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Operations ResearchProbabilityStatistics·Captain: mikedeng1

Residual Life Time at Great Age 5: If |c − ((1 − F)/F′)′| ≤ ε for t ≥ t₀, the Residual Life Normed by (1 − F(t))/F′(t) Is Within ε of Π_{0,c} for t ≥ t₀Research Paper

Motivation

The residual life time of a lifetime XXX at age ttt is the excess X−tX - tX−t given survival, X>tX > tX>t. How it behaves at great ages is a question in reliability (remaining life of an item that has already lasted long), in insurance and demography (remaining life at old age), and in the peaks-over-threshold method of extreme value statistics, where exceedances over a high threshold are modelled by a generalized Pareto law.

Balkema and de Haan (Residual Life Time at Great Age, Ann. Probab. 2 (1974) 792–804) determined every possible limit law of the suitably normed residual life as t→∞t \to \inftyt→∞, and their domains of attraction. For continuous limits, the classical sufficient conditions are von Mises' conditions (1936) on the derivative of (1−F)/F′(1 - F)/F'(1−F)/F′. Section 4 of the paper goes further: it gives inequalities that hold at every finite age t≥t0t \ge t_0t≥t0​, not only in the limit. This mission formalizes that finite-ttt result, the Corollary to Theorem 7.

Timeline: von Mises (1936) gives sufficient conditions for domains of attraction of extreme value laws; Balkema and de Haan (1974) prove the limit theorems for residual life and the finite-ttt bounds formalized here; Pickands (1975, Ann. Statist. 3, 119–131) proves the corresponding approximation by the generalized Pareto law for excesses, the result now known as the Pickands–Balkema–de Haan theorem.

Setting

Let XXX be a real random variable with distribution function FFF. The residual life distribution function at age ttt is

Ft(x)=P{X−t≤x∣X>t}.F_t(x) = P\{X - t \le x \mid X > t\}.Ft​(x)=P{X−t≤x∣X>t}.

Assume FFF has a positive, differentiable density F′F'F′ for t≥t0t \ge t_0t≥t0​, and define the norming function

a(t)=1−F(t)F′(t)(t≥t0),a(t) = \frac{1 - F(t)}{F'(t)} \qquad (t \ge t_0),a(t)=F′(t)1−F(t)​(t≥t0​),

the reciprocal of the hazard rate. The normed residual life is (X−t)/a(t)(X - t)/a(t)(X−t)/a(t) given X>tX > tX>t, with distribution function P{(X−t)/a(t)≤x∣X>t}=Ft(x a(t))P\{(X - t)/a(t) \le x \mid X > t\} = F_t(x\,a(t))P{(X−t)/a(t)≤x∣X>t}=Ft​(xa(t)).

The comparison laws are the distribution functions Π0,c\Pi_{0,c}Π0,c​, c∈Rc \in \mathbb Rc∈R, all vanishing for x<0x < 0x<0:

  • for c>0c > 0c>0, Π0,c(x)=1−(1+cx)−1/c\Pi_{0,c}(x) = 1 - (1 + cx)^{-1/c}Π0,c​(x)=1−(1+cx)−1/c for x≥0x \ge 0x≥0 (a generalized Pareto law);
  • for c=0c = 0c=0, Π0,0(x)=Π(x)=1−e−x\Pi_{0,0}(x) = \Pi(x) = 1 - e^{-x}Π0,0​(x)=Π(x)=1−e−x for x≥0x \ge 0x≥0 (the exponential law);
  • for c<0c < 0c<0, Π0,c(x)=1−(1+cx)−1/c\Pi_{0,c}(x) = 1 - (1 + cx)^{-1/c}Π0,c​(x)=1−(1+cx)−1/c for 0≤x≤∣c∣−10 \le x \le |c|^{-1}0≤x≤∣c∣−1, and 111 beyond (bounded support).

Formalization targets

Goal: the Corollary to Theorem 7

If c≥0c \ge 0c≥0 and ε≥0\varepsilon \ge 0ε≥0 satisfy ∣c−a′(t)∣≤ε|c - a'(t)| \le \varepsilon∣c−a′(t)∣≤ε for t≥t0t \ge t_0t≥t0​, then

∣Π0,c(x)−P{X−ta(t)≤x | X>t}∣≤εfor all x and all t≥t0.\left|\Pi_{0,c}(x) - P\left\{\frac{X - t}{a(t)} \le x \,\middle|\, X > t\right\}\right| \le \varepsilon \qquad \text{for all } x \text{ and all } t \ge t_0 .​Π0,c​(x)−P{a(t)X−t​≤x​X>t}​≤εfor all x and all t≥t0​.

Milestones

  1. The bounds (13): if c1≤a′≤c2c_1 \le a' \le c_2c1​≤a′≤c2​ on [t0,∞)[t_0, \infty)[t0​,∞), then 1+c1x≤a(t+xa(t))/a(t)≤1+c2x1 + c_1 x \le a(t + x a(t))/a(t) \le 1 + c_2 x1+c1​x≤a(t+xa(t))/a(t)≤1+c2​x for t≥t0t \ge t_0t≥t0​, x≥0x \ge 0x≥0.
  2. The exponential representation
P{X−ta(t)>x | X>t}=1−F(t+xa(t))1−F(t)=exp⁡(−∫0xa(t)a(t+sa(t)) ds).P\left\{\frac{X - t}{a(t)} > x \,\middle|\, X > t\right\} = \frac{1 - F(t + x a(t))}{1 - F(t)} = \exp\left(-\int_0^x \frac{a(t)}{a(t + s a(t))}\, ds\right).P{a(t)X−t​>x​X>t}=1−F(t)1−F(t+xa(t))​=exp(−∫0x​a(t+sa(t))a(t)​ds).
  1. Theorem 7: if c1≤a′(t)≤c2c_1 \le a'(t) \le c_2c1​≤a′(t)≤c2​ for t≥t0t \ge t_0t≥t0​, then
Π0,c2(x)≤P{X−ta(t)≤x | X>t}≤Π0,c1(x)(t≥t0, x∈R).\Pi_{0,c_2}(x) \le P\left\{\frac{X - t}{a(t)} \le x \,\middle|\, X > t\right\} \le \Pi_{0,c_1}(x) \qquad (t \ge t_0,\ x \in \mathbb R).Π0,c2​​(x)≤P{a(t)X−t​≤x​X>t}≤Π0,c1​​(x)(t≥t0​, x∈R).
  1. σ(u)=u−2(e−u−1+u)=∫01∫0te−us ds dt\sigma(u) = u^{-2}(e^{-u} - 1 + u) = \int_0^1\int_0^t e^{-us}\,ds\,dtσ(u)=u−2(e−u−1+u)=∫01​∫0t​e−usdsdt is positive and decreasing.
  2. Lemma 4: 0≤−(∂/∂c)Π0,c(x)<10 \le -(\partial/\partial c)\Pi_{0,c}(x) < 10≤−(∂/∂c)Π0,c​(x)<1 for c>−1c > -1c>−1, x≠0x \ne 0x=0, cx≠−1cx \ne -1cx=−1.
  3. ∣Π0,c(x)−Π0,c0(x)∣≤∣c−c0∣|\Pi_{0,c}(x) - \Pi_{0,c_0}(x)| \le |c - c_0|∣Π0,c​(x)−Π0,c0​​(x)∣≤∣c−c0​∣ for c≥0c \ge 0c≥0 and all real c0c_0c0​, xxx.

The goal is the Corollary because it is the paper's final statement of Section 4: a single parameter ccc and a single error ε\varepsilonε, with no limit taken. Theorem 7 is the stronger two-parameter sandwich it rests on.

Significance

The result. Theorem 7 and its Corollary are a quantitative, non-asymptotic form of the von Mises condition ddt1−F(t)F′(t)→c\frac{d}{dt}\frac{1-F(t)}{F'(t)} \to cdtd​F′(t)1−F(t)​→c. If the derivative of the reciprocal hazard stays within ε\varepsilonε of ccc from age t0t_0t0​ on, then at every such age the normed excess distribution is uniformly within ε\varepsilonε of the generalized Pareto (or exponential) law Π0,c\Pi_{0,c}Π0,c​. Letting ε→0\varepsilon \to 0ε→0 along t0→∞t_0 \to \inftyt0​→∞ recovers convergence to Π0,c\Pi_{0,c}Π0,c​, and the bound itself quantifies the error of the generalized Pareto approximation used in threshold-exceedance modelling.

Formalizing it. The result is proved in the paper (1974), with short proofs. To our knowledge no part of it has a machine-checked proof. The mission produces checked versions of the theorem, the corollary and the elementary lemmas about the family Π0,c\Pi_{0,c}Π0,c​: its monotonicity and Lipschitz dependence on the parameter ccc, including across the case change at c=0c = 0c=0. Those facts about the generalized Pareto family are reusable in any formal development of extreme value statistics.

Difficulty

The analytic content is elementary, but several steps hide case analysis. The Lipschitz bound in ccc requires the derivative of Π0,c(x)\Pi_{0,c}(x)Π0,c​(x) in ccc across c=0c = 0c=0, where the formula changes from 1−(1+cx)−1/c1 - (1+cx)^{-1/c}1−(1+cx)−1/c to 1−e−x1 - e^{-x}1−e−x, and across the boundary cx=−1cx = -1cx=−1 of the support when c<0c < 0c<0, where the function is not differentiable. The bound −∂cΠ0,c<1-\partial_c \Pi_{0,c} < 1−∂c​Π0,c​<1 is not a crude estimate: it reduces to the comparison σ(u)<σ(−ψ)\sigma(u) < \sigma(-\psi)σ(u)<σ(−ψ) for the function σ(u)=u−2(e−u−1+u)\sigma(u) = u^{-2}(e^{-u} - 1 + u)σ(u)=u−2(e−u−1+u), which needs its strict monotonicity on all of R\mathbb RR, including u=0u = 0u=0 where the closed form is undefined. In Theorem 7 the lower bound 1+c1x1 + c_1 x1+c1​x in (13) becomes negative for c1<0c_1 < 0c1​<0 and large xxx; this is exactly where the comparison law Π0,c1\Pi_{0,c_1}Π0,c1​​ reaches 111, and the argument must handle it. The orientation is easy to get wrong: the upper bound c2c_2c2​ on the derivative gives the lower bound Π0,c2\Pi_{0,c_2}Π0,c2​​, since Π0,c(x)\Pi_{0,c}(x)Π0,c​(x) decreases in ccc.

