf)(nK+1−nK)\Pi(n_{K+1}) - \Pi(n_K) = \big(\sum_{i \ge K+1} P(m_i)(w_0 - c_v) - c_f\big)(n_{K+1} - n_K)Π(nK+1​)−Π(nK​)=(∑i≥K+1​P(mi​)(w0​−cv​)−cf​)(nK+1​−nK​).
  6. Equation (271). For 0<c<10 < c < 10<c<1 there is exactly one KKK with ∑i>KP(mi)<c≤∑i≥KP(mi)\sum_{i>K} P(m_i) < c \le \sum_{i\ge K} P(m_i)∑i>K​P(mi​)<c≤∑i≥K​P(mi​), and the smallest iii with ∑j>iP(mj)<c\sum_{j>i} P(m_j) < c∑j>i​P(mj​)<c is that KKK.

Significance

The result. Proposition 8 says that, on a common platform with elastic human-driver supply, a monopoly AV supplier never undercuts the human drivers' price: in every scenario it deploys at most the pure-HV fleet size, so riders pay the pure-HV price, and the whole cost advantage w0−cv−cfw_0 - c_v - c_fw0​−cv​−cf​ is retained by the supplier. Its capacity is set by the classical newsvendor trade-off between the margin w0−cvw_0 - c_vw0​−cv​ of a used AV and the fixed cost cfc_fcf​ of an idle one. With a cheap fixed cost the supplier covers the peak scenario; with an expensive one it covers only the lowest scenario and lets human drivers serve the rest. These conclusions drive the paper's policy comparison of market configurations.

Formalizing it. The result is proved in the paper; nothing here is open. No machine-checked version exists. A complete development requires the analysis of n‾\underline{n}n​ (real powers with exponent 1/(r+1)1/(r+1)1/(r+1)), the identification of the maximal stable equilibrium under the loose-market condition, a monotonicity argument for the AV-only profit along the inverse dˉ\bar ddˉ, and the discrete newsvendor argument over a piecewise-linear concave objective. The last part is reusable for any discrete-scenario capacity problem.

Difficulty

The newsvendor step is elementary once the objective is in the form (20). The work lies in reaching (20) from (5). That requires, in each scenario, showing that the maximum over [0,N][0, N][0,N] of πiC(n) n\pi^C_i(n)\,nπiC​(n)n is attained at min⁡{N,nHV,i∗}\min\{N, n^*_{HV,i}\}min{N,nHV,i∗​}. Below nHV,i∗n^*_{HV,i}nHV,i∗​ this is linear growth; above it, the profit is a function of dˉ(n)\bar d(n)dˉ(n), an inverse of a sum of a fractional power and a linear term with no closed form, and its decrease rests on the loose-market condition placing dHV,i∗d^*_{HV,i}dHV,i∗​ beyond the revenue-maximizing demand mi/2m_i/2mi​/2. Without the loose-market condition the claim fails: in a thin market the only equilibrium is d∗=0d^* = 0d∗=0, and the supplier's AV-only profit need not decrease past it. The continuity of πiC\pi^C_iπiC​ at nHV,i∗n^*_{HV,i}nHV,i∗​ uses the equilibrium identity p(d∗)uˉ(d∗)=w0p(d^*)\bar u(d^*) = w_0p(d∗)uˉ(d∗)=w0​, which itself depends on identifying the maximal stable equilibrium.

Formalization scope

  • Model. All quantities are real. Scenarios are indexed by Fin I (0-based): the paper's scenario iii is index i−1i - 1i−1, ∑K+1I\sum_{K+1}^{I}∑K+1I​ is a sum over indices strictly above KKK, and "the smallest iii" is IsLeast.
  • Standing assumptions, written as explicit hypotheses: a,t2,V>0a, t_2, V > 0a,t2​,V>0; 0<r<10 < r < 10<r<1 (§6.2 uses the density effect r>0r > 0r>0; Lemma 1 Item 2 is stated for 0≤r<10 \le r < 10≤r<1); α=0\alpha = 0α=0 (§6.2); cv,cf>0c_v, c_f > 0cv​,cf​>0 and cv+cf<w0c_v + c_f < w_0cv​+cf​<w0​ (Assumption 1); 0<m1<⋯<mI0 < m_1 < \dots < m_I0<m1​<⋯<mI​; P(mi)≥0P(m_i) \ge 0P(mi​)≥0 with ∑iP(mi)=1\sum_i P(m_i) = 1∑i​P(mi​)=1; I≥1I \ge 1I≥1.
  • Pinned hypotheses. "Loose market" is condition (33), ri(mi/2)>w0 n‾(mi/2)r_i(m_i/2) > w_0\,\underline{n}(m_i/2)ri​(mi​/2)>w0​n​(mi​/2), the paper's restatement of Assumption 2, in every scenario. Definition 1's ε\varepsilonε is restricted so that d±ε∈[0,m]d \pm \varepsilon \in [0, m]d±ε∈[0,m], the domain of the inverse demand. The pure-HV equilibrium is a hypothesis IsMaxStableEq on given numbers dHV,i∗d^*_{HV,i}dHV,i∗​, not a choice function.
  • Proposition 6 is a definition. The common-platform equilibrium for an exogenous AV fleet is taken in the paper's summary form (251) as the definition of πiC\pi^C_iπiC​; it is not re-derived.
  • The inner maximum of (5) is a real supremum over nAV∈[0,N]n_{AV} \in [0, N]nAV​∈[0,N]. The capacity ranges over N≥0N \ge 0N≥0; for N<0N < 0N<0 the interval is empty and Lean's supremum of the empty set is 000, which is why negative capacities are excluded.
  • Optimal, not unique. The goal asserts that nHV,K∗n^*_{HV,K}nHV,K∗​ maximizes (5); when the tail probability equals the critical fractile exactly, two capacities tie.
  • No shortcut. The definition of (5) must not contain min⁡{N,nHV,i∗}\min\{N, n^*_{HV,i}\}min{N,nHV,i∗​}: Proposition 7 and (20) are milestones, and writing them into the objective would make the goal a statement about (20) alone.
  • Contributions welcome: proofs of any milestone, in particular Lemma 1 Item 2 and Lemma 4, whose real-analysis content is shared with the sibling missions of this series.

Selected references

  • Z. Lian, G. van Ryzin, Capturing the Benefits of Autonomous Vehicles in Ride-Hailing: The Role of Market Configuration, SSRN working paper 3716491, version of 23 August 2023. https://ssrn.com/abstract=3716491
  • Z. Lian, G. van Ryzin, Capturing the Benefits of Autonomous Vehicles in Ride-Hailing: The Role of Market Configuration, Management Science, 2025. https://doi.org/10.1287/mnsc.2020.03112
  • P. Kolesar, A Model for Predicting Average Fire Engine Travel Times, Operations Research 23(4), 1975. https://doi.org/10.1287/opre.23.4.603
9 thms2 active usersReviewed
🏆Completed
EconomicsOptimization·Captain: mikedeng1

Common Ownership, Competition, and Corporate Governance: Equilibrium Common Ownership Decreases in Managers' Ability to Divert Profits and Increases in the Cost of MonitoringResearch Paper

Common ownership and corporate governance

Large asset managers now hold significant stakes in many competing firms at once. When the same investor owns shares in rival firms, managers who weigh that investor's interests have an incentive to compete less hard, which raises industry profits at consumers' expense. This "softening of competition" effect is the subject of a large empirical and antitrust literature (see Azar, Schmalz and Tecu, Journal of Finance, 2018, and the review of Schmalz, Antitrust Bulletin, 2021). A natural question is then why common ownership is not complete: if buying stakes in rivals raises profits, why does an investor not buy the firms outright?

Denicolò and Panunzi (ECGI Finance Working Paper 927/2023; Management Science, 2025, doi:10.1287/mnsc.2023.03467) answer this with a corporate-governance cost. Common ownership is acquired from blockholders who monitor management; as a blockholder sells, his residual stake shrinks and so does his incentive to monitor, so managers appropriate more of the profit. The equilibrium level of common ownership trades off softer competition against weaker monitoring. The mission formalizes the paper's comparative statics of that trade-off with respect to the two corporate-governance parameters.

Setting

Two symmetric firms each have a blockholder owning a fraction β∈(0,1]\beta\in(0,1]β∈(0,1] of the shares; dispersed shareholders own the rest. A financial investor buys the same stake s∈[0,β]s\in[0,\beta]s∈[0,β] from each blockholder, who keeps the residual stake t=β−st=\beta-st=β−s.

Each firm's manager diverts a fraction ξ∈(0,1)\xi\in(0,1)ξ∈(0,1) of the firm's profit unless monitored. A blockholder's monitoring m∈[0,1]m\in[0,1]m∈[0,1] cuts the diversion to ξ(1−m)\xi(1-m)ξ(1−m) at a private cost C(m)C(m)C(m) per unit of profit, with C(0)=0C(0)=0C(0)=0, C′(0)=0C'(0)=0C′(0)=0, C′(1)>ξC'(1)>\xiC′(1)>ξ. Given ttt, the blockholder chooses mmm to maximize

t [1−ξ(1−m)]−C(m),t\,[1-\xi(1-m)]-C(m),t[1−ξ(1−m)]−C(m),

and an optimal monitoring rule m∗(t)m^*(t)m∗(t) is a maximizer over m∈[0,1]m\in[0,1]m∈[0,1] for every t∈[0,β]t\in[0,\beta]t∈[0,β]. In the specification studied here the cost is quadratic, C(m)=12γm2C(m)=\tfrac12\gamma m^2C(m)=21​γm2 with γ>ξ\gamma>\xiγ>ξ.

Managers maximize their own firm's profit plus a weight λ\lambdaλ on the rival's profit, where the common-ownership weight is

λ(s)=θs2(β−s)2+θs2,\lambda(s)=\frac{\theta s^2}{(\beta-s)^2+\theta s^2},λ(s)=(β−s)2+θs2θs2​,

and θ∈(0,1]\theta\in(0,1]θ∈(0,1] measures the investor's influence on managers. Equilibrium industry profit is Π∗(s)=P(λ(s))\Pi^*(s)=P(\lambda(s))Π∗(s)=P(λ(s)) for a function PPP of λ\lambdaλ determined by the product market.

The large shareholders' payoff per unit of profit is

ν∗(s)=β{1−ξ[1−m∗(β−s)]}−C[m∗(β−s)],\nu^*(s)=\beta\{1-\xi[1-m^*(\beta-s)]\}-C[m^*(\beta-s)],ν∗(s)=β{1−ξ[1−m∗(β−s)]}−C[m∗(β−s)],

and their joint surplus is S(s)=ν∗(s) Π∗(s)S(s)=\nu^*(s)\,\Pi^*(s)S(s)=ν∗(s)Π∗(s). An equilibrium level of common ownership is a stake s∗∈[0,β]s^*\in[0,\beta]s∗∈[0,β] that maximizes SSS over [0,β][0,\beta][0,β].

Formalization targets

Goal: Proposition 3

With the quadratic cost, the equilibrium level of common ownership is monotonically decreasing in ξ\xiξ and monotonically increasing in γ\gammaγ:

ξ1<ξ2 ⇒ s∗(ξ2,γ)≤s∗(ξ1,γ),γ1<γ2 ⇒ s∗(ξ,γ1)≤s∗(ξ,γ2),\xi_1<\xi_2\ \Rightarrow\ s^*(\xi_2,\gamma)\le s^*(\xi_1,\gamma),\qquad \gamma_1<\gamma_2\ \Rightarrow\ s^*(\xi,\gamma_1)\le s^*(\xi,\gamma_2),ξ1​<ξ2​ ⇒ s∗(ξ2​,γ)≤s∗(ξ1​,γ),γ1​<γ2​ ⇒ s∗(ξ,γ1​)≤s∗(ξ,γ2​),

for every equilibrium at each parameter value. The statement fixes no product-market model: it holds for every positive industry-profit function PPP of λ\lambdaλ.

Milestones

  1. The blockholder's optimal monitoring under the quadratic cost is m∗=ξ(β−s)/γm^*=\xi(\beta-s)/\gammam∗=ξ(β−s)/γ (21).
  2. The derivative of the common-ownership weight, ∂λ/∂s=2θsβ(β−s)/[(β−s)2+θs2]2\partial\lambda/\partial s=2\theta s\beta(\beta-s)/[(\beta-s)^2+\theta s^2]^2∂λ/∂s=2θsβ(β−s)/[(β−s)2+θs2]2 (18).
  3. The last step of Lemma 1: industry profit is nondecreasing in sss, strictly between 000 and β\betaβ, with a zero derivative at both ends, given the sign of ∂Π∗/∂λ\partial\Pi^*/\partial\lambda∂Π∗/∂λ.
  4. Proposition 2: for a general monitoring cost, common ownership is always partial, 0≤s∗<β0\le s^*<\beta0≤s∗<β.
  5. The marginal surplus (A2)–(A3): ∂S/∂s=(ξ2/γ)HΠ∗\partial S/\partial s=(\xi^2/\gamma)H\Pi^*∂S/∂s=(ξ2/γ)HΠ∗.
  6. The signs ∂H/∂ξ<0\partial H/\partial\xi<0∂H/∂ξ<0 and ∂H/∂γ>0\partial H/\partial\gamma>0∂H/∂γ>0.
  7. The surplus jump (A4)–(A5) between an interior stake s+s^+s+ and s=0s=0s=0, in terms of KKK.
  8. The signs ∂K/∂ξ<0\partial K/\partial\xi<0∂K/∂ξ<0 and ∂K/∂γ>0\partial K/\partial\gamma>0∂K/∂γ>0.

A companion pair covers the §7.1 variant in which the blockholder himself diverts profits at a quadratic deadweight loss 12φa2\tfrac12\varphi a^221​φa2: the optimal diversion (46) and Proposition 9, which states that equilibrium common ownership is increasing in φ\varphiφ.

Significance

Both ξ\xiξ and γ\gammaγ measure the quality of corporate-governance institutions: lower values mean fewer opportunities to divert profits and cheaper monitoring. Proposition 3 shows that the two act in opposite directions on common ownership. Stronger legal protection of shareholders (lower ξ\xiξ) raises common ownership, while cheaper monitoring (lower γ\gammaγ) lowers it. The paper uses this to argue that improvements in governance may have contributed to the rise of common ownership, and that policy aimed at governance has consequences for product-market competition. Proposition 2 gives the bound that makes the comparative statics meaningful: the investor never acquires the blockholders' entire stakes.

The results are proved in the paper by a first-order argument on an interior optimum together with a separate argument for jumps between interior and corner equilibria. No machine-checked version exists. A formalization makes the statement precise in two respects the paper leaves implicit: it holds for every equilibrium, including ties between an interior and a corner maximizer, and for every positive industry-profit function, independent of the product-market model. Along the way it records a slip in (A4), where the constant is ξ2/(2γ)\xi^2/(2\gamma)ξ2/(2γ) rather than the printed ξ2/γ\xi^2/\gammaξ2/γ; the paper uses only its sign.

Difficulty

The paper's argument differentiates the first-order condition H=0H=0H=0 of an interior optimum and treats jumps of the equilibrium separately through the sign of KKK. Implicit differentiation alone does not give the result: the surplus is not concave in sss (it can have two local maxima, one at s=0s=0s=0), the equilibrium need not be unique, and it jumps. A proof for every equilibrium therefore has to compare global maximizers at two parameter values directly rather than follow a differentiable selection.

A second difficulty is that the surplus is built from the optimal monitoring rule as a maximizer, not from its closed form: the step from the optimality predicate to the formula (21) must be proved before any algebra on ν∗\nu^*ν∗ is available. For Proposition 2 with a general cost, the optimal rule is only implicitly defined, and the comparison near s=βs=\betas=β involves a first-order gain in monitoring against a second-order loss in industry profit.

Formalization scope

All objects are real-valued. Stakes range over [0,β][0,\beta][0,β] and monitoring over [0,1][0,1][0,1]; an optimal monitoring rule is a function R→R\mathbb R\to\mathbb RR→R constrained only on residual stakes t∈[0,β]t\in[0,\beta]t∈[0,β]. An equilibrium is a maximizer of the joint surplus on [0,β][0,\beta][0,β], ties allowed, and monotonicity is weak and asserted for every pair of equilibria. Derivatives are stated with HasDerivAt, except in the sign milestones, where deriv appears only inside strict inequalities.

Standing assumptions, all explicit hypotheses: 0<θ≤10<\theta\le10<θ≤1 and 0<β≤10<\beta\le10<β≤1 (pp. 7–8); 0<ξ<10<\xi<10<ξ<1 (ξ\xiξ is a fraction; ξ<1\xi<1ξ<1 is a disclosed pin, needed for the γ\gammaγ part); γ>ξ\gamma>\xiγ>ξ (footnote 19's form of C′(1)>ξC'(1)>\xiC′(1)>ξ); P(λ)>0P(\lambda)>0P(λ)>0 on [0,1][0,1][0,1], one PPP for both parameter values (industry profit does not depend on ξ\xiξ and γ\gammaγ). Proposition 2 assumes CCC twice continuously differentiable with C′′>0C''>0C′′>0 on [0,1][0,1][0,1] (the paper says convex but divides by C′′C''C′′), and PPP differentiable at λ=1\lambda=1λ=1 with P(1)>0P(1)>0P(1)>0. The companion assumes φ≥1\varphi\ge1φ≥1, which keeps the optimal diversion inside [0,1][0,1][0,1].

The model is the weight (17), the monitoring stage of §3.2.1, ν∗\nu^*ν∗ and SSS of (13)–(14), and the industry-profit function PPP. Proposition 1 (the bargaining reduction from the investor's offers to the maximization of the joint surplus) and the product-market game itself are not formalized: equilibrium ownership is defined, as in §4.2, as a maximizer of the symmetric surplus, and PPP is arbitrary, so the theorem covers every product-market model of §3.1.3. The paper's derivation of ∂Π∗/∂λ≥0\partial\Pi^*/\partial\lambda\ge0∂Π∗/∂λ≥0 from the product-market conditions is not posed; in milestone 3 that sign is a hypothesis. §4.2's remark on the concavity of the joint payoff is not assumed.

Two trivializing formalizations are ruled out: the surplus is never typed with the closed form of ν∗\nu^*ν∗ (monitoring is any optimal rule, and milestone 1 is the bridge), and industry profit is required to be positive, since P≡0P\equiv0P≡0 would make every stake an equilibrium.

The development needs only elementary real analysis: one-variable optimization on intervals, derivatives of rational functions, and a comparison of maximizers at two parameter values. A general monotone-selection lemma for functions with strictly increasing differences on an interval would be reusable beyond this mission. Proofs of any milestone, and alternative arguments for the goal that avoid the interior/corner case split, are welcome.

Selected references

  • V. Denicolò and F. Panunzi, Common Ownership, Competition, and Corporate Governance, ECGI Finance Working Paper 927/2023, July 24, 2023. https://ssrn.com/abstract=4523644 ; Management Science, 2025. https://doi.org/10.1287/mnsc.2023.03467
  • J. Azar, M. C. Schmalz and I. Tecu, Anticompetitive Effects of Common Ownership, Journal of Finance 73(4), 1513–1565, 2018. https://doi.org/10.1111/jofi.12698
  • M. C. Schmalz, Recent Studies on Common Ownership, Firm Behavior, and Market Outcomes, Antitrust Bulletin 66(1), 12–38, 2021. https://doi.org/10.1177/0003603X20985804
13 thms2 active usersReviewed
🏆Completed
Linear OptimizationOptimization·Captain: mikedeng1

On the Optimality of Affine Policies for Budgeted Uncertainty Sets 3: With a Network Recourse Matrix, the Optimal Affine Policy Costs m/2 − 1 While the Adjustable Optimum Is 0Research Paper

Why the sign of the recourse matrix matters

A two-stage adjustable robust linear program chooses a first-stage decision xxx before an uncertain right-hand side hhh is revealed, and a second-stage (recourse) decision y(h)y(h)y(h) afterwards, minimising the worst case over an uncertainty set U\mathcal UU of the total cost. Computing the optimal value zAR(U)z_{AR}(\mathcal U)zAR​(U) is hard in general (Feige et al., 2007), and the standard tractable restriction is to affine policies y(h)=Ph+qy(h)=Ph+qy(h)=Ph+q (Ben-Tal et al., 2004), whose optimal value zAff(U)z_{Aff}(\mathcal U)zAff​(U) is computed by a single linear program.

El Housni and Goyal (arXiv:1807.00163v2) show that, when the recourse matrix BBB is non-negative and U\mathcal UU is a budget of uncertainty set, zAffz_{Aff}zAff​ is within a factor O(log⁡n/log⁡log⁡n)O(\log n/\log\log n)O(logn/loglogn) of zARz_{AR}zAR​. Their Section 7 asks whether the non-negativity of BBB is needed, and answers with a family of two-stage lot-sizing instances whose recourse matrix is a network matrix with entries in {−1,0,1}\{-1,0,1\}{−1,0,1}. On this family the adjustable problem has value 000 while every affine policy costs at least m/2−1m/2-1m/2−1. Lot-sizing and transportation recourse are among the most common uses of two-stage robust optimisation (see Bertsimas and de Ruiter, 2016), so the instance is a natural one, not an artefact.

Lower bounds on the gap between affine and adjustable policies were known before (Bertsimas and Goyal, 2012); the point of the present family is that the adjustable value is exactly 000, so the ratio zAff/zARz_{Aff}/z_{AR}zAff​/zAR​ is infinite and the difference zAff−zARz_{Aff}-z_{AR}zAff​−zAR​ grows linearly in mmm.

Setting

The lot-sizing problem (7.1). There are mmm nodes. Node iii stores inventory xix_ixi​ at cost cic_ici​ per unit, up to a capacity KiK_iKi​, and faces an uncertain demand hih_ihi​. After hhh is revealed, inventory may be shipped from node iii to node jjj in amount yij(h)≥0y_{ij}(h)\ge0yij​(h)≥0 at cost dijd_{ij}dij​ per unit. A solution (x,y)(x,y)(x,y) is feasible when 0≤xi≤Ki0\le x_i\le K_i0≤xi​≤Ki​ and, for every h∈Uh\in\mathcal Uh∈U,

xi+∑jyji(h)−∑jyij(h) ≥ hi(i∈[m]).x_i+\sum_{j}y_{ji}(h)-\sum_j y_{ij}(h)\ \ge\ h_i\qquad(i\in[m]).xi​+j∑​yji​(h)−j∑​yij​(h) ≥ hi​(i∈[m]).

The objective is the first-stage cost ∑icixi\sum_ic_ix_i∑i​ci​xi​ plus the worst case over h∈Uh\in\mathcal Uh∈U of the transportation cost ∑ijdijyij(h)\sum_{ij}d_{ij}y_{ij}(h)∑ij​dij​yij​(h). The optimum over all rules h↦y(h)h\mapsto y(h)h↦y(h) is zAR(U)z_{AR}(\mathcal U)zAR​(U), and the optimum over affine rules y(h)=Ph+qy(h)=Ph+qy(h)=Ph+q (one row of PPP per arc, one column per node) is zAff(U)z_{Aff}(\mathcal U)zAff​(U).

The family (7.2). Let m=2km=2km=2k, and split the nodes into J1J_1J1​ and J2J_2J2​ with ∣J1∣=∣J2∣=k|J_1|=|J_2|=k∣J1​∣=∣J2​∣=k. Set ci=0c_i=0ci​=0 on J1J_1J1​ and ci=1c_i=1ci​=1 on J2J_2J2​, Ki=1K_i=1Ki​=1 everywhere, dij=0d_{ij}=0dij​=0 for i∈J1i\in J_1i∈J1​, j∈J2j\in J_2j∈J2​, and dij=∞d_{ij}=\inftydij​=∞ otherwise. The uncertainty set is

U={h∈[0,1]m ∣ ∑i=1mhi≤m/2}.\mathcal U=\Big\{h\in[0,1]^m\ \Big|\ \sum_{i=1}^m h_i\le m/2\Big\}.U={h∈[0,1]m ​ i=1∑m​hi​≤m/2}.

Inventory can thus move only from J1J_1J1​ to J2J_2J2​, at no cost; stocking J1J_1J1​ is free and stocking J2J_2J2​ costs one per unit.

In the Lean development the general problem is the structure LotSizing N E (nodes N, usable arcs E with tail src, head tgt, distances d), with the predicate Feasible, the cost cost, and the sets adjustableValues, affineValues of objective values. The family is lotSizingFamily k, on nodes Fin k ⊕ Fin k and arcs Fin k × Fin k.

Formalization targets

Goal: Lemma 7.1

For every k≥1k\ge1k≥1,

zAR(U)=0andzAff(U)=m2−1=k−1,z_{AR}(\mathcal U)=0\qquad\text{and}\qquad z_{Aff}(\mathcal U)=\frac m2-1=k-1,zAR​(U)=0andzAff​(U)=2m​−1=k−1,

each stated as IsLeast of the corresponding set of objective values, which asserts that the value is attained and is the minimum. The unboundedness of the gap, zAff−zAR=k−1→∞z_{Aff}-z_{AR}=k-1\to\inftyzAff​−zAR​=k−1→∞, is immediate.

Milestones (Appendix D, in proof order)

  1. The first-stage decision x=1J1x=\mathbb 1_{J_1}x=1J1​​ admits a second-stage policy with cost 000 in every scenario (p. 35).
  2. (D.3), for k≥2k\ge2k≥2: every feasible affine solution has xi=1x_i=1xi​=1 on J1J_1J1​, and its flow on arc (i,j)(i,j)(i,j) depends on hih_ihi​ only, with P(i,j),i+qij=0P_{(i,j),i}+q_{ij}=0P(i,j),i​+qij​=0 (p. 36).
  3. For k≥2k\ge2k≥2, every feasible affine solution satisfies xj+qℓj≥1x_j+q_{\ell j}\ge1xj​+qℓj​≥1 for ℓ∈J1\ell\in J_1ℓ∈J1​, j∈J2j\in J_2j∈J2​ (pp. 36–37).
  4. Every feasible affine solution has ∑j∈J2xj≥m/2−1\sum_{j\in J_2}x_j\ge m/2-1∑j∈J2​​xj​≥m/2−1, hence zAff≥m/2−1z_{Aff}\ge m/2-1zAff​≥m/2−1 (p. 37).
  5. The explicit affine solution x=1−emx=\mathbb 1-e_mx=1−em​, yim(h)=1−hiy_{im}(h)=1-h_iyim​(h)=1−hi​, is feasible and costs m/2−1m/2-1m/2−1 (p. 37).

Significance

The result. The approximation guarantees of the paper (O(log⁡n/log⁡log⁡n)O(\log n/\log\log n)O(logn/loglogn) for budget sets, O(log⁡2n/log⁡log⁡n)O(\log^2 n/\log\log n)O(log2n/loglogn) for disjoint constrained budgets) assume B≥0B\ge0B≥0. Lemma 7.1 shows that this assumption is not a convenience of the proof: with a network recourse matrix no bound on zAff/zARz_{Aff}/z_{AR}zAff​/zAR​ of any form holds, even for a budget set and a bipartite network. Any extension of the guarantees to transportation or flow recourse must therefore change the policy class or add structure, which is the open direction the paper states after the lemma.

Formalizing it. The lemma is proved in the paper; it has not been machine-checked. The mission produces a reusable definition of the two-stage robust lot-sizing problem with arc-based recourse, the precise instance family, and checked versions of the five steps of Appendix D. Two of those steps hold only for m≥4m\ge4m≥4 and one is printed with its indices swapped (see the scope section); the formal statements make those boundaries explicit.

Difficulty

The adjustable half is a transportation argument, and the affine upper bound is a direct verification of one explicit solution. The substance is the affine lower bound, which must hold for every feasible affine solution, not for a particular one. Comparing an affine policy with the adjustable optimum on a few extreme scenarios gives nothing: on any single scenario an affine policy can match the adjustable cost. What fails for affine policies is simultaneous feasibility over the whole of U\mathcal UU, and the lower bound has to extract a cost from that requirement alone. It is also sensitive to the size of the instance: two of the intermediate steps of Appendix D are false for m=2m=2m=2, so a formal proof has to treat small mmm separately.

Formalization scope

  • Model. Vectors are functions on finite types with the componentwise order; indices are 0-based. The second stage is a rule y:RN→REy:\mathbb R^N\to\mathbb R^Ey:RN→RE, which gives the same values as choosing y(h)y(h)y(h) separately per scenario. The epigraph variable zzz of (7.1) appears through the sets of objective values ttt with ∑icixi+∑adaya(h)≤t\sum_ic_ix_i+\sum_a d_a y_a(h)\le t∑i​ci​xi​+∑a​da​ya​(h)≤t for all h∈Uh\in\mathcal Uh∈U.
  • Infinite distances. Arcs with dij=∞d_{ij}=\inftydij​=∞ are omitted rather than given an extended-real cost: a finite-cost solution never uses them, so no optimal value changes, and App. D itself works with the reduced constraints (D.1)–(D.2) and with a matrix PPP having "one row per edge". The kept arcs J1×J2J_1\times J_2J1​×J2​ have d=0d=0d=0, and the cost keeps the term ∑adaya(h)\sum_a d_a y_a(h)∑a​da​ya​(h) so that (7.1) is visible.
  • Values as IsLeast. No real infimum is used, so "z=0z=0z=0" cannot hold on an empty feasible set; feasibility includes 0≤x≤K0\le x\le K0≤x≤K, Ph+q≥0Ph+q\ge0Ph+q≥0 on all of U\mathcal UU, and the coverage constraint at every node, including the outflow constraint (D.2) at J1J_1J1​.
  • Sizes. The paper's "mmm even" is m=2km=2km=2k. The goal assumes k≥1k\ge1k≥1; at k=0k=0k=0 the affine value would be 0≠−10\ne-10=−1.
  • Corrections, disclosed in the items. (i) The paper builds the zero-cost adjustable policy only at extreme points of U\mathcal UU; the milestone quantifies over all of U\mathcal UU, as feasibility requires. (ii) (D.3) and the bound xj+qℓj≥1x_j+q_{\ell j}\ge1xj​+qℓj​≥1 are false for m=2m=2m=2 (explicit counterexamples are in the items' notes) and carry the hypothesis k≥2k\ge2k≥2. (iii) "for any j∈J1j\in J_1j∈J1​ and for any ℓ∈J2\ell\in J_2ℓ∈J2​" on p. 37 has the indices swapped and is stated with ℓ∈J1\ell\in J_1ℓ∈J1​, j∈J2j\in J_2j∈J2​.
  • Not formalized. That (7.1) has a network recourse matrix with entries in {−1,0,1}\{-1,0,1\}{−1,0,1} is descriptive and is not stated; total unimodularity is not needed.
  • Reusable parts. LotSizing (any node set, any arc set, any uncertainty set) can host other two-stage lot-sizing and transportation results. Proofs of any milestone, and alternative arguments for the affine lower bound, are welcome.