Formalization scope

The source is the published Annals of Probability article (DOI 10.1214/aop/1176996548); page numbers are the journal's.

  • The law of XXX is a probability measure μ on ℝ, FFF is Mathlib's cdf μ, and Ft(x)=μ((t,t+x])/μ((t,∞))F_t(x) = \mu((t, t+x]) / \mu((t, \infty))Ft​(x)=μ((t,t+x])/μ((t,∞)). The normed probability P{(X−t)/a(t)≤x∣X>t}P\{(X-t)/a(t) \le x \mid X > t\}P{(X−t)/a(t)≤x∣X>t} is Ft(x a(t))F_t(x\,a(t))Ft​(xa(t)).
  • "Positive, differentiable density for t≥t0t \ge t_0t≥t0​" is: for t≥t0t \ge t_0t≥t0​, cdf μ has derivative f(t)>0f(t) > 0f(t)>0 and fff has derivative f′(t)f'(t)f′(t), both within [t0,∞)[t_0, \infty)[t0​,∞); nothing is assumed to the left of t0t_0t0​.
  • The derivative ddta(t)\frac{d}{dt}a(t)dtd​a(t) is a named function a′a'a′ with HasDerivWithinAt on [t0,∞)[t_0, \infty)[t0​,∞); it is the derivative the density hypothesis already provides, so this adds no assumption. Bare deriv is not used.
  • Completion of Π0,c\Pi_{0,c}Π0,c​ for c<0c < 0c<0. The paper (p. 801) prints the formula only for 0≤x≤∣c∣−10 \le x \le |c|^{-1}0≤x≤∣c∣−1. The formalization sets Π0,c(x)=1\Pi_{0,c}(x) = 1Π0,c​(x)=1 for x>∣c∣−1x > |c|^{-1}x>∣c∣−1, as "distribution function" requires and as the proof of Lemma 4 uses ("Π0,c(x)\Pi_{0,c}(x)Π0,c​(x) is constant on both components of {c>−1}∖R\{c > -1\}\setminus R{c>−1}∖R"). The formula gives 111 at x=∣c∣−1x = |c|^{-1}x=∣c∣−1, so the completion is continuous.
  • Π0,0\Pi_{0,0}Π0,0​ is a separate branch (1−e−x1 - e^{-x}1−e−x), not the formula with 1/01/01/0.
  • σ\sigmaσ is defined as ∫01∫0te−us ds dt\int_0^1\int_0^t e^{-us}\,ds\,dt∫01​∫0t​e−usdsdt, and the closed form u−2(e−u−1+u)u^{-2}(e^{-u} - 1 + u)u−2(e−u−1+u) for u≠0u \ne 0u=0 is part of milestone 4. "Decreasing" is stated as strictly decreasing, which is what the proof of Lemma 4 uses (σ(u)<σ(−ψ)\sigma(u) < \sigma(-\psi)σ(u)<σ(−ψ)).
  • Lemma 4 states the differentiability of c↦Π0,c(x)c \mapsto \Pi_{0,c}(x)c↦Π0,c​(x) at ccc together with the bound 0≤−d<10 \le -d < 10≤−d<1 on its derivative ddd.
  • The bounds (13) are stated in both printed forms.
  • No sign condition is added on c1,c2c_1, c_2c1​,c2​ in Theorem 7; c1c_1c1​ may be any real number, and c−εc - \varepsilonc−ε in the Corollary may be negative.

A trivializing formalization is ruled out: the conclusion is a bound at every real xxx and every t≥t0t \ge t_0t≥t0​ with a(t)>0a(t) > 0a(t)>0, the conditional probability divides by μ((t,∞))>0\mu((t,\infty)) > 0μ((t,∞))>0 (which the density hypothesis implies), and the hypotheses are satisfied by, for example, the exponential law (a≡1a \equiv 1a≡1, c=0c = 0c=0) and the Pareto law 1−(1+x)−α1 - (1+x)^{-\alpha}1−(1+x)−α (a(t)=(1+t)/αa(t) = (1+t)/\alphaa(t)=(1+t)/α, c=1/αc = 1/\alphac=1/α).

A complete development needs the fundamental theorem of calculus with one-sided derivatives, a change of variables in interval integrals, and calculus of Real.rpow in the exponent parameter. The lemmas on Π0,c\Pi_{0,c}Π0,c​ and σ\sigmaσ are reusable beyond this mission; proofs of any milestone are welcome independently.

Selected references

  • A. A. Balkema, L. de Haan, Residual Life Time at Great Age, The Annals of Probability 2 (1974), no. 5, 792–804. https://doi.org/10.1214/aop/1176996548
  • R. von Mises, La distribution de la plus grande de n valeurs, Revue Mathématique de l'Union Interbalkanique 1 (1936), 141–160.
  • J. Pickands III, Statistical Inference Using Extreme Order Statistics, The Annals of Statistics 3 (1975), no. 1, 119–131. https://doi.org/10.1214/aos/1176343003
  • L. de Haan, On Regular Variation and Its Application to the Weak Convergence of Sample Extremes, Mathematical Centre Tracts 32, Amsterdam, 1970.
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Operations ResearchProbabilityStochastic Systems·Captain: mikedeng1

Implicit Renewal Theory and Tails of Solutions of Random Equations 1: The Implicit Renewal Theorem — If E|M|^κ = 1 Then P(R > t) ~ C₊t^{−κ} and P(R < −t) ~ C₋t^{−κ}Research Paper

Motivation

Many stochastic models produce a stationary quantity RRR that solves a random equation R=dΨ(R)R \overset{d}{=} \Psi(R)R=dΨ(R), with Ψ\PsiΨ a random map independent of RRR. The random difference equation R=dQ+MRR \overset{d}{=} Q + MRR=dQ+MR (perpetuities in insurance and finance, the ARCH and GARCH volatility models, random walks in random environments), the Lindley equation S=d(X+S)+S \overset{d}{=} (X+S)^+S=d(X+S)+ of queueing theory, and the random recurrences behind probabilistic analyses of algorithms are all of this form. In these models the law of RRR is rarely explicit, while the decay of its tail P(R>t)P(R>t)P(R>t) is what governs ruin probabilities, extreme values and buffer overflows.

Kesten (1973) showed that the stationary solution of R=dQ+MRR \overset{d}{=} Q + MRR=dQ+MR has a power-law tail when E∣M∣κ=1E|M|^\kappa = 1E∣M∣κ=1 for some κ>0\kappa>0κ>0, by a long argument specific to that equation. Goldie (1991) separated the renewal-theoretic core of the phenomenon from the particular equation: the implicit renewal theorem (Theorem 2.3) gives the power-law tail of any random variable RRR whose tails are comparable to those of MRMRMR, with an explicit formula for the constant. Kesten's theorem and the tail results for several other random equations then follow by checking one integrability condition. The theorem is the standard entry point to the subject, reproduced in the monograph of Buraczewski, Damek and Mikosch (2016).

Timeline:

  • Kesten (1973): power tails for multivariate random difference equations, including the one-dimensional case R=dQ+MRR \overset{d}{=} Q+MRR=dQ+MR.
  • Grincevičius (1975, 1981): limit laws for random walks on the line and the random difference equation R=dQ+MRR \overset{d}{=} Q+MRR=dQ+MR in one dimension (Lithuanian Math. J. 15, 21).
  • Goldie (1991): the implicit renewal theorem for arbitrary RRR, explicit constants, rates of convergence, and applications to several random equations.

Setting

Let (Ω,A,P)(\Omega,\mathcal A,P)(Ω,A,P) be a probability space and MMM, RRR two independent real random variables. No equation is assumed for RRR.

A probability law on R\mathbb RR is arithmetic if it is concentrated on a lattice {nλ:n∈Z}\{n\lambda:n\in\mathbb Z\}{nλ:n∈Z} for some λ>0\lambda>0λ>0, and nonarithmetic otherwise. Fix κ>0\kappa>0κ>0. The Cramér-type conditions on MMM are

E∣M∣κ=1,E∣M∣κlog⁡+∣M∣<∞,the law of log⁡∣M∣ given M≠0 is nonarithmetic.E|M|^\kappa = 1,\qquad E|M|^\kappa\log^+|M|<\infty,\qquad \text{the law of }\log|M|\text{ given }M\ne0\text{ is nonarithmetic.}E∣M∣κ=1,E∣M∣κlog+∣M∣<∞,the law of log∣M∣ given M=0 is nonarithmetic.

Under them, m:=E∣M∣κlog⁡∣M∣m := E|M|^\kappa\log|M|m:=E∣M∣κlog∣M∣ is finite and positive (Lemma 2.2), with 0alog⁡0:=00^a\log 0 := 00alog0:=0.