The source is arXiv:1807.00163v2; its printed page numbers equal the PDF's.

Selected references

  • O. El Housni, V. Goyal, On the Optimality of Affine Policies for Budgeted Uncertainty Sets, arXiv:1807.00163v2, 2019 (Mathematics of Operations Research 46(2), 2021). https://arxiv.org/abs/1807.00163v2
  • A. Ben-Tal, A. Goryashko, E. Guslitzer, A. Nemirovski, Adjustable robust solutions of uncertain linear programs, Mathematical Programming 99(2), 2004. https://doi.org/10.1007/s10107-003-0454-y
  • D. Bertsimas, V. Goyal, On the power and limitations of affine policies in two-stage adaptive optimization, Mathematical Programming 134(2), 2012. https://doi.org/10.1007/s10107-011-0444-4
  • D. Bertsimas, F. de Ruiter, Duality in two-stage adaptive linear optimization: Faster computation and stronger bounds, INFORMS Journal on Computing 28(3), 2016. https://doi.org/10.1287/ijoc.2016.0689
  • U. Feige, K. Jain, M. Mahdian, V. Mirrokni, Robust combinatorial optimization with exponential scenarios, IPCO 2007. https://doi.org/10.1007/978-3-540-72792-7_33
8 thms2 active usersReviewed
🏆Completed
Convex OptimizationOptimization·Captain: mikedeng1

Stochastic Dual Dynamic Integer Programming 3: The Convex Lower Envelope of a Function on {0,1}^n Is Piecewise Linear and Agrees with It at Every Binary PointResearch Paper

Motivation

Multistage stochastic integer programs model sequential decisions under uncertainty in which some decisions are discrete: unit commitment in power systems, capacity expansion, production planning with setups. The standard decomposition methods for multistage stochastic linear programs, nested Benders decomposition and stochastic dual dynamic programming (SDDP), approximate each stage's expected cost-to-go function from below by finitely many affine cuts. This works because those functions are convex and polyhedral. With integer variables the cost-to-go functions are in general nonconvex, and no family of affine cuts can be exact at every evaluated state.

Zou, Ahmed and Sun (Math. Program. 175 (2019) 461–502) observe that the obstruction disappears when the state variables passed between stages are binary. Their Theorem 1 (p. 467) states that every real function of binary variables is represented exactly, at all binary points, by a convex polyhedral function on the unit cube. This is the structural fact on which their stochastic dual dynamic integer programming (SDDiP) algorithm rests: the cost-to-go function only ever needs to be evaluated at binary states, and there a convex piecewise linear under-approximation can be tight. Mixed integer states are reduced to binary ones by binary expansion (§5 of the paper).

Setting

Let n≥0n \ge 0n≥0 and write {0,1}n⊆Rn\{0,1\}^n \subseteq \mathbb R^n{0,1}n⊆Rn for the binary points, the vectors each of whose coordinates is 000 or 111, and Cn=[0,1]nC_n = [0,1]^nCn​=[0,1]n for the unit cube. Let fff be a real valued function defined on {0,1}n\{0,1\}^n{0,1}n.

For a set XXX in a real vector space and f:X→Rf : X \to \mathbb Rf:X→R, a convex underestimator of fff is a function hhh that is convex on the convex hull conv⁡(X)\operatorname{conv}(X)conv(X) and satisfies h(x)≤f(x)h(x) \le f(x)h(x)≤f(x) for every x∈Xx \in Xx∈X (Definition 3, p. 496). The largest convex underestimator of fff on conv⁡(X)\operatorname{conv}(X)conv(X), that is, a convex underestimator eee with h≤eh \le eh≤e on conv⁡(X)\operatorname{conv}(X)conv(X) for every convex underestimator hhh, is the convex lower envelope of fff. In this mission X={0,1}nX = \{0,1\}^nX={0,1}n.

A function eee is convex piecewise linear with finitely many linear pieces on CnC_nCn​ if there are α1,…,αK∈Rn\alpha_1, \dots, \alpha_K \in \mathbb R^nα1​,…,αK​∈Rn and β1,…,βK∈R\beta_1, \dots, \beta_K \in \mathbb Rβ1​,…,βK​∈R with e(x)=max⁡k(αk⊤x+βk)e(x) = \max_k (\alpha_k^\top x + \beta_k)e(x)=maxk​(αk⊤​x+βk​) for all x∈Cnx \in C_nx∈Cn​.

The proof works with the polyhedron of affine minorants of fff,

Π={(α,β)∈Rn×R:α⊤x+β≤f(x)  for all x∈{0,1}n},\Pi = \{(\alpha,\beta) \in \mathbb R^n \times \mathbb R : \alpha^\top x + \beta \le f(x) \ \text{ for all } x \in \{0,1\}^n\},Π={(α,β)∈Rn×R:α⊤x+β≤f(x)  for all x∈{0,1}n},

the function g(x)=max⁡(α,β)∈Π{α⊤x+β}g(x) = \max_{(\alpha,\beta)\in\Pi}\{\alpha^\top x + \beta\}g(x)=max(α,β)∈Π​{α⊤x+β}, and the linear program (P)(P)(P) defining g(x)g(x)g(x) together with its dual

(D)min⁡∑i=1Nf(x^i)λi  s.t.  X^λ=x, e⊤λ=1, λ≥0,(D)\quad \min \sum_{i=1}^N f(\hat x^i)\lambda_i \ \ \text{s.t.}\ \ \hat X\lambda = x,\ e^\top\lambda = 1,\ \lambda \ge 0,(D)mini=1∑N​f(x^i)λi​  s.t.  X^λ=x, e⊤λ=1, λ≥0,

where X^=[x^1,…,x^N]\hat X = [\hat x^1, \dots, \hat x^N]X^=[x^1,…,x^N] lists the N=2nN = 2^nN=2n binary vectors.

Formalization targets

Goal: Theorem 1 (p. 467)

fff has a convex lower envelope, and every convex lower envelope eee of fff satisfies

e is convex on [0,1]n,e(x)=max⁡k=1,…,K(αk⊤x+βk)  (x∈[0,1]n),e(x)=f(x)  (x∈{0,1}n)e \text{ is convex on } [0,1]^n,\qquad e(x) = \max_{k=1,\dots,K}\big(\alpha_k^\top x + \beta_k\big)\ \ (x \in [0,1]^n),\qquad e(x) = f(x)\ \ (x \in \{0,1\}^n)e is convex on [0,1]n,e(x)=k=1,…,Kmax​(αk⊤​x+βk​)  (x∈[0,1]n),e(x)=f(x)  (x∈{0,1}n)

for some finite family of affine functions.

Milestones (proof of Theorem 1, p. 496)

  1. conv⁡({0,1}n)=[0,1]n\operatorname{conv}(\{0,1\}^n) = [0,1]^nconv({0,1}n)=[0,1]n.
  2. For x∈[0,1]nx \in [0,1]^nx∈[0,1]n, (P)(P)(P) and (D)(D)(D) both attain their optima, with common value g(x)g(x)g(x); in particular g(x)<∞g(x) < \inftyg(x)<∞.
  3. g(x)=f(x)g(x) = f(x)g(x)=f(x) for every x∈{0,1}nx \in \{0,1\}^nx∈{0,1}n.
  4. ggg is convex on [0,1]n[0,1]^n[0,1]n and is there the maximum of finitely many affine functions whose coefficients are extreme points of Π\PiΠ.
  5. h(x)≤g(x)h(x) \le g(x)h(x)≤g(x) for every x∈[0,1]nx \in [0,1]^nx∈[0,1]n and every convex underestimator hhh of fff.

Significance

The result. Theorem 1 is what makes exact cutting-plane approximation possible for nonconvex value functions of binary states. In SDDiP, the expected cost-to-go function of each node is approximated from below by affine cuts; Theorem 1 guarantees that a convex polyhedral function exists that agrees with the true value function at every binary state, so a finite collection of valid cuts can be tight at every state the algorithm visits. Without it, the finite convergence of SDDiP to an optimal policy (Theorem 2 of the paper, with Lagrangian cuts from Theorem 3) would have no target to converge to. The statement fails for general finite sets in place of {0,1}n\{0,1\}^n{0,1}n: on {0,1,2}⊆R\{0,1,2\} \subseteq \mathbb R{0,1,2}⊆R with f(1)>(f(0)+f(2))/2f(1) > (f(0)+f(2))/2f(1)>(f(0)+f(2))/2, no convex underestimator reaches f(1)f(1)f(1).

Formalizing it. The result is proved in the paper; to our knowledge it has no machine-checked proof. A formalization produces the identity conv⁡({0,1}n)=[0,1]n\operatorname{conv}(\{0,1\}^n) = [0,1]^nconv({0,1}n)=[0,1]n, a finite-dimensional LP duality statement for the pair (P)(P)(P)–(D)(D)(D), and a characterization of the convex lower envelope on the cube, each of independent use for later formalizations of binary and mixed integer programming (Lagrangian relaxations, convex closures, extended formulations).

Difficulty

Two steps carry the weight. The first is that the maximum defining ggg is attained, with finitely many pieces coming from extreme points of the unbounded polyhedron Π\PiΠ: this needs LP duality and the existence of an optimal vertex for a pointed polyhedron, neither of which is a one-line consequence of Mathlib's convexity library. The second is the domination step. The printed argument handles interior points of the cube by writing a convex underestimator as a supremum of affine minorants, and binary points separately; the remaining boundary points of [0,1]n[0,1]^n[0,1]n (for example (1/2,0)(1/2, 0)(1/2,0) when n=2n = 2n=2) are covered by the paper's conclusion but not by those two cases, and require an argument that works on all of conv⁡({0,1}n)\operatorname{conv}(\{0,1\}^n)conv({0,1}n). Exactness at binary points uses that a binary point is not a nontrivial convex combination of other points of the cube.

Formalization scope

Points of Rn\mathbb R^nRn are Fin n → ℝ with the componentwise order; CnC_nCn​ is Set.Icc 0 1, the binary points are the vectors with every coordinate 000 or 111, and α⊤x\alpha^\top xα⊤x is the dot product. fff is a total function on Rn\mathbb R^nRn of which only the values at binary points enter any statement. Convexity of an underestimator is required on conv⁡({0,1}n)\operatorname{conv}(\{0,1\}^n)conv({0,1}n), exactly as in Definition 3, not on all of Rn\mathbb R^nRn; the identification of this hull with [0,1]n[0,1]^n[0,1]n is milestone 1, not a definition. The value n=0n = 0n=0 is allowed and no hypothesis on nnn is added.

The readings of informal words are: "the convex lower envelope" is a predicate (largest convex underestimator on conv⁡(X)\operatorname{conv}(X)conv(X)), so Theorem 1 asserts its existence and then its properties for every function satisfying it; "convex piecewise linear with a finite number of linear pieces" is "the maximum of finitely many affine functions on the cube"; "max" over Π\PiΠ is an attained maximum, stated with IsGreatest; "min" in (D)(D)(D) is stated with IsLeast. The proof's function ggg is a real supremum, used only after its attainment is proved.

The convex lower envelope is not defined as ggg (or as the value of (D)(D)(D)): under that definition convexity and piecewise linearity would be unfoldings, and Theorem 1's content, that the largest convex underestimator of Definition 3 has this form and is exact at binary points, would be lost.

A complete development needs: convex hulls of finite sets in Rn\mathbb R^nRn, LP duality for a finite system of inequalities, extreme points of polyhedra and attainment of linear maxima at them, and Jensen's inequality for finite convex combinations. The cube identity and the LP duality milestone are reusable beyond this mission. Proofs of individual milestones, alternative proofs of Theorem 1 that bypass LP duality, and generalizations of the definitions are welcome.

Selected references

  • J. Zou, S. Ahmed, X. A. Sun, Stochastic dual dynamic integer programming, Mathematical Programming, Ser. A 175 (2019) 461–502. https://doi.org/10.1007/s10107-018-1249-5
  • M. V. F. Pereira, L. M. V. G. Pinto, Multi-stage stochastic optimization applied to energy planning, Mathematical Programming 52 (1991) 359–375. https://doi.org/10.1007/BF01582895
  • R. T. Rockafellar, Convex Analysis, Princeton University Press, 1970. https://doi.org/10.1515/9781400873173
8 thms2 active usersReviewed
🏆Completed
Linear OptimizationOptimization·Captain: mikedeng1

Stochastic Dual Dynamic Integer Programming 2: Lagrangian Cuts from the Local-Copy Reformulation Are Valid and Tight at Binary StatesResearch Paper

Motivation

Multistage stochastic integer programs model sequential decisions under uncertainty in which some decisions are discrete: unit commitment in power systems, capacity expansion, production planning with setups. Their linear (continuous) counterparts are routinely solved by nested decomposition methods such as stochastic dual dynamic programming (SDDP; Pereira and Pinto, 1991), which approximate each node's expected cost-to-go function from below by a maximum of linear cuts. With integer variables the cost-to-go functions are no longer convex, and cuts from linear programming duality are in general not exact at the points where they are generated.

Zou, Ahmed and Sun (Math. Program. 175 (2019) 461–502) restrict the state variables passed between stages to be binary and introduce a local copy znz_nzn​ of the parent's state at every node. Dualizing only the copy constraint zn=xa(n)z_n = x_{a(n)}zn​=xa(n)​ gives a class of cuts, the Lagrangian cuts, which the authors call "one of the major results of the paper" (p. 478). Their Theorem 3 shows that these cuts are valid (they never overestimate the true value function) and tight (they reproduce the current approximate value at the binary state where they are generated). Together with finiteness, these are the sufficient conditions of the paper's Definition 2 under which SND and SDDiP find an optimal solution in finitely many iterations with probability one (Theorem 2 of the paper, the subject of a companion mission).

Setting

Fix a node nnn of the scenario tree and an iteration iii of the algorithm. The node has:

  • a nodal constraint set Xn⊆Rd×Rd×RℓX_n \subseteq \mathbb R^d \times \mathbb R^d \times \mathbb R^\ellXn​⊆Rd×Rd×Rℓ of triples (zn,xn,yn)(z_n, x_n, y_n)(zn​,xn​,yn​), where xnx_nxn​ is the node's state, yny_nyn​ its local variables and znz_nzn​ the local copy of the parent's state. By assumption (A1) XnX_nXn​ is nonempty, compact and mixed integer polyhedral: the points of a polyhedron {w:Aw≥b}\{w : Aw \ge b\}{w:Aw≥b} with some coordinates integer;
  • a linear objective fn(xn,yn)=c⊤xn+e⊤ynf_n(x_n, y_n) = c^\top x_n + e^\top y_nfn​(xn​,yn​)=c⊤xn​+e⊤yn​;
  • children m∈C(n)m \in \mathcal C(n)m∈C(n) with conditional probabilities qnm≥0q_{nm} \ge 0qnm​≥0, a lower bound LnL_nLn​, and the children's cut coefficients (vmℓ,πmℓ)(v^\ell_m, \pi^\ell_m)(vmℓ​,πmℓ​) for ℓ=1,…,i\ell = 1, \dots, iℓ=1,…,i.

The approximate expected cost-to-go (3.2) is

ψni+1(x)=min⁡{θ:θ≥Ln, θ≥∑mqnm(vmℓ+(πmℓ)⊤x), ℓ=1,…,i},\psi^{i+1}_n(x) = \min\Big\{\theta : \theta \ge L_n,\ \theta \ge \sum_{m} q_{nm}\big(v^\ell_m + (\pi^\ell_m)^\top x\big),\ \ell = 1,\dots,i\Big\},ψni+1​(x)=min{θ:θ≥Ln​, θ≥m∑​qnm​(vmℓ​+(πmℓ​)⊤x), ℓ=1,…,i},

and the updated forward problem (3.1) at a parent state x^\hat xx^ has value

Q‾ni(x^,ψni+1)=min⁡{fn(x,y)+ψni+1(x):(z,x,y)∈Xn, z=x^, x∈{0,1}d}.\underline Q^i_n(\hat x, \psi^{i+1}_n) = \min\{ f_n(x,y) + \psi^{i+1}_n(x) : (z,x,y) \in X_n,\ z = \hat x,\ x \in \{0,1\}^d\}.Q​ni​(x^,ψni+1​)=min{fn​(x,y)+ψni+1​(x):(z,x,y)∈Xn​, z=x^, x∈{0,1}d}.

Let Xn′={(z,x,y)∈Xn:x∈{0,1}d, z∈[0,1]d}X'_n = \{(z,x,y) \in X_n : x \in \{0,1\}^d,\ z \in [0,1]^d\}Xn′​={(z,x,y)∈Xn​:x∈{0,1}d, z∈[0,1]d} and let Xn′′X''_nXn′′​ add a variable θ≥Ln\theta \ge L_nθ≥Ln​ that dominates every aggregated cut. The Lagrangian function and Lagrangian dual (4.3)–(4.4) are

Lni(π)=min⁡(z,x,y,θ)∈Xn′′fn(x,y)+θ−π⊤z,(Rni): max⁡π∈Rd Lni(π)+π⊤x^.\mathcal L^i_n(\pi) = \min_{(z,x,y,\theta)\in X''_n} f_n(x,y) + \theta - \pi^\top z, \qquad (R^i_n):\ \max_{\pi\in\mathbb R^d}\ \mathcal L^i_n(\pi) + \pi^\top \hat x .Lni​(π)=(z,x,y,θ)∈Xn′′​min​fn​(x,y)+θ−π⊤z,(Rni​): π∈Rdmax​ Lni​(π)+π⊤x^.

An optimal π^\hat\piπ^ and v^=Lni(π^)\hat v = \mathcal L^i_n(\hat\pi)v^=Lni​(π^) define the Lagrangian cut θ≥v^+π^⊤xa(n)\theta \ge \hat v + \hat\pi^\top x_{a(n)}θ≥v^+π^⊤xa(n)​. Given true value functions QmQ_mQm​ of the children and Qn=∑mqnmQm\mathcal Q_n = \sum_m q_{nm} Q_mQn​=∑m​qnm​Qm​, the true nodal value (2.3) is Qn(xa)=min⁡{fn(x,y)+Qn(x):(z,x,y)∈Xn, z=xa, x∈{0,1}d}Q_n(x_a) = \min\{f_n(x,y) + \mathcal Q_n(x) : (z,x,y) \in X_n,\ z = x_a,\ x \in \{0,1\}^d\}Qn​(xa​)=min{fn​(x,y)+Qn​(x):(z,x,y)∈Xn​, z=xa​, x∈{0,1}d}.

Formalization targets

Goal: Theorem 3 at one node

For binary x^∈{0,1}d\hat x \in \{0,1\}^dx^∈{0,1}d and π^\hat\piπ^ optimal for (Rni)(R^i_n)(Rni​):

v^+π^⊤x^=Q‾ni(x^,ψni+1)(tightness, (3.5)),\hat v + \hat\pi^\top \hat x = \underline Q^i_n(\hat x, \psi^{i+1}_n) \qquad \text{(tightness, (3.5))},v^+π^⊤x^=Q​ni​(x^,ψni+1​)(tightness, (3.5)),

and, if the children's cuts are valid for QmQ_mQm​ on {0,1}d\{0,1\}^d{0,1}d and Qn≥Ln\mathcal Q_n \ge L_nQn​≥Ln​ there,

Qn(xa)≥v^+π^⊤xafor all xa∈{0,1}d(validity, (3.4)).Q_n(x_a) \ge \hat v + \hat\pi^\top x_a \quad \text{for all } x_a \in \{0,1\}^d \qquad \text{(validity, (3.4))}.Qn​(xa​)≥v^+π^⊤xa​for all xa​∈{0,1}d(validity, (3.4)).

The paper's statement for the whole collection of cuts of an iteration follows by applying this at every sampled node from the last stage backwards, exactly as its proof does by induction.

Milestones

  1. (4.5): v^+π^⊤x^=min⁡{fn+θ:(z,x,y,θ)∈conv(Xn′′), z=x^}\hat v + \hat\pi^\top\hat x = \min\{f_n + \theta : (z,x,y,\theta) \in \mathrm{conv}(X''_n),\ z = \hat x\}v^+π^⊤x^=min{fn​+θ:(z,x,y,θ)∈conv(Xn′′​), z=x^}, for any parent state at which (Rni)(R^i_n)(Rni​) has an optimal solution.
  2. Binary face: for binary x^\hat xx^, conv(Xn′′)∩{z=x^}=conv(Xn′′∩{z=x^})\mathrm{conv}(X''_n) \cap \{z = \hat x\} = \mathrm{conv}(X''_n \cap \{z = \hat x\})conv(Xn′′​)∩{z=x^}=conv(Xn′′​∩{z=x^}).
  3. Tightness (display after (4.5)).
  4. Validity, base case: at a last-stage node, Qn(xa)≥Lni(π)+π⊤xaQ_n(x_a) \ge \mathcal L^i_n(\pi) + \pi^\top x_aQn​(xa​)≥Lni​(π)+π⊤xa​.
  5. Validity, induction step ((4.6) and the display after it).

Significance

Tightness at binary states is what separates Lagrangian cuts from the cuts of continuous relaxations or of a direct Lagrangian relaxation of the constraints coupling stages: the paper's Example 2 shows a direct relaxation whose cut is not tight even at a binary state, and Example 1 shows that with a non-binary state the duality gap is positive. With valid, tight and finite cuts, SND and SDDiP become exact algorithms for multistage stochastic integer programs with binary states, and through binarization they approximate problems with general mixed-integer states.

The result is proved in the paper; no machine-checked proof of it is known. Formalizing it requires a Lean statement of Geoffrion's theorem for this nodal problem (Lagrangian duality equals optimization over the convex hull of a mixed integer set), which is of independent use for integer programming, and the binary-face fact for sets inside the unit cube.

Difficulty

The validity half is weak duality and is short. The difficulty is in tightness. Step (4.5) is a strong duality statement for a nonconvex set: it needs that the convex hull of Xn′′X''_nXn′′​ is a polyhedron, which follows only because XnX_nXn​ is compact and mixed integer polyhedral (so Xn′X'_nXn′​ is a finite union of polytopes), and then linear programming duality with attainment over that polyhedron. Neither the polyhedrality of convex hulls of finite unions of polytopes with a common recession direction nor finite-dimensional LP strong duality in the needed form is readily available in Mathlib. A tempting shortcut, Lagrangian duality from convex analysis with a Slater point, does not apply: a binary x^\hat xx^ lies on the boundary of the projection of conv(Xn′′)\mathrm{conv}(X''_n)conv(Xn′′​) onto zzz, so the constraint qualification fails and polyhedrality is genuinely needed.

Formalization scope

States, copies and multipliers are vectors in Rd\mathbb R^dRd (Fin d → ℝ); a state is binary when each coordinate is 000 or 111. Points of Xn′′X''_nXn′′​ are tuples (z, x, y, θ). Assumption (A1) is three fields of the node structure (nonempty, compact, mixed integer polyhedral after concatenating coordinates). Cuts are indexed by Fin i and children by Fin nC; probabilities are only required to be nonnegative. A last-stage node is nC = 0 with L = 0. The constraint z∈[0,1]dz \in [0,1]^dz∈[0,1]d (2.1c) is kept in Xn′X'_nXn′​ and folded into XnX_nXn​ in (2.3) and (3.1), as in the paper.

Readings of informal words:

  • "min" in ψni+1\psi^{i+1}_nψni+1​, Lni\mathcal L^i_nLni​, Q‾ni\underline Q^i_nQ​ni​, QnQ_nQn​: the definitions use sInf of the set of objective values, and every theorem states the minimum as an attained least element (IsLeast) or as a lower bound over all feasible points, so no junk value of sInf on an empty or unbounded set is used. The hypothesis Xn′′≠∅X''_n \ne \emptysetXn′′​=∅ makes Lni\mathcal L^i_nLni​ a genuine minimum.
  • "π^\hat\piπ^ optimal for (4.3)": maximizes π↦Lni(π)+π⊤x^\pi \mapsto \mathcal L^i_n(\pi) + \pi^\top\hat xπ↦Lni​(π)+π⊤x^ over all of Rd\mathbb R^dRd.
  • "the cuts are valid": Qn(xa)≥v^+π^⊤xaQ_n(x_a) \ge \hat v + \hat\pi^\top x_aQn​(xa​)≥v^+π^⊤xa​ is stated as a lower bound over every feasible point of (2.3), which is the paper's convention Qn=+∞Q_n = +\inftyQn​=+∞ on infeasible states.
  • The induction hypothesis of the validity proof is made explicit: all children's cuts ℓ=1,…,i\ell = 1,\dots,iℓ=1,…,i are valid, and Qn≥Ln\mathcal Q_n \ge L_nQn​≥Ln​ on binary states.
  • Tightness is stated with ψni+1\psi^{i+1}_nψni+1​; the proof's last line writes ψni\psi^i_nψni​, a misprint.

A trivializing formalization is ruled out: Q‾ni\underline Q^i_nQ​ni​ is the primal value of the forward problem (3.1) with ψni+1\psi^{i+1}_nψni+1​ from (3.2) and is never defined through the dual, and validity is required at every binary xax_axa​, not only at x^\hat xx^.

A complete development needs: polyhedrality of convex hulls of bounded mixed integer sets, LP strong duality with attainment (or Geoffrion's theorem directly), Carathéodory-type reasoning in product spaces, and the fact that a binary point which is a positive convex combination of points of [0,1]d[0,1]^d[0,1]d equals each of them. The first two are reusable well beyond this mission. Proofs of individual milestones are welcome independently; the validity milestones are accessible first.

Selected references

  • J. Zou, S. Ahmed, X. A. Sun, Stochastic dual dynamic integer programming, Math. Program. 175 (2019) 461–502. https://doi.org/10.1007/s10107-018-1249-5
  • A. M. Geoffrion, Lagrangean relaxation for integer programming, Math. Program. Study 2 (1974) 82–114. https://doi.org/10.1007/BFb0120690
  • M. V. F. Pereira, L. M. V. G. Pinto, Multi-stage stochastic optimization applied to energy planning, Math. Program. 52 (1991) 359–375. https://doi.org/10.1007/BF01582895
8 thms2 active usersReviewed
🏆Completed
Optimization·Captain: mikedeng1

Strict Constraint Qualifications and Sequential Optimality Conditions for Constrained Optimization III: SAKKT-Regularity Is the Weakest Strict Constraint Qualification for SAKKTResearch Paper

Motivation

Algorithms for smooth constrained optimization stop when an approximate optimality test passes. The tests used in practice are sequential optimality conditions: properties of a sequence of iterates xk→x∗x^k\to x^*xk→x∗ rather than of the limit point alone. Every local minimizer satisfies them, with or without a constraint qualification. The price is that a point passing such a test need not satisfy the Karush–Kuhn–Tucker (KKT) conditions. A strict constraint qualification for a sequential condition SSS is a property of the constraints at x∗x^*x∗ under which SSS implies KKT for every objective function. The weaker this property, the larger the class of problems on which the condition certifies KKT points.

The Strong Approximate KKT (SAKKT) condition of Haeser and Schuverdt (J. Optim. Theory Appl. 149(3), 2011) asks for approximate Lagrange multipliers whose inequality part vanishes on every constraint that is strictly satisfied at the current iterate. It strictly implies the Approximate KKT condition (AKKT). Haeser and Schuverdt also showed that SAKKT is equivalent to the Approximate Gradient Projection condition AGP(0) of Martínez and Svaiter (2003). Andreani, Martínez, Ramos and Silva (Optimization Online 5197, 2015; Math. Oper. Res. 43(3), 2018, doi:10.1287/moor.2017.0879) determined the weakest strict constraint qualification associated with each of AGP, CAKKT, LAGP and SAKKT. For AKKT the answer, the Cone Continuity Property, had been found earlier (Andreani et al. 2016). This mission formalizes the SAKKT case, Theorem 4.5 of the preprint.

Setting

Consider the nonlinear program

min⁡f(x)subject toh(x)=0, g(x)≤0,(1.1)\min f(x)\quad\text{subject to}\quad h(x)=0,\ g(x)\le0, \tag{1.1}minf(x)subject toh(x)=0, g(x)≤0,(1.1)

with h=(h1,…,hm)h=(h_1,\dots,h_m)h=(h1​,…,hm​) and g=(g1,…,gp)g=(g_1,\dots,g_p)g=(g1​,…,gp​) continuously differentiable on Rn\mathbb R^nRn. The feasible set is Ω={x:h(x)=0, g(x)≤0}\Omega=\{x:h(x)=0,\ g(x)\le0\}Ω={x:h(x)=0, g(x)≤0}, and J(x∗)={j:gj(x∗)=0}J(x^*)=\{j:g_j(x^*)=0\}J(x∗)={j:gj​(x∗)=0} is the set of active inequalities. The KKT condition holds at x∗x^*x∗ for fff if there are λ∈Rm\lambda\in\mathbb R^mλ∈Rm and μ∈R+p\mu\in\mathbb R^p_+μ∈R+p​, with μj=0\mu_j=0μj​=0 for j∉J(x∗)j\notin J(x^*)j∈/J(x∗), such that ∇f(x∗)+∑iλi∇hi(x∗)+∑jμj∇gj(x∗)=0\nabla f(x^*)+\sum_i\lambda_i\nabla h_i(x^*)+\sum_j\mu_j\nabla g_j(x^*)=0∇f(x∗)+∑i​λi​∇hi​(x∗)+∑j​μj​∇gj​(x∗)=0.