The tails of RRR enter through two tail-comparison conditions

(2.8) ∫0∞∣P(R>t)−P(MR>t)∣ tκ−1dt<∞,(2.9) ∫0∞∣P(R<−t)−P(MR<−t)∣ tκ−1dt<∞,\text{(2.8)}\ \int_0^\infty|P(R>t)-P(MR>t)|\,t^{\kappa-1}dt<\infty,\qquad \text{(2.9)}\ \int_0^\infty|P(R<-t)-P(MR<-t)|\,t^{\kappa-1}dt<\infty ,(2.8) ∫0∞​∣P(R>t)−P(MR>t)∣tκ−1dt<∞,(2.9) ∫0∞​∣P(R<−t)−P(MR<−t)∣tκ−1dt<∞,

and the constants

C±=1m∫0∞(P(±R>t)−P(±MR>t))tκ−1dt,C=12m∫0∞(P(∣R∣>t)−P(∣MR∣>t))tκ−1dt.C_\pm=\frac1m\int_0^\infty\bigl(P(\pm R>t)-P(\pm MR>t)\bigr)t^{\kappa-1}dt, \qquad C=\frac1{2m}\int_0^\infty\bigl(P(|R|>t)-P(|MR|>t)\bigr)t^{\kappa-1}dt .C±​=m1​∫0∞​(P(±R>t)−P(±MR>t))tκ−1dt,C=2m1​∫0∞​(P(∣R∣>t)−P(∣MR∣>t))tκ−1dt.

In the Lean development these are CramerConditions κ (P.map M), cramerMean, TailCondPlus, TailCondMinus, Cplus, Cminus and Ctwo, in the namespace GoldieRenewal.Implicit.

Formalization targets

Goal: Theorem 2.3

Let MMM satisfy the Cramér-type conditions and let RRR be independent of MMM.

Case 1 (M≥0M\ge0M≥0 a.s.): (2.8) implies P(R>t)∼C+t−κP(R>t)\sim C_+t^{-\kappa}P(R>t)∼C+​t−κ, and (2.9) implies P(R<−t)∼C−t−κP(R<-t)\sim C_-t^{-\kappa}P(R<−t)∼C−​t−κ, as t→∞t\to\inftyt→∞.

Case 2 (P(M<0)>0P(M<0)>0P(M<0)>0): (2.8) and (2.9) together imply

tκP(R>t)→C,tκP(R<−t)→C,t→∞.t^\kappa P(R>t)\to C,\qquad t^\kappa P(R<-t)\to C,\qquad t\to\infty .tκP(R>t)→C,tκP(R<−t)→C,t→∞.

The relation P(R>t)∼C+t−κP(R>t)\sim C_+t^{-\kappa}P(R>t)∼C+​t−κ means tκP(R>t)→C+t^\kappa P(R>t)\to C_+tκP(R>t)→C+​, including C+=0C_+=0C+​=0.

Milestones

Lemma 2.2 (negative drift of log⁡∣M∣\log|M|log∣M∣, m∈(0,∞)m\in(0,\infty)m∈(0,∞)); Lemmas 9.1–9.2 (smoothed integrable functions are directly Riemann-integrable); Lemma 9.3 (a Tauberian step from averaged to pointwise tails); the renewal equation (9.8) rˇ=gˇ1∗ν\check r=\check g_1*\nurˇ=gˇ​1​∗ν and its key-renewal limit in Case 1; the Case 2a step law (9.11) with mean 2m2m2m and nonarithmetic (9.12)–(9.13), and the renewal identity (9.15); the reduction (9.16) of Case 2b to Case 1.

Significance

The theorem turns a question about an unknown law into a question about integrability. For a random equation R=dΨ(R)R\overset{d}{=}\Psi(R)R=dΨ(R) it suffices to compare Ψ(R)\Psi(R)Ψ(R) with MRMRMR, which is often a moment computation; this yields power tails, with constants given by expectations, for perpetuities, Lindley-type equations, random polynomial and maximum equations (Goldie 1991, §§4–8). The explicit constant also decides when the tail is genuinely of order t−κt^{-\kappa}t−κ: the theorem has content only when E∣R∣κ=∞E|R|^\kappa=\inftyE∣R∣κ=∞, since otherwise C++C−=0C_++C_-=0C+​+C−​=0.

The theorem has been proved for thirty years; it is not formalized in any proof assistant known to the mission. A formal development would provide reusable infrastructure absent from Mathlib: direct Riemann integrability, renewal measures of walks on the whole line, the two-sided key renewal theorem (Athreya, McDonald and Ney 1978), and a Tauberian lemma for monotone tails. The sibling missions on Kesten's theorem and on rates of convergence are built on the same setting.

Difficulty

The obvious argument writes P(R>t)P(R>t)P(R>t) as a telescoping sum along the multiplicative walk Πn=M1⋯Mn\Pi_n=M_1\cdots M_nΠn​=M1​⋯Mn​ and applies the key renewal theorem to the result. It fails at three points. First, the function the key renewal theorem would be applied to, g1(t)=eκt(P(R>et)−P(MR>et))g_1(t)=e^{\kappa t}(P(R>e^t)-P(MR>e^t))g1​(t)=eκt(P(R>et)−P(MR>et)), is only integrable under (2.8), not directly Riemann-integrable, and the key renewal theorem is false for general integrable functions; so no conclusion about P(R>t)P(R>t)P(R>t) itself follows directly. Second, when MMM takes both signs, log⁡∣Πn∣\log|\Pi_n|log∣Πn​∣ alone is not a random walk that controls P(ΠnR>et)P(\Pi_nR>e^t)P(Πn​R>et): the sign of Πn\Pi_nΠn​ decides which tail of RRR is involved, so the walk is Markov-modulated. Third, the walk lives on the whole line and may jump to −∞-\infty−∞ (when P(M=0)>0P(M=0)>0P(M=0)>0), so renewal theory on [0,∞)[0,\infty)[0,∞), the version in most textbooks, does not apply.

Formalization scope

  • One probability space with IsProbabilityMeasure P; M, R measurable real random variables; independence is IndepFun R M P. In (9.16) the copy M′M'M′ lives on the same space, with IdentDistrib M' M P P and iIndepFun of (R,M,M′)(R,M,M')(R,M,M′).
  • Cramér conditions are stated on the law P.map M; the moments are lower Lebesgue integrals in [0,∞][0,\infty][0,∞]. The conditional law in (2.5) conditions on {x≠0}\{x\neq0\}{x=0} before taking log⁡∣x∣\log|x|log∣x∣, so Lean's Real.log 0 = 0 never enters; Elog⁡∣M∣E\log|M|Elog∣M∣ is an extended real with log⁡0=−∞\log 0=-\inftylog0=−∞.
  • Tails are real numbers P.real {ω | t < R ω} with the paper's strict inequalities. (2.8), (2.9) are IntegrableOn … (Set.Ioi 0); the constants are Bochner integrals, used only under the corresponding integrability hypothesis.
  • "∼\sim∼" is Tendsto (fun t => t ^ κ * P.real {…}) atTop (𝓝 C).
  • Direct Riemann integrability follows Feller (1971, §XI.1), with suprema in [0,∞][0,\infty][0,∞]. The smoothing is fˇ(t)=∫−∞te−(t−u)f(u) du\check f(t)=\int_{-\infty}^t e^{-(t-u)}f(u)\,dufˇ​(t)=∫−∞t​e−(t−u)f(u)du.
  • The tilted law η\etaη, its renewal measure and the Case 2a laws are defined from the law of MMM; no i.i.d. sequence appears in a statement.

Three formalizations would trivialize the goal and are excluded: reading "∼\sim∼" as a ratio P(R>t)/(C+t−κ)→1P(R>t)/(C_+t^{-\kappa})\to1P(R>t)/(C+​t−κ)→1 (which is false when C+=0C_+=0C+​=0); assuming E∣R∣κ<∞E|R|^\kappa<\inftyE∣R∣κ<∞ (which forces C++C−=0C_++C_-=0C+​+C−​=0); and placing a key-renewal-theorem conclusion among the hypotheses.

Contributions welcome: proofs of any milestone; a general two-sided key renewal theorem for nonarithmetic laws with positive mean (reusable beyond this mission); Mathlib-quality lemmas on direct Riemann integrability and renewal measures.

Selected references

  • C. M. Goldie, Implicit renewal theory and tails of solutions of random equations, Ann. Appl. Probab. 1(1):126–166, 1991. https://doi.org/10.1214/aoap/1177005985
  • H. Kesten, Random difference equations and renewal theory for products of random matrices, Acta Math. 131:207–248, 1973. https://doi.org/10.1007/BF02392040
  • K. B. Athreya, D. McDonald, P. Ney, Limit theorems for semi-Markov processes and renewal theory for Markov chains, Ann. Probab. 6(5):788–797, 1978. https://doi.org/10.1214/aop/1176995429
  • W. Feller, An Introduction to Probability Theory and Its Applications, Vol. II, 2nd ed., Wiley, 1971.
  • D. Buraczewski, E. Damek, T. Mikosch, Stochastic Models with Power-Law Tails: The Equation X = AX + B, Springer, 2016. https://doi.org/10.1007/978-3-319-29679-1
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AnalysisHarmonic AnalysisProbability·Captain: mikedeng1

Distribution Function Inequalities for Martingales 2: Gundy's Decomposition of an L¹-Bounded Martingale, with One Stopping TimeResearch Paper

Motivation

Many operators of harmonic analysis are bounded on L2L^2L2 by an orthogonality argument but fail to be bounded on L1L^1L1; what survives at p=1p=1p=1 is a weak-type estimate λ P(∣Tf∣>λ)≤c ∥f∥1\lambda\,P(|Tf|>\lambda)\le c\,\|f\|_1λP(∣Tf∣>λ)≤c∥f∥1​. For singular integrals the standard route to such an estimate is the Calderón–Zygmund decomposition, which splits a function at height λ\lambdaλ into a bounded part and a part supported on a small set. Martingale theory has the same need: square functions, martingale transforms and maximal operators of martingales are bounded on L2L^2L2 for orthogonality reasons, and their behaviour on L1L^1L1-bounded martingales is the delicate endpoint.

R. F. Gundy (1968) supplied the martingale analogue: an L1L^1L1-bounded martingale can be written as the sum of three martingales, one bounded in L2L^2L2, one whose differences are absolutely summable in L1L^1L1, and one that is non-zero only on an event of small probability (Gundy 1968). Gundy's construction used several stopping times. In his 1971 Wald Memorial Lectures, published as Distribution Function Inequalities for Martingales (Burkholder 1973), D. L. Burkholder gave a simplified version of the decomposition in which only one stopping time is used, with explicit constants 222, 444 and 111. This mission formalizes that version, Theorem 4.1 of the lectures, together with the facts its proof rests on.

Timeline:

  • 1953. J. L. Doob's Stochastic Processes establishes almost-everywhere convergence of L1L^1L1-bounded martingales and the maximal inequality.
  • 1966. D. G. Austin proves that the integral of S2(f)S^2(f)S2(f) over {f∗≤λ}\{f^*\le\lambda\}{f∗≤λ} is finite for an L1L^1L1-bounded martingale (Austin 1966).
  • 1968. Gundy proves the decomposition theorem for L1L^1L1-bounded martingales, with applications to weak-type estimates.
  • 1973. Burkholder's Lemma 2.1, a refinement of Austin's theorem, yields a one-stopping-time proof of Gundy's decomposition with explicit constants.

Setting

Let (Ω,A,P)(\Omega,\mathcal A,P)(Ω,A,P) be a probability space and A0⊆A1⊆⋯\mathcal A_0\subseteq\mathcal A_1\subseteq\cdotsA0​⊆A1​⊆⋯ a nondecreasing sequence of sub-σ\sigmaσ-fields of A\mathcal AA. A martingale relative to A1,A2,…\mathcal A_1,\mathcal A_2,\dotsA1​,A2​,… is a sequence f=(f1,f2,… )f=(f_1,f_2,\dots)f=(f1​,f2​,…) of integrable random variables with fnf_nfn​ An\mathcal A_nAn​-measurable and E(fn+1∣An)=fnE(f_{n+1}\mid\mathcal A_n)=f_nE(fn+1​∣An​)=fn​. Its difference sequence is d=(d1,d2,… )d=(d_1,d_2,\dots)d=(d1​,d2​,…) with fn=∑k=1ndkf_n=\sum_{k=1}^n d_kfn​=∑k=1n​dk​, i.e. d1=f1d_1=f_1d1​=f1​, dk=fk−fk−1d_k=f_k-f_{k-1}dk​=fk​−fk−1​ (the convention is f0=0f_0=0f0​=0).

The maximal function is f∗=sup⁡n≥1∣fn∣f^*=\sup_{n\ge1}|f_n|f∗=supn≥1​∣fn​∣, the square function is S(f)=[∑k≥1dk2]1/2S(f)=\big[\sum_{k\ge1}d_k^2\big]^{1/2}S(f)=[∑k≥1​dk2​]1/2, and Sn(f)S_n(f)Sn​(f) is its nnn-th partial version. For 0<p<∞0<p<\infty0<p<∞,

∥f∥p=sup⁡n≥1∥fn∥p,∥fn∥p=(E∣fn∣p)1/p,\|f\|_p=\sup_{n\ge1}\|f_n\|_p,\qquad \|f_n\|_p=(E|f_n|^p)^{1/p},∥f∥p​=n≥1sup​∥fn​∥p​,∥fn​∥p​=(E∣fn​∣p)1/p,

and fff is LpL^pLp-bounded when ∥f∥p<∞\|f\|_p<\infty∥f∥p​<∞. For λ>0\lambda>0λ>0, the exit time μ=inf⁡{n≥1:∣fn∣>λ}\mu=\inf\{n\ge1:|f_n|>\lambda\}μ=inf{n≥1:∣fn​∣>λ} (with inf⁡∅=∞\inf\emptyset=\inftyinf∅=∞) is the first index at which ∣fn∣|f_n|∣fn​∣ exceeds λ\lambdaλ; fμf_\mufμ​, fμ−1f_{\mu-1}fμ−1​, Sμ−1(f)S_{\mu-1}(f)Sμ−1​(f) denote evaluation at the random index, with f∞=lim⁡nfnf_\infty=\lim_n f_nf∞​=limn​fn​.

The Lean development names these objects dseq (ddd), sqFnN/sqFn (Sn(f)S_n(f)Sn​(f), S(f)S(f)S(f)), maxFnN/maxFn (fn∗f_n^*fn∗​, f∗f^*f∗), pNorm (∥f∥p\|f\|_p∥f∥p​), exitTime (μ\muμ) and valAt/sqFnAt (evaluation at an index in {0,1,…,∞}\{0,1,\dots,\infty\}{0,1,…,∞}), all in the namespace BurkholderDFI.Gundy.

Formalization targets

Goal: Theorem 4.1 (p. 23)

For every L1L^1L1-bounded martingale fff and every λ>0\lambda>0λ>0 there are martingales X,Y,ZX,Y,ZX,Y,Z relative to the same σ\sigmaσ-fields, with difference sequences x,y,zx,y,zx,y,z, such that

f=X+Y+Z,∥X∥22≤2λ∥f∥1,∥∑k=1∞∣yk∣∥1≤4∥f∥1,P(Z∗>0)≤∥f∥1/λ.f=X+Y+Z,\qquad \|X\|_2^2\le2\lambda\|f\|_1,\qquad \Big\|\sum_{k=1}^\infty|y_k|\Big\|_1\le4\|f\|_1,\qquad P(Z^*>0)\le\|f\|_1/\lambda.f=X+Y+Z,∥X∥22​≤2λ∥f∥1​,​k=1∑∞​∣yk​∣​1​≤4∥f∥1​,P(Z∗>0)≤∥f∥1​/λ.

The three bounds hold together; each alone is trivial (f=0+0+ff=0+0+ff=0+0+f satisfies the first two, f=0+f+0f=0+f+0f=0+f+0 the first and last).

Milestones

  1. Doob's facts (cited, §1, p. 20). An L1L^1L1-bounded martingale or nonnegative submartingale converges almost everywhere, and ∥fμ∥1≤∥f∥1\|f_\mu\|_1\le\|f\|_1∥fμ​∥1​≤∥f∥1​ for every stopping time μ\muμ.
  2. (1.5) (p. 20). λpP(f∗>λ)≤∥f∥pp\lambda^pP(f^*>\lambda)\le\|f\|_p^pλpP(f∗>λ)≤∥f∥pp​ for 1≤p<∞1\le p<\infty1≤p<∞.
  3. Lemma 2.1 (p. 21). For the exit time μ\muμ above λ\lambdaλ,
∥Sμ−1(f)∥22+∥fμ−1∥22≤2Efμfμ−1≤2λ∥f∥1,\|S_{\mu-1}(f)\|_2^2+\|f_{\mu-1}\|_2^2\le2Ef_\mu f_{\mu-1}\le2\lambda\|f\|_1,∥Sμ−1​(f)∥22​+∥fμ−1​∥22​≤2Efμ​fμ−1​≤2λ∥f∥1​,

with equality on the left for martingales.

Significance

The result. The decomposition is the standard device for passing from L2L^2L2 to weak-type (1,1)(1,1)(1,1) estimates for martingale operators: an operator that is bounded on L2L^2L2, controlled by total variation on the second piece, and local in the sense that it vanishes where the third piece vanishes, is of weak type (1,1)(1,1)(1,1). Applications of the decomposition are given in Gundy's papers of 1968 and 1969 (On the class Llog⁡LL\log LLlogL, martingales, and singular integrals, Studia Math. 33), which the lectures cite for this purpose. The explicit constants 222, 444, 111 make every such weak-type constant explicit.

Formalizing it. The theorem is classical and proved; the remaining work is its formalization. As far as is known, no machine-checked proof of Gundy's decomposition, of Lemma 2.1, or of the weak-type maximal inequality in the form (1.5) for real martingales exists in Mathlib or on this platform. Mathlib provides almost-everywhere convergence of L1L^1L1-bounded submartingales and Doob's maximal inequality for nonnegative submartingales; the stopped-value bound for unbounded stopping times, the square-function identity of Lemma 2.1 and the decomposition itself are new. The milestones are shared with other missions of this series (Lemma 2.1 is also used for Burkholder's weak-type square function inequality and his exponential estimates), so each proof is reused.

Difficulty

The obvious attempt imitates the Calderón–Zygmund cut directly: truncate fff at height λ\lambdaλ, or stop it when it first exceeds λ\lambdaλ. Neither produces the required pieces. Truncation destroys the martingale property, and whatever restores it adds terms that must themselves be controlled in the right norm. Stopping at the exit time produces a martingale bounded by λ\lambdaλ only up to the overshoot at the exit, which is not bounded and lives on an event that is small only in probability. The L2L^2L2 estimate (4.2) is therefore not a consequence of boundedness; it needs a quantitative square-function bound for the martingale up to the exit, which is the content of Lemma 2.1, and that lemma in turn needs the limit f∞f_\inftyf∞​ and the stopped values fμf_\mufμ​ on {μ=∞}\{\mu=\infty\}{μ=∞} — so Doob's convergence theorem cannot be avoided.

Formalization scope

Processes are functions f : ℕ → Ω → ℝ with a Mathlib Filtration ℕ and Mathlib's Martingale/Submartingale. The paper indexes from 111; Lean's index 000 is never read by any quantity in the statements, which use the paper's convention f0=0f_0=0f0​=0. Mathlib's martingale definition additionally constrains f0=E(f1∣A0)f_0=E(f_1\mid\mathcal A_0)f0​=E(f1​∣A0​); this is no restriction, since every martingale indexed from 111 extends this way. The goal asserts that X,Y,ZX,Y,ZX,Y,Z are Mathlib martingales for the same filtration as fff, and the identity fn=Xn+Yn+Znf_n=X_n+Y_n+Z_nfn​=Xn​+Yn​+Zn​ is required for n≥1n\ge1n≥1.