The linearized cone is LΩ(x∗)={d:⟨∇hi(x∗),d⟩=0 ∀i, ⟨∇gj(x∗),d⟩≤0 ∀j∈J(x∗)}L_\Omega(x^*)=\{d:\langle\nabla h_i(x^*),d\rangle=0\ \forall i,\ \langle\nabla g_j(x^*),d\rangle\le0\ \forall j\in J(x^*)\}LΩ​(x∗)={d:⟨∇hi​(x∗),d⟩=0 ∀i, ⟨∇gj​(x∗),d⟩≤0 ∀j∈J(x∗)}, and K∘={v:⟨v,k⟩≤0 ∀k∈K}K^\circ=\{v:\langle v,k\rangle\le0\ \forall k\in K\}K∘={v:⟨v,k⟩≤0 ∀k∈K} is the polar of a set KKK. For a convex set SSS, the normal cone NS(y)={w:⟨w,z−y⟩≤0 ∀z∈S}N_S(y)=\{w:\langle w,z-y\rangle\le0\ \forall z\in S\}NS​(y)={w:⟨w,z−y⟩≤0 ∀z∈S} is defined for y∈Sy\in Sy∈S and is empty for y∉Sy\notin Sy∈/S. PSP_SPS​ is the Euclidean projection onto a nonempty closed convex set SSS.

For a point xxx, the linearized set Ω(x,0)\Omega(x,0)Ω(x,0) consists of the zzz with

  • ⟨∇hi(x),z−x⟩=0\langle\nabla h_i(x),z-x\rangle=0⟨∇hi​(x),z−x⟩=0 for all iii;
  • ⟨∇gj(x),z−x⟩≤0\langle\nabla g_j(x),z-x\rangle\le0⟨∇gj​(x),z−x⟩≤0 for every jjj with gj(x)≥0g_j(x)\ge0gj​(x)≥0.

It keeps the inequalities that are active or violated at xxx and drops those strictly satisfied at xxx.

A feasible x∗x^*x∗ satisfies SAKKT for fff if there are xk→x∗x^k\to x^*xk→x∗, λk∈Rm\lambda^k\in\mathbb R^mλk∈Rm and μk∈R+p\mu^k\in\mathbb R^p_+μk∈R+p​, with μjk=0\mu^k_j=0μjk​=0 whenever gj(xk)<0g_j(x^k)<0gj​(xk)<0, such that

∇f(xk)+∑i=1mλik∇hi(xk)+∑j=1pμjk∇gj(xk)→0.(1.2)\nabla f(x^k)+\sum_{i=1}^m\lambda_i^k\nabla h_i(x^k)+\sum_{j=1}^p\mu_j^k\nabla g_j(x^k)\to0. \tag{1.2}∇f(xk)+i=1∑m​λik​∇hi​(xk)+j=1∑p​μjk​∇gj​(xk)→0.(1.2)

It satisfies AGP(0) for fff if there is xk→x∗x^k\to x^*xk→x∗ with PΩ(xk,0)(xk−∇f(xk))−xk→0P_{\Omega(x^k,0)}(x^k-\nabla f(x^k))-x^k\to0PΩ(xk,0)​(xk−∇f(xk))−xk→0. The outer limit lim sup⁡z→z∗F(z)\limsup_{z\to z^*}F(z)limsupz→z∗​F(z) of a set-valued map is the set of limits of sequences wk∈F(zk)w^k\in F(z^k)wk∈F(zk) with zk→z∗z^k\to z^*zk→z∗ (1.6). The point x∗x^*x∗ is SAKKT-regular (Definition 4.3) if

lim sup⁡x→x∗NΩ(x,0)(x)⊂NΩ(x∗,0)(x∗).\limsup_{x\to x^*}N_{\Omega(x,0)}(x)\subset N_{\Omega(x^*,0)}(x^*).x→x∗limsup​NΩ(x,0)​(x)⊂NΩ(x∗,0)​(x∗).

Formalization targets

Goal: Theorem 4.5

For continuously differentiable constraints and a feasible x∗x^*x∗,

x∗ SAKKT-regular  ⟺  (∀f∈C1: SAKKT at x∗⇒KKT at x∗).x^*\ \text{SAKKT-regular}\iff\big(\forall f\in C^1:\ \text{SAKKT at }x^*\Rightarrow\text{KKT at }x^*\big).x∗ SAKKT-regular⟺(∀f∈C1: SAKKT at x∗⇒KKT at x∗).

The forward implication says SAKKT-regularity is a strict constraint qualification for SAKKT; the backward one says it is implied by every such qualification.

Milestones

  1. Proposition 3.1: for nonempty closed convex CCC and x∈Cx\in Cx∈C, ω∈NC(x)  ⟺  PC(x+ω)=x\omega\in N_C(x)\iff P_C(x+\omega)=xω∈NC​(x)⟺PC​(x+ω)=x.
  2. Proposition 4.4: if x+ε∈Ω(x,0)x+\varepsilon\in\Omega(x,0)x+ε∈Ω(x,0), every element of NΩ(x,0)(x+ε)N_{\Omega(x,0)}(x+\varepsilon)NΩ(x,0)​(x+ε) is ∑iλi∇hi(x)+∑gj(x)≥0μj∇gj(x)\sum_i\lambda_i\nabla h_i(x)+\sum_{g_j(x)\ge0}\mu_j\nabla g_j(x)∑i​λi​∇hi​(x)+∑gj​(x)≥0​μj​∇gj​(x) with μ≥0\mu\ge0μ≥0 and μj⟨∇gj(x),ε⟩=0\mu_j\langle\nabla g_j(x),\varepsilon\rangle=0μj​⟨∇gj​(x),ε⟩=0; and NΩ(x,0)(x+ε)⊂NΩ(x,0)(x)N_{\Omega(x,0)}(x+\varepsilon)\subset N_{\Omega(x,0)}(x)NΩ(x,0)​(x+ε)⊂NΩ(x,0)​(x).
  3. AGP(0)   ⟺  \iff⟺ SAKKT, for every C1C^1C1 objective (p. 6, from Haeser–Schuverdt).
  4. −∇f(x∗)∈LΩ(x∗)∘  ⟺  -\nabla f(x^*)\in L_\Omega(x^*)^\circ\iff−∇f(x∗)∈LΩ​(x∗)∘⟺ KKT at x∗x^*x∗.
  5. (4.22): NΩ(x∗,0)(x∗)=LΩ(x∗)∘N_{\Omega(x^*,0)}(x^*)=L_\Omega(x^*)^\circNΩ(x∗,0)​(x∗)=LΩ​(x∗)∘ at a feasible x∗x^*x∗.
  6. (4.23)–(4.24): an AGP(0) sequence for fff puts −∇f(x∗)-\nabla f(x^*)−∇f(x∗) in lim sup⁡x→x∗NΩ(x,0)(x)\limsup_{x\to x^*}N_{\Omega(x,0)}(x)limsupx→x∗​NΩ(x,0)​(x).
  7. (4.26): every ω∗\omega^*ω∗ in that outer limit makes AGP(0) hold for f(x)=−⟨ω∗,x⟩f(x)=-\langle\omega^*,x\ranglef(x)=−⟨ω∗,x⟩.

Significance

Theorem 4.5 describes exactly the constraint systems on which a SAKKT sequence converging to x∗x^*x∗ certifies a KKT point, for every objective. Any constraint qualification already known to make SAKKT imply KKT implies SAKKT-regularity; at a point that is not SAKKT-regular, some linear objective has a SAKKT sequence converging to a non-KKT point. Because SAKKT is stronger than AKKT and AGP, its regularity condition is weaker than theirs, and Section 5 of the paper places it in the hierarchy of constraint qualifications next to AGP-regularity and CAKKT-regularity. By Proposition 4.4, SAKKT-regularity reads geometrically: the cone generated by the gradients of the equality constraints and of the inequalities that are active or violated at xxx varies outer semicontinuously as x→x∗x\to x^*x→x∗.

The paper's result is proved, and no part of it is formalized on the platform. The mission adds machine-checked statements of the characterization and of the polyhedral convex-analysis facts behind it: the projection characterization of normal cones, the description of normal cones of Ω(x,0)\Omega(x,0)Ω(x,0) at perturbed points, and the identification of NΩ(x∗,0)(x∗)N_{\Omega(x^*,0)}(x^*)NΩ(x∗,0)​(x∗) with LΩ(x∗)∘L_\Omega(x^*)^\circLΩ​(x∗)∘.

Difficulty

The forward direction passes to the limit in normal cones of sets Ω(xk,0)\Omega(x^k,0)Ω(xk,0) that change with kkk: the set of rows kept depends on the sign of gj(xk)g_j(x^k)gj​(xk) at the moving point, not on the active set at x∗x^*x∗. Projections land at yk=xk+εky^k=x^k+\varepsilon^kyk=xk+εk, while SAKKT-regularity speaks of normal cones at xkx^kxk, so the normal vectors must be transported from yky^kyk to xkx^kxk; this is Proposition 4.4, a Farkas-type statement for the cone of active rows. Moving between SAKKT and AGP(0) requires the Haeser–Schuverdt equivalence, which the paper cites rather than proves. The backward direction must build an objective function and a sequential certificate from an arbitrary element of an outer limit, which needs existence and nonexpansiveness of projections onto every Ω(xk,0)\Omega(x^k,0)Ω(xk,0). Finally, LΩ(x∗)∘L_\Omega(x^*)^\circLΩ​(x∗)∘ and the KKT multipliers are linked by Farkas' lemma for a finitely generated cone.

Formalization scope

  • Rn\mathbb R^nRn is EuclideanSpace ℝ (Fin n); indices are Fin m and Fin p; gradients are Mathlib's gradient.
  • The standing hypothesis is that every hih_ihi​ and gjg_jgj​ is C1C^1C1. "Smooth objective" in Theorem 4.5 is read as C1C^1C1, which is all the argument uses. The objective is quantified inside the equivalence, for fixed constraints and a fixed feasible x∗x^*x∗.
  • KKT is the multiplier form with sign and complementarity. The paper's reading −∇f(x∗)∈LΩ(x∗)∘-\nabla f(x^*)\in L_\Omega(x^*)^\circ−∇f(x∗)∈LΩ​(x∗)∘ is a milestone.
  • SAKKT imposes μjk=0\mu^k_j=0μjk​=0 when gj(xk)<0g_j(x^k)<0gj​(xk)<0, at the iterate and not at x∗x^*x∗, and adds no complementarity limit. The page's "xk→xx^k\to xxk→x" is read as xk→x∗x^k\to x^*xk→x∗.
  • The normal cone is empty outside the set, and the projection is a predicate (a nearest point), not a choice function. The outer limit is the sequential one of (1.6), with xxx ranging over all of Rn\mathbb R^nRn.
  • Definition 4.3 is the inclusion; its trailing identity with LΩ(x∗)∘L_\Omega(x^*)^\circLΩ​(x∗)∘ is milestone 5. Proposition 4.4's "elements in Rm\mathbb R^mRm" is read as Rn\mathbb R^nRn.
  • Junk gradients (no C1C^1C1 hypothesis where continuity is used), a normal cone that is nonempty at points outside the set, an objective quantified outside the equivalence, a support condition placed at x∗x^*x∗, or KKT without sign or complementarity would each trivialize or change the statement; the definitions above rule them out.

All objects are defined in the namespace StrictCQ.SAKKT. Proofs of milestones 1, 2, 4 and 5 are reusable convex analysis beyond this mission; contributions toward a proof of the Haeser–Schuverdt equivalence (milestone 3) are welcome independently of the goal.

Selected references

  • R. Andreani, J. M. Martínez, A. Ramos, P. J. S. Silva, Strict constraint qualifications and sequential optimality conditions for constrained optimization, Optimization Online 5197, 2015; Math. Oper. Res. 43(3), 2018. https://doi.org/10.1287/moor.2017.0879
  • G. Haeser, M. L. Schuverdt, On approximate KKT condition and its extension to continuous variational inequalities, J. Optim. Theory Appl. 149(3):528–539, 2011. https://link.springer.com/journal/10957/volumes-and-issues/149-3
  • J. M. Martínez, B. F. Svaiter, A practical optimality condition without constraint qualifications for nonlinear programming, J. Optim. Theory Appl. 118:117–133, 2003. https://doi.org/10.1023/A:1023617925436
  • R. Andreani, J. M. Martínez, A. Ramos, P. J. S. Silva, A cone-continuity constraint qualification and algorithmic consequences, SIAM J. Optim. 26(1):96–110, 2016. https://doi.org/10.1137/15M1008488
  • R. T. Rockafellar, R. J.-B. Wets, Variational Analysis, Springer, 1998. https://doi.org/10.1007/978-3-642-02431-3
11 thms2 active usersReviewed
🏆Completed
Optimization·Captain: mikedeng1

Strict Constraint Qualifications and Sequential Optimality Conditions for Constrained Optimization II: AGP-Regularity Is the Weakest Strict Constraint Qualification for AGPResearch Paper

Motivation

Algorithms for smooth constrained optimization stop when an approximate optimality test passes. The tests used in practice are sequential optimality conditions: properties of a sequence of iterates xk→x∗x^k\to x^*xk→x∗ rather than of the limit alone. Every local minimizer satisfies them, with or without a constraint qualification, which makes them natural stopping criteria. The price is that a point passing such a test need not satisfy the Karush–Kuhn–Tucker (KKT) conditions. A strict constraint qualification for a sequential condition SSS is a property of the constraints at x∗x^*x∗ under which SSS implies KKT for every objective function. The weaker this property, the more problems on which the stopping test is guaranteed to certify a KKT point.

The Approximate Gradient Projection (AGP) condition was introduced by Martínez and Svaiter (2003) and is the natural stopping criterion of inexact restoration methods. It is strictly stronger than the Approximate KKT condition (AKKT), and it does not require Lagrange multiplier estimates. Andreani, Martínez, Ramos and Silva (Optimization Online 5197, 2015; Math. Oper. Res. 43(3), 2018, doi:10.1287/moor.2017.0879) determined the weakest strict constraint qualification associated with AGP and with several other sequential conditions. For AKKT the answer had been found earlier: the Cone Continuity Property of Andreani, Martínez, Ramos and Silva (2016). This mission formalizes the AGP case, Theorem 4.2 of the preprint, together with its linear-constraint variant, Theorem 4.6.

Setting

Consider the nonlinear program

min⁡f(x)subject toh(x)=0, g(x)≤0,(1.1)\min f(x)\quad\text{subject to}\quad h(x)=0,\ g(x)\le0, \tag{1.1}minf(x)subject toh(x)=0, g(x)≤0,(1.1)

with h=(h1,…,hm)h=(h_1,\dots,h_m)h=(h1​,…,hm​) and g=(g1,…,gp)g=(g_1,\dots,g_p)g=(g1​,…,gp​) continuously differentiable on Rn\mathbb R^nRn. The feasible set is Ω={x:h(x)=0, g(x)≤0}\Omega=\{x:h(x)=0,\ g(x)\le0\}Ω={x:h(x)=0, g(x)≤0}, and J(x∗)={j:gj(x∗)=0}J(x^*)=\{j:g_j(x^*)=0\}J(x∗)={j:gj​(x∗)=0} is the set of active inequalities. The KKT condition holds at x∗x^*x∗ for fff if there are λ∈Rm\lambda\in\mathbb R^mλ∈Rm and μ∈R+p\mu\in\mathbb R^p_+μ∈R+p​, with μj=0\mu_j=0μj​=0 for j∉J(x∗)j\notin J(x^*)j∈/J(x∗), such that ∇f(x∗)+∑iλi∇hi(x∗)+∑jμj∇gj(x∗)=0\nabla f(x^*)+\sum_i\lambda_i\nabla h_i(x^*)+\sum_j\mu_j\nabla g_j(x^*)=0∇f(x∗)+∑i​λi​∇hi​(x∗)+∑j​μj​∇gj​(x∗)=0.

The linearized cone is LΩ(x∗)={d:⟨∇hi(x∗),d⟩=0 ∀i, ⟨∇gj(x∗),d⟩≤0 ∀j∈J(x∗)}L_\Omega(x^*)=\{d:\langle\nabla h_i(x^*),d\rangle=0\ \forall i,\ \langle\nabla g_j(x^*),d\rangle\le0\ \forall j\in J(x^*)\}LΩ​(x∗)={d:⟨∇hi​(x∗),d⟩=0 ∀i, ⟨∇gj​(x∗),d⟩≤0 ∀j∈J(x∗)}, and K∘={v:⟨v,k⟩≤0 ∀k∈K}K^\circ=\{v:\langle v,k\rangle\le0\ \forall k\in K\}K∘={v:⟨v,k⟩≤0 ∀k∈K} is the polar of a set KKK. For a convex set SSS, the normal cone NS(y)={w:⟨w,z−y⟩≤0 ∀z∈S}N_S(y)=\{w:\langle w,z-y\rangle\le0\ \forall z\in S\}NS​(y)={w:⟨w,z−y⟩≤0 ∀z∈S} is defined for y∈Sy\in Sy∈S and is empty for y∉Sy\notin Sy∈/S. PSP_SPS​ denotes the Euclidean projection onto a closed convex set SSS.

For γ∈[−∞,0]\gamma\in[-\infty,0]γ∈[−∞,0] and a point xxx, the linearized set Ω(x,γ)\Omega(x,\gamma)Ω(x,γ) of (4.2) consists of the zzz with

  • ⟨∇hi(x),z−x⟩=0\langle\nabla h_i(x),z-x\rangle=0⟨∇hi​(x),z−x⟩=0 for all iii;
  • ⟨∇gj(x),z−x⟩≤0\langle\nabla g_j(x),z-x\rangle\le0⟨∇gj​(x),z−x⟩≤0 if gj(x)≥0g_j(x)\ge0gj​(x)≥0;
  • gj(x)+⟨∇gj(x),z−x⟩≤0g_j(x)+\langle\nabla g_j(x),z-x\rangle\le0gj​(x)+⟨∇gj​(x),z−x⟩≤0 if γ<gj(x)<0\gamma<g_j(x)<0γ<gj​(x)<0.

A feasible x∗x^*x∗ satisfies AGP(γ\gammaγ) for fff if there is a sequence xk→x∗x^k\to x^*xk→x∗ with

PΩ(xk,γ)(xk−∇f(xk))−xk→0.(4.1)P_{\Omega(x^k,\gamma)}\big(x^k-\nabla f(x^k)\big)-x^k\to0. \tag{4.1}PΩ(xk,γ)​(xk−∇f(xk))−xk→0.(4.1)

The outer limit lim sup⁡z→z∗F(z)\limsup_{z\to z^*}F(z)limsupz→z∗​F(z) of a set-valued map is the set of limits of sequences wk∈F(zk)w^k\in F(z^k)wk∈F(zk) with zk→z∗z^k\to z^*zk→z∗ (1.6). The point x∗x^*x∗ is AGP-regular (Definition 4.1) if

lim sup⁡(x,ε)→(x∗,0)NΩ(x,−∞)(x+ε)⊂NΩ(x∗,−∞)(x∗).\limsup_{(x,\varepsilon)\to(x^*,0)}N_{\Omega(x,-\infty)}(x+\varepsilon)\subset N_{\Omega(x^*,-\infty)}(x^*).(x,ε)→(x∗,0)limsup​NΩ(x,−∞)​(x+ε)⊂NΩ(x∗,−∞)​(x∗).

Formalization targets

Goal: Theorem 4.2

For continuously differentiable constraints and a feasible x∗x^*x∗,

x∗ AGP-regular  ⟺  (∀f∈C1: AGP(−∞) at x∗⇒KKT at x∗).x^*\ \text{AGP-regular}\iff\big(\forall f\in C^1:\ \mathrm{AGP}(-\infty)\text{ at }x^*\Rightarrow\text{KKT at }x^*\big).x∗ AGP-regular⟺(∀f∈C1: AGP(−∞) at x∗⇒KKT at x∗).

The forward implication says AGP-regularity is a strict constraint qualification for AGP; the backward one says it is implied by every such qualification.

Milestones

  1. Proposition 3.1: for nonempty closed convex CCC and x∈Cx\in Cx∈C, ω∈NC(x)  ⟺  PC(x+ω)=x\omega\in N_C(x)\iff P_C(x+\omega)=xω∈NC​(x)⟺PC​(x+ω)=x.
  2. Nonexpansiveness of PCP_CPC​, used in (4.10).
  3. (4.6): NΩ(x∗,−∞)(x∗)=LΩ(x∗)∘N_{\Omega(x^*,-\infty)}(x^*)=L_\Omega(x^*)^\circNΩ(x∗,−∞)​(x∗)=LΩ​(x∗)∘ at a feasible x∗x^*x∗.
  4. −∇f(x∗)∈LΩ(x∗)∘  ⟺  -\nabla f(x^*)\in L_\Omega(x^*)^\circ\iff−∇f(x∗)∈LΩ​(x∗)∘⟺ KKT at x∗x^*x∗.
  5. (4.8): NΩ(xk,γ)(xk+εk)⊂NΩ(xk,−∞)(xk+εk)N_{\Omega(x^k,\gamma)}(x^k+\varepsilon^k)\subset N_{\Omega(x^k,-\infty)}(x^k+\varepsilon^k)NΩ(xk,γ)​(xk+εk)⊂NΩ(xk,−∞)​(xk+εk) for kkk large.
  6. (4.7)–(4.9): under AGP-regularity, AGP(γ\gammaγ) implies KKT for every γ∈[−∞,0)\gamma\in[-\infty,0)γ∈[−∞,0).
  7. (4.10)–(4.11): every ω∗\omega^*ω∗ in the outer limit makes AGP(−∞-\infty−∞) hold for f(x)=−⟨ω∗,x⟩f(x)=-\langle\omega^*,x\ranglef(x)=−⟨ω∗,x⟩.

Companion: Theorem 4.6

The same characterization for the Linear AGP condition (LAGP), in which the linear constraints are kept exact and the iterates stay in the set ΩL\Omega_LΩL​ they define. LAGP-regularity (Definition 4.4) is outer semicontinuity of (x,ε)↦NΩNL(x,−∞)∩ΩL(x+ε)(x,\varepsilon)\mapsto N_{\Omega_{NL}(x,-\infty)\cap\Omega_L}(x+\varepsilon)(x,ε)↦NΩNL​(x,−∞)∩ΩL​​(x+ε) relative to x∈ΩLx\in\Omega_Lx∈ΩL​. Two further items accompany it: Proposition 4.1, the explicit form of NΩ(x,−∞)(x+ε)N_{\Omega(x,-\infty)}(x+\varepsilon)NΩ(x,−∞)​(x+ε), and the equality NΩNL(x∗,−∞)∩ΩL(x∗)=LΩ(x∗)∘N_{\Omega_{NL}(x^*,-\infty)\cap\Omega_L}(x^*)=L_\Omega(x^*)^\circNΩNL​(x∗,−∞)∩ΩL​​(x∗)=LΩ​(x∗)∘ appended to Definition 4.4.

Significance

Theorem 4.2 gives the exact boundary of the problems on which an AGP-based stopping test certifies KKT points. Any constraint qualification already known to make AGP imply KKT, for instance the Cone Continuity Property, implies AGP-regularity. Conversely, at a point that is not AGP-regular some objective function has an AGP sequence converging to a non-KKT point. In Section 5 of the paper the theorem places AGP-regularity in the hierarchy of constraint qualifications, with the regularity notions for CAKKT and SAKKT next to it.

The paper's result is proved, and no part of it is formalized on the platform. The mission adds machine-checked statements of the characterization and of the convex-analysis facts it rests on: the projection characterization of normal cones, nonexpansiveness, and the polyhedral normal cone of Ω(x∗,−∞)\Omega(x^*,-\infty)Ω(x∗,−∞) as the polar of the linearized cone. These facts are reusable for any sequential optimality condition built on projections.

Difficulty

The forward direction passes to the limit in normal cones of sets Ω(xk,γ)\Omega(x^k,\gamma)Ω(xk,γ) that vary with kkk and are evaluated at perturbed points xk+εkx^k+\varepsilon^kxk+εk, which may lie outside Ω(xk,−∞)\Omega(x^k,-\infty)Ω(xk,−∞). For finite γ\gammaγ the inclusion of NΩ(xk,γ)N_{\Omega(x^k,\gamma)}NΩ(xk,γ)​ in NΩ(xk,−∞)N_{\Omega(x^k,-\infty)}NΩ(xk,−∞)​ fails at such points. It holds only for kkk large, through a continuity argument on the inactive constraints. The backward direction must manufacture an objective function and an AGP sequence from an arbitrary element of an outer limit, which requires existence of projections onto every Ω(xk,−∞)\Omega(x^k,-\infty)Ω(xk,−∞). The identification of NΩ(x∗,−∞)(x∗)N_{\Omega(x^*,-\infty)}(x^*)NΩ(x∗,−∞)​(x∗) with LΩ(x∗)∘L_\Omega(x^*)^\circLΩ​(x∗)∘ needs the localization of a polyhedral normal cone, and the link between LΩ(x∗)∘L_\Omega(x^*)^\circLΩ​(x∗)∘ and KKT multipliers is Farkas' lemma for a finitely generated cone.

Formalization scope

  • Rn\mathbb R^nRn is EuclideanSpace ℝ (Fin n); indices are Fin m and Fin p; gradients are Mathlib's gradient.
  • The standing hypothesis is that every hih_ihi​ and gjg_jgj​ is C1C^1C1. Objectives in the characterizations are C1C^1C1 and are quantified inside the equivalence, for fixed constraints and fixed feasible x∗x^*x∗.
  • KKT is the multiplier form with sign and complementarity. The paper's reading −∇f(x∗)∈LΩ(x∗)∘-\nabla f(x^*)\in L_\Omega(x^*)^\circ−∇f(x∗)∈LΩ​(x∗)∘ is a milestone.
  • γ\gammaγ is an extended real and −∞-\infty−∞ is its bottom element. The goal states AGP as AGP(−∞-\infty−∞). The paper's AGP is the γ\gammaγ-independent condition of Martínez–Svaiter, which this paper does not prove; milestone 6 gives the forward direction for every γ<0\gamma<0γ<0.
  • The normal cone is empty outside the set. A normal cone that is nonempty at infeasible points makes AGP-regularity a different, stronger condition. The projection is a predicate (a nearest point), not a choice function.
  • The outer limit is sequential, as in (1.6).
  • The paper says the inclusion (4.8) "always holds"; it is stated for kkk large, which is what the proof uses. Definition 4.4's "ΩL×Rm\Omega_L\times\mathbb R^mΩL​×Rm" is read as ΩL×Rn\Omega_L\times\mathbb R^nΩL​×Rn.
  • A formalization with junk gradients (no C1C^1C1 hypothesis where the proof needs continuity), an objective quantified outside the equivalence, or KKT without sign or complementarity is ruled out by the statements above.

All objects are defined in the namespace StrictCQ.AGP. Proofs of the convex-analysis milestones are reusable beyond this mission.

Selected references

  • R. Andreani, J. M. Martínez, A. Ramos, P. J. S. Silva, Strict constraint qualifications and sequential optimality conditions for constrained optimization, Optimization Online 5197, 2015; Math. Oper. Res. 43(3), 2018. https://doi.org/10.1287/moor.2017.0879
  • J. M. Martínez, B. F. Svaiter, A practical optimality condition without constraint qualifications for nonlinear programming, J. Optim. Theory Appl. 118:117–133, 2003. https://doi.org/10.1023/A:1023617925436
  • R. Andreani, J. M. Martínez, A. Ramos, P. J. S. Silva, A cone-continuity constraint qualification and algorithmic consequences, SIAM J. Optim. 26(1):96–110, 2016. https://doi.org/10.1137/15M1008488
  • R. T. Rockafellar, R. J.-B. Wets, Variational Analysis, Springer, 1998. https://doi.org/10.1007/978-3-642-02431-3
11 thms2 active usersReviewed
🏆Completed
Actuarial ScienceProbability·Captain: mikedeng1

Inf-Convolution, Optimal Allocations, and Model Uncertainty for Tail Risk Measures V: Comonotonic Risk Sharing Among Wasserstein-Robust VaR Agents Gives All the Risk to One AgentResearch Paper

Motivation

Value-at-Risk (VaR) is the regulatory risk measure for banking and insurance capital: it is the quantile of a loss distribution at a fixed tail probability. Two questions arise when several agents use it. First, risk sharing: if an aggregate loss XXX is split among agents i=1,…,ni=1,\dots,ni=1,…,n, each measuring its share with its own risk measure, what is the smallest total risk the group can achieve and which split achieves it? Second, model uncertainty: an agent rarely knows the distribution of a loss exactly, and a common response is to evaluate the worst case over all distributions close to an estimate, here in the sense of the Wasserstein distance used in distributionally robust optimization (Esfahani and Kuhn, 2018).

F. Liu, T. Mao, R. Wang and L. Wei, Inf-Convolution, Optimal Allocations, and Model Uncertainty for Tail Risk Measures (Mathematics of Operations Research, 2022; the version used here is the authors' SSRN copy 3490348 of January 16, 2022, ssrn.com/abstract=3490348), combine the two questions. When each agent uses a Wasserstein-robust VaR and the split must be comonotonic (every share increases with the total, the usual requirement in insurance), their Theorem 6 gives the optimal total risk in closed form and shows that one agent should carry the entire loss.

Setting

Fix an atomless probability space (Ω,F,P)(\Omega,\mathcal F,\mathbb P)(Ω,F,P): every event of positive probability contains an event of strictly smaller positive probability. A random variable XXX is a loss, with distribution function FX(x)=P(X≤x)F_X(x)=\mathbb P(X\le x)FX​(x)=P(X≤x). The domain is X=L∞\mathcal X=L^\inftyX=L∞, the essentially bounded measurable random variables.

For α∈(0,1)\alpha\in(0,1)α∈(0,1) the left and right Value-at-Risk are

VaRαL(X)=inf⁡{x:FX(x)≥1−α},VaRαR(X)=inf⁡{x:FX(x)>1−α},\mathrm{VaR}^L_\alpha(X)=\inf\{x: F_X(x)\ge1-\alpha\},\qquad \mathrm{VaR}^R_\alpha(X)=\inf\{x: F_X(x)>1-\alpha\},VaRαL​(X)=inf{x:FX​(x)≥1−α},VaRαR​(X)=inf{x:FX​(x)>1−α},

so a small α\alphaα looks far into the tail of the loss. Λ∈{L,R}\Lambda\in\{L,R\}Λ∈{L,R} selects one of the two.