Further committed conventions:

  • S(f)S(f)S(f), f∗f^*f∗, Z∗Z^*Z∗, ∥⋅∥p\|\cdot\|_p∥⋅∥p​ and all expectations of nonnegative quantities take values in [0,∞][0,\infty][0,∞] (lower Lebesgue integral), so no infinite value is silently replaced by 000.
  • ∥X∥2=sup⁡n≥1∥Xn∥2\|X\|_2=\sup_{n\ge1}\|X_n\|_2∥X∥2​=supn≥1​∥Xn​∥2​, not the norm of a limit; Z∗=sup⁡n≥1∣Zn∣Z^*=\sup_{n\ge1}|Z_n|Z∗=supn≥1​∣Zn​∣; ∥∑k∣yk∣∥1\|\sum_k|y_k|\|_1∥∑k​∣yk​∣∥1​ is the integral of the series with y1=Y1y_1=Y_1y1​=Y1​.
  • The exit time takes values in N∪{∞}\mathbb N\cup\{\infty\}N∪{∞} and μ−1\mu-1μ−1 is truncated, with ∞−1=∞\infty-1=\infty∞−1=∞; the a.e. limit f∞f_\inftyf∞​ is a function supplied with its convergence hypothesis (Lemma 2.1) or asserted to exist (Doob's facts).
  • "Nonnegative submartingale" means fn≥0f_n\ge0fn​≥0 almost surely for n≥1n\ge1n≥1.
  • Ω\OmegaΩ is an arbitrary measurable space with a probability measure.

A formalization in which the existential could choose its own filtration, or in which the norms were Bochner integrals (which vanish on non-integrable functions), would trivialize the goal; both are excluded by the statement above.

Infrastructure needed: stopped values at unbounded stopping times and their L1L^1L1 bound; square-function identities for stopped martingales (orthogonality of martingale differences up to a stopping time); conditional-expectation compensators of predictable truncations. The definitions file is shared with the other eight missions of this series and is reusable for any work on discrete-time square and maximal functions. Proofs of the milestones, alternative arguments, and sharper constants are all welcome.

Selected references

  • D. L. Burkholder, Distribution function inequalities for martingales, The Annals of Probability 1(1), 19–42, 1973. https://doi.org/10.1214/aop/1176997023
  • R. F. Gundy, A decomposition for L¹-bounded martingales, The Annals of Mathematical Statistics 39(1), 134–138, 1968. https://doi.org/10.1214/aoms/1177698510
  • D. G. Austin, A sample function property of martingales, The Annals of Mathematical Statistics 37(5), 1396–1397, 1966. https://doi.org/10.1214/aoms/1177699283
  • J. L. Doob, Stochastic Processes, Wiley, New York, 1953.
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CombinatoricsComplexity TheoryProbability+1·Captain: mikedeng1

Software Protection and Simulation on Oblivious RAMs: Every Oblivious Simulation of t Steps Makes max{|y|, Ω(t log t)} AccessesResearch Paper

Motivation

Programs often reveal information through the memory locations they touch, even when the contents of those locations are hidden. An oblivious RAM simulation aims to conceal this access pattern. Goldreich and Ostrovsky studied the cost of doing so for arbitrary RAM programs and showed that the access sequence itself imposes a lower bound on simulation overhead. Their 1996 paper gives an upper-bound construction as well as the lower-bound theorem targeted here. The issue matters when a storage observer can see which addresses are accessed but must learn nothing about the program's private requests.

Theorem 6.1 of the paper states that simulating ttt steps requires at least the initial memory size and, asymptotically, a multiple of tlog⁡tt\log ttlogt accesses. Its proof introduces a simpler ball-and-cell game that grants the player more information and freedom than the RAM simulation. The mission formalizes that game and its lower bound. This makes the combinatorial content of the published argument a precise theorem about randomized behavior and visible observations. The paper's earlier Theorem 1.2.2 on p. 437 is labeled informal and has a different explicit bound; the target here is Theorem 6.1 on pp. 469–470.

Setting

There are mmm numbered balls and mmm numbered cells. Cell iii initially contains ball iii, and a player's hand is empty. Each cell can hold at most one ball and the hand can hold at most bbb balls. In one access, the player names a cell and secretly takes its ball into a nonfull hand, places one held ball into an empty cell, or leaves the cell unchanged. Taking from an empty cell and placing into an occupied cell are illegal. The observer sees the named cell at each access but not the hidden operation. A run of qqq accesses is written a=((v1,h1),…,(vq,hq))a=((v_1,h_1),\ldots,(v_q,h_q))a=((v1​,h1​),…,(vq​,hq​)), and its visible sequence is V(a)=(v1,…,vq)V(a)=(v_1,\ldots,v_q)V(a)=(v1​,…,vq​).

A request sequence r=(r1,…,rt)r=(r_1,\ldots,r_t)r=(r1​,…,rt​) names a ball for each of ttt rounds. A run satisfies rrr if it is legal and there are indices 1≤j1≤⋯≤jt=q1\le j_1\le\cdots\le j_t=q1≤j1​≤⋯≤jt​=q such that ball rir_iri​ is in the player's hand after the first jij_iji​ accesses. Equal indices are permitted: several rounds may finish after the same access. The player may know the entire request sequence in advance. That assumption is part of the paper's game, and the paper notes that its lower bound does not require an online player.

A randomized player assigns each request sequence a probability distribution over finite runs. It is correct if every run with positive probability satisfies its requests. It is oblivious if the distribution of V(a)V(a)V(a) is identical for every pair of request sequences of length ttt. Thus the observer cannot infer the requested balls from the accessed cells, even statistically. These conditions quantify over all request sequences, not a selected input or a single deterministic access pattern.

Formalization targets

Theorem 6.1: access lower bound

For every correct oblivious player and every run in the support of its response, the mission targets

q≥m(t≥1),q≥cbtlog⁡t(m=t, t≥Tb),q\ge m\quad(t\ge1),\qquad q\ge c_b t\log t\quad(m=t,\ t\ge T_b),q≥m(t≥1),q≥cb​tlogt(m=t, t≥Tb​),

where cb>0c_b>0cb​>0 and TbT_bTb​ depend only on the fixed hand size bbb. This is the paper's max⁡{m,Ω(tlog⁡t)}\max\{m,\Omega(t\log t)\}max{m,Ω(tlogt)} form, with mmm representing the number ∣y∣|y|∣y∣ of initially occupied memory words. It asserts a bound on every possible run, rather than only on average access count. No numerical constant is prescribed by the paper.

Intermediate counting targets

The milestones record the first-round mmm bound, the at-most-(b+2)q(b+2)^q(b+2)q count of legal hidden action sequences compatible with a visible sequence, and the implication from obliviousness that one visible sequence can serve every request sequence. They then state the corrected finite counting bounds

∣{r:a⊨r}∣≤multichoose⁡(q,t)bt,mt≤(b+2)qmultichoose⁡(q,t)bt.|\{r:a\models r\}|\le\operatorname{multichoose}(q,t)b^t, \qquad m^t\le(b+2)^q\operatorname{multichoose}(q,t)b^t.∣{r:a⊨r}∣≤multichoose(q,t)bt,mt≤(b+2)qmultichoose(q,t)bt.

These preserve the paper's non-strict round ends. The milestone source text records the published formulas, while the formal statements and descriptions identify the corrections.

Significance

The result limits how cheaply a simulator can hide a program's memory access pattern when the observer sees addresses. In the game, a player is even allowed to remember the entire ball placement without cost, know the future requests, and randomize its actions. A lower bound under these permissive conditions applies to the more constrained access-pattern problem that motivated the game, subject to the paper's reduction from simulation to the game. The mmm term also accounts for the initially occupied memory, independently of the asymptotic term.

The theorem is a published mathematical result, but the mission's Lean declarations are statements with proof holes until solvers supply machine-checked proofs. Formalizing the game creates reusable definitions for legal hidden operations, request satisfaction, randomized players, and visible distributions. Formalizing the corrected counting targets also makes explicit a discrepancy in the printed proof rather than silently relying on an invalid intermediate inequality.

Difficulty

The main difficulty is accounting for requests when several rounds end at the same access. The paper's observation that a fixed qqq-access run serves at most bqb^qbq request sequences is false under its own non-strict indices. A run that fetches every ball it can hold may answer many later rounds without making another access. Likewise, the alternative binomial count in footnote 29 assumes distinct completion points and fails when t>qt>qt>q. The final asymptotic result still has a valid corrected counting target, but a proof cannot quote the published intermediate formulas literally. Randomized behavior adds another precise requirement: equality of visible distributions must support conclusions about runs with positive probability for each request sequence.

Formalization scope

The Lean carrier is the paper's ball-and-cell game from §6, rather than the interactive RAM machine model of §2. The game relaxes the simulation by giving the player free memory of ball locations and advance knowledge of requests. Balls, cells, and rounds use finite types Fin m and Fin t; these are zero-based encodings of the paper's [m][m][m] and round labels. Action steps are counted from one, with the initial state at step zero. PMF represents the player's discrete probability distributions, and equality of PMF.map visible represents observer independence. Every positive-probability run must be legal and satisfy its requests. The visible and hidden sequences have the same finite length qqq.

The two printed estimates bqb^qbq and bq(b+2)q>mtb^q(b+2)^q>m^tbq(b+2)q>mt are false: with m=b=q=2m=b=q=2m=b=q=2 and t=7t=7t=7, taking both balls in two accesses satisfies all 27=1282^7=12827=128 request sequences, while the printed product is 646464. Footnote 29's (qt)bt\binom qt b^t(tq​)bt also vanishes in this example. The formal milestones use Nat.multichoose q t to accommodate repeated round ends; at q=t=0q=t=0q=t=0 its value is defined directly, so no negative binomial upper index is used. The logarithm in the goal is the natural logarithm, and a threshold TbT_bTb​ handles small ttt.

Correctness and legality are part of the player type, so an unrestricted sequence of cell names cannot satisfy the mission by bypassing the hand and cell rules. Obliviousness uses equality of full distributions, and the goal quantifies over every supported run. The required development includes finite-state transition reasoning, finite combinatorial counts, PMF support and mapping, and real logarithm estimates. These components, especially the game interface and support lemmas, can be reused by later access-pattern formalizations.

Selected references

  • Oded Goldreich and Rafail Ostrovsky, Software protection and simulation on oblivious RAMs, Journal of the ACM 43(3):431–473, 1996. DOI: 10.1145/233551.233553. Theorem 6.1 and its proof are on pp. 469–470; the informal Theorem 1.2.2 is on p. 437.
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Algorithmic Game TheoryConvex OptimizationOperations Research+1·Captain: mikedeng1

Cooperative Fuzzy Games 2: A Game with Side Payments Has a Nonempty Core Iff It Is Balanced, and Then Its Core Is the Core of Its Concave Fuzzy ExtensionResearch Paper

Why cores of games with side payments

A cooperative game with side payments assigns to each coalition of players the total payoff it can secure on its own and share freely among its members. The core is the set of ways of dividing the payoff of the grand coalition that no coalition can improve upon. It is the basic stability notion of cooperative game theory and of its applications in operations research: cost allocation for shared facilities, network design, inventory pooling and linear production games all ask whether a core allocation exists and what it looks like.

The core can be empty, and the question of when it is not was answered independently by Bondareva (1963) and Shapley (1967): the core is nonempty exactly when the game is balanced, a linear-programming condition on weighted families of coalitions. Scarf (1967) extended the existence half to games without side payments, and Billera (1970) recast balancedness for those games.

Aubin's Cooperative Fuzzy Games (Math. Oper. Res. 6(1), 1981) reads these results through fuzzy coalitions, in which each player participates at a rate between 0 and 1. In §6 every game on a family of coalitions is extended to a concave positively homogeneous function of fuzzy coalitions, and the Bondareva–Shapley theorem becomes a statement about that extension. This mission formalizes §2 and §6 of the paper: the core of a fuzzy game with side payments, its superdifferential description, and Proposition 6.1.

Setting

Let N={1,…,n}N=\{1,\dots,n\}N={1,…,n} be the set of players. A coalition A⊆NA\subseteq NA⊆N is identified with its characteristic vector τA∈{0,1}n\tau^A\in\{0,1\}^nτA∈{0,1}n, and τN=(1,…,1)\tau^N=(1,\dots,1)τN=(1,…,1). A fuzzy coalition is a vector τ∈[0,1]n\tau\in[0,1]^nτ∈[0,1]n, where τi\tau_iτi​ is the rate at which player iii participates.

A fuzzy game with side payments is a worth function vvv with v(0)=0v(0)=0v(0)=0 that is positively homogeneous, v(tτ)=t v(τ)v(t\tau)=t\,v(\tau)v(tτ)=tv(τ) for t>0t>0t>0. Homogeneity extends vvv from [0,1]n[0,1]^n[0,1]n to the orthant R+n\mathbb R^n_+R+n​. Its core is

core⁡(v)={c∈Rn: ∑i∈Nci=v(τN),  ∑i∈Nτici≥v(τ) for all τ∈[0,1]n},\operatorname{core}(v)=\Big\{c\in\mathbb R^n:\ \sum_{i\in N}c_i=v(\tau^N),\ \ \sum_{i\in N}\tau_ic_i\ge v(\tau)\ \text{for all }\tau\in[0,1]^n\Big\},core(v)={c∈Rn: i∈N∑​ci​=v(τN),  i∈N∑​τi​ci​≥v(τ) for all τ∈[0,1]n},

the allocations that no fuzzy coalition blocks. The superdifferential of vvv at τ\tauτ is ∂v(τ)={c: v(τ)−v(σ)≥∑ici(τi−σi) for all σ∈R+n}\partial v(\tau)=\{c:\ v(\tau)-v(\sigma)\ge\sum_i c_i(\tau_i-\sigma_i)\ \text{for all }\sigma\in\mathbb R^n_+\}∂v(τ)={c: v(τ)−v(σ)≥∑i​ci​(τi​−σi​) for all σ∈R+n​}.

A usual game with side payments is given by a family C\mathscr CC of nonempty coalitions that contains NNN and every singleton {i}\{i\}{i}, and by a worth v(A)∈Rv(A)\in\mathbb Rv(A)∈R for each A∈CA\in\mathscr CA∈C. Its core is the set of c∈Rnc\in\mathbb R^nc∈Rn with ∑i∈Nci=v(N)\sum_{i\in N}c_i=v(N)∑i∈N​ci​=v(N) and ∑i∈Aci≥v(A)\sum_{i\in A}c_i\ge v(A)∑i∈A​ci​≥v(A) for every A∈CA\in\mathscr CA∈C. For τ∈R+n\tau\in\mathbb R^n_+τ∈R+n​, C(τ)\mathscr C(\tau)C(τ) is the set of nonnegative weights m(A)m(A)m(A), A∈CA\in\mathscr CA∈C, with ∑A∋im(A)=τi\sum_{A\ni i}m(A)=\tau_i∑A∋i​m(A)=τi​ for each player iii, and

πv(τ)=sup⁡m∈C(τ) ∑A∈Cm(A) v(A).\pi v(\tau)=\sup_{m\in\mathscr C(\tau)}\ \sum_{A\in\mathscr C}m(A)\,v(A).πv(τ)=m∈C(τ)sup​ A∈C∑​m(A)v(A).

The game is balanced if πv(τN)=v(N)\pi v(\tau^N)=v(N)πv(τN)=v(N).

Formalization targets

Goal: Proposition 6.1

core⁡(v)≠∅  ⟺  πv(τN)=v(N),and thencore⁡(v)=core⁡(πv).\operatorname{core}(v)\neq\emptyset\iff \pi v(\tau^N)=v(N),\qquad\text{and then}\qquad \operatorname{core}(v)=\operatorname{core}(\pi v).core(v)=∅⟺πv(τN)=v(N),and thencore(v)=core(πv).

The first half is the Bondareva–Shapley theorem for an arbitrary family C\mathscr CC. The second identifies the core of the discrete game with the core of the fuzzy game πv\pi vπv.

Milestones

  1. §2 (4)–(5). For a positively homogeneous vvv with v(0)=0v(0)=0v(0)=0, core⁡(v)=∂v(τN)\operatorname{core}(v)=\partial v(\tau^N)core(v)=∂v(τN).
  2. Remark 2.1. Such a vvv is concave on R+n\mathbb R^n_+R+n​ if and only if it is superadditive, v(τ+σ)≥v(τ)+v(σ)v(\tau+\sigma)\ge v(\tau)+v(\sigma)v(τ+σ)≥v(τ)+v(σ).
  3. Proposition 2.1. If vvv is moreover concave, its core is convex, compact and nonempty; if vvv is differentiable at τN\tau^NτN, the core is {Dv(τN)}\{Dv(\tau^N)\}{Dv(τN)}.
  4. §6 (5). If m∈C(τ)m\in\mathscr C(\tau)m∈C(τ) and m(A)>0m(A)>0m(A)>0, then A⊆Aτ={i:τi>0}A\subseteq A_\tau=\{i:\tau_i>0\}A⊆Aτ​={i:τi​>0}.
  5. §6 (2). πv\pi vπv is the smallest concave positively homogeneous function on R+n\mathbb R^n_+R+n​ with πv(τA)≥v(A)\pi v(\tau^A)\ge v(A)πv(τA)≥v(A) for every A∈CA\in\mathscr CA∈C.
  6. §6, after (6). The core of the fuzzy game πv\pi vπv is nonempty, convex and compact, whether or not vvv is balanced.

Significance

Proposition 6.1 is the standard criterion for the existence of core allocations in transferable-utility games. In operations research it is the tool behind core results for linear production games, flow games, facility location and inventory games: one exhibits a family of balancing weights, or the absence of one, and reads off whether a stable cost or profit allocation exists. Aubin's version adds that a balanced game's core is the superdifferential of a concave function, so it is described by convex analysis and, when πv\pi vπv is smooth at τN\tau^NτN, reduces to a single point given by the gradient.

The result is classical and proved in the literature. To our knowledge, no machine-checked proof of the Bondareva–Shapley theorem exists in Mathlib or on this platform: the platform has results on cores of convex (supermodular) games, which are a different hypothesis. The mission therefore produces a first formal proof of the theorem for a general family C\mathscr CC of coalitions, the superdifferential description of the fuzzy core, and the minimality of the concave extension πv\pi vπv. The definitions (fuzzy coalitions, balances, πv\pi vπv) are reusable by later missions on games without side payments and on values of fuzzy games.

Difficulty

The inclusion core⁡(v)⊆core⁡(πv)\operatorname{core}(v)\subseteq\operatorname{core}(\pi v)core(v)⊆core(πv) and the necessity of balancedness are short computations with the balancing weights. The difficulty is sufficiency: from πv(τN)=v(N)\pi v(\tau^N)=v(N)πv(τN)=v(N), a core allocation has to be produced. This is an existence statement for a system of linear inequalities, and it needs a duality or separation argument. Mathlib's finite-dimensional linear programming duality and separation theorems do not apply off the shelf, because πv\pi vπv is a supremum over a polytope of weights indexed by coalitions, and its attainment and finiteness must be established first. Proposition 2.1 similarly needs the existence of supergradients of a concave function at an interior point and their compactness, which are not packaged for functions defined only on an orthant.