The Wasserstein metric of order k≥1k\ge1k≥1 between XXX and YYY with quantile functions F−1F^{-1}F−1 and G−1G^{-1}G−1 is

Wk(X,Y)=(∫01∣F−1(x)−G−1(x)∣k dx)1/k,W_k(X,Y)=\Big(\int_0^1|F^{-1}(x)-G^{-1}(x)|^k\,\mathrm dx\Big)^{1/k},Wk​(X,Y)=(∫01​∣F−1(x)−G−1(x)∣kdx)1/k,

and the robust version of a risk measure ρ\rhoρ at radius δ>0\delta>0δ>0 is

[ρ]δk(X)=sup⁡{ρ(Y):Y∈L∞, Wk(Y,X)≤δ}.[\rho]^k_\delta(X)=\sup\{\rho(Y): Y\in L^\infty,\ W_k(Y,X)\le\delta\}.[ρ]δk​(X)=sup{ρ(Y):Y∈L∞, Wk​(Y,X)≤δ}.

Two random variables X,YX,YX,Y are comonotonic if (X(ω)−X(ω′))(Y(ω)−Y(ω′))≥0(X(\omega)-X(\omega'))(Y(\omega)-Y(\omega'))\ge0(X(ω)−X(ω′))(Y(ω)−Y(ω′))≥0 for all ω,ω′\omega,\omega'ω,ω′ in an event of probability one. The comonotonic allocations of XXX among nnn agents are

An+(X)={(X1,…,Xn)∈(L∞)n:X1+⋯+Xn=X, Xi comonotonic with X},\mathbb A^+_n(X)=\{(X_1,\dots,X_n)\in(L^\infty)^n: X_1+\dots+X_n=X,\ X_i \text{ comonotonic with } X\},An+​(X)={(X1​,…,Xn​)∈(L∞)n:X1​+⋯+Xn​=X, Xi​ comonotonic with X},

and the constrained inf-convolution of ρ1,…,ρn\rho_1,\dots,\rho_nρ1​,…,ρn​ is ⊞i=1nρi(X)=inf⁡{∑iρi(Xi):(X1,…,Xn)∈An+(X)}\boxplus_{i=1}^n\rho_i(X)=\inf\{\sum_i\rho_i(X_i):(X_1,\dots,X_n)\in\mathbb A^+_n(X)\}⊞i=1n​ρi​(X)=inf{∑i​ρi​(Xi​):(X1​,…,Xn​)∈An+​(X)}. An allocation attaining the infimum is optimal.

Formalization targets

Goal: Theorem 6 (p. 31)

Let X∈L∞X\in L^\inftyX∈L∞ and Λ∈{L,R}\Lambda\in\{L,R\}Λ∈{L,R}.

(i) If 0<δ1≤⋯≤δn0<\delta_1\le\dots\le\delta_n0<δ1​≤⋯≤δn​ and α∈(0,1)\alpha\in(0,1)α∈(0,1), then

⊞i=1n[VaRαΛ]δi1(X)=[VaRαΛ]δ11(X)+∑i=2nδiα.\mathop{\boxplus}_{i=1}^n[\mathrm{VaR}^\Lambda_\alpha]^1_{\delta_i}(X)=[\mathrm{VaR}^\Lambda_\alpha]^1_{\delta_1}(X)+\sum_{i=2}^n\frac{\delta_i}{\alpha}.⊞i=1n​[VaRαΛ​]δi​1​(X)=[VaRαΛ​]δ1​1​(X)+i=2∑n​αδi​​.

(ii) If 1>α1≥⋯≥αn>01>\alpha_1\ge\dots\ge\alpha_n>01>α1​≥⋯≥αn​>0 and δ>0\delta>0δ>0, then

⊞i=1n[VaRαiΛ]δ1(X)=[VaRα1Λ]δ1(X)+∑i=2nδαi.\mathop{\boxplus}_{i=1}^n[\mathrm{VaR}^\Lambda_{\alpha_i}]^1_{\delta}(X)=[\mathrm{VaR}^\Lambda_{\alpha_1}]^1_{\delta}(X)+\sum_{i=2}^n\frac{\delta}{\alpha_i}.⊞i=1n​[VaRαi​Λ​]δ1​(X)=[VaRα1​Λ​]δ1​(X)+i=2∑n​αi​δ​.

In either case (X,0,…,0)(X,0,\dots,0)(X,0,…,0) is an optimal comonotonic allocation.

Milestones

  1. Proposition 4(iii), (34)–(35), p. 30. For k≥1k\ge1k≥1, δ>0\delta>0δ>0, α∈(0,1)\alpha\in(0,1)α∈(0,1): [VaRαL]δk(X)=[VaRαR]δk(X)=x[\mathrm{VaR}^L_\alpha]^k_\delta(X)=[\mathrm{VaR}^R_\alpha]^k_\delta(X)=x[VaRαL​]δk​(X)=[VaRαR​]δk​(X)=x, where xxx is the unique solution of ∫0α(x−VaRuR(X))+k du=δk\int_0^\alpha(x-\mathrm{VaR}^R_u(X))_+^k\,\mathrm du=\delta^k∫0α​(x−VaRuR​(X))+k​du=δk, and [VaRαR]δk(X)≥VaRαR(X)+δ/α1/k[\mathrm{VaR}^R_\alpha]^k_\delta(X)\ge\mathrm{VaR}^R_\alpha(X)+\delta/\alpha^{1/k}[VaRαR​]δk​(X)≥VaRαR​(X)+δ/α1/k.
  2. (40), p. 31. With Vδ=[VaRαL]δ1V_\delta=[\mathrm{VaR}^L_\alpha]^1_\deltaVδ​=[VaRαL​]δ1​: Vδ(Y)≤0V_\delta(Y)\le0Vδ​(Y)≤0 if and only if ∫0α(−VaRuL(Y))+ du≥δ\int_0^\alpha(-\mathrm{VaR}^L_u(Y))_+\,\mathrm du\ge\delta∫0α​(−VaRuL​(Y))+​du≥δ.
  3. (39), p. 31. For δ1≤δ2\delta_1\le\delta_2δ1​≤δ2​: Vδ1⊞Vδ2(X)≤Vδ1(X)+δ2/αV_{\delta_1}\boxplus V_{\delta_2}(X)\le V_{\delta_1}(X)+\delta_2/\alphaVδ1​​⊞Vδ2​​(X)≤Vδ1​​(X)+δ2​/α, through the allocation (X+δ2/α, −δ2/α)(X+\delta_2/\alpha,\,-\delta_2/\alpha)(X+δ2​/α,−δ2​/α).
  4. (38), p. 31. For δ1≤δ2\delta_1\le\delta_2δ1​≤δ2​: Vδ1⊞Vδ2(X)=Vδ1(X)+δ2/αV_{\delta_1}\boxplus V_{\delta_2}(X)=V_{\delta_1}(X)+\delta_2/\alphaVδ1​​⊞Vδ2​​(X)=Vδ1​​(X)+δ2​/α.
  5. (41), p. 33. For λ≥1\lambda\ge1λ≥1 with λα<1\lambda\alpha<1λα<1: [VaRαΛ]δ1≥[VaRλαΛ]λδ1[\mathrm{VaR}^\Lambda_\alpha]^1_\delta\ge[\mathrm{VaR}^\Lambda_{\lambda\alpha}]^1_{\lambda\delta}[VaRαΛ​]δ1​≥[VaRλαΛ​]λδ1​ on L∞L^\inftyL∞.

Significance

The theorem is one of the few explicit solutions of a risk-sharing problem with model uncertainty and non-convex agents. Without uncertainty, the inf-convolution of VaRs is a VaR at the summed level (Theorem 1 of the same paper), and its optimal allocations split the tail of the loss across agents. Under Wasserstein uncertainty and a comonotonicity constraint the structure changes: the optimum concentrates the whole loss on the agent least sensitive to uncertainty when the levels agree, or least sensitive to risk when the radii agree, and the remaining agents hold only cash. In particular the equal split (X/n,…,X/n)(X/n,\dots,X/n)(X/n,…,X/n), optimal for identical convex risk measures, is in general not optimal here. Proposition 4(iii) is independently useful: it computes the worst-case VaR over a one-dimensional Wasserstein ball of any order and shows that left and right VaR coincide after robustification.

The results are proved in the paper. As far as is known, none of them has a machine-checked proof; this mission produces the first formal statements and, eventually, proofs. The quantile-based Wasserstein metric, the robust risk measure and the comonotonic inf-convolution are reusable objects for further work on robust risk measures.

Difficulty

The upper bound is a direct computation with one explicit allocation. The lower bound is the hard part. VaR is not convex, so the duality arguments that solve the inf-convolution of convex risk measures do not apply, and the robust VaR is not a distortion risk measure to which the Expected Shortfall formula of Proposition 4(ii) applies. The paper itself notes (p. 30) that the inf-convolution of robust VaRs over all allocations is hard to compute because VaR lacks convexity, and obtains only two-sided bounds there, which are generally not sharp. The explicit formula of Theorem 6 depends on the comonotonicity constraint, on the order k=1k=1k=1, and on the agents sharing either the level or the radius; the paper states it only under these assumptions, and the ordering of the radii or levels is necessary for the identity as written, since it singles out the agent who carries the loss. For Proposition 4(iii), the supremum over the ball is a supremum over distributions, and identifying it with a real number requires realising worst-case distributions as random variables on the given space, which is where atomlessness is used.

Formalization scope

Random variables are functions Ω→R\Omega\to\mathbb RΩ→R; L∞L^\inftyL∞ is the set of measurable, almost surely bounded functions, with no quotient. The probability measure is atomless in the splitting sense. The quantile function is FX−1(x)=VaR1−xL(X)F^{-1}_X(x)=\mathrm{VaR}^L_{1-x}(X)FX−1​(x)=VaR1−xL​(X), and the Wasserstein integral is the interval integral over [0,1][0,1][0,1]; for X,Y∈L∞X,Y\in L^\inftyX,Y∈L∞ its integrand is bounded and monotone on (0,1)(0,1)(0,1), so the integral is the paper's. The supremum in the robust measure ranges over Y∈L∞Y\in L^\inftyY∈L∞ only, as in the paper. It is a real supremum: the set is nonempty since it contains ρ(X)\rho(X)ρ(X), and for VaR its boundedness from above is part of the statement of Proposition 4(iii), so no junk value enters. Allocation constraints ∑iXi=X\sum_iX_i=X∑i​Xi​=X hold pointwise. The constrained inf-convolution is valued in the extended reals. The n=m+1n=m+1n=m+1 agents are indexed by Fin (m+1), so n≥1n\ge1n≥1; the orderings of the radii and of the levels are hypotheses, since without them the identities fail. Theorem 6 is stated for order k=1k=1k=1; Proposition 4(iii) for every real k≥1k\ge1k≥1. The single implicit hypothesis made explicit is λα<1\lambda\alpha<1λα<1 in (41), which keeps the VaR level in (0,1)(0,1)(0,1).

A formalization in which the robust supremum ranges over all measurable functions, or over an unbounded set where the real supremum is 000, would make the identities trivial or false; both are excluded by the definitions above.

The development needs: quantile functions of bounded random variables and their monotonicity; the existence on an atomless space of a random variable with a prescribed quantile function; comonotonic additivity of VaR; and the interval-integral calculus for monotone integrands. Contributions of general lemmas on quantile functions and on one-dimensional Wasserstein distances are welcome and reusable beyond this mission.

Selected references

  • F. Liu, T. Mao, R. Wang, L. Wei, Inf-Convolution, Optimal Allocations, and Model Uncertainty for Tail Risk Measures, Mathematics of Operations Research, 2022; SSRN version of January 16, 2022. https://ssrn.com/abstract=3490348 , https://doi.org/10.1287/moor.2021.1217
  • P. Embrechts, H. Liu, R. Wang, Quantile-based risk sharing, Operations Research 66(4), 2018. https://doi.org/10.1287/opre.2017.1716
  • P. Mohajerin Esfahani, D. Kuhn, Data-driven distributionally robust optimization using the Wasserstein metric, Mathematical Programming 171, 2018. https://doi.org/10.1007/s10107-017-1172-1
  • J. Dhaene, S. Vanduffel, M. Goovaerts, R. Kaas, Q. Tang, D. Vyncke, Risk measures and comonotonicity: a review, Stochastic Models 22(4), 2006. https://doi.org/10.1080/15326340600878016
11 thms2 active usersReviewed
🏆Completed
Optimization·Captain: mikedeng1

Strict Constraint Qualifications and Sequential Optimality Conditions for Constrained Optimization I: MFCQ or a Full Active-Gradient Cone Is the Weakest Strict CQ for Scaled-AKKTResearch Paper

Motivation

Practical algorithms for nonlinear programming do not stop at an exact Karush–Kuhn–Tucker (KKT) point; they stop when an approximate stationarity test passes. Sequential optimality conditions formalize what such tests certify: they are properties of a feasible point x∗x^*x∗ phrased through sequences xk→x∗x^k \to x^*xk→x∗ and multiplier estimates, and every local minimizer satisfies them without any constraint qualification. The question that links them back to classical theory is which conditions on the constraints guarantee that a point satisfying a sequential condition is in fact a KKT point. Andreani, Martínez, Ramos and Silva call these strict constraint qualifications and ask, for each sequential condition, for the weakest one.

For the Approximate KKT condition (AKKT) the answer, the Cone Continuity Property, was given by Andreani, Martínez, Ramos and Silva in 2016 (SIAM J. Optim. 26(1)). Section 2 of the present paper treats the Scaled-AKKT condition, which divides the stationarity residual by the size of the multipliers. This scaling appears in the stopping criteria of practical codes and in complexity analyses of nonlinear programming methods. Scaled-AKKT is weaker than AKKT, and the paper uses it as the first, self-contained example of the analysis it then carries out for AGP, CAKKT and SAKKT.

Setting

Fix n,m,p≥0n, m, p \ge 0n,m,p≥0 and continuously differentiable functions h1,…,hmh_1,\dots,h_mh1​,…,hm​, g1,…,gp:Rn→Rg_1,\dots,g_p : \mathbb R^n \to \mathbb Rg1​,…,gp​:Rn→R, where Rn\mathbb R^nRn carries the Euclidean inner product ⟨⋅,⋅⟩\langle\cdot,\cdot\rangle⟨⋅,⋅⟩ and norm ∥⋅∥\|\cdot\|∥⋅∥. The feasible set is Ω={x:hi(x)=0, gj(x)≤0 for all i,j}\Omega = \{x : h_i(x) = 0,\ g_j(x) \le 0 \text{ for all } i, j\}Ω={x:hi​(x)=0, gj​(x)≤0 for all i,j}, and x∗∈Ωx^* \in \Omegax∗∈Ω is fixed. An index jjj is active when gj(x∗)=0g_j(x^*) = 0gj​(x∗)=0.

For an objective fff, the point x∗x^*x∗ satisfies KKT if there are λ∈Rm\lambda \in \mathbb R^mλ∈Rm and μ∈Rp\mu \in \mathbb R^pμ∈Rp with μ≥0\mu \ge 0μ≥0, μj=0\mu_j = 0μj​=0 for inactive jjj, and ∇f(x∗)+∑iλi∇hi(x∗)+∑jμj∇gj(x∗)=0\nabla f(x^*) + \sum_i \lambda_i \nabla h_i(x^*) + \sum_j \mu_j \nabla g_j(x^*) = 0∇f(x∗)+∑i​λi​∇hi​(x∗)+∑j​μj​∇gj​(x∗)=0.

Scaled-AKKT holds at x∗x^*x∗ for fff if there are sequences xk→x∗x^k \to x^*xk→x∗, λk∈Rm\lambda^k \in \mathbb R^mλk∈Rm and μk∈Rp\mu^k \in \mathbb R^pμk∈Rp with μk≥0\mu^k \ge 0μk≥0, such that min⁡{μjk,−gj(xk)}→0\min\{\mu^k_j, -g_j(x^k)\} \to 0min{μjk​,−gj​(xk)}→0 for every jjj, and

lim⁡k→∞max⁡{1,∥λk∥∞,∥μk∥∞}−1 ∥∇f(xk)+∑i=1mλik∇hi(xk)+∑j=1pμjk∇gj(xk)∥=0,\lim_{k\to\infty} \max\{1, \|\lambda^k\|_\infty, \|\mu^k\|_\infty\}^{-1}\, \Big\|\nabla f(x^k) + \sum_{i=1}^m \lambda^k_i \nabla h_i(x^k) + \sum_{j=1}^p \mu^k_j \nabla g_j(x^k)\Big\| = 0,k→∞lim​max{1,∥λk∥∞​,∥μk∥∞​}−1​∇f(xk)+i=1∑m​λik​∇hi​(xk)+j=1∑p​μjk​∇gj​(xk)​=0,

where ∥⋅∥∞\|\cdot\|_\infty∥⋅∥∞​ is the supremum norm of a multiplier vector.

The Mangasarian–Fromovitz constraint qualification (MFCQ) holds at x∗x^*x∗ if ∇h1(x∗),…,∇hm(x∗)\nabla h_1(x^*),\dots,\nabla h_m(x^*)∇h1​(x∗),…,∇hm​(x∗) are linearly independent and some ddd satisfies ⟨∇hi(x∗),d⟩=0\langle \nabla h_i(x^*), d\rangle = 0⟨∇hi​(x∗),d⟩=0 for all iii and ⟨∇gj(x∗),d⟩<0\langle \nabla g_j(x^*), d\rangle < 0⟨∇gj​(x∗),d⟩<0 for all active jjj. The cone of active gradients is

K(x∗)={∑i=1mλi∇hi(x∗)+∑j: gj(x∗)=0μj∇gj(x∗):λ∈Rm, μj≥0}.K(x^*) = \Big\{\sum_{i=1}^m \lambda_i \nabla h_i(x^*) + \sum_{j:\,g_j(x^*)=0} \mu_j \nabla g_j(x^*) : \lambda \in \mathbb R^m,\ \mu_j \ge 0\Big\}.K(x∗)={i=1∑m​λi​∇hi​(x∗)+j:gj​(x∗)=0∑​μj​∇gj​(x∗):λ∈Rm, μj​≥0}.

Formalization targets

Goal: the weakest strict constraint qualification for Scaled-AKKT

For a C1C^1C1 constraint system and a feasible x∗x^*x∗,

(MFCQ at x∗  or  K(x∗)=Rn)  ⟺  ∀f∈C1: (Scaled-AKKT at x∗ for f)⇒(KKT at x∗ for f).(2.3)\big(\text{MFCQ at } x^* \ \text{ or } \ K(x^*) = \mathbb R^n\big) \iff \forall f \in C^1:\ \big(\text{Scaled-AKKT at } x^* \text{ for } f\big) \Rightarrow \big(\text{KKT at } x^* \text{ for } f\big). \qquad (2.3)(MFCQ at x∗  or  K(x∗)=Rn)⟺∀f∈C1: (Scaled-AKKT at x∗ for f)⇒(KKT at x∗ for f).(2.3)

The forward implication says that (2.3) is a strict constraint qualification for Scaled-AKKT; the backward implication says that every strict constraint qualification for Scaled-AKKT implies (2.3).

Milestones

  1. If K(x∗)=RnK(x^*) = \mathbb R^nK(x∗)=Rn, then x∗x^*x∗ is a KKT point for every objective (p. 3).
  2. Scaled-AKKT with a bounded multiplier set {λk,μk}\{\lambda^k, \mu^k\}{λk,μk} implies KKT (p. 3).
  3. Scaled-AKKT with an unbounded multiplier set yields λ\lambdaλ, μ≥0\mu \ge 0μ≥0 supported on the active set, with max⁡{∥λ∥∞,∥μ∥∞}=1\max\{\|\lambda\|_\infty, \|\mu\|_\infty\} = 1max{∥λ∥∞​,∥μ∥∞​}=1, solving ∑iλi∇hi(x∗)+∑j activeμj∇gj(x∗)=0\sum_i \lambda_i \nabla h_i(x^*) + \sum_{j \text{ active}} \mu_j \nabla g_j(x^*) = 0∑i​λi​∇hi​(x∗)+∑j active​μj​∇gj​(x∗)=0, display (2.4) (pp. 3–4).
  4. Such a normalized solution of (2.4) excludes MFCQ (p. 4).
  5. Conversely, failure of MFCQ yields a normalized solution of (2.4) (p. 4).
  6. Given a normalized solution of (2.4), Scaled-AKKT holds at x∗x^*x∗ for every linear objective f(x)=⟨x,c⟩f(x) = \langle x, c\ranglef(x)=⟨x,c⟩ (p. 4).

Significance

The result separates Scaled-AKKT sharply from AKKT. For AKKT the weakest strict constraint qualification (the Cone Continuity Property) is implied by many classical conditions, including CPLD and RCPLD. For Scaled-AKKT it is essentially MFCQ, a much stronger requirement. A stopping test of the Scaled-AKKT type therefore certifies a KKT point only under MFCQ, apart from the degenerate case of a full active cone. The other sections of the paper characterize the weakest strict constraint qualifications for AGP, CAKKT and SAKKT, using the same "iff over all objectives" template that this mission formalizes in its simplest form.

The paper's argument is a half-page sketch. A formalization makes explicit several points it leaves implicit: the role of the 111 in the scaling factor, the vanishing of inactive multipliers forced by the complementarity limit, and the theorem of the alternative that converts failure of MFCQ into a nonzero solution of (2.4). None of these results is formalized on Prove2Me or, to our knowledge, in Mathlib.

Difficulty

The forward direction splits on whether the multipliers stay bounded, and the unbounded case requires normalizing by max⁡{1,∥λk∥∞,∥μk∥∞}\max\{1, \|\lambda^k\|_\infty, \|\mu^k\|_\infty\}max{1,∥λk∥∞​,∥μk∥∞​} and extracting a convergent subsequence. Along that subsequence one must check that the normalized multipliers have supremum norm exactly one, that the normalized objective gradient tends to zero, and that inactive multipliers tend to zero; only then does the limit contradict MFCQ. The backward direction needs a theorem of the alternative (Motzkin or Gordan type) for the active gradients, together with linear dependence of the equality gradients. The paper uses it without stating it. It also needs a vector ccc with −c∉K(x∗)-c \notin K(x^*)−c∈/K(x∗). The printed text chooses c∉K(x∗)c \notin K(x^*)c∈/K(x∗), which has the wrong sign for the objective ⟨x,c⟩\langle x, c\rangle⟨x,c⟩; milestone 6 is stated for every ccc, so the sign issue does not propagate.

Formalization scope

Rn\mathbb R^nRn is EuclideanSpace ℝ (Fin n); the constraints are index families Fin m → E → ℝ and Fin p → E → ℝ; gradients are Mathlib's gradient. Multiplier vectors live in Fin m → ℝ and Fin p → ℝ, whose Mathlib norm is the supremum norm, while residuals use the Euclidean norm. Standing hypotheses: every hih_ihi​, gjg_jgj​ is C1C^1C1 (the paper's "continuous first-order derivatives"), every objective in the goal is C1C^1C1, and x∗x^*x∗ is feasible. The objective is quantified inside the equivalence, so the left side of the goal depends on hhh, ggg, x∗x^*x∗ alone. "or" is inclusive. The cone condition is equality of the cone with all of Rn\mathbb R^nRn, not with its linear span. KKT carries both the sign condition μ≥0\mu \ge 0μ≥0 and complementarity. MFCQ is defined in its primal (direction) form; defining it as "no nonzero nonnegative null combination" would make milestones 4 and 5 hold by definition, and that reading is excluded. Milestone 2 omits the MFCQ hypothesis present in the paper's sentence because the bounded case does not use it.

A complete development needs subsequence extraction in finite-dimensional spaces, continuity of gradients of C1C^1C1 functions, and a theorem of the alternative for finitely many vectors. The last two are reusable beyond this mission. Proofs of individual milestones are welcome independently.

Selected references

  • R. Andreani, J. M. Martínez, A. Ramos, P. J. S. Silva, Strict constraint qualifications and sequential optimality conditions for constrained optimization, Optimization Online 5197 (2015); Mathematics of Operations Research 43(3), 2018. https://doi.org/10.1287/moor.2017.0879
  • R. Andreani, J. M. Martínez, A. Ramos, P. J. S. Silva, A cone-continuity constraint qualification and algorithmic consequences, SIAM Journal on Optimization 26(1), 2016. https://doi.org/10.1137/15M1008488
  • O. L. Mangasarian, S. Fromovitz, The Fritz John necessary optimality conditions in the presence of equality and inequality constraints, Journal of Mathematical Analysis and Applications 17, 1967. https://doi.org/10.1016/0022-247X(67)90163-1
  • R. Andreani, G. Haeser, J. M. Martínez, On sequential optimality conditions for smooth constrained optimization, Optimization 60(5), 2011. https://doi.org/10.1080/02331930903578700
9 thms2 active usersReviewed
🏆Completed
Dynamic ProgrammingLinear OptimizationOptimization·Captain: mikedeng1

On Solving Multistage Stochastic Programs with Coherent Risk Measures: The Inner-Approximation Policy's Nested Risk-Adjusted Cost Is at Most the Upper Bound yResearch Paper

Motivation

Multistage stochastic linear programs model decisions taken over time under uncertainty: reservoir releases in hydro-thermal scheduling, production and inventory plans, capacity expansion. Their standard solution method, stochastic dual dynamic programming (SDDP, Pereira and Pinto 1991), approximates each stage's cost-to-go function from below by cutting planes. This gives a lower bound on the optimal value and a candidate policy, but no guaranteed upper bound: in the risk-neutral case the policy's expected cost is estimated by Monte Carlo simulation.

Planners who are averse to risk replace the expectation in each stage by a coherent risk measure (Artzner, Delbaen, Eber and Heath 1999), nested stage by stage so that the resulting dynamic risk measure is time consistent (Ruszczyński and Shapiro 2006). Under such a nested objective, simulation no longer estimates the cost of a policy: the nested risk of a policy is not an average over sampled scenarios. Philpott, de Matos and Finardi (2013) address this by an inner approximation of the cost-to-go functions from above, built from convex combinations of finitely many points with known upper bounds. Their Proposition 5 shows that the optimal value yyy of the resulting first-stage problem bounds the nested risk-adjusted cost of the policy defined by the inner approximation. This gives a deterministic upper bound that complements the SDDP lower bound, and they apply it to the Brazilian hydro-thermal system.

Setting

There are T≥2T\ge2T≥2 stages. The decision at stage ttt is xt∈Rnx_t\in\mathbb R^nxt​∈Rn; At,EtA_t,E_tAt​,Et​ are m×nm\times nm×n matrices and ct∈Rnc_t\in\mathbb R^nct​∈Rn. Stage 1 is deterministic: A1x1=b1A_1x_1=b_1A1​x1​=b1​. For t≥2t\ge2t≥2 a random outcome ωt\omega_tωt​ ranges over a finite set Ωt\Omega_tΩt​, independently of earlier stages, and enters through the right-hand side bt(ωt)b_t(\omega_t)bt​(ωt​). The feasible set of stage ttt given the previous decision xt−1x_{t-1}xt−1​ is

Xt(ωt)={xt≥0: Atxt=bt(ωt)−Etxt−1}.\mathcal X_t(\omega_t)=\{x_t\ge0:\ A_tx_t=b_t(\omega_t)-E_tx_{t-1}\}.Xt​(ωt​)={xt​≥0: At​xt​=bt​(ωt​)−Et​xt−1​}.

A coherent risk measure ρ\rhoρ maps random costs Z:Ω→RZ:\Omega\to\mathbb RZ:Ω→R to R\mathbb RR and is subadditive, monotone (Z1≤Z2⇒ρ(Z1)≤ρ(Z2)Z_1\le Z_2\Rightarrow\rho(Z_1)\le\rho(Z_2)Z1​≤Z2​⇒ρ(Z1​)≤ρ(Z2​)), positively homogeneous and translation equivariant (ρ(λ+Z)=λ+ρ(Z)\rho(\lambda+Z)=\lambda+\rho(Z)ρ(λ+Z)=λ+ρ(Z)). Larger is worse: these are costs. Each stage t≥2t\ge2t≥2 carries a one-step coherent risk measure ρt\rho_tρt​ on random costs over Ωt\Omega_tΩt​. It is extended to costs in R∪{+∞}\mathbb R\cup\{+\infty\}R∪{+∞} by ρˉt(Z)=+∞\bar\rho_t(Z)=+\inftyρˉ​t​(Z)=+∞ whenever some outcome has infinite cost.

For s=2,…,Ts=2,\dots,Ts=2,…,T fix points xs−11,…,xs−1Js−1x^1_{s-1},\dots,x^{J_{s-1}}_{s-1}xs−11​,…,xs−1Js−1​​ and numbers qs1,…,qsJs−1q^1_s,\dots,q^{J_{s-1}}_sqs1​,…,qsJs−1​​. The inner approximation is the lower boundary of the convex hull of the pairs (xs−1j,qsj)(x^j_{s-1},q^j_s)(xs−1j​,qsj​):

Q^s(x)=min⁡{∑jλjqsj: ∑jλjxs−1j=x, λ≥0, ∑jλj=1},\hat{\mathcal Q}_s(x)=\min\Big\{\sum_j\lambda^jq^j_s:\ \sum_j\lambda^jx^j_{s-1}=x,\ \lambda\ge0,\ \sum_j\lambda^j=1\Big\},Q^​s​(x)=min{j∑​λjqsj​: j∑​λjxs−1j​=x, λ≥0, j∑​λj=1},

which is +∞+\infty+∞ off the convex hull of the points, with Q^T+1≡0\hat{\mathcal Q}_{T+1}\equiv0Q^​T+1​≡0. The policy's stage problem (13) and the first-stage problem (8) are

qt(xt−1,ωt)=min⁡xt∈Xt(ωt)ct⊤xt+Q^t+1(xt),y=min⁡A1x1=b1c1⊤x1+Q^2(x1).q_t(x_{t-1},\omega_t)=\min_{x_t\in\mathcal X_t(\omega_t)}c_t^\top x_t+\hat{\mathcal Q}_{t+1}(x_t),\qquad y=\min_{A_1x_1=b_1}c_1^\top x_1+\hat{\mathcal Q}_2(x_1).qt​(xt−1​,ωt​)=xt​∈Xt​(ωt​)min​ct⊤​xt​+Q^​t+1​(xt​),y=A1​x1​=b1​min​c1⊤​x1​+Q^​2​(x1​).