Formalization scope

Players are Fin n; multiutilities and fuzzy coalitions are Fin n → ℝ with the coordinatewise order, and the cube is Set.Icc 0 1. The commitments are:

  • A fuzzy game is a function on Rn\mathbb R^nRn whose values off the orthant are never used; v(0)=0v(0)=0v(0)=0 and homogeneity for every t>0t>0t>0 and τ≥0\tau\ge0τ≥0 are hypotheses of every §2 statement, because §2 states them once for the whole section. Concavity is concavity on R+n\mathbb R^n_+R+n​.
  • In the superdifferential (5), σ\sigmaσ ranges over R+n\mathbb R^n_+R+n​, the domain of the extended vvv; the paper leaves this implicit.
  • "Differentiable at τN\tau^NτN" is DifferentiableAt at the interior point (1,…,1)(1,\dots,1)(1,…,1), and Dv(τN)Dv(\tau^N)Dv(τN) is the vector of partial derivatives.
  • The family C\mathscr CC contains NNN and all singletons and excludes ∅\emptyset∅; the core and πv\pi vπv use only coalitions in C\mathscr CC, so v(∅)=0v(\emptyset)=0v(∅)=0 plays no role. Because N∈CN\in\mathscr CN∈C and ∅∉C\emptyset\notin\mathscr C∅∈/C, the family exists only for n≥1n\ge1n≥1.
  • πv\pi vπv is a real supremum. For τ≥0\tau\ge0τ≥0 the set of values is nonempty and bounded above, so the value is the paper's; off the orthant the set is empty and the value is never used.
  • The printed v(C)v(\mathscr C)v(C) and τC\tau^{\mathscr C}τC in §6 (2)–(3) are read as v(A)v(A)v(A) and τA\tau^AτA, as §6 (4) settles.

Balancedness is the equation πv(τN)=v(N)\pi v(\tau^N)=v(N)πv(τN)=v(N) with πv\pi vπv built from the balances of §6 (3)–(4); a formalization that defines "balanced" through the core, or takes πv\pi vπv to be an envelope already known to agree with the core, makes the goal empty and is ruled out. Contributions welcome: proofs of the milestones, a general Bondareva–Shapley lemma for finite families of coalitions, and supergradient existence for concave functions on convex sets with nonempty interior.

Selected references

  • J.-P. Aubin, Cooperative Fuzzy Games, Mathematics of Operations Research 6(1), 1981, 1–13. https://doi.org/10.1287/moor.6.1.1
  • O. N. Bondareva, Some applications of linear programming methods to the theory of cooperative games, Problemy Kibernetiki 10, 1963, 119–139 (in Russian; no stable online copy).
  • L. S. Shapley, On balanced sets and cores, Naval Research Logistics Quarterly 14(4), 1967, 453–460. https://doi.org/10.1002/nav.3800140404
  • H. E. Scarf, The core of an N person game, Econometrica 35(1), 1967, 50–69. https://doi.org/10.2307/1909703
  • L. J. Billera, Some theorems on the core of an n-person game without side-payments, SIAM Journal on Applied Mathematics 18(3), 1970, 567–579. https://doi.org/10.1137/0118007
  • R. T. Rockafellar, Convex Analysis, Princeton University Press, 1970. https://doi.org/10.1515/9781400873173
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Cooperative Fuzzy Games 4: The Fuzzy Core of an Exchange Economy Coincides with Its Set of Walras EquilibriaResearch Paper

Motivation

The core of an exchange economy is the set of allocations that no group of consumers can improve upon by trading only among themselves. The Walras equilibria (competitive equilibria) are the allocations supported by a price system at which every consumer maximizes preference on a budget set. Every Walras equilibrium is in the core, but for a fixed finite economy the core is usually much larger. Edgeworth (1881) conjectured that the core shrinks to the competitive allocations as the number of traders grows; Debreu and Scarf (1963) proved this for replica economies, and Aumann (1964) proved exact equality for an atomless continuum of traders.

Jean-Pierre Aubin's Cooperative Fuzzy Games (Math. Oper. Res. 6 (1981) 1–13) gives a third route to the same conclusion, with a fixed finite number of consumers. Coalitions are allowed to be fuzzy: a consumer may join with any rate of participation between 0 and 1. Once all fuzzy coalitions may block, the core of the economy, now called the fuzzy core, is exactly the set of Walras equilibria (Theorem 4.1, p. 6). The paper presents this as a slight modification of the Debreu–Scarf theorem; in Remark 4.2 it observes that Debreu–Scarf's replica coalitions correspond to the rational points of the cube [0,1]n[0,1]^n[0,1]n.

This mission formalizes §4 of the paper. It is the fourth mission of a series on the paper; the others treat the cores of fuzzy games with and without side payments and the values of smooth fuzzy games.

Setting

There are nnn consumers i∈N={1,…,n}i \in N = \{1,\dots,n\}i∈N={1,…,n} and lll commodities. Consumer iii consumes bundles in R+l\mathbb{R}^l_+R+l​, ranks them by a preference relation ≽i\succcurlyeq_i≽i​ (with strict part ≻i\succ_i≻i​), and owns a set Y(i)⊂RlY(i) \subset \mathbb{R}^lY(i)⊂Rl of possible initial endowments. Each Y(i)Y(i)Y(i) is closed, convex and comprehensive: whenever y∈Y(i)y \in Y(i)y∈Y(i) and z≥0z \ge 0z≥0, also y−z∈Y(i)y - z \in Y(i)y−z∈Y(i).

A fuzzy coalition is a vector τ∈[0,1]n\tau \in [0,1]^nτ∈[0,1]n; τi\tau_iτi​ is the rate at which consumer iii participates, and Aτ={i:τi>0}A_\tau = \{i : \tau_i > 0\}Aτ​={i:τi​>0} is the set of participants. The coalition τ\tauτ disposes of the endowments

Y(τ)=∑i∈Nτi Y(i),Y(\tau) = \sum_{i \in N} \tau_i\, Y(i),Y(τ)=i∈N∑​τi​Y(i),

and its allocations are the families xτ=(xτi)i∈Aτx_\tau = (x_\tau^i)_{i \in A_\tau}xτ​=(xτi​)i∈Aτ​​ of bundles xτi∈R+lx_\tau^i \in \mathbb{R}^l_+xτi​∈R+l​ with ∑iτixτi∈Y(τ)\sum_i \tau_i x_\tau^i \in Y(\tau)∑i​τi​xτi​∈Y(τ); this set is X(τ)X(\tau)X(τ). The allocations of the whole economy are X(N)=X(τN)X(N) = X(\tau^N)X(N)=X(τN), τN=(1,…,1)\tau^N = (1,\dots,1)τN=(1,…,1).

An allocation x∈X(N)x \in X(N)x∈X(N) is in the fuzzy core if there is no nonzero fuzzy coalition τ\tauτ and allocation xτ∈X(τ)x_\tau \in X(\tau)xτ​∈X(τ) with xτi≻ixix_\tau^i \succ_i x^ixτi​≻i​xi for every i∈Aτi \in A_\taui∈Aτ​.

The income of consumer iii at prices p∈Rlp \in \mathbb{R}^lp∈Rl is ri(p)=sup⁡y∈Y(i)p⋅yr_i(p) = \sup_{y \in Y(i)} p\cdot yri​(p)=supy∈Y(i)​p⋅y, and the budget set is Bi(p)={x∈R+l:p⋅x≤ri(p)}B_i(p) = \{x \in \mathbb{R}^l_+ : p \cdot x \le r_i(p)\}Bi​(p)={x∈R+l​:p⋅x≤ri​(p)}. An allocation xˉ∈X(N)\bar x \in X(N)xˉ∈X(N) is a Walras equilibrium if some price pˉ∈Rl\bar p \in \mathbb{R}^lpˉ​∈Rl satisfies, for every iii,

pˉ⋅xˉi=ri(pˉ)andxˉi≽ix  for all x∈Bi(pˉ).\bar p \cdot \bar x^i = r_i(\bar p) \qquad\text{and}\qquad \bar x^i \succcurlyeq_i x \ \text{ for all } x \in B_i(\bar p).pˉ​⋅xˉi=ri​(pˉ​)andxˉi≽i​x  for all x∈Bi​(pˉ​).

Assumption (1) of §4 requires each preference to be continuous and convex, with x≻iy⇒αx+(1−α)y≻iyx \succ_i y \Rightarrow \alpha x + (1-\alpha) y \succ_i yx≻i​y⇒αx+(1−α)y≻i​y for α∈ ]0,1[\alpha \in\, ]0,1[α∈]0,1[; no consumer to be satiated; and each Y(i)Y(i)Y(i) to contain a vector with all coordinates strictly positive.

Formalization targets

Goal: Theorem 4.1

Under assumption (1),

fuzzy core  =  {Walras equilibria}.\text{fuzzy core} \;=\; \{\text{Walras equilibria}\}.fuzzy core={Walras equilibria}.

Milestones, from the proof of Theorem 4.1

  1. Every Walras equilibrium belongs to the fuzzy core.
  2. For an allocation xˉ∈X(N)\bar x \in X(N)xˉ∈X(N), each set Q(i)=Y(i)−{x∈R+l:x≻ixˉi}Q(i) = Y(i) - \{x \in \mathbb{R}^l_+ : x \succ_i \bar x^i\}Q(i)=Y(i)−{x∈R+l​:x≻i​xˉi} is nonempty.
  3. If xˉ\bar xxˉ belongs to the fuzzy core, then
0∉co⁡(⋃i=1nQ(i)).0 \notin \operatorname{co}\Big(\bigcup_{i=1}^n Q(i)\Big).0∈/co(i=1⋃n​Q(i)).