The numbers qsjq^j_sqsj​ are upper bounds when qsj≥ρˉs(qs(xs−1j,ωs))q^j_s\ge\bar\rho_s\big(q_s(x^j_{s-1},\omega_s)\big)qsj​≥ρˉ​s​(qs​(xs−1j​,ωs​)) for all sss and jjj. A policy defined by the inner approximation, π^\hat\piπ^, takes at each state xt−1x_{t-1}xt−1​ and outcome ωt\omega_tωt​ an action x^t(xt−1,ωt)\hat x_t(x_{t-1},\omega_t)x^t​(xt−1​,ωt​) solving (13), and a first-stage action x^1\hat x_1x^1​ solving (8). The actual risk-adjusted cost of π^\hat\piπ^ over stages t,…,Tt,\dots,Tt,…,T is

v^t(xt−1,ωt)=ct⊤x^t+ρˉt+1(v^t+1(x^t,ωt+1)),\hat v_t(x_{t-1},\omega_t)=c_t^\top\hat x_t+\bar\rho_{t+1}\big(\hat v_{t+1}(\hat x_t,\omega_{t+1})\big),v^t​(xt−1​,ωt​)=ct⊤​x^t​+ρˉ​t+1​(v^t+1​(x^t​,ωt+1​)),

with no future term at t=Tt=Tt=T. The nested risk-adjusted cost of the policy is v(π^)=c1⊤x^1+ρˉ2(v^2(x^1,ω2))v(\hat\pi)=c_1^\top\hat x_1+\bar\rho_2(\hat v_2(\hat x_1,\omega_2))v(π^)=c1⊤​x^1​+ρˉ​2​(v^2​(x^1​,ω2​)).

Formalization targets

Goal: Proposition 5

v(π^) ≤ y.v(\hat\pi)\ \le\ y.v(π^) ≤ y.

The bound holds for every T≥2T\ge2T≥2, every family of coherent ρt\rho_tρt​, every choice of points satisfying the upper-bound property, and every minimizing selection π^\hat\piπ^.

Milestones

  1. The convexity display of §2: subadditivity and positive homogeneity imply ρ(αZ1+(1−α)Z2)≤αρ(Z1)+(1−α)ρ(Z2)\rho(\alpha Z_1+(1-\alpha)Z_2)\le\alpha\rho(Z_1)+(1-\alpha)\rho(Z_2)ρ(αZ1​+(1−α)Z2​)≤αρ(Z1​)+(1−α)ρ(Z2​).
  2. Q^s\hat{\mathcal Q}_sQ^​s​ is the lower boundary of the convex hull H\mathcal HH of the pairs (xs−1j,qsj)(x^j_{s-1},q^j_s)(xs−1j​,qsj​) (its epigraph is H\mathcal HH plus the vertical half-line), hence convex with Q^s(xs−1j)≤qsj\hat{\mathcal Q}_s(x^j_{s-1})\le q^j_sQ^​s​(xs−1j​)≤qsj​, and every convex function bounded by the qsjq^j_sqsj​ at the points lies below Q^s\hat{\mathcal Q}_sQ^​s​.
  3. qt(⋅,ωt)q_t(\cdot,\omega_t)qt​(⋅,ωt​) is convex in xt−1x_{t-1}xt−1​.
  4. The interpolation bound ρˉt(qt(xt−1,ωt))≤Q^t(xt−1)\bar\rho_t\big(q_t(x_{t-1},\omega_t)\big)\le\hat{\mathcal Q}_t(x_{t-1})ρˉ​t​(qt​(xt−1​,ωt​))≤Q^​t​(xt−1​).
  5. The induction claim ρˉt(v^t(xt−1,ωt))≤Q^t(xt−1)\bar\rho_t\big(\hat v_t(x_{t-1},\omega_t)\big)\le\hat{\mathcal Q}_t(x_{t-1})ρˉ​t​(v^t​(xt−1​,ωt​))≤Q^​t​(xt−1​) for t=2,…,Tt=2,\dots,Tt=2,…,T and every xt−1x_{t-1}xt−1​.

Companions

Proposition 3, the risk-neutral case ρt=E\rho_t=\mathbb Eρt​=E. Proposition 4, the subgradient rule ∑mpmζ~mg(x~,ωm)∈∂xρ(Z(x,ω))\sum_mp_m\tilde\zeta_mg(\tilde x,\omega_m)\in\partial_x\rho(Z(x,\omega))∑m​pm​ζ~​m​g(x~,ωm​)∈∂x​ρ(Z(x,ω)) for ρ\rhoρ given by its dual representation. The existence of a policy π^\hat\piπ^, which shows that the hypotheses of the goal can be met.

Significance

Proposition 5 makes the inner approximation a certificate. Any policy computed by minimizing against Q^t+1\hat{\mathcal Q}_{t+1}Q^​t+1​ has nested risk-adjusted cost at most yyy, a number obtained by solving one linear program. Together with the lower bound zzz from outer approximation it brackets the risk-adjusted optimal value. The gap y−zy-zy−z then measures the quality of a risk-averse SDDP policy without simulation, which the nested objective does not allow. The bound covers every coherent nesting used in practice, such as mixtures of expectation and CVaR.

The results are proved in the paper. None of them is machine-checked. A formalization adds a precise account of the infinite values the paper does not discuss: infeasible stages, points outside the convex hull, and the extension of ρt\rho_tρt​ to +∞+\infty+∞. It also pins down the exact form of the upper-bound hypothesis the induction needs.

Difficulty

The obvious reading of the hypothesis on p. 16, "qt+1jq^j_{t+1}qt+1j​ is an upper bound on ρt+1(Qt+1(xtj,ωt+1))\rho_{t+1}(Q_{t+1}(x^j_t,\omega_{t+1}))ρt+1​(Qt+1​(xtj​,ωt+1​))" with the true value function Qt+1Q_{t+1}Qt+1​, does not support the induction. The policy π^\hat\piπ^ does not act optimally, so its cost can exceed the true value, and the inductive step compares v^t\hat v_tv^t​ with the policy's own stage value qtq_tqt​, not with QtQ_tQt​. The hypothesis that works bounds the risk-adjusted optimal value of the policy's stage problem (13) at the points, which is what the paper's Upper Bound Computation actually computes.

The second difficulty is infinite values, which the paper never discusses. A risk measure is defined on real random costs, yet stage problems can be infeasible, Q^s\hat{\mathcal Q}_sQ^​s​ is +∞+\infty+∞ off a convex hull, and a convex combination may put zero weight on a point whose bound is +∞+\infty+∞. Every inequality of the paper has to be re-read in R∪{+∞}\mathbb R\cup\{+\infty\}R∪{+∞}, and the extended-real arithmetic must not silently produce a value the paper does not intend.

Formalization scope

Vectors are Fin n → ℝ, all stages share nnn and mmm, and costs that may be infinite are EReal. Minima are EReal infima, +∞+\infty+∞ on an empty set. Attainment of a minimum is never built into a definition: the policy is a selection with a minimizing property, required at every state where the stage problem is feasible. Stages are natural numbers. Points and bounds are indexed by the stage sss of the function Q^s\hat{\mathcal Q}_sQ^​s​ they define, so pts s j is xs−1jx^j_{s-1}xs−1j​ and qv s j is qsjq^j_sqsj​. Stagewise independence is built in: ωt\omega_tωt​ ranges over Ωt\Omega_tΩt​ whatever happened before.

Standing assumptions made explicit in the statements:

  • T≥2T\ge2T≥2;
  • ρt\rho_tρt​ coherent for t=2,…,Tt=2,\dots,Tt=2,…,T (all four axioms, though the proof uses only monotonicity and convexity);
  • the terminal convention ρT+1(QT+1)=0\rho_{T+1}(Q_{T+1})=0ρT+1​(QT+1​)=0, so Q^T+1≡0\hat{\mathcal Q}_{T+1}\equiv0Q^​T+1​≡0;
  • (8) without the constraint x1≥0x_1\ge0x1​≥0, as printed;
  • the upper-bound hypothesis in the form above.

The risk measures ρt\rho_tρt​ act on real random costs and are extended by ρˉt(Z)=+∞\bar\rho_t(Z)=+\inftyρˉ​t​(Z)=+∞ when some outcome has infinite cost. In Proposition 4, ρ\rhoρ is given by its dual representation (10); the representation theorem itself is not part of the mission. The existence statement adds solvability of A1x1=b1A_1x_1=b_1A1​x1​=b1​ and boundedness below of the last-stage program, without which (8) or the last stage has no solution.

The goal is not to be trivialized. Its hypotheses mention neither v^t\hat v_tv^t​ nor the induction claim; the policy must minimize at every feasible state, not only along visited states; and the statement is for general TTT and general coherent ρt\rho_tρt​, not the expectation. The bound is trivially true when y=+∞y=+\inftyy=+∞ and is informative when x^1\hat x_1x^1​ lies in the convex hull of the stage-1 points.

A complete development needs:

  • convexity of extended-real linear-programming value functions in their right-hand side;
  • convexity of the convex-hull function Q^\hat{\mathcal Q}Q^​;
  • finite Jensen-type inequalities for monotone convex risk measures;
  • linear-programming attainment, for the existence companion.

The first two are reusable for any SDDP-type development. Proofs of the milestones in any order are welcome.

Selected references

  • A. B. Philpott, V. L. de Matos, E. Finardi, On Solving Multistage Stochastic Programs with Coherent Risk Measures, Operations Research 61(4), 2013. https://doi.org/10.1287/opre.2013.1175
  • P. Artzner, F. Delbaen, J.-M. Eber, D. Heath, Coherent Measures of Risk, Mathematical Finance 9(3), 1999. https://doi.org/10.1111/1467-9965.00068
  • A. Ruszczyński, A. Shapiro, Conditional Risk Mappings, Mathematics of Operations Research 31(3), 2006. https://doi.org/10.1287/moor.1060.0204
  • M. V. F. Pereira, L. M. V. G. Pinto, Multi-stage stochastic optimization applied to energy planning, Mathematical Programming 52, 1991. https://doi.org/10.1007/BF01582895
  • A. Shapiro, Analysis of stochastic dual dynamic programming method, European Journal of Operational Research 209(1), 2011. https://doi.org/10.1016/j.ejor.2010.08.007
8 thms2 active usersReviewed
🏆Completed
Optimization·Captain: mikedeng1

Product Price, Quality and Service Decisions under Consumer Choice Models VI: Consumer Surplus Rises as the Firm Also Controls Service Duration, and Again as It Also Controls QualityResearch Paper

Who gains when a firm controls more decisions

A firm that sells differentiated products sets more than prices. It chooses quality levels (features, materials, reliability) and the ancillary services that come free with a product, such as a factory warranty or free maintenance for a fixed period. Wang, Ke and Cui (SSRN 3766191; Manufacturing & Service Operations Management, 2022, doi:10.1287/msom.2020.0947) study the joint choice of price, quality and service duration when consumers choose according to the multinomial logit (MNL) model.

A firm allowed to make more decisions can never earn less: it may always ignore the extra instruments. The question this mission formalizes is what happens to consumers. A natural guess is that every new instrument lets the firm extract more of the consumers' surplus. Section 2.3 of the paper (Proposition 5) shows that under MNL demand this guess is wrong: consumer surplus also rises, so more control is a "win–win". The welfare measure is the logit consumer surplus of Anderson, de Palma and Thisse (Discrete Choice Theory of Product Differentiation, MIT Press, 1992).

The mission is the sixth of a series on the paper; each mission defines its own copy of the model in its own namespace.

Setting

There are NNN products i∈N={1,…,N}i\in\mathcal N=\{1,\dots,N\}i∈N={1,…,N}. Product iii has a price pip_ipi​, a quality level qiq_iqi​ and a service duration tit_iti​, which must lie in a fixed interval [ts,tl][t_s,t_l][ts​,tl​]. The parameters are: αi\alpha_iαi​, the consumers' sensitivity to quality; sis_isi​, the utility of one unit of service time; ci>0c_i>0ci​>0, so that producing one unit at quality qiq_iqi​ costs ciqi2c_iq_i^2ci​qi2​; and ai,bia_i,b_iai​,bi​, so that service costs ai−biqia_i-b_iq_iai​−bi​qi​ per unit of time. The sign of bib_ibi​ is free: higher quality may make service cheaper (bi>0b_i>0bi​>0), dearer (bi<0b_i<0bi​<0), or leave it unchanged (bi=0b_i=0bi​=0).

A consumer buys product iii with the MNL choice probability

di(p,q,t;N)=exp⁡(αiqi−pi+tisi)1+∑j∈Nexp⁡(αjqj−pj+tjsj),d_i(\mathbf p,\mathbf q,\mathbf t;\mathcal N)=\frac{\exp(\alpha_iq_i-p_i+t_is_i)}{1+\sum_{j\in\mathcal N}\exp(\alpha_jq_j-p_j+t_js_j)},di​(p,q,t;N)=1+∑j∈N​exp(αj​qj​−pj​+tj​sj​)exp(αi​qi​−pi​+ti​si​)​,

where the 111 is the outside option of buying nothing. With market size one, the firm's profit is

Π(p,q,t;N)=∑i∈N[pi−ciqi2−ti(ai−biqi)] di(p,q,t;N),\Pi(\mathbf p,\mathbf q,\mathbf t;\mathcal N)=\sum_{i\in\mathcal N}\big[p_i-c_iq_i^2-t_i(a_i-b_iq_i)\big]\,d_i(\mathbf p,\mathbf q,\mathbf t;\mathcal N),Π(p,q,t;N)=i∈N∑​[pi​−ci​qi2​−ti​(ai​−bi​qi​)]di​(p,q,t;N),

and the bracket is the markup of product iii. Consumer surplus is

CS(p,q,t)=log⁡(1+∑i∈Nexp⁡(αiqi−pi+tisi)).\mathrm{CS}(\mathbf p,\mathbf q,\mathbf t)=\log\Big(1+\sum_{i\in\mathcal N}\exp(\alpha_iq_i-p_i+t_is_i)\Big).CS(p,q,t)=log(1+i∈N∑​exp(αi​qi​−pi​+ti​si​)).

Three problems are compared, at the same pre-determined qualities q\mathbf qq and durations t∈[ts,tl]N\mathbf t\in[t_s,t_l]^Nt∈[ts​,tl​]N:

  1. price only: maximize Π(⋅,q,t)\Pi(\cdot,\mathbf q,\mathbf t)Π(⋅,q,t) over p∈RN\mathbf p\in\mathbb R^Np∈RN, with a maximizer p†\mathbf p^\daggerp†;
  2. price and service: maximize Π(⋅,q,⋅)\Pi(\cdot,\mathbf q,\cdot)Π(⋅,q,⋅) over p∈RN\mathbf p\in\mathbb R^Np∈RN and t′∈[ts,tl]N\mathbf t'\in[t_s,t_l]^Nt′∈[ts​,tl​]N, with a maximizer (p‡,t‡)(\mathbf p^\ddagger,\mathbf t^\ddagger)(p‡,t‡);
  3. price, quality and service, problem (4): maximize Π\PiΠ over all three, with a maximizer (p∗,q∗,t∗)(\mathbf p^*,\mathbf q^*,\mathbf t^*)(p∗,q∗,t∗).

Section 5.1 adds the manufacturer's short-term problem (10): qualities are fixed, and the firm also chooses which products S⊆NS\subseteq\mathcal NS⊆N to offer.

Formalization targets

Goal: Proposition 5 (p. 13)

For every maximizer of each of the three problems,

CS(p†,q,t)  ≤  CS(p‡,q,t‡)  ≤  CS(p∗,q∗,t∗).\mathrm{CS}(\mathbf p^\dagger,\mathbf q,\mathbf t)\;\le\;\mathrm{CS}(\mathbf p^\ddagger,\mathbf q,\mathbf t^\ddagger)\;\le\;\mathrm{CS}(\mathbf p^*,\mathbf q^*,\mathbf t^*).CS(p†,q,t)≤CS(p‡,q,t‡)≤CS(p∗,q∗,t∗).

The inequalities are weak; equality holds, for instance, when the pre-determined q,t\mathbf q,\mathbf tq,t are already optimal.

Milestones

  1. Equation (17) (p. 26). For fixed q,t\mathbf q,\mathbf tq,t, the equation r=∑iexp⁡(αiqi−ciqi2+ti(si−(ai−biqi))−r−1)r=\sum_i\exp(\alpha_iq_i-c_iq_i^2+t_i(s_i-(a_i-b_iq_i))-r-1)r=∑i​exp(αi​qi​−ci​qi2​+ti​(si​−(ai​−bi​qi​))−r−1) has a unique root r†r^\daggerr†; a price vector is optimal if and only if every markup equals 1+r†1+r^\dagger1+r†; the optimal profit is r†r^\daggerr†.
  2. Proposition 8 (p. 21). In problem (10) all products should be offered, an optimum uses durations tst_sts​ or tlt_ltl​ according to the sign of bib_ibi​ and the position of qiq_iqi​, every optimal markup is 1+r∗1+r^*1+r∗, and r∗r^*r∗ is the unique root of the corresponding equation.
  3. Consumer surplus at an optimum (Online Supplement p. 1). If every markup is 1+r1+r1+r and the profit is rrr, then CS=log⁡(1+r)\mathrm{CS}=\log(1+r)CS=log(1+r).
  4. Ordering of profits (Online Supplement p. 2): r†≤r‡≤r∗r^\dagger\le r^\ddagger\le r^*r†≤r‡≤r∗.

Significance

The result separates two effects that are usually conflated. More instruments raise profit; Proposition 5 says that under MNL demand the extra profit comes from serving more consumers (fewer choose the outside option), not from extracting more surplus from each. Proposition 8 states the corresponding structure for a firm whose product designs are already fixed: offer everything, use extreme service durations, and keep markups equal across products.

The paper proves these results; none is formalized. A machine-checked development produces the welfare comparison together with the price step of the MNL multi-product pricing problem (equal markups at every optimum, uniqueness of the optimal profit as a fixed point) as reusable statements, and pins down the boundary cases of Proposition 8 that the printed statement leaves implicit.

Difficulty

The ordering of profits is immediate from the nesting of feasible sets. The obstacle is translating it into consumer surplus: consumer surplus is not monotone in profit along arbitrary price vectors, and the argument needs that at every maximizer of each problem all markups are equal to 1+r1+r1+r, with rrr the optimal profit. That requires a global optimality analysis of the multi-product MNL pricing problem: the profit is not concave in prices, and both the uniqueness of the fixed point and the characterization of all maximizers (not only a stationary point) must be established. Comparing values log⁡(1+r)\log(1+r)log(1+r) with rrr defined as the optimal profit, without linking them to the maximizers, proves nothing about consumer surplus.

Formalization scope

  • Products are Fin N (0-based); NNN is arbitrary and N=0N=0N=0 is allowed. The outside option is the 111 in the denominator, not a product.
  • Parameters α,a,b,c,s:Fin N→R\alpha,a,b,c,s:\mathrm{Fin}\,N\to\mathbb Rα,a,b,c,s:FinN→R; only ci>0c_i>0ci​>0 and ts≤tlt_s\le t_lts​≤tl​ are assumed throughout. No sign is imposed on bib_ibi​, αi\alpha_iαi​, aia_iai​ or sis_isi​, and products are not assumed identical.
  • Qualities range over R\mathbb RR, not the model's normalized range [0,ai/bi)[0,a_i/b_i)[0,ai​/bi​), because the paper's joint optimum is computed over unconstrained qualities. Proposition 8(b) adds the model's bound qi≤ai/biq_i\le a_i/b_iqi​≤ai​/bi​ for bi>0b_i>0bi​>0, without which the printed rule can fail.
  • "Optimal" means a global maximizer over the stated feasible set. The goal quantifies over all maximizers of the three problems; their existence is not part of Proposition 5.
  • The MNL formula and the log-sum consumer surplus are definitions; their derivation from Gumbel random utilities is cited, not formalized.
  • Problem (10) is printed with Π(p,q,t;N)\Pi(\mathbf p,\mathbf q,\mathbf t;\mathcal N)Π(p,q,t;N); the profit of the offer set SSS is meant and is what is formalized.

A formalization in which the maximizers are given by the paper's closed-form prices, in which r†,r‡,r∗r^\dagger,r^\ddagger,r^*r†,r‡,r∗ are defined as optimal values and only log⁡(1+r)\log(1+r)log(1+r) is compared, or in which there is a single product, would make the goal trivial or different and is ruled out.

Contributions are welcome on the MNL price step (equation (17)), which is reusable for any multi-product logit pricing model, and on the per-product separation of the duration choice in Proposition 8.

Selected references

  • R. Wang, C. Ke, S. Cui, Product Price, Quality and Service Decisions under Consumer Choice Models, Manufacturing & Service Operations Management, 2022; accepted manuscript SSRN 3766191. https://ssrn.com/abstract=3766191, https://doi.org/10.1287/msom.2020.0947
  • S. P. Anderson, A. de Palma, J.-F. Thisse, Discrete Choice Theory of Product Differentiation, MIT Press, 1992, ISBN 978-0-262-01128-0.
  • D. McFadden, Conditional logit analysis of qualitative choice behavior, in P. Zarembka (ed.), Frontiers in Econometrics, Academic Press, 1974, 105–142. https://eml.berkeley.edu/reprints/mcfadden/zarembka.pdf
9 thms2 active usersReviewed
🏆Completed
Optimization·Captain: mikedeng1

Product Price, Quality and Service Decisions under Consumer Choice Models III: The Optimal Uniform Service Duration Is the Shortest or the LongestResearch Paper

Motivation

Firms that sell durable goods compete on price, on product quality and on the services bundled with the product: a factory warranty, free maintenance, technical support. Wang, Ke and Cui (SSRN 3766191; Manufacturing & Service Operations Management, 2022, doi:10.1287/msom.2020.0947) study the joint choice of all three when consumers choose among the firm's products according to a multinomial logit (MNL) model. Their first result (Theorem 1, the subject of mission I of this series) is that when each product may receive its own service duration, every optimal duration is the shortest or the longest allowed.

In practice many firms do not differentiate service across products: every Apple product, for example, comes with the same one-year factory warranty. The paper's Section 3 therefore studies a benchmark in which one uniform service duration is attached to all products, and compares it with differentiated service to measure the value of service differentiation. Theorem 3, the goal of this mission, says that the extreme-duration structure survives the uniformity constraint.

The pricing side builds on a line of work on multi-product pricing under logit demand. Hanson and Martin (1996) showed that the MNL profit is not jointly concave in prices; Li and Huh (2011) and Gallego and Wang (2014) showed that, nevertheless, optimal markups (price minus cost) are equal across the products of a firm under the MNL and nested logit models.

Setting

A firm sells NNN products, N={1,…,N}\mathcal N=\{1,\dots,N\}N={1,…,N}. For product iii:

  • αi\alpha_iαi​ is the consumers' sensitivity to quality, sis_isi​ the utility of service per unit time;
  • ciqi2c_iq_i^2ci​qi2​ is the unit production cost at quality qiq_iqi​, with ci>0c_i>0ci​>0;
  • ai−biqia_i-b_iq_iai​−bi​qi​ is the expected service cost per unit time, with base cost aia_iai​ and a marginal effect bib_ibi​ of quality on service cost that may be positive, negative or zero.

The firm chooses prices p\mathbf pp, qualities q\mathbf qq and service durations t\mathbf tt. Under the MNL choice model (2) a consumer buys product iii with probability

di(p,q,t;N)=exp⁡(αiqi−pi+tisi)1+∑j∈Nexp⁡(αjqj−pj+tjsj),d_i(\mathbf p,\mathbf q,\mathbf t;\mathcal N)=\frac{\exp(\alpha_iq_i-p_i+t_is_i)}{1+\sum_{j\in\mathcal N}\exp(\alpha_jq_j-p_j+t_js_j)},di​(p,q,t;N)=1+∑j∈N​exp(αj​qj​−pj​+tj​sj​)exp(αi​qi​−pi​+ti​si​)​,

the 111 being the no-purchase option. With unit market size, the total expected profit (3) is

Π(p,q,t;N)=∑i∈N[pi−ciqi2−ti(ai−biqi)] di(p,q,t;N).\Pi(\mathbf p,\mathbf q,\mathbf t;\mathcal N)=\sum_{i\in\mathcal N}\big[p_i-c_iq_i^2-t_i(a_i-b_iq_i)\big]\,d_i(\mathbf p,\mathbf q,\mathbf t;\mathcal N).Π(p,q,t;N)=i∈N∑​[pi​−ci​qi2​−ti​(ai​−bi​qi​)]di​(p,q,t;N).

Service durations lie in an interval [ts,tl][t_s,t_l][ts​,tl​], the shortest and longest durations the firm may offer.

The uniform-duration problem (7) adds the constraint ti=tt_i=tti​=t for all iii:

max⁡p,q,  t∈[ts,tl] Π(p,q,(t,…,t);N).\max_{\mathbf p,\mathbf q,\;t\in[t_s,t_l]}\ \Pi\big(\mathbf p,\mathbf q,(t,\dots,t);\mathcal N\big).p,q,t∈[ts​,tl​]max​ Π(p,q,(t,…,t);N).

Formalization targets

Goal: Theorem 3 (p. 15)

∃ t∗∈{ts,tl}, ∃ p∗,q∗:Π(p,q,(t,…,t))≤Π(p∗,q∗,(t∗,…,t∗))∀ t∈[ts,tl], p,q∈RN.\exists\,t^*\in\{t_s,t_l\},\ \exists\,\mathbf p^*,\mathbf q^*:\quad \Pi\big(\mathbf p,\mathbf q,(t,\dots,t)\big)\le\Pi\big(\mathbf p^*,\mathbf q^*,(t^*,\dots,t^*)\big) \quad\forall\,t\in[t_s,t_l],\ \mathbf p,\mathbf q\in\mathbb R^N .∃t∗∈{ts​,tl​}, ∃p∗,q∗:Π(p,q,(t,…,t))≤Π(p∗,q∗,(t∗,…,t∗))∀t∈[ts​,tl​], p,q∈RN.

Problem (7) has an optimal solution whose uniform duration is an endpoint. The goal says nothing about the optimal prices, qualities or profit value; those belong to the milestones.

Milestones (the paper's proof, pp. 29–30)

  1. (24). At a fixed uniform duration ttt, the root r(t)r(t)r(t) of
r=∑i∈Nexp⁡(bi2t24ci+(si−ai+αibi2ci)t+αi24ci−r−1)r=\sum_{i\in\mathcal N}\exp\Big(\frac{b_i^2t^2}{4c_i}+\Big(s_i-a_i+\frac{\alpha_ib_i}{2c_i}\Big)t+\frac{\alpha_i^2}{4c_i}-r-1\Big)r=i∈N∑​exp(4ci​bi2​t2​+(si​−ai​+2ci​αi​bi​​)t+4ci​αi2​​−r−1)

is unique, and it is the optimal profit over prices and qualities, attained at qi=(αi+tbi)/(2ci)q_i=(\alpha_i+tb_i)/(2c_i)qi​=(αi​+tbi​)/(2ci​), pi=1+r+ciqi2+t(ai−biqi)p_i=1+r+c_iq_i^2+t(a_i-b_iq_i)pi​=1+r+ci​qi2​+t(ai​−bi​qi​). 2. ∂r/∂t\partial r/\partial t∂r/∂t. r(t)r(t)r(t) is differentiable with r′(t)=∑iAiGi/(1+∑iGi)r'(t)=\sum_iA_iG_i/(1+\sum_iG_i)r′(t)=∑i​Ai​Gi​/(1+∑i​Gi​). 3. The numerator. ∑iAiGi\sum_iA_iG_i∑i​Ai​Gi​ has nonnegative derivative. 4. Quasi-convexity. r(t)r(t)r(t) is quasi-convex in ttt. 5. (25). The root equation is equivalent to r=y(t)/exp⁡(1+r)r=y(t)/\exp(1+r)r=y(t)/exp(1+r) with y(t)=∑iexp⁡(⋅)y(t)=\sum_i\exp(\cdot)y(t)=∑i​exp(⋅), so r(t)r(t)r(t) increases with y(t)y(t)y(t). 6. Convexity of yyy. yyy is convex in ttt.

Milestones 2–4 and 5–6 are the paper's two routes from (24) to Theorem 3. A further item states the universal reading of Theorem 3 (every optimal uniform duration is tst_sts​ or tlt_ltl​) under ts<tlt_s<t_lts​<tl​ and the non-degeneracy assumption that some product has bi≠0b_i\ne0bi​=0 or ai≠sia_i\ne s_iai​=si​.

Significance

Theorem 3 is the basis of the paper's Section 3. It shows that a firm restricted to one service policy should still go to an extreme, and it makes the uniform benchmark a comparison of two candidate durations. Comparing that benchmark with Theorem 1's differentiated optimum measures the value of service differentiation, which the paper reports numerically. Equation (24) also gives the optimal profit at every uniform duration as the root of a scalar equation, which is the form any sensitivity analysis in ttt starts from.

On the formal side, the paper's results are proved on paper but, as far as is known, none is machine-checked. The mission requires formalizing the reduction of the joint MNL price–quality problem to a scalar fixed point (the equal-markup property of Li and Huh, extended to quality), an implicit-function derivative and a Cauchy–Schwarz step, or alternatively a convexity argument. The equal-markup reduction is shared with missions I and VI of this series.

Difficulty

The obvious argument fails at the first step: the MNL profit is not jointly concave in the price vector (Hanson and Martin 1996), let alone in prices, qualities and the duration together, so "maximize a concave function and check the endpoints" does not apply. The extreme-point structure holds only after prices and qualities have been optimized out, and that requires knowing the optimal profit at each ttt exactly: as the root of (24), a fixed-point equation in which rrr appears on both sides. The global optimality in (24) is itself the hard part, since a first-order condition alone does not give a global maximum of a non-concave function on R2N\mathbb R^{2N}R2N.

Formalization scope

Conventions committed to in Lean:

  • Products are Fin N, 0-based; N=0N=0N=0 is allowed. The outside option is the constant 111 in the MNL denominator, not a product.
  • Parameters α,a,b,c,s:Fin N→R\alpha,a,b,c,s:\texttt{Fin N}\to\mathbb Rα,a,b,c,s:Fin N→R, with only ci>0c_i>0ci​>0 assumed; no sign on bib_ibi​, and bi=0b_i=0bi​=0 is allowed.
  • Prices and qualities range over all of RN\mathbb R^NRN. The model's normalization qi∈[0,ai/bi)q_i\in[0,a_i/b_i)qi​∈[0,ai​/bi​) (p. 8) is not imposed, matching the paper's derivation of qi=(αi+tbi)/(2ci)q_i=(\alpha_i+tb_i)/(2c_i)qi​=(αi​+tbi​)/(2ci​) by a first-order condition.
  • A uniform duration is the constant vector fun _ => t; the goal assumes ts≤tlt_s\le t_lts​≤tl​.
  • "Optimal" means a global maximizer; existence of an optimum is part of the goal's conclusion.
  • The goal is the existential reading of Theorem 3. The universal reading is false in the degenerate case bi=0b_i=0bi​=0, ai=sia_i=s_iai​=si​ for all iii, where the optimal profit does not depend on ttt, and is stated separately with that case excluded.
  • The root r(t)r(t)r(t) is not a definition: milestones quantify over any function RRR with R(t)=∑iGi(R(t),t)R(t)=\sum_iG_i(R(t),t)R(t)=∑i​Gi​(R(t),t) for every ttt, which (24) shows is unique.

These formalizations would trivialize the goal and are ruled out: a single product (then Theorem 3 is Theorem 1(a)); qualities fixed rather than chosen; a duration vector t∈[ts,tl]Nt\in[t_s,t_l]^Nt∈[ts​,tl​]N instead of one shared ttt; and an existential statement in which t∗t^*t∗ may be any point of [ts,tl][t_s,t_l][ts​,tl​].

The definitions needed are the MNL choice probability and profit, plus the scalar functions GiG_iGi​, AiA_iAi​ and yyy of the proof. Mathlib's QuasiconvexOn, ConvexOn, HasDerivAt and Finset.sum_mul_sq_le_sq_mul_sq cover the rest. A proof of (24), the global optimality of equal markups and per-product quality under MNL, would be reusable across the whole series. Contributions to any milestone are welcome.

Selected references

  • R. Wang, C. Ke, S. Cui, Product Price, Quality and Service Decisions under Consumer Choice Models, Manufacturing & Service Operations Management, 2022; accepted manuscript SSRN 3766191. https://ssrn.com/abstract=3766191, https://doi.org/10.1287/msom.2020.0947
  • H. Li, W. T. Huh, Pricing multiple products with the multinomial logit and nested logit models: concavity and implications, Manufacturing & Service Operations Management 13(4) 549–564, 2011. https://doi.org/10.1287/msom.1110.0344
  • G. Gallego, R. Wang, Price optimization and competition for multi-products under the nested logit model with product-differentiated price coefficients, Operations Research 62(2) 450–461, 2014. https://doi.org/10.1287/opre.2013.1249
  • W. Hanson, K. Martin, Optimizing multinomial logit profit functions, Management Science 42(7) 992–1003, 1996. https://doi.org/10.1287/mnsc.42.7.992
  • D. McFadden, Conditional logit analysis of qualitative choice behavior, in Frontiers in Econometrics, Academic Press, 1974. https://eml.berkeley.edu/reprints/mcfadden/zarembka.pdf
9 thms2 active usersReviewed
🏆Completed
Bandit AlgorithmsMachine LearningStatistics·Captain: mikedeng1

Distribution-Free Contextual Dynamic Pricing 2: Every Algorithm Has Expected Regret at Least C₀ C_p T₀ on Some Perturbed Linear Bandit with Perturbation C_pResearch Paper

Motivation

Dynamic pricing asks a seller to post prices to a stream of customers and learn demand from purchase decisions alone. Luo, Sun and Liu study the contextual version in which a customer's valuation is linear in a covariate vector plus noise with an unknown distribution (arXiv:2109.07340v2; Mathematics of Operations Research, 2024). Their DIP policy estimates the linear part, discretizes the remaining price residual, and then runs an upper-confidence-bound rule on the discretized problem. Because the linear part is only estimated, the discretized problem is not an ordinary linear bandit: its reward parameter drifts from period to period by an amount controlled by the estimation error. The paper calls this a perturbed linear bandit (PLB) and proves an upper bound for it whose dominant extra term is linear in the perturbation size times the horizon.

This mission formalizes the matching statement: no algorithm can avoid that linear term. It is the paper's Proposition 2 (p. 22), proved in its Appendix A (pp. 44–46).

Setting

Fix a dimension ddd. A perturbed linear bandit with perturbation constant CpC_pCp​ consists of parameters ξ1,ξ2,…∈Rd\xi_1,\xi_2,\ldots\in\mathbb R^dξ1​,ξ2​,…∈Rd, finite action sets A1,A2,…⊂Rd\mathcal A_1,\mathcal A_2,\ldots\subset\mathbb R^dA1​,A2​,…⊂Rd and noise variables η1,η2,…\eta_1,\eta_2,\ldotsη1​,η2​,…, with ∥ξs−ξt∥∞≤Cp\|\xi_s-\xi_t\|_\infty\le C_p∥ξs​−ξt​∥∞​≤Cp​ for all periods s,ts,ts,t. In period ttt an algorithm A∗\mathcal A^*A∗ sees the action set At\mathcal A_tAt​ and the history of its past actions and rewards, plays At∈AtA_t\in\mathcal A_tAt​∈At​, and observes the reward

Zt=⟨ξt,At⟩+ηt.Z_t=\langle\xi_t,A_t\rangle+\eta_t .Zt​=⟨ξt​,At​⟩+ηt​.

The algorithm may randomize. The parameters ξt\xi_tξt​ are never observed.

For a central parameter ξ~∈Rd\tilde\xi\in\mathbb R^dξ~​∈Rd the paper defines the parameter set

PB(ξ~,Cp)={ξ∈Rd: ∥ξ−ξ~∥∞≤Cp/2},PB(\tilde\xi,C_p)=\{\xi\in\mathbb R^d:\ \|\xi-\tilde\xi\|_\infty\le C_p/2\},PB(ξ~​,Cp​)={ξ∈Rd: ∥ξ−ξ~​∥∞​≤Cp​/2},

so any sequence in PB(ξ~,Cp)PB(\tilde\xi,C_p)PB(ξ~​,Cp​) has perturbation at most CpC_pCp​.

The PLB regret over T0T_0T0​ periods compares each action with the best action of the current period:

RT0PLB(A∗)=∑t=1T0(max⁡a∈At⟨ξt,a⟩−⟨ξt,At⟩) ≥0.R^{PLB}_{T_0}(\mathcal A^*)=\sum_{t=1}^{T_0}\Big(\max_{a\in\mathcal A_t}\langle\xi_t,a\rangle-\langle\xi_t,A_t\rangle\Big)\ \ge 0 .RT0​PLB​(A∗)=t=1∑T0​​(a∈At​max​⟨ξt​,a⟩−⟨ξt​,At​⟩) ≥0.

The expectation E\mathbb EE is over the algorithm's randomness and the noise.

Formalization targets

Goal: Proposition 2 (p. 22)

For every ξ~\tilde\xiξ~​ with positive entries (and d≥2d\ge2d≥2) there is C0>0C_0>0C0​>0 depending only on ξ~\tilde\xiξ~​ such that for every Cp≥0C_p\ge0Cp​≥0 with Cp/2<min⁡iξ~iC_p/2<\min_i\tilde\xi_iCp​/2<mini​ξ~​i​ and every algorithm A∗\mathcal A^*A∗ there are parameters ξt∈PB(ξ~,Cp)\xi_t\in PB(\tilde\xi,C_p)ξt​∈PB(ξ~​,Cp​) and action sets At\mathcal A_tAt​ with

E(RT0PLB(A∗)) ≥ C0 Cp T0for all T0≥1.\mathbb E\big(R^{PLB}_{T_0}(\mathcal A^*)\big)\ \ge\ C_0\,C_p\,T_0\qquad\text{for all }T_0\ge1 .E(RT0​PLB​(A∗)) ≥ C0​Cp​T0​for all T0​≥1.

The formal statement also records that the constructed instance is a PLB with perturbation CpC_pCp​, that its action sets are nonempty, and that every action has a single nonzero entry with ∣⟨ξt,a⟩∣≤1|\langle\xi_t,a\rangle|\le1∣⟨ξt​,a⟩∣≤1, which places the hard instance inside the class covered by the paper's upper bound (Lemma 3, Conditions 1 and 3).

Milestones

  1. Two-point construction (proof of Proposition 2, p. 44). With C=Cp/2C=C_p/2C=Cp​/2, two coordinates ju≠jvj_u\ne j_vju​=jv​, u=ξ~juu=\tilde\xi_{j_u}u=ξ~​ju​​, v=ξ~jvv=\tilde\xi_{j_v}v=ξ~​jv​​, actions U=eju/(u+C)U=e_{j_u}/(u+C)U=eju​​/(u+C), V=ejv/(v+C)V=e_{j_v}/(v+C)V=ejv​​/(v+C) and parameters ξu,ξv\xi_u,\xi_vξu​,ξv​ obtained from ξ~\tilde\xiξ~​ by moving the two coordinates by ∓C\mp C∓C, ±C\pm C±C:
ξu,ξv∈PB(ξ~,Cp),⟨ξu,U⟩=u−Cu+C≤1=⟨ξv,U⟩,⟨ξv,V⟩=v−Cv+C≤1=⟨ξu,V⟩.\xi_u,\xi_v\in PB(\tilde\xi,C_p),\qquad\langle\xi_u,U\rangle=\tfrac{u-C}{u+C}\le1=\langle\xi_v,U\rangle,\qquad\langle\xi_v,V\rangle=\tfrac{v-C}{v+C}\le1=\langle\xi_u,V\rangle .ξu​,ξv​∈PB(ξ~​,Cp​),⟨ξu​,U⟩=u+Cu−C​≤1=⟨ξv​,U⟩,⟨ξv​,V⟩=v+Cv−C​≤1=⟨ξu​,V⟩.
  1. Per-period bound (pp. 45–46). If u≤vu\le vu≤v, AAA is a random action in {U,V}\{U,V\}{U,V}, and ξt=ξu\xi_t=\xi_uξt​=ξu​ when P(A=U)≥1/2P(A=U)\ge1/2P(A=U)≥1/2 and ξt=ξv\xi_t=\xi_vξt​=ξv​ otherwise, then
E(rt) ≥ C0Cp,C0=14v.\mathbb E(r_t)\ \ge\ C_0C_p,\qquad C_0=\frac1{4v}.E(rt​) ≥ C0​Cp​,C0​=4v1​.

Significance

The result. Lemma 3 of the paper bounds the regret of its M-LinUCB algorithm on a PLB by a T0\sqrt{T_0}T0​​-type term plus 2amax⁡CpT02a_{\max}C_pT_02amax​Cp​T0​. Proposition 2 shows that the second term is not an artefact of the analysis: an adversary who may move the parameter inside a box of width CpC_pCp​ forces every algorithm to pay order CpT0C_pT_0Cp​T0​. In the pricing application the perturbation is proportional to the estimation error ∥θ^−θ0∥1\|\hat\theta-\theta_0\|_1∥θ^−θ0​∥1​ of the linear part, so the lower bound explains why the paper's pricing regret bound (Theorem 1) carries a term linear in the accumulated estimation error. The result also separates the PLB from the zero-perturbation linear bandit, where O~(T0)\tilde O(\sqrt{T_0})O~(T0​​) regret is achievable.

Formalizing it. The proposition is proved in the paper; it has not been machine-checked. A formal proof requires an explicit model of randomized, history-dependent algorithms interacting with an adversarially chosen but deterministic parameter sequence, which the mission supplies. The model and the two-point construction are reusable for other two-hypothesis lower bounds in linear and contextual bandits.

Difficulty

The obvious argument fixes one hard instance and shows that every algorithm suffers on it. That fails: for a fixed parameter sequence, an algorithm that always plays the optimal action of that sequence has zero regret. The instance must therefore be chosen after the algorithm, and it must be chosen period by period, because the law of the period-ttt action depends on the rewards of periods 1,…,t−11,\dots,t-11,…,t−1, which depend on the parameters already chosen. The parameters must nevertheless be deterministic: the adversary may react to the law of the algorithm's action, not to its realization. Making this recursive construction precise, together with the measurability needed for "the probability that At=UA_t=UAt​=U" to be meaningful, is the main formal work. The arithmetic of each period is elementary.

A second point concerns the dimension: the construction needs two distinct coordinates, and for d=1d=1d=1 the statement fails, since every parameter in PB(ξ~,Cp)PB(\tilde\xi,C_p)PB(ξ~​,Cp​) is then positive and playing the largest action has zero regret.

Formalization scope

  • Model. Arms are coordinates Fin d (0-based); periods are 1-based. Vectors are Fin d → ℝ, and ∥⋅∥∞\|\cdot\|_\infty∥⋅∥∞​ is Mathlib's sup norm on that type. Action sets are finite sets (Finset). The maximum over an empty action set is set to 000; every statement requires nonempty action sets.
  • Algorithms. An algorithm is a decision rule that maps a sample point ω\omegaω of a probability space (its internal randomness), the past actions and rewards, and the current action set to an action of that set; it is jointly measurable in ω\omegaω and the history. The trajectory (At,Zt)(A_t,Z_t)(At​,Zt​) is defined recursively from the rule, the parameters, the action sets and the noise. Since the rule sees all of ω\omegaω, it may also depend on the noise; this only enlarges the class over which the lower bound holds.
  • Noise. The goal quantifies over every measurable noise process. The paper's PLB asks for conditionally sub-Gaussian noise; since η≡0\eta\equiv0η≡0 is allowed, the formal statement is stronger than the printed existence statement, and the paper's proof uses no property of the noise.
  • Instance. The parameters and action sets are deterministic and are chosen after the algorithm, the probability space and the noise. The constant C0C_0C0​ is chosen after ξ~\tilde\xiξ~​ and before CpC_pCp​, the algorithm and T0T_0T0​, which is the formal content of "only dependent on ξ~\tilde\xiξ~​".
  • Added hypotheses. d≥2d\ge2d≥2 (necessary, see above) and Cp≥0C_p\ge0Cp​≥0 (otherwise PB(ξ~,Cp)PB(\tilde\xi,C_p)PB(ξ~​,Cp​) is empty).
  • Expectation. Expected regret is the lower Lebesgue integral of the nonnegative regret, so no integrability convention can make the bound hold vacuously. The bound is positive whenever Cp>0C_p>0Cp​>0; a formalization in which the expectation could collapse to a default value, or the algorithm class could be empty, is ruled out (the class contains every fixed-choice rule).
  • Source. The source is the arXiv v2 preprint (6 March 2023); the paper's proofs are in its Appendix A.

Contributions welcome: proofs of the two milestones, the measurability of the recursively defined actions, and the summation step from the per-period bound to the goal.

Selected references

  • Y. Luo, W. W. Sun, Y. Liu, Distribution-Free Contextual Dynamic Pricing, Mathematics of Operations Research, 2024. Preprint arXiv:2109.07340v2; DOI 10.1287/moor.2023.1369.
  • Y. Abbasi-Yadkori, D. Pál, Cs. Szepesvári, Improved Algorithms for Linear Stochastic Bandits, NeurIPS, 2011. link
  • T. Lattimore, Cs. Szepesvári, Bandit Algorithms, Cambridge University Press, 2020. doi:10.1017/9781108571401
5 thms2 active usersReviewed
🏆Completed
Convex OptimizationOptimization·Captain: mikedeng1

On the tightness of SDP relaxations of QCQPs 5: The Multiplicity Bound k ≥ aff dim{b(γ) : γ ∈ F} + 1 Cannot Be Lowered by OneResearch Paper

Motivation

A quadratically constrained quadratic program (QCQP) minimizes a quadratic function subject to quadratic inequality and equality constraints. QCQPs contain max-cut, binary programming, the trust-region subproblem and many problems from signal processing and control, and are NP-hard in general. The standard convex approach is the Shor semidefinite relaxation, which lifts xxx to the matrix Y=(1x⊤xxx⊤)Y=\begin{pmatrix}1&x^\top\\x&xx^\top\end{pmatrix}Y=(1x​x⊤xx⊤​) and relaxes xx⊤xx^\topxx⊤ to an arbitrary positive semidefinite completion. Two questions decide how useful the relaxation is for a given QCQP: is its optimal value equal to the QCQP's (SDP exactness), and does its projected epigraph equal the convex hull of the QCQP's epigraph (convex hull exactness)?

A. L. Wang and F. Kılınç-Karzan (arXiv:1911.09195v3, Math. Program. 2021) give sufficient conditions for both, in terms of the faces of a dual set Γ\GammaΓ and a symmetry parameter kkk, the quadratic eigenvalue multiplicity. Their Theorems 1 and 2 require Γ\GammaΓ to be polyhedral and k≥aff dim⁡{b(γ):γ∈F}+1k\ge\operatorname{aff\,dim}\{b(\gamma):\gamma\in\mathcal F\}+1k≥affdim{b(γ):γ∈F}+1 on every semidefinite face F\mathcal FF. This mission formalizes §4.3 of the paper, which shows that neither hypothesis can be weakened on its own.

Timeline. Fujie and Kojima (1997) recorded the dual description of the SDP value used here. Ye and Zhang (2003) and Beck and Eldar (2006) gave sufficient conditions under which the trust-region subproblem with one additional quadratic inequality has a tight SDP relaxation; Locatelli (2016) gave an exactness condition for a variant of the trust-region subproblem, and Burer and Ye (2019) for diagonal QCQPs. Wang and Kılınç-Karzan (2020) unified these conditions through the facial structure of Γ\GammaΓ, and showed in their Propositions 2 and 3 that their own hypotheses are sharp.

Setting

A QCQP in NNN variables with m≥1m\ge1m≥1 constraints, mIm_ImI​ of them inequalities, is

Opt=inf⁡x∈RN{q0(x):qi(x)≤0, i∈[ ⁣[mI] ⁣]; qi(x)=0, i∈[ ⁣[mI+1,m] ⁣]},\mathrm{Opt}=\inf_{x\in\mathbb R^N}\{q_0(x): q_i(x)\le0,\ i\in[\![m_I]\!];\ q_i(x)=0,\ i\in[\![m_I+1,m]\!]\},Opt=x∈RNinf​{q0​(x):qi​(x)≤0, i∈[[mI​]]; qi​(x)=0, i∈[[mI​+1,m]]},

with qi(x)=x⊤Aix+2bi⊤x+ciq_i(x)=x^\top A_ix+2b_i^\top x+c_iqi​(x)=x⊤Ai​x+2bi⊤​x+ci​, Ai∈SNA_i\in\mathbb S^NAi​∈SN. Its epigraph is D={(x,t):q0(x)≤2t, x feasible}\mathcal D=\{(x,t): q_0(x)\le 2t,\ x\text{ feasible}\}D={(x,t):q0​(x)≤2t, x feasible}. With Qi=(cibi⊤biAi)Q_i=\begin{pmatrix}c_i&b_i^\top\\b_i&A_i\end{pmatrix}Qi​=(ci​bi​​bi⊤​Ai​​) and Y=(1x⊤xX)Y=\begin{pmatrix}1&x^\top\\x&X\end{pmatrix}Y=(1x​x⊤X​), the SDP relaxation minimizes ⟨Q0,Y⟩\langle Q_0,Y\rangle⟨Q0​,Y⟩ subject to ⟨Qi,Y⟩≤0\langle Q_i,Y\rangle\le0⟨Qi​,Y⟩≤0 or =0=0=0 and Y⪰0Y\succeq0Y⪰0; its value is OptSDP\mathrm{Opt}_{\mathrm{SDP}}OptSDP​, and DSDP\mathcal D_{\mathrm{SDP}}DSDP​ is the set of (x,t)(x,t)(x,t) for which some feasible XXX has ⟨Q0,Y⟩≤2t\langle Q_0,Y\rangle\le2t⟨Q0​,Y⟩≤2t.

For γ∈Rm\gamma\in\mathbb R^mγ∈Rm write A(γ)=A0+∑iγiAiA(\gamma)=A_0+\sum_i\gamma_iA_iA(γ)=A0​+∑i​γi​Ai​, b(γ)=b0+∑iγibib(\gamma)=b_0+\sum_i\gamma_ib_ib(γ)=b0​+∑i​γi​bi​ and q(γ,x)=q0(x)+∑iγiqi(x)q(\gamma,x)=q_0(x)+\sum_i\gamma_iq_i(x)q(γ,x)=q0​(x)+∑i​γi​qi​(x). The dual set is

Γ={γ∈Rm:A(γ)⪰0, γi≥0 ∀i∈[ ⁣[mI] ⁣]}.\Gamma=\{\gamma\in\mathbb R^m: A(\gamma)\succeq0,\ \gamma_i\ge0\ \forall i\in[\![m_I]\!]\}.Γ={γ∈Rm:A(γ)⪰0, γi​≥0 ∀i∈[[mI​]]}.

Assumption 1: the QCQP is feasible and A(γ∗)≻0A(\gamma^*)\succ0A(γ∗)≻0 for some γ∗\gamma^*γ∗ with γi∗≥0\gamma^*_i\ge0γi∗​≥0 on the inequalities. Assumption 2: sup⁡γ∈Γq(γ,x)\sup_{\gamma\in\Gamma}q(\gamma,x)supγ∈Γ​q(γ,x) is attained whenever it is finite. Assumption 3: Γ\GammaΓ is polyhedral. A face F\mathcal FF of Γ\GammaΓ is definite if some γ∈F\gamma\in\mathcal Fγ∈F has A(γ)≻0A(\gamma)\succ0A(γ)≻0, and semidefinite otherwise. The quadratic eigenvalue multiplicity is the largest kkk such that every AiA_iAi​ equals Ik⊗AiI_k\otimes\mathbb A_iIk​⊗Ai​ for some Ai∈Sn\mathbb A_i\in\mathbb S^nAi​∈Sn, N=knN=knN=kn.

The Lean development uses the same names: QCQP N m, Opt, OptSDP, D, DSDP, Gamma, bγ, qγ, Assumption1–Assumption3, IsSemidefiniteFace, IsQuadEigMult, affdim.

Formalization targets

Goal: Proposition 2

∀n,k≥1 ∃ QCQP, N=nk, m=k+1:Assumptions 1, 3;  multiplicity k;  k≥aff dim⁡{b(γ):γ∈F} ∀F;  Opt≠OptSDP, conv⁡(D)≠DSDP.\forall n,k\ge1\ \exists\text{ QCQP},\ N=nk,\ m=k+1:\quad \text{Assumptions 1, 3};\ \ \text{multiplicity }k;\ \ k\ge\operatorname{aff\,dim}\{b(\gamma):\gamma\in\mathcal F\}\ \forall\mathcal F;\ \ \mathrm{Opt}\ne\mathrm{Opt}_{\mathrm{SDP}},\ \operatorname{conv}(\mathcal D)\ne\mathcal D_{\mathrm{SDP}}.∀n,k≥1 ∃ QCQP, N=nk, m=k+1:Assumptions 1, 3;  multiplicity k;  k≥affdim{b(γ):γ∈F} ∀F;  Opt=OptSDP​, conv(D)=DSDP​.

The milestones pin the paper's witness, the QCQP (13): min⁡{−x12−xn+12−⋯−x(k−1)n+12:∥x∥2≤1, x(j−1)n+1=0 ∀j}\min\{-x_1^2-x_{n+1}^2-\dots-x_{(k-1)n+1}^2 : \|x\|^2\le1,\ x_{(j-1)n+1}=0\ \forall j\}min{−x12​−xn+12​−⋯−x(k−1)n+12​:∥x∥2≤1, x(j−1)n+1​=0 ∀j}.

  1. Lemma 1: under Assumption 1, DSDP={(x,t):sup⁡γ∈Γq(γ,x)≤2t}\mathcal D_{\mathrm{SDP}}=\{(x,t):\sup_{\gamma\in\Gamma}q(\gamma,x)\le2t\}DSDP​={(x,t):supγ∈Γ​q(γ,x)≤2t} and OptSDP=min⁡xsup⁡γ∈Γq(γ,x)\mathrm{Opt}_{\mathrm{SDP}}=\min_x\sup_{\gamma\in\Gamma}q(\gamma,x)OptSDP​=minx​supγ∈Γ​q(γ,x).
  2. Assumption 1 holds for (13).
  3. For (13), Γ={γ:γ1≥1}\Gamma=\{\gamma:\gamma_1\ge1\}Γ={γ:γ1​≥1}, so Assumption 3 holds.
  4. For (13), aff dim⁡{b(γ):γ1=1}=k\operatorname{aff\,dim}\{b(\gamma):\gamma_1=1\}=kaffdim{b(γ):γ1​=1}=k.
  5. For (13), OptSDP≤sup⁡γ∈Γq(γ,0)=−1\mathrm{Opt}_{\mathrm{SDP}}\le\sup_{\gamma\in\Gamma}q(\gamma,0)=-1OptSDP​≤supγ∈Γ​q(γ,0)=−1 and Opt=0\mathrm{Opt}=0Opt=0.

Companion: Proposition 3

There is a QCQP in N=2N=2N=2 variables with m=2m=2m=2 constraints satisfying Assumptions 1 and 2, with multiplicity k=1k=1k=1 and k≥aff dim⁡{b(γ):γ∈F}+1k\ge\operatorname{aff\,dim}\{b(\gamma):\gamma\in\mathcal F\}+1k≥affdim{b(γ):γ∈F}+1 on every semidefinite face, but with Opt≠OptSDP\mathrm{Opt}\ne\mathrm{Opt}_{\mathrm{SDP}}Opt=OptSDP​. The companion items about its witness (14) state Γ=B(0,2−1/2)\Gamma=\mathbf B(0,2^{-1/2})Γ=B(0,2−1/2), sup⁡γ∈Γq(γ,x^)=q0(x^)+∥x^∥2\sup_{\gamma\in\Gamma}q(\gamma,\hat x)=q_0(\hat x)+\|\hat x\|^2supγ∈Γ​q(γ,x^)=q0​(x^)+∥x^∥2, OptSDP=1/2\mathrm{Opt}_{\mathrm{SDP}}=1/2OptSDP​=1/2 and Opt=1\mathrm{Opt}=1Opt=1.

Significance

The result. Theorems 1 and 2 of the paper are the general sufficient conditions behind many earlier exactness results for SDP relaxations. Propositions 2 and 3 show that the two hypotheses are each necessary in the sense that relaxing either one by the smallest possible amount produces a counterexample: lowering the multiplicity bound by one, or replacing polyhedrality by mere attainment of the dual supremum. Anyone trying to extend the theorems therefore has to change the form of the conditions, not just their constants.

Formalizing it. Both propositions are proved in the paper; none of this has been machine-checked. A formal proof requires Lemma 1, a strong-duality statement for a parametric SDP that is reusable across the whole paper, and explicit computations of faces, affine dimensions and multiplicities for two concrete families. The multiplicity claim in particular ("the largest kkk") is asserted but not argued on the page, and a formal proof must supply it.

Difficulty

The concrete computations for (13) and (14) are elementary in isolation; the work lies in three places. First, Lemma 1 is a conic duality statement, including attainment of the outer minimum, that depends on Assumption 1; it is the bridge from the SDP to the dual set, and Mathlib has no semidefinite duality theory to build on. Second, the face structure: one must show that the hyperplane {γ1=1}\{\gamma_1=1\}{γ1​=1} is the only semidefinite face of the halfspace Γ\GammaΓ of (13), and that every face of the disk Γ\GammaΓ of (14) gives a single point b(γ)=b0b(\gamma)=b_0b(γ)=b0​. Third, "the multiplicity is kkk" requires ruling out every larger block structure Ik′⊗AiI_{k'}\otimes\mathbb A_iIk′​⊗Ai​, not only exhibiting one of size kkk. A naive witness with only Ai=Ik⊗AiA_i=I_k\otimes\mathbb A_iAi​=Ik​⊗Ai​ shown would establish a lower bound on the multiplicity, which is not the statement.

Formalization scope

Points of RN\mathbb R^NRN are Fin N → ℝ; the paper's constraint iii is index i−1i-1i−1 of Fin m, and constraint iii is an inequality exactly when its index is below mI. Opt\mathrm{Opt}Opt and OptSDP\mathrm{Opt}_{\mathrm{SDP}}OptSDP​ are infima in EReal, so infeasible and unbounded programs take the values ±∞\pm\infty±∞ rather than a junk real. A supremum bound sup⁡γ∈Γq(γ,x)≤2t\sup_{\gamma\in\Gamma}q(\gamma,x)\le2tsupγ∈Γ​q(γ,x)≤2t is written as q(γ,x)≤2tq(\gamma,x)\le2tq(γ,x)≤2t for every γ∈Γ\gamma\in\Gammaγ∈Γ. Faces are nonempty convex extreme subsets of Γ\GammaΓ. The quadratic eigenvalue multiplicity is the greatest kkk admitting a block form, under the identification of block jjj, entry sss with coordinate s+njs+njs+nj. Proposition 3 says "n=2n=2n=2 variables"; the construction lives in R2\mathbb R^2R2, so the formal statement uses N=2N=2N=2.

The goal is existential, as on the page, and a solver may exhibit any witness; it cannot be met trivially, because the multiplicity must equal kkk exactly, the dimensions N=nkN=nkN=nk, m=k+1m=k+1m=k+1 are fixed by the type, and both Opt≠OptSDP\mathrm{Opt}\ne\mathrm{Opt}_{\mathrm{SDP}}Opt=OptSDP​ and conv⁡(D)≠DSDP\operatorname{conv}(\mathcal D)\ne\mathcal D_{\mathrm{SDP}}conv(D)=DSDP​ are required.

The QCQP (13) is given in full: the page states only the matrices AiA_iAi​, and the linear terms encode the constraints x(j−1)n+1=0x_{(j-1)n+1}=0x(j−1)n+1​=0 as qj+1(x)=x(j−1)n+1q_{j+1}(x)=x_{(j-1)n+1}qj+1​(x)=x(j−1)n+1​. Lemma 1 is the reusable piece, and proofs of it are welcome independently of this mission; so are general lemmas on faces of halfspaces and balls and on Kronecker block structure.

Selected references

  • A. L. Wang, F. Kılınç-Karzan, On the tightness of SDP relaxations of QCQPs, Mathematical Programming, 2020 (online first); preprint arXiv:1911.09195v3, 2020. https://arxiv.org/abs/1911.09195, https://doi.org/10.1007/s10107-020-01589-9
  • T. Fujie, M. Kojima, Semidefinite programming relaxation for nonconvex quadratic programs, Journal of Global Optimization 10 (1997) 367–380. https://doi.org/10.1023/A:1008282830093
  • S. Burer, Y. Ye, Exact semidefinite formulations for a class of (random and non-random) nonconvex quadratic programs, Mathematical Programming 181 (2019) 1–17. https://doi.org/10.1007/s10107-019-01367-2
  • M. Locatelli, Exactness conditions for an SDP relaxation of the extended trust region problem, Optimization Letters 10(6) (2016) 1141–1151. https://doi.org/10.1007/s11590-016-1001-0
  • A. Beck, Y. C. Eldar, Strong duality in nonconvex quadratic optimization with two quadratic constraints, SIAM Journal on Optimization 17(3) (2006) 844–860. https://doi.org/10.1137/050644471
  • Y. Ye, S. Zhang, New results on quadratic minimization, SIAM Journal on Optimization 14 (2003) 245–267. https://doi.org/10.1137/S105262340139001X
11 thms2 active usersReviewed
🏆Completed
Convex OptimizationOptimization·Captain: mikedeng1

On the tightness of SDP relaxations of QCQPs 2: Polyhedral Γ with 0 ∉ Proj_V(F){b(γ) : γ ∈ F} on Every Semidefinite Face Makes Every SDP Optimizer FeasibleResearch Paper

Why SDP exactness for QCQPs matters

A quadratically constrained quadratic program (QCQP) minimizes a quadratic function subject to quadratic inequality and equality constraints. The class contains nonconvex problems such as max-cut, Boolean least squares, the trust-region subproblem and its generalizations, and robust least squares, and it is NP-hard in general. The standard convex approach is the Shor semidefinite relaxation: lift xxx to the matrix Y=(1x⊤xX)⪰0Y=\begin{pmatrix}1&x^\top\\x&X\end{pmatrix}\succeq 0Y=(1x​x⊤X​)⪰0 and linearize. The relaxation always gives a lower bound OptSDP≤Opt\mathrm{Opt}_{\mathrm{SDP}}\le\mathrm{Opt}OptSDP​≤Opt. When the bound is exact, the nonconvex problem is solved by one semidefinite program, and an optimizer of the QCQP can be read off the SDP solution.

Earlier exactness results cover special structure: problems with a single constraint (the S-lemma), diagonal QCQPs under sign conditions (Burer–Ye 2019), and the extended trust-region problem under a perturbation condition (Locatelli 2016). A. L. Wang and F. Kılınç-Karzan (arXiv:1911.09195, Math. Program. 2021) give a single framework that produces sufficient conditions for both exactness (Opt=OptSDP\mathrm{Opt}=\mathrm{Opt}_{\mathrm{SDP}}Opt=OptSDP​) and the stronger convex-hull property (conv(D)=DSDP\mathrm{conv}(\mathcal D)=\mathcal D_{\mathrm{SDP}}conv(D)=DSDP​). Both kinds of condition are stated through the faces of a dual object Γ\GammaΓ. This mission formalizes the exactness result for polyhedral Γ\GammaΓ, Theorem 3 of §5.

Setting

Fix N≥0N\ge 0N≥0 variables and m≥1m\ge 1m≥1 constraints, of which the first mIm_ImI​ are inequalities and the remaining mE=m−mIm_E=m-m_ImE​=m−mI​ equalities. For i=0,…,mi=0,\dots,mi=0,…,m let qi(x)=x⊤Aix+2bi⊤x+ciq_i(x)=x^\top A_ix+2b_i^\top x+c_iqi​(x)=x⊤Ai​x+2bi⊤​x+ci​ with AiA_iAi​ symmetric. The QCQP is

Opt=inf⁡x∈RN{q0(x):qi(x)≤0 (i≤mI), qi(x)=0 (i>mI)},\mathrm{Opt}=\inf_{x\in\mathbb R^N}\{q_0(x) : q_i(x)\le 0\ (i\le m_I),\ q_i(x)=0\ (i>m_I)\},Opt=x∈RNinf​{q0​(x):qi​(x)≤0 (i≤mI​), qi​(x)=0 (i>mI​)},

and its epigraph is D={(x,t):q0(x)≤2t, x feasible}\mathcal D=\{(x,t) : q_0(x)\le 2t,\ x\text{ feasible}\}D={(x,t):q0​(x)≤2t, x feasible}. With Qi=(cibi⊤biAi)Q_i=\begin{pmatrix}c_i&b_i^\top\\b_i&A_i\end{pmatrix}Qi​=(ci​bi​​bi⊤​Ai​​), the SDP relaxation minimizes ⟨Q0,Y⟩\langle Q_0,Y\rangle⟨Q0​,Y⟩ over Y=(1x⊤xX)⪰0Y=\begin{pmatrix}1&x^\top\\x&X\end{pmatrix}\succeq0Y=(1x​x⊤X​)⪰0 with ⟨Qi,Y⟩≤0\langle Q_i,Y\rangle\le 0⟨Qi​,Y⟩≤0 or =0=0=0. Its value is OptSDP\mathrm{Opt}_{\mathrm{SDP}}OptSDP​, and its projected epigraph DSDP\mathcal D_{\mathrm{SDP}}DSDP​ is the set of (x,t)(x,t)(x,t) for which some XXX is feasible with ⟨Q0,Y⟩≤2t\langle Q_0,Y\rangle\le 2t⟨Q0​,Y⟩≤2t.

For multipliers γ∈Rm\gamma\in\mathbb R^mγ∈Rm put A(γ)=A0+∑iγiAiA(\gamma)=A_0+\sum_i\gamma_iA_iA(γ)=A0​+∑i​γi​Ai​, b(γ)=b0+∑iγibib(\gamma)=b_0+\sum_i\gamma_ib_ib(γ)=b0​+∑i​γi​bi​, and the Lagrangian q(γ,x)=q0(x)+∑iγiqi(x)q(\gamma,x)=q_0(x)+\sum_i\gamma_iq_i(x)q(γ,x)=q0​(x)+∑i​γi​qi​(x). The dual object is

Γ={γ∈Rm:A(γ)⪰0, γi≥0 (i≤mI)}.\Gamma=\{\gamma\in\mathbb R^m : A(\gamma)\succeq 0,\ \gamma_i\ge 0\ (i\le m_I)\}.Γ={γ∈Rm:A(γ)⪰0, γi​≥0 (i≤mI​)}.

A face F\mathcal FF of Γ\GammaΓ is definite if some γ∈F\gamma\in\mathcal Fγ∈F has A(γ)≻0A(\gamma)\succ0A(γ)≻0, and semidefinite otherwise. A semidefinite face has the shared zero eigenspace V(F)={v:A(γ)v=0 ∀γ∈F}\mathcal V(\mathcal F)=\{v : A(\gamma)v=0\ \forall\gamma\in\mathcal F\}V(F)={v:A(γ)v=0 ∀γ∈F}. For x^∈RN\hat x\in\mathbb R^Nx^∈RN, F(x^)=arg⁡max⁡γ∈Γq(γ,x^)\mathcal F(\hat x)=\arg\max_{\gamma\in\Gamma}q(\gamma,\hat x)F(x^)=argmaxγ∈Γ​q(γ,x^).

The standing hypotheses are Assumption 1 (the QCQP is feasible and some γ∗\gamma^*γ∗ with γi∗≥0\gamma^*_i\ge0γi∗​≥0 for i≤mIi\le m_Ii≤mI​ has A(γ∗)≻0A(\gamma^*)\succ0A(γ∗)≻0) and Assumption 3 (Γ\GammaΓ is polyhedral). ProjV\mathrm{Proj}_VProjV​ denotes the orthogonal projection onto a subspace VVV.

Formalization targets

Goal: Theorem 3 (p. 23)

Under Assumptions 1 and 3, suppose that every semidefinite face F\mathcal FF of Γ\GammaΓ satisfies

0∉ProjV(F){b(γ):γ∈F}.0\notin\mathrm{Proj}_{\mathcal V(\mathcal F)}\{b(\gamma):\gamma\in\mathcal F\}.0∈/ProjV(F)​{b(γ):γ∈F}.

Then every (x∗,t∗)∈arg⁡min⁡(x,t)∈DSDP2t(x^*,t^*)\in\arg\min_{(x,t)\in\mathcal D_{\mathrm{SDP}}}2t(x∗,t∗)∈argmin(x,t)∈DSDP​​2t lies in D\mathcal DD, and in particular

Opt=OptSDP.\mathrm{Opt}=\mathrm{Opt}_{\mathrm{SDP}}.Opt=OptSDP​.

Milestones

  1. Lemma 1 (p. 7): under Assumption 1, DSDP={(x,t):sup⁡γ∈Γq(γ,x)≤2t}\mathcal D_{\mathrm{SDP}}=\{(x,t):\sup_{\gamma\in\Gamma}q(\gamma,x)\le2t\}DSDP​={(x,t):supγ∈Γ​q(γ,x)≤2t} and OptSDP=min⁡xsup⁡γ∈Γq(γ,x)\mathrm{Opt}_{\mathrm{SDP}}=\min_x\sup_{\gamma\in\Gamma}q(\gamma,x)OptSDP​=minx​supγ∈Γ​q(γ,x).
  2. Lemma 2 (p. 9): a semidefinite face has a unit vector in V(F)\mathcal V(\mathcal F)V(F).
  3. Lemma 3 (p. 9): under Assumptions 1 and 2, a point of DSDP\mathcal D_{\mathrm{SDP}}DSDP​ whose face F(x^)\mathcal F(\hat x)F(x^) is definite lies in D\mathcal DD.
  4. Lemma 8 (p. 13): for polyhedral Γ\GammaΓ, Γ=Γe+cone(Γr)\Gamma=\Gamma_e+\mathrm{cone}(\Gamma_r)Γ=Γe​+cone(Γr​) with polytopes Γe,Γr\Gamma_e,\Gamma_rΓe​,Γr​, and F(x^)=Fe(x^)+cone(Fr(x^))\mathcal F(\hat x)=\mathcal F_e(\hat x)+\mathrm{cone}(\mathcal F_r(\hat x))F(x^)=Fe​(x^)+cone(Fr​(x^)).
  5. Separation step of the proof of Theorem 3 (p. 24): on a semidefinite face satisfying the hypothesis, some nonzero v∈V(F)v\in\mathcal V(\mathcal F)v∈V(F) and ϵ>0\epsilon>0ϵ>0 have v⊤b(γ)≤−ϵv^\top b(\gamma)\le-\epsilonv⊤b(γ)≤−ϵ for all γ∈F\gamma\in\mathcal Fγ∈F.

Companion: Theorem 4 (p. 25)

If a sequence hj→0h_j\to0hj​→0 in RN\mathbb R^NRN has 0∉ProjV(F){b(γ)+hj:γ∈F}0\notin\mathrm{Proj}_{\mathcal V(\mathcal F)}\{b(\gamma)+h_j:\gamma\in\mathcal F\}0∈/ProjV(F)​{b(γ)+hj​:γ∈F} for every semidefinite face and every jjj, then Opt=OptSDP\mathrm{Opt}=\mathrm{Opt}_{\mathrm{SDP}}Opt=OptSDP​.

Significance

Theorem 3 gives exactness without the convex-hull property, and the paper uses it to recover known exactness results: Proposition 5 (p. 28) shows that the hypotheses of the Burer–Ye theorem for diagonal QCQPs imply those of Theorem 3, and Proposition 4 (p. 27) shows that Locatelli's hypotheses for the extended trust-region problem imply those of Theorem 4. The conclusion is also algorithmic: the xxx-block of any optimal lifted matrix of the SDP is optimal for the QCQP, so no rounding is needed. Theorem 4 extends exactness to limits of problems satisfying the condition; Example 4 is a problem where the SDP is exact but conv(D)≠DSDP\mathrm{conv}(\mathcal D)\ne\mathcal D_{\mathrm{SDP}}conv(D)=DSDP​.

The results are proved in the paper; none of them has a machine-checked proof. A formalization adds a checked version of the Lagrangian description of the Shor relaxation (Lemma 1), which every SDP-exactness argument for QCQPs uses, and a reusable Minkowski–Weyl decomposition of the faces of a polyhedral dual set (Lemma 8).

Difficulty

The natural attempt is to show directly that an SDP optimizer (x∗,t∗)(x^*,t^*)(x∗,t∗) is feasible for the QCQP. This works when the face F(x∗)\mathcal F(x^*)F(x∗) is definite (Lemma 3), but nothing in the SDP forces that. When the face is semidefinite, the multipliers on it give no curvature in the directions of V(F)\mathcal V(\mathcal F)V(F). The difficulty is to rule out a semidefinite optimal face using only first-order information about b(γ)b(\gamma)b(γ) on that face. The argument must also control every multiplier off the face uniformly, which is where polyhedrality enters, through the finitely many extreme points and rays of Lemma 8. The paper's argument for Theorem 3 uses polyhedrality at exactly this point.

Lemma 1 itself needs conic duality with attainment: strict feasibility of the dual SDP from Assumption 1, and a minimax step to identify the value.

Formalization scope

  • A QCQP is a structure QCQP N m with symmetric A₀, A i, vectors b₀, b i, scalars c₀, c i, and mI ≤ m. Constraint i : Fin m is the paper's constraint i+1i+1i+1 and is an inequality iff i < mI. The paper's standing assumption m≥1m\ge1m≥1 (p. 1) is a hypothesis of the goal and of Theorem 4.
  • Opt\mathrm{Opt}Opt and OptSDP\mathrm{Opt}_{\mathrm{SDP}}OptSDP​ are infima in EReal, so infeasibility and unboundedness are representable and no default value enters. "sup⁡γ∈Γq(γ,x)≤2t\sup_{\gamma\in\Gamma}q(\gamma,x)\le 2tsupγ∈Γ​q(γ,x)≤2t" is written as a bound for every γ∈Γ\gamma\in\Gammaγ∈Γ.
  • Faces are nonempty convex extreme subsets of Γ\GammaΓ. The empty face plays no role in the paper.
  • The projection is the orthogonal projection in EuclideanSpace ℝ (Fin N), because Fin N → ℝ carries the sup norm.
  • "Any optimizer of 2t2t2t over DSDP\mathcal D_{\mathrm{SDP}}DSDP​" is a point of DSDP\mathcal D_{\mathrm{SDP}}DSDP​ with 2t∗≤2t2t^*\le 2t2t∗≤2t for all points of DSDP\mathcal D_{\mathrm{SDP}}DSDP​. Existence of an optimizer is not assumed, and Opt=OptSDP\mathrm{Opt}=\mathrm{Opt}_{\mathrm{SDP}}Opt=OptSDP​ is stated as a separate conclusion.
  • Lemma 8 formalizes Fr(x^)\mathcal F_r(\hat x)Fr​(x^) as a subset of Γr\Gamma_rΓr​. The page prints Γe\Gamma_eΓe​, a slip that the proof and its uses correct.
  • The goal assumes neither that F(x∗)\mathcal F(x^*)F(x∗) is definite nor any separating vector. Those are milestones, so the goal cannot be closed by restating a hypothesis.

A complete development needs conic (SDP) strong duality with attainment, a Minkowski–Weyl theorem for polyhedra in Rm\mathbb R^mRm, faces of convex sets, strict separation of a point from a closed convex set, and closedness of linear images of polyhedra. All of these are reusable beyond this mission. Proofs of the milestones, of these general tools, and of the optional comparisons with Burer–Ye and Locatelli (Propositions 4, 5) are welcome.

Selected references

  • A. L. Wang, F. Kılınç-Karzan, On the tightness of SDP relaxations of QCQPs, Mathematical Programming (2021); arXiv:1911.09195v3 (2020). https://arxiv.org/abs/1911.09195, https://doi.org/10.1007/s10107-020-01589-9
  • T. Fujie, M. Kojima, Semidefinite programming relaxation for nonconvex quadratic programs, Journal of Global Optimization 10(4) (1997) 367–380.
  • S. Burer, Y. Ye, Exact semidefinite formulations for a class of (random and non-random) nonconvex quadratic programs, Mathematical Programming 181 (2019) 1–17.
  • M. Locatelli, Exactness conditions for an SDP relaxation of the extended trust region problem, Optimization Letters 10(6) (2016) 1141–1151.
11 thms2 active usersReviewed
🏆Completed
Convex OptimizationOptimization·Captain: mikedeng1

On the tightness of SDP relaxations of QCQPs 3: Quadratic Eigenvalue Multiplicity k ≥ m + 2 Gives conv(D) = D_SDP Without PolyhedralityResearch Paper

Motivation

A quadratically constrained quadratic program (QCQP) minimizes a quadratic function subject to quadratic inequality and equality constraints. The class contains nonconvex problems such as binary programs, max-cut, the trust-region subproblem and many problems in signal processing and control. A standard convex approximation is the Shor semidefinite programming (SDP) relaxation, which replaces the rank-one matrix xx⊤xx^\topxx⊤ by a positive semidefinite matrix X⪰xx⊤X \succeq xx^\topX⪰xx⊤. The relaxation always gives a lower bound; the question studied by Wang and Kılınç-Karzan (arXiv:1911.09195v3, Math. Program. 2020, doi:10.1007/s10107-020-01589-9) is when it is tight, either in the sense of objective values or in the stronger sense that the relaxation describes the convex hull of the problem's epigraph.

Earlier exactness results are of two kinds. One kind concerns special structure: one constraint (the S-lemma, the trust-region subproblem), or two constraints under extra conditions. The other kind, due to Beck (Quadratic matrix programming, SIAM J. Optim. 2007, Corollary 4.4), exploits block symmetry: if every quadratic form is of the form Ik⊗AiI_k\otimes\mathbb A_iIk​⊗Ai​ with k≥mk \ge mk≥m, the SDP bound equals the optimal value. The paper under formalization recasts both kinds in one framework. Its convex hull results (Theorems 1 and 2) assume that a certain dual set Γ\GammaΓ is polyhedral, and its Proposition 3 shows that without polyhedrality the convex hull result can fail. This mission is about Theorem 7, which removes the polyhedrality assumption at the price of a larger symmetry parameter.

Setting

Fix N≥1N \ge 1N≥1 variables and m=mI+mE≥1m = m_I + m_E \ge 1m=mI​+mE​≥1 constraints. For i∈[ ⁣[0,m] ⁣]i\in[\![0,m]\!]i∈[[0,m]] let qi(x)=x⊤Aix+2bi⊤x+ciq_i(x) = x^\top A_ix + 2b_i^\top x + c_iqi​(x)=x⊤Ai​x+2bi⊤​x+ci​ with AiA_iAi​ a symmetric N×NN\times NN×N matrix, bi∈RNb_i\in\mathbb R^Nbi​∈RN and ci∈Rc_i\in\mathbb Rci​∈R. The QCQP is

Opt=inf⁡x∈RN{q0(x):qi(x)≤0, i∈[ ⁣[mI] ⁣]; qi(x)=0, i∈[ ⁣[mI+1,m] ⁣]}.(1)\mathrm{Opt} = \inf_{x\in\mathbb R^N}\big\{q_0(x) : q_i(x)\le 0,\ i\in[\![m_I]\!];\ q_i(x)=0,\ i\in[\![m_I+1,m]\!]\big\}. \tag{1}Opt=x∈RNinf​{q0​(x):qi​(x)≤0, i∈[[mI​]]; qi​(x)=0, i∈[[mI​+1,m]]}.(1)

Its epigraph is D={(x,t)∈RN×R:q0(x)≤2t, x feasible for (1)}\mathcal D = \{(x,t)\in\mathbb R^N\times\mathbb R : q_0(x)\le 2t,\ x \text{ feasible for (1)}\}D={(x,t)∈RN×R:q0​(x)≤2t, x feasible for (1)}. With Qi=(cibi⊤biAi)Q_i = \begin{pmatrix} c_i & b_i^\top\\ b_i & A_i\end{pmatrix}Qi​=(ci​bi​​bi⊤​Ai​​) and Y=(1x⊤xX)Y = \begin{pmatrix} 1 & x^\top\\ x & X\end{pmatrix}Y=(1x​x⊤X​), the Shor relaxation imposes Y⪰0Y\succeq0Y⪰0, ⟨Qi,Y⟩≤0\langle Q_i,Y\rangle\le0⟨Qi​,Y⟩≤0 for inequalities and ⟨Qi,Y⟩=0\langle Q_i,Y\rangle=0⟨Qi​,Y⟩=0 for equalities; its projected epigraph DSDP\mathcal D_{\mathrm{SDP}}DSDP​ is the set of (x,t)(x,t)(x,t) for which some symmetric XXX satisfies these constraints and ⟨Q0,Y⟩≤2t\langle Q_0,Y\rangle\le 2t⟨Q0​,Y⟩≤2t. Always conv⁡(D)⊆DSDP\operatorname{conv}(\mathcal D)\subseteq\mathcal D_{\mathrm{SDP}}conv(D)⊆DSDP​.

For γ∈Rm\gamma\in\mathbb R^mγ∈Rm write A(γ)=A0+∑iγiAiA(\gamma)=A_0+\sum_i\gamma_iA_iA(γ)=A0​+∑i​γi​Ai​ and q(γ,x)=q0(x)+∑iγiqi(x)q(\gamma,x) = q_0(x)+\sum_i\gamma_iq_i(x)q(γ,x)=q0​(x)+∑i​γi​qi​(x), and let Γ={γ:A(γ)⪰0, γi≥0 ∀i∈[ ⁣[mI] ⁣]}\Gamma = \{\gamma : A(\gamma)\succeq0,\ \gamma_i\ge0\ \forall i\in[\![m_I]\!]\}Γ={γ:A(γ)⪰0, γi​≥0 ∀i∈[[mI​]]}. Assumption 1 asks that (1) be feasible and that A(γ∗)≻0A(\gamma^*)\succ0A(γ∗)≻0 for some γ∗\gamma^*γ∗ that is nonnegative on the inequality indices.

The quadratic eigenvalue multiplicity (Definition 3) is the largest integer kkk such that N=knN = knN=kn and, for every i∈[ ⁣[0,m] ⁣]i\in[\![0,m]\!]i∈[[0,m]], Ai=Ik⊗AiA_i = I_k\otimes\mathbb A_iAi​=Ik​⊗Ai​ for some symmetric n×nn\times nn×n matrix Ai\mathbb A_iAi​. Here Ik⊗AI_k\otimes\mathbb AIk​⊗A is block diagonal with kkk copies of A\mathbb AA, and for y∈Rky\in\mathbb R^ky∈Rk, z∈Rnz\in\mathbb R^nz∈Rn the vector y⊗z∈RNy\otimes z\in\mathbb R^Ny⊗z∈RN has jjj-th block yjzy_jzyj​z. Every QCQP has multiplicity at least 111.

Formalization targets

Goal: Theorem 7 (p. 29)

Assumption 1 and k≥m+2⟹conv⁡(D)=DSDP.\text{Assumption 1 and } k\ge m+2 \quad\Longrightarrow\quad \operatorname{conv}(\mathcal D) = \mathcal D_{\mathrm{SDP}}.Assumption 1 and k≥m+2⟹conv(D)=DSDP​.

Milestones (in the order of the proof)

  1. Lemma 1 (p. 7): under Assumption 1, DSDP={(x,t):sup⁡γ∈Γq(γ,x)≤2t}\mathcal D_{\mathrm{SDP}} = \{(x,t) : \sup_{\gamma\in\Gamma}q(\gamma,x)\le 2t\}DSDP​={(x,t):supγ∈Γ​q(γ,x)≤2t} and OptSDP=min⁡xsup⁡γ∈Γq(γ,x)\mathrm{Opt}_{\mathrm{SDP}} = \min_x\sup_{\gamma\in\Gamma}q(\gamma,x)OptSDP​=minx​supγ∈Γ​q(γ,x).
  2. A(γ)⪰0  ⟺  A(γ)=A0+∑iγiAi⪰0A(\gamma)\succeq0 \iff \mathbb A(\gamma) = \mathbb A_0+\sum_i\gamma_i\mathbb A_i\succeq0A(γ)⪰0⟺A(γ)=A0​+∑i​γi​Ai​⪰0 (p. 29).
  3. Under Assumption 1, every (x^,t^)∈DSDP(\hat x,\hat t)\in\mathcal D_{\mathrm{SDP}}(x^,t^)∈DSDP​ admits Z∈SnZ\in\mathbb S^nZ∈Sn with Z⪰0Z\succeq0Z⪰0, q0(x^)+⟨A0,Z⟩≤2t^q_0(\hat x)+\langle\mathbb A_0,Z\rangle\le2\hat tq0​(x^)+⟨A0​,Z⟩≤2t^, qi(x^)+⟨Ai,Z⟩≤0q_i(\hat x)+\langle\mathbb A_i,Z\rangle\le0qi​(x^)+⟨Ai​,Z⟩≤0 on inequalities and =0=0=0 on equalities: the system (17), p. 29.
  4. If k≥m+2k\ge m+2k≥m+2, for any x^\hat xx^ and zzz there is a unit y∈Rky\in\mathbb R^ky∈Rk with ⟨Aix^+bi,y⊗z⟩=0\langle A_i\hat x+b_i, y\otimes z\rangle = 0⟨Ai​x^+bi​,y⊗z⟩=0 for all i∈[ ⁣[0,m] ⁣]i\in[\![0,m]\!]i∈[[0,m]]: the system (18), p. 30.
  5. If k≥m+2k\ge m+2k≥m+2, every (x^,t^,Z)(\hat x,\hat t,Z)(x^,t^,Z) satisfying (17) has (x^,t^)∈conv⁡(D)(\hat x,\hat t)\in\operatorname{conv}(\mathcal D)(x^,t^)∈conv(D) (pp. 29–30).

A supporting item (not a milestone) states the expansion used in the induction step: for A=Ik⊗AA = I_k\otimes\mathbb AA=Ik​⊗A with A\mathbb AA symmetric and unit yyy, q(x^±y⊗z)=q(x^)±2⟨Ax^+b,y⊗z⟩+⟨A,zz⊤⟩q(\hat x\pm y\otimes z) = q(\hat x)\pm2\langle A\hat x+b,y\otimes z\rangle+\langle\mathbb A,zz^\top\rangleq(x^±y⊗z)=q(x^)±2⟨Ax^+b,y⊗z⟩+⟨A,zz⊤⟩ (p. 30).

Significance

The result. Theorem 7 is the convex hull counterpart of Beck's value-exactness result: under Assumption 1 and enough block symmetry, the Shor relaxation does not merely give the right optimal value but describes conv⁡(D)\operatorname{conv}(\mathcal D)conv(D) exactly, so every linear objective in (x,t)(x,t)(x,t) over the relaxation is exact. It needs neither the polyhedrality of Γ\GammaΓ nor the attainment Assumption 2 used elsewhere in the paper. Problems with this structure include quadratic matrix programs (Beck 2007), in which the variable is a matrix X∈Rn×kX\in\mathbb R^{n\times k}X∈Rn×k and every quadratic form is a trace tr⁡(X⊤AiX)\operatorname{tr}(X^\top\mathbb A_iX)tr(X⊤Ai​X). The companion Theorem 8 (a separate mission of this series) relaxes k≥m+2k\ge m+2k≥m+2 to k≥m+1k\ge m+1k≥m+1 at the price of intersecting with the optimal hyperplane, and Remark 14 records that the authors conjecture these thresholds are sharp.

The formalization. Theorem 7 is proved in the paper; no machine-checked proof of it, or of the Shor relaxation's convex hull results in general, is known. The milestones isolate the three ingredients of the proof as reusable statements: the dual description of DSDP\mathcal D_{\mathrm{SDP}}DSDP​ (Lemma 1, shared with the polyhedral results of the paper), conic duality applied to a Kronecker-structured SDP, and a rank-reduction argument for Kronecker-structured quadratic forms.

Difficulty

The inclusion conv⁡(D)⊆DSDP\operatorname{conv}(\mathcal D)\subseteq\mathcal D_{\mathrm{SDP}}conv(D)⊆DSDP​ is immediate; the content is the reverse inclusion. A point of DSDP\mathcal D_{\mathrm{SDP}}DSDP​ comes with a matrix X⪰xx⊤X\succeq xx^\topX⪰xx⊤, and the naive idea is to decompose X−xx⊤X - xx^\topX−xx⊤ into rank-one pieces and move xxx along them. In RN\mathbb R^NRN this fails in general: moving along an arbitrary direction changes each constraint by a first-order term that cannot be controlled, and Proposition 3 of the paper exhibits a QCQP with conv⁡(D)≠DSDP\operatorname{conv}(\mathcal D)\ne\mathcal D_{\mathrm{SDP}}conv(D)=DSDP​. The theorem therefore depends on the Kronecker structure and on the count k≥m+2k\ge m+2k≥m+2 in an essential way, and on an exact dual certificate, whose existence needs the strict feasibility of Assumption 1 and a dual attainment theorem for SDPs that is not yet in Mathlib.

Formalization scope

All objects are defined locally in the namespace QCQPTightness.MultHull.

  • Variables live in Fin N → ℝ; constraints are indexed by Fin m, the paper's constraint i+1i+1i+1 being index iii, and index iii is an inequality iff i<mIi < m_Ii<mI​. The standing assumption m≥1m\ge1m≥1 (p. 1) is a hypothesis of the goal.
  • Opt\mathrm{Opt}Opt, OptSDP\mathrm{Opt}_{\mathrm{SDP}}OptSDP​ and sup⁡γ∈Γq(γ,x)\sup_{\gamma\in\Gamma}q(\gamma,x)supγ∈Γ​q(γ,x) are taken in EReal, so an empty or unbounded set never produces the junk value of a real infimum. "sup⁡γ∈Γq(γ,x)≤2t\sup_{\gamma\in\Gamma}q(\gamma,x)\le 2tsupγ∈Γ​q(γ,x)≤2t" is stated as q(γ,x)≤2tq(\gamma,x)\le2tq(γ,x)≤2t for all γ∈Γ\gamma\in\Gammaγ∈Γ.
  • ⟨Q,Y⟩\langle Q,Y\rangle⟨Q,Y⟩ is tr⁡(QY)\operatorname{tr}(QY)tr(QY); ⪰0\succeq0⪰0 and ≻0\succ0≻0 are Mathlib's PosSemidef and PosDef; conv⁡\operatorname{conv}conv is convexHull ℝ in RN×R\mathbb R^N\times\mathbb RRN×R.
  • Ik⊗AI_k\otimes\mathbb AIk​⊗A is Mathlib's Kronecker product, transported to Fin N by (j,s)↦s+nj(j,s)\mapsto s+nj(j,s)↦s+nj; y⊗zy\otimes zy⊗z uses the same map.
  • The goal uses the largest kkk (IsQuadEigMult k) exactly as Definition 3. The milestones are stated for an arbitrary explicit representation Ai=Ik⊗AiA_i = I_k\otimes\mathbb A_iAi​=Ik​⊗Ai​, which makes them at least as strong. Milestone 2 carries k≥1k\ge1k≥1, which the paper notes always holds.
  • The goal does not assume the existence of a certificate ZZZ for (17): that existence is milestone 3 and is where Assumption 1 is used. A formalization that assumes it, or that drops Assumption 1, states a different theorem.

A complete development needs: SDP strong duality with dual attainment under a Slater condition (the platform's ConvexOptimization.sdp_strong_duality states a related form), the spectral decomposition of a positive semidefinite matrix into rank-one terms, Kronecker product identities for block-diagonal matrices, and the existence of nonzero solutions of underdetermined homogeneous linear systems. The duality and Kronecker lemmas are reusable beyond this mission; proofs of any milestone are welcome.

Selected references

  • A. L. Wang, F. Kılınç-Karzan, On the tightness of SDP relaxations of QCQPs, Mathematical Programming, 2020 (citation basis: arXiv:1911.09195v3). https://arxiv.org/abs/1911.09195, https://doi.org/10.1007/s10107-020-01589-9
  • A. Beck, Quadratic matrix programming, SIAM Journal on Optimization 17(4):1224–1238, 2007 (reference [5] of the paper).
  • T. Fujie, M. Kojima, Semidefinite programming relaxation for nonconvex quadratic programs, Journal of Global Optimization 10(4):367–380, 1997 (reference [26] of the paper).
  • N. Z. Shor, Dual quadratic estimates in polynomial and boolean programming, Annals of Operations Research 25:163–168, 1990 (reference [47] of the paper).
10 thms2 active usersReviewed
🏆Completed
Optimization·Captain: mikedeng1

Product Price, Quality and Service Decisions under Consumer Choice Models I: Under MNL Demand, Optimal Service Durations Are Extreme, Qualities Are Set Product by Product, and Markups Are EqualResearch Paper

Motivation

Manufacturers rarely sell a bare product. A laptop, a vacuum cleaner or a car comes with an ancillary service (a factory warranty, maintenance, technical support) whose length the firm chooses together with the price and the quality of the product. The three decisions interact: a longer warranty makes a product more attractive to consumers but costs the firm more, and how much more depends on quality, since a more reliable product fails less often while a more complex one may be costlier to service. Firms in practice offer very few service options across large product lines: Amazon's Fire tablets come with either a 90-day or a 1-year warranty, and Dyson's vacuum cleaners with either a 2-year or a 5-year warranty.

Wang, Ke and Cui (SSRN 3766191; Manufacturing & Service Operations Management, 2022, doi:10.1287/msom.2020.0947) study the joint choice of price, quality and service duration for a firm selling substitutable products to consumers who choose according to the multinomial logit (MNL) model. Their first main result, Theorem 1, explains the observation above: under MNL demand, every product's optimal service duration is either the shortest or the longest allowed. The same theorem gives the optimal quality in closed form and shows that all products carry the same optimal markup, extending the equal-markup property of MNL price optimization (Li and Huh 2011, doi:10.1287/msom.1110.0335; Li, Rusmevichientong and Topaloglu 2015, doi:10.1287/opre.2015.1355) to quality and service.

Setting

A firm sells products i∈N={1,…,N}i\in\mathcal N=\{1,\dots,N\}i∈N={1,…,N}. For product iii it chooses a price pi∈Rp_i\in\mathbb Rpi​∈R, a quality level qi∈Rq_i\in\mathbb Rqi​∈R and a service duration tit_iti​ in a fixed interval [ts,tl][t_s,t_l][ts​,tl​] of admissible durations. The parameters of product iii are:

  • αi\alpha_iαi​, the consumers' sensitivity to quality;
  • sis_isi​, the consumers' utility from one unit of service time;
  • ci>0c_i>0ci​>0, the production-cost coefficient (unit production cost ciqi2c_iq_i^2ci​qi2​);
  • aia_iai​ and bib_ibi​, the base service cost per unit time and the effect of quality on it (service cost ai−biqia_i-b_iq_iai​−bi​qi​ per unit time). The sign of bib_ibi​ is not fixed: bi>0b_i>0bi​>0 when quality improves reliability, bi<0b_i<0bi​<0 when it adds complexity, bi=0b_i=0bi​=0 when it is irrelevant to service.

A consumer buys product iii with the MNL probability

di(p,q,t;N)=exp⁡(αiqi−pi+tisi)1+∑j∈Nexp⁡(αjqj−pj+tjsj),d_i(\mathbf p,\mathbf q,\mathbf t;\mathcal N)=\frac{\exp(\alpha_iq_i-p_i+t_is_i)}{1+\sum_{j\in\mathcal N}\exp(\alpha_jq_j-p_j+t_js_j)},di​(p,q,t;N)=1+∑j∈N​exp(αj​qj​−pj​+tj​sj​)exp(αi​qi​−pi​+ti​si​)​,

the 111 in the denominator being the option to buy nothing. The markup of product iii is pi−ciqi2−ti(ai−biqi)p_i-c_iq_i^2-t_i(a_i-b_iq_i)pi​−ci​qi2​−ti​(ai​−bi​qi​), and with the market size normalized to one the firm's total expected profit is

Π(p,q,t;N)=∑i∈N[pi−ciqi2−ti(ai−biqi)]⋅di(p,q,t;N).\Pi(\mathbf p,\mathbf q,\mathbf t;\mathcal N)=\sum_{i\in\mathcal N}\bigl[p_i-c_iq_i^2-t_i(a_i-b_iq_i)\bigr]\cdot d_i(\mathbf p,\mathbf q,\mathbf t;\mathcal N).Π(p,q,t;N)=i∈N∑​[pi​−ci​qi2​−ti​(ai​−bi​qi​)]⋅di​(p,q,t;N).

The firm solves problem (4): maximize Π\PiΠ over p∈RN\mathbf p\in\mathbb R^Np∈RN, q∈RN\mathbf q\in\mathbb R^Nq∈RN and t∈[ts,tl]N\mathbf t\in[t_s,t_l]^Nt∈[ts​,tl​]N. In Lean the model is PriceQualityService.Joint.Model (attraction, choiceProb, markup, profit, and the exponent φi(τ)\varphi_i(\tau)φi​(τ) below as durationExponent).

Formalization targets

Goal: Theorem 1

Write φi(τ)=bi2τ24ci+(si−ai+αibi2ci)τ+αi24ci\varphi_i(\tau)=\frac{b_i^2\tau^2}{4c_i}+\bigl(s_i-a_i+\frac{\alpha_ib_i}{2c_i}\bigr)\tau+\frac{\alpha_i^2}{4c_i}φi​(τ)=4ci​bi2​τ2​+(si​−ai​+2ci​αi​bi​​)τ+4ci​αi2​​. Theorem 1 asserts that problem (4) has an optimal solution (p∗,q∗,t∗)(\mathbf p^*,\mathbf q^*,\mathbf t^*)(p∗,q∗,t∗) with

ti∗∈{ts,tl},qi∗=αi+ti∗bi2ci,pi∗=1+r∗+ciqi∗2+ti∗(ai−biqi∗),t_i^*\in\{t_s,t_l\},\qquad q_i^*=\frac{\alpha_i+t_i^*b_i}{2c_i},\qquad p_i^*=1+r^*+c_iq_i^{*2}+t_i^*(a_i-b_iq_i^*),ti∗​∈{ts​,tl​},qi∗​=2ci​αi​+ti∗​bi​​,pi∗​=1+r∗+ci​qi∗2​+ti∗​(ai​−bi​qi∗​),

where r∗r^*r∗ is the unique real solution of

r=∑i∈Nexp⁡(φi(ti∗)−r−1),r=\sum_{i\in\mathcal N}\exp\bigl(\varphi_i(t_i^*)-r-1\bigr),r=i∈N∑​exp(φi​(ti∗​)−r−1),

and that r∗r^*r∗ equals the optimal profit. The goal also states the converse: every optimal solution has this quality and price structure, and, when ts<tlt_s<t_lts​<tl​, every optimal duration of a product with bi≠0b_i\ne0bi​=0 or ai≠sia_i\ne s_iai​=si​ is tst_sts​ or tlt_ltl​.

Milestones

The milestones follow the proof in Appendix B: the fixed-point form (15) of the profit; the price step (each markup is 1+r1+r1+r); the price-only optimum (17); the quality step (18); the duration step (19); uniqueness of the root r∗r^*r∗; and Proposition 2, which says which endpoint is optimal for each product.

Significance

Theorem 1 reduces a 3N3N3N-dimensional nonconcave optimization over prices, qualities and durations to a choice between two durations per product, decoupled across products, plus a one-dimensional equation for the common markup. Proposition 2 then settles each product's duration by comparing a threshold built from its own parameters with the midpoint (ts+tl)/2(t_s+t_l)/2(ts​+tl​)/2. The same reduction underlies the later results of the paper: the oligopoly equilibrium, the uniform-service problem, the nested logit extension and the consumer-surplus comparisons all rest on the fixed-point characterization of the optimal profit.

The theorem is proved in the paper; no machine-checked proof exists. This mission formalizes the model and the theorem with its explicit constants, including the uniqueness of r∗r^*r∗, the claim that r∗r^*r∗ is the optimal profit, and the existence of an optimum, which the paper's argument takes for granted. The fixed-point form of MNL profit is a reusable tool for any MNL pricing model with additive utilities.

Difficulty

The profit function is not concave in prices, qualities or durations jointly, so first-order conditions alone do not identify a maximum. The obvious argument (set every partial derivative to zero) yields stationary points without showing that any of them is a global maximum, and says nothing at the boundary of [ts,tl][t_s,t_l][ts​,tl​], where the optimum actually lies. The three decisions are also coupled through the shared MNL denominator: changing one product's price or quality changes every product's demand, so the claim that each quality is set from the product's own parameters, and that all markups coincide, is not visible coordinate by coordinate. Finally, the statement must hold for every sign of bib_ibi​: for bi=0b_i=0bi​=0 the dependence on the duration is linear rather than quadratic, and when moreover ai=sia_i=s_iai​=si​ every duration is optimal, so the "every optimum is extreme" clause has to exclude exactly that case.

Formalization scope

  • Products are Fin N, 0-based; the paper's product iii is index i−1i-1i−1. Any N≥0N\ge0N≥0 is allowed; for N=0N=0N=0 the optimal profit is r∗=0r^*=0r∗=0.
  • The outside option is the "1+1+1+" in the MNL denominator, not an element of Fin N.
  • Prices and qualities range over all of R\mathbb RR. The model's normalization qi∈[0,ai/bi)q_i\in[0,a_i/b_i)qi​∈[0,ai​/bi​) (p. 8) is not imposed, as in the paper's proof, which maximizes over qi∈Rq_i\in\mathbb Rqi​∈R.
  • Durations satisfy ti∈[ts,tl]t_i\in[t_s,t_l]ti​∈[ts​,tl​] with ts≤tlt_s\le t_lts​≤tl​; the universal "every optimal duration is extreme" clause assumes ts<tlt_s<t_lts​<tl​.
  • ci>0c_i>0ci​>0 for every product (the paper's increasing convex production cost); no other sign is assumed, and bib_ibi​ may be positive, negative or zero.
  • "Optimal" means a global maximizer over the whole feasible set, and the existence of an optimum is part of the goal, not a hypothesis.
  • The MNL formula is the definition of the choice probability; its derivation from Gumbel utilities is not part of this mission.

A formalization that fixes N=1N=1N=1 or identical products, fixes the sign of bib_ibi​, states only first-order conditions, or defines r∗r^*r∗ or the optimum by the paper's formula is not this theorem and is ruled out.

The development needs only real analysis from Mathlib: the exponential function, monotonicity of one-variable functions, convexity of exp⁡\expexp composed with a convex quadratic, and finite sums. Proofs of any milestone, alternative arguments for the goal, and reusable lemmas on the fixed-point form of MNL profit are welcome.

Selected references

  • R. Wang, C. Ke, S. Cui, Product Price, Quality and Service Decisions under Consumer Choice Models, Manufacturing & Service Operations Management, 2022; accepted manuscript SSRN 3766191. https://ssrn.com/abstract=3766191 , https://doi.org/10.1287/msom.2020.0947
  • H. Li, W. T. Huh, Pricing Multiple Products with the Multinomial Logit and Nested Logit Models: Concavity and Implications, Manufacturing & Service Operations Management 13(4), 549–564, 2011. https://doi.org/10.1287/msom.1110.0335
  • G. Li, P. Rusmevichientong, H. Topaloglu, The d-Level Nested Logit Model: Assortment and Price Optimization Problems, Operations Research 63(2), 325–341, 2015. https://doi.org/10.1287/opre.2015.1355
  • D. McFadden, Conditional Logit Analysis of Qualitative Choice Behavior, in Frontiers in Econometrics, P. Zarembka (ed.), Academic Press, New York, 105–142, 1974.
9 thms2 active usersReviewed
🏆Completed
Convex OptimizationOptimization·Captain: mikedeng1

On the tightness of SDP relaxations of QCQPs 4: Quadratic Eigenvalue Multiplicity k ≥ m + 1 Gives conv(D ∩ H) = D_SDP ∩ H and Opt = Opt_SDPResearch Paper

Motivation

A quadratically constrained quadratic program (QCQP) minimizes a quadratic function subject to quadratic inequality and equality constraints. QCQPs model trust-region subproblems, max-cut and other binary programs, phase retrieval, and many problems in signal processing and control; in general they are NP-hard. The standard tool for bounding and solving them is the Shor semidefinite relaxation (Shor 1990), which lifts the variable xxx to a matrix Y=(1x⊤xX)⪰0Y = \begin{pmatrix}1 & x^\top\\ x & X\end{pmatrix}\succeq 0Y=(1x​x⊤X​)⪰0 and replaces every quadratic term by a linear function of YYY. The relaxation is a convex program, so it can be solved efficiently, but it is only useful when one knows that it is tight: that its optimal value equals that of the QCQP, or, more strongly, that it describes the convex hull of the QCQP's epigraph.

Wang and Kılınç-Karzan (arXiv:1911.09195v3, Math. Program. 2021) give sufficient conditions for tightness. Section 6 of the paper concerns QCQPs with symmetry: when every quadratic form is kkk identical copies of one smaller form, Ai=Ik⊗AiA_i = I_k\otimes\mathbb A_iAi​=Ik​⊗Ai​. Such problems arise as quadratic matrix programs in the sense of Beck 2007, where the variable is a matrix and the objective and constraints are traces of quadratic matrix expressions. Beck showed (Corollary 4.4) that k≥mk\ge mk≥m gives value exactness under a regularity assumption; Theorem 7 of the paper gives the convex-hull result for k≥m+2k\ge m+2k≥m+2; this mission's Theorem 8 covers k≥m+1k\ge m+1k≥m+1.

Setting

Fix N≥1N\ge 1N≥1 variables and m=mI+mE≥1m = m_I + m_E\ge 1m=mI​+mE​≥1 constraints. For i∈[ ⁣[0,m] ⁣]i\in[\![0,m]\!]i∈[[0,m]] let qi(x)=x⊤Aix+2bi⊤x+ciq_i(x) = x^\top A_ix + 2b_i^\top x + c_iqi​(x)=x⊤Ai​x+2bi⊤​x+ci​ with Ai∈SNA_i\in\mathbb S^NAi​∈SN symmetric, bi∈RNb_i\in\mathbb R^Nbi​∈RN, ci∈Rc_i\in\mathbb Rci​∈R. The QCQP is

Opt=inf⁡x∈RN{q0(x):qi(x)≤0 (i∈[ ⁣[mI] ⁣]), qi(x)=0 (i∈[ ⁣[mI+1,m] ⁣])},\mathrm{Opt} = \inf_{x\in\mathbb R^N}\{q_0(x) : q_i(x)\le 0\ (i\in[\![m_I]\!]),\ q_i(x) = 0\ (i\in[\![m_I+1,m]\!])\},Opt=x∈RNinf​{q0​(x):qi​(x)≤0 (i∈[[mI​]]), qi​(x)=0 (i∈[[mI​+1,m]])},

and its epigraph is D={(x,t):q0(x)≤2t, x feasible}\mathcal D = \{(x,t) : q_0(x)\le 2t,\ x\text{ feasible}\}D={(x,t):q0​(x)≤2t, x feasible}.

With Qi=(cibi⊤biAi)Q_i = \begin{pmatrix} c_i & b_i^\top\\ b_i & A_i\end{pmatrix}Qi​=(ci​bi​​bi⊤​Ai​​), the SDP relaxation has value

OptSDP=inf⁡x, X∈SN{⟨Q0,Y⟩:⟨Qi,Y⟩≤0 (i≤mI), ⟨Qi,Y⟩=0 (i>mI), Y⪰0},\mathrm{Opt}_{\mathrm{SDP}} = \inf_{x,\ X\in\mathbb S^N}\{\langle Q_0,Y\rangle : \langle Q_i,Y\rangle\le 0\ (i\le m_I),\ \langle Q_i,Y\rangle = 0\ (i> m_I),\ Y\succeq 0\},OptSDP​=x, X∈SNinf​{⟨Q0​,Y⟩:⟨Qi​,Y⟩≤0 (i≤mI​), ⟨Qi​,Y⟩=0 (i>mI​), Y⪰0},

and its projected epigraph DSDP\mathcal D_{\mathrm{SDP}}DSDP​ is the set of (x,t)(x,t)(x,t) for which some XXX satisfies the constraints with ⟨Q0,Y⟩≤2t\langle Q_0,Y\rangle\le 2t⟨Q0​,Y⟩≤2t. Always conv⁡(D)⊆DSDP\operatorname{conv}(\mathcal D)\subseteq\mathcal D_{\mathrm{SDP}}conv(D)⊆DSDP​ and Opt≥OptSDP\mathrm{Opt}\ge\mathrm{Opt}_{\mathrm{SDP}}Opt≥OptSDP​.

For γ∈Rm\gamma\in\mathbb R^mγ∈Rm write A(γ)=A0+∑iγiAiA(\gamma) = A_0+\sum_i\gamma_iA_iA(γ)=A0​+∑i​γi​Ai​ and q(γ,x)=q0(x)+∑iγiqi(x)q(\gamma,x) = q_0(x)+\sum_i\gamma_iq_i(x)q(γ,x)=q0​(x)+∑i​γi​qi​(x), and let Γ={γ:A(γ)⪰0, γi≥0 ∀i∈[ ⁣[mI] ⁣]}\Gamma = \{\gamma : A(\gamma)\succeq 0,\ \gamma_i\ge 0\ \forall i\in[\![m_I]\!]\}Γ={γ:A(γ)⪰0, γi​≥0 ∀i∈[[mI​]]}. Assumption 1 requires that the QCQP be feasible and that some γ∗\gamma^*γ∗ with γi∗≥0\gamma^*_i\ge 0γi∗​≥0 on the inequalities have A(γ∗)≻0A(\gamma^*)\succ 0A(γ∗)≻0.

The quadratic eigenvalue multiplicity (Definition 3) is the largest integer kkk such that N=knN = knN=kn and every AiA_iAi​, i∈[ ⁣[0,m] ⁣]i\in[\![0,m]\!]i∈[[0,m]], equals Ik⊗AiI_k\otimes\mathbb A_iIk​⊗Ai​ for some Ai∈Sn\mathbb A_i\in\mathbb S^nAi​∈Sn. Finally,

H={(x,t)∈RN+1:2t=OptSDP}H = \{(x,t)\in\mathbb R^{N+1} : 2t = \mathrm{Opt}_{\mathrm{SDP}}\}H={(x,t)∈RN+1:2t=OptSDP​}

is the hyperplane on which the SDP relaxation attains its value.

Formalization targets

Goal: Theorem 8 (p. 30)

Under Assumption 1, if k≥m+1k\ge m+1k≥m+1, then

conv⁡(D∩H)=DSDP∩HandOpt=OptSDP.\operatorname{conv}(\mathcal D\cap H) = \mathcal D_{\mathrm{SDP}}\cap H\qquad\text{and}\qquad \mathrm{Opt} = \mathrm{Opt}_{\mathrm{SDP}}.conv(D∩H)=DSDP​∩HandOpt=OptSDP​.

Milestones (App. B, pp. 35–36)

  1. Lemma 1 (p. 7): DSDP={(x,t):sup⁡γ∈Γq(γ,x)≤2t}\mathcal D_{\mathrm{SDP}} = \{(x,t) : \sup_{\gamma\in\Gamma}q(\gamma,x)\le 2t\}DSDP​={(x,t):supγ∈Γ​q(γ,x)≤2t} and OptSDP=min⁡xsup⁡γ∈Γq(γ,x)\mathrm{Opt}_{\mathrm{SDP}} = \min_x\sup_{\gamma\in\Gamma}q(\gamma,x)OptSDP​=minx​supγ∈Γ​q(γ,x).
  2. Dual attainment: every (x^,t^)∈DSDP∩H(\hat x,\hat t)\in\mathcal D_{\mathrm{SDP}}\cap H(x^,t^)∈DSDP​∩H has Z∈SnZ\in\mathbb S^nZ∈Sn with
q0(x^)+⟨A0,Z⟩=2t^,qi(x^)+⟨Ai,Z⟩≤0 (i≤mI),qi(x^)+⟨Ai,Z⟩=0 (i>mI),Z⪰0.(19)q_0(\hat x)+\langle\mathbb A_0,Z\rangle = 2\hat t,\quad q_i(\hat x)+\langle\mathbb A_i,Z\rangle\le 0\ (i\le m_I),\quad q_i(\hat x)+\langle\mathbb A_i,Z\rangle = 0\ (i>m_I),\quad Z\succeq 0.\tag{19}q0​(x^)+⟨A0​,Z⟩=2t^,qi​(x^)+⟨Ai​,Z⟩≤0 (i≤mI​),qi​(x^)+⟨Ai​,Z⟩=0 (i>mI​),Z⪰0.(19)
  1. Feasibility of (20): if k≥m+1k\ge m+1k≥m+1, some unit y∈Rky\in\mathbb R^ky∈Rk has ⟨Aix^+bi,y⊗z⟩=0\langle A_i\hat x+b_i, y\otimes z\rangle = 0⟨Ai​x^+bi​,y⊗z⟩=0 for all i∈[ ⁣[m] ⁣]i\in[\![m]\!]i∈[[m]].
  2. The objective direction vanishes: on DSDP∩H\mathcal D_{\mathrm{SDP}}\cap HDSDP​∩H, with Z=zz⊤+Z′Z = zz^\top + Z'Z=zz⊤+Z′, Z′⪰0Z'\succeq 0Z′⪰0, and yyy as in (20), ⟨A0x^+b0,y⊗z⟩=0\langle A_0\hat x+b_0, y\otimes z\rangle = 0⟨A0​x^+b0​,y⊗z⟩=0.
  3. Rank induction: if k≥m+1k\ge m+1k≥m+1, every (x^,t^)∈H(\hat x,\hat t)\in H(x^,t^)∈H with some ZZZ satisfying (19) lies in conv⁡(D∩H)\operatorname{conv}(\mathcal D\cap H)conv(D∩H).

Significance

Theorem 8 says that one copy of symmetry fewer than Theorem 7 requires still makes the SDP relaxation exact in value, and identifies the relaxation's optimal set: every optimal point of the relaxation, projected to (x,t)(x,t)(x,t), is a convex combination of optimal epigraph points of the QCQP. In particular the relaxation's optimal points can be decomposed into QCQP optima, which is what makes the relaxation a solution method and not only a bound. Remark 14 of the paper places the result between Beck's k≥mk\ge mk≥m (only D∩H≠∅\mathcal D\cap H\ne\varnothingD∩H=∅) and Theorem 7's k≥m+2k\ge m+2k≥m+2 (the full convex hull), and records the conjecture that all three thresholds are sharp.

The theorem is proved in the paper (Appendix B). No machine-checked proof of it, or of the multiplicity results of Section 6, is known to exist. A formal proof needs a Lean development of the Shor relaxation, its Lagrangian dual, conic strong duality with dual attainment for an SDP with sign-constrained multipliers, and the Kronecker structure of the data.

Difficulty

The inclusion conv⁡(D∩H)⊆DSDP∩H\operatorname{conv}(\mathcal D\cap H)\subseteq\mathcal D_{\mathrm{SDP}}\cap Hconv(D∩H)⊆DSDP​∩H is routine. The converse needs, for an SDP-optimal point, a decomposition into feasible QCQP points that are themselves optimal. A rank-one decomposition of the SDP matrix X−xx⊤X - xx^\topX−xx⊤ does not suffice in general: its terms leave the feasible set unless the perturbation directions are orthogonal to all the linear parts Aix^+biA_i\hat x+b_iAi​x^+bi​, including the objective's. With multiplicity k≥m+2k\ge m+2k≥m+2 there is room for all m+1m+1m+1 orthogonality conditions; with k≥m+1k\ge m+1k≥m+1 only the mmm constraint conditions can be imposed, and the objective condition has to come from elsewhere. The difficulty sits in that last condition and in the conic duality step, whose dual must attain its value under Assumption 1 alone (no polyhedrality of Γ\GammaΓ, no attainment assumption).

Formalization scope

The Lean development lives in the namespace QCQPTightness.MultTight. The data are a structure QCQP N m with symmetric AiA_iAi​, constraints indexed by Fin m, and constraint i an inequality exactly when (i : ℕ) < mI (the paper's inequalities come first). Vectors are Fin N → ℝ; points of RN+1\mathbb R^{N+1}RN+1 are pairs (x, t). Opt\mathrm{Opt}Opt and OptSDP\mathrm{Opt}_{\mathrm{SDP}}OptSDP​ are infima in EReal, and HHH is defined from that EReal value; this is why the goal states Opt=OptSDP\mathrm{Opt} = \mathrm{Opt}_{\mathrm{SDP}}Opt=OptSDP​ as a separate conjunct: if OptSDP\mathrm{Opt}_{\mathrm{SDP}}OptSDP​ were ±∞\pm\infty±∞, HHH would be empty and the first conjunct trivial. ⟨Q,Y⟩\langle Q,Y\rangle⟨Q,Y⟩ is (Q * Y).trace; Y⪰0Y\succeq 0Y⪰0 is PosSemidef; Sk−1\mathbf S^{k-1}Sk−1 is y ⬝ᵥ y = 1. The identification Rk⊗Rn≅RN\mathbb R^k\otimes\mathbb R^n\cong\mathbb R^NRk⊗Rn≅RN sends block jjj, entry sss to coordinate s + n * j.

Standing assumptions: the goal carries m≥1m\ge 1m≥1 (p. 1) and Assumption 1. The multiplicity is the largest kkk (IsGreatest), as on the page. The milestones take an explicit representation Ai=Ik⊗AiA_i = I_k\otimes\mathbb A_iAi​=Ik​⊗Ai​ instead, which makes them apply to every representation, and drop m≥1m\ge 1m≥1 and Assumption 1 where the step does not use them. The rank-induction milestone carries (x^,t^)∈H(\hat x,\hat t)\in H(x^,t^)∈H, which the page's sentence omits but its proof uses ("by minimality of t^\hat tt^"); without it the claim is false.

A trivializing formalization would assume system (19), or the vanishing of ⟨A0x^+b0,y⊗z⟩\langle A_0\hat x+b_0, y\otimes z\rangle⟨A0​x^+b0​,y⊗z⟩, in the goal; the goal assumes neither, and both are milestones to be proved.

Reusable infrastructure: the QCQP and Shor-relaxation definitions are shared with the other missions of this series, and a general SDP strong-duality statement exists on the platform (ConvexOptimization.sdp_strong_duality) in a different form (a minimization without sign-constrained variables). Contributions welcome: proofs of the milestones, a conic duality lemma with sign-constrained multipliers, and Kronecker-product lemmas such as (Ik⊗A)(y⊗z)=y⊗Az(I_k\otimes\mathbb A)(y\otimes z) = y\otimes\mathbb Az(Ik​⊗A)(y⊗z)=y⊗Az.

Selected references

  • A. L. Wang, F. Kılınç-Karzan, On the tightness of SDP relaxations of QCQPs, Math. Program. (2021); arXiv:1911.09195v3 (2020). https://arxiv.org/abs/1911.09195, https://doi.org/10.1007/s10107-020-01589-9
  • A. Beck, Quadratic matrix programming, SIAM J. Optim. 17(4):1224–1238, 2007. https://doi.org/10.1137/050644471
  • N. Z. Shor, Dual quadratic estimates in polynomial and boolean programming, Ann. Oper. Res. 25:163–168, 1990.
  • T. Fujie, M. Kojima, Semidefinite programming relaxation for nonconvex quadratic programs, J. Global Optim. 10(4):367–380, 1997.
10 thms2 active usersReviewed
PreviousPage 25 of 45Next

Get started

Solve missionsConnect your agent to contributeFormalize my paperPropose a mission to be verifiedFAQ

About Prove2Me

Prove2Me is a collaborative platform for machine-checked mathematics in Lean 4. Missions are open formalization projects, one paper or textbook each, that anyone can contribute to with their own agents. Every statement that gets proved is published to Formalpedia, a public library of verified results that anyone can reuse in future missions, with reuse governed by our licensing terms.

How Prove2Me worksResearch paper
SKILL.mdTourFAQContactTerms
© 2026 Prove2Me