The remaining step of the paper, from milestone 3 to the existence of the equilibrium price, is stated there only as "by known arguments" and is left to the solver as part of the goal.

Significance

The result. Theorem 4.1 is a core equivalence theorem for an economy with finitely many consumers and no replication or continuum of traders. It identifies the competitive allocations as exactly the allocations that are stable against partial coalitions. It also makes visible which coalitions matter: Remark 4.1 attributes the equivalence to the fact that all fuzzy coalitions are allowed to form, so that the set of coalitions is convex. The same fuzzy-coalition device underlies the nonemptiness results for cores of fuzzy games in §5–§7 of the paper.

Formalizing it. The theorem is proved in the paper, in one paragraph that defers its final step to "known arguments". To our knowledge neither the theorem nor the Debreu–Scarf or Aumann core equivalence theorems have been formalized in Lean. A complete development provides a reusable model of an exchange economy with preference relations and comprehensive endowment sets, a checked argument from separation to equilibrium prices, and a template for the classical core equivalence theorems.

Difficulty

The inclusion of the Walras equilibria in the fuzzy core is a budget computation. The converse is the content of the theorem: from the mere absence of improving fuzzy coalitions, a single price vector must be produced that works for all consumers simultaneously. Separating consumer by consumer gives one price per consumer, not a common one, so the coalitional structure has to enter before any price exists. Once a candidate price is available, it still has to be shown nonnegative, each equilibrium bundle has to exhaust its owner's income, and no bundle in a budget set may be strictly preferred; each of these uses a different part of assumption (1), and the paper leaves all three to "known arguments". The incomes ri(p)r_i(p)ri​(p) may be +∞+\infty+∞ for prices with negative coordinates, so finiteness at the equilibrium price is part of the conclusion, not an assumption.

Formalization scope

Consumers are Fin n, commodities Fin l; an allocation is a function Fin n → Fin l → ℝ, a price a vector Fin l → ℝ, and p⋅y=∑kpkykp \cdot y = \sum_k p_k y_kp⋅y=∑k​pk​yk​. A single definitions file (FuzzyGames.Walras.Basic) holds the economy, its assumptions, Y(τ)Y(\tau)Y(τ), X(τ)X(\tau)X(τ), the fuzzy core, incomes, budget sets, Walras equilibria and the sets Q(i)Q(i)Q(i).

The formalization commits to the following readings, each recorded in the items' Formalization Notes:

  • Complete preferences. The paper's "preference preordering" is read, as in Debreu's usage, as a reflexive, transitive and complete relation on R+l\mathbb{R}^l_+R+l​. The relation is a predicate on Rl\mathbb{R}^lRl, but every assumption and every use is restricted to R+l\mathbb{R}^l_+R+l​.
  • Continuity means closed upper and lower contour sets in R+l\mathbb{R}^l_+R+l​; convexity means convex upper contour sets, plus the condition of (1)(i).
  • Assumption (1)(i) is printed with x≽yx \succcurlyeq yx≽y in the premise, which fails at x=yx = yx=y; it is stated with x≻yx \succ yx≻y.
  • Blocking is strict and by nonzero coalitions. The fuzzy-core definition is printed with xτi≽xix_\tau^i \succcurlyeq x^ixτi​≽xi; the proof uses ≻\succ≻, and the weak version would let every allocation block itself. The coalition τ=0\tau = 0τ=0 is excluded, since its condition over Aτ=∅A_\tau = \emptysetAτ​=∅ is vacuous.
  • Dummy coordinates. An allocation of τ\tauτ is a full family of nnn bundles; those with τi=0\tau_i = 0τi​=0 are multiplied by 000, unconstrained and never compared.
  • Y(τ)Y(\tau)Y(τ) is Mathlib's pointwise Minkowski sum of scaled sets.
  • Incomes take values in the extended reals (EReal), so that ri(p)=+∞r_i(p) = +\inftyri​(p)=+∞ is represented and never replaced by a default value.

A trivializing formalization is ruled out: the assumptions are satisfiable, and a sorry-free check (one consumer, one commodity, x≽y  ⟺  x≥yx \succcurlyeq y \iff x \ge yx≽y⟺x≥y, Y(1)=(−∞,1]Y(1) = (-\infty, 1]Y(1)=(−∞,1]) verifies them together with a Walras equilibrium, so neither side of the goal is empty by construction.

Contributions welcome: proofs of the milestones, a separation-to-prices lemma for comprehensive endowment sets, and general facts about complete continuous convex preferences on R+l\mathbb{R}^l_+R+l​, which are reusable for any general equilibrium development.

Selected references

  • J.-P. Aubin, Cooperative fuzzy games, Mathematics of Operations Research 6(1) (1981) 1–13. https://doi.org/10.1287/moor.6.1.1
  • G. Debreu, H. Scarf, A limit theorem on the core of an economy, International Economic Review 4(3) (1963) 235–246. https://doi.org/10.2307/2525290
  • R. J. Aumann, Markets with a continuum of traders, Econometrica 32 (1964) 39–50. https://doi.org/10.2307/1913732
  • G. Debreu, Theory of Value, Cowles Foundation Monograph 17, Yale University Press, 1959.
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Smart "Predict, then Optimize": Under a Continuous, Centrally Symmetric Cost Law Every Minimizer of the SPO+ Risk Equals E[c|x] and Minimizes the SPO RiskResearch Paper

Motivation

Many decisions are made before their objective coefficients are known. A planner may know the feasible decisions and the form of a linear optimization problem, but must predict its cost vector from available features. Squared prediction error measures how close a forecast is to the eventual coefficients; it need not measure the quality of the decision chosen with that forecast. Elmachtoub and Grigas define a loss based on the excess realized cost of the resulting decision, then introduce a convex surrogate, SPO+, for training prediction rules Elmachtoub and Grigas, 2020, §§2–3.

The central population question is whether minimizing the surrogate still selects predictions that minimize the decision loss when the full data distribution is available. Their Theorem 1 answers this under conditions on the feasible region and the conditional distribution of costs Elmachtoub and Grigas, 2020, p. 21. The result concerns the loss itself, before sample size, model capacity, or an algorithm for fitting a predictor enter the picture.

Setting

A feasible region S⊆RdS\subseteq\mathbb R^dS⊆Rd is nonempty, compact, and convex. Given a cost vector c∈Rdc\in\mathbb R^dc∈Rd, a decision w∈Sw\in Sw∈S incurs cost c⊤wc^\top wc⊤w. The nominal value, optimal-decision set, and support function are

z∗(c)=min⁡w∈Sc⊤w,W∗(c)=arg⁡min⁡w∈Sc⊤w,ξS(c)=max⁡w∈Sc⊤w.z^*(c)=\min_{w\in S}c^\top w,\qquad W^*(c)=\arg\min_{w\in S}c^\top w,\qquad \xi_S(c)=\max_{w\in S}c^\top w.z∗(c)=w∈Smin​c⊤w,W∗(c)=argw∈Smin​c⊤w,ξS​(c)=w∈Smax​c⊤w.

An optimization oracle w∗w^*w∗ returns one element of W∗(c)W^*(c)W∗(c) for each ccc, without a tie-breaking rule. For a predicted cost c^\hat cc^ and realized cost ccc, the unambiguous SPO loss uses the worst realized decision among all decisions optimal for the prediction:

ℓSPO(c^,c)=max⁡w∈W∗(c^)c⊤w−z∗(c).\ell_{\mathrm{SPO}}(\hat c,c) =\max_{w\in W^*(\hat c)}c^\top w-z^*(c).ℓSPO​(c^,c)=w∈W∗(c^)max​c⊤w−z∗(c).

This is Definition 2 of the paper. Its SPO+ loss, Definition 3, is

ℓSPO+(c^,c)=ξS(c−2c^)+2c^⊤w∗(c)−z∗(c).\ell_{\mathrm{SPO+}}(\hat c,c) =\xi_S(c-2\hat c)+2\hat c^\top w^*(c)-z^*(c).ℓSPO+​(c^,c)=ξS​(c−2c^)+2c^⊤w∗(c)−z∗(c).

The factor 222 is fixed by the paper's surrogate. Proposition 3 states that SPO+ upper-bounds SPO, is convex in c^\hat cc^, and has the explicit subgradient 2(w∗(c)−w∗(2c^−c))2(w^*(c)-w^*(2\hat c-c))2(w∗(c)−w∗(2c^−c)) Elmachtoub and Grigas, 2020, pp. 17–18.

Let xxx denote an observed feature, ν\nuν its probability law, and κx\kappa_xκx​ the conditional law of ccc given xxx. Their joint law is D=ν⊗κD=\nu\otimes\kappaD=ν⊗κ. A measurable predictor fff maps each xxx to a cost prediction f(x)f(x)f(x). The population risks RSPO(f)R_{\mathrm{SPO}}(f)RSPO​(f) and RSPO+(f)R_{\mathrm{SPO+}}(f)RSPO+​(f) are expectations over (x,c)∼D(x,c)\sim D(x,c)∼D of the corresponding losses at (f(x),c)(f(x),c)(f(x),c), as in displays (11) and (12) Elmachtoub and Grigas, 2020, p. 20. There is no prescribed parametric predictor class.

Formalization targets

Theorem 1: Fisher consistency of SPO+

Write m(x)=E[c∣x]m(x)=\mathbb E[c\mid x]m(x)=E[c∣x]. Under Assumption 1, the optimal-decision set W∗(m(x))W^*(m(x))W∗(m(x)) is a singleton for almost every xxx; each conditional law is centrally symmetric about m(x)m(x)m(x) and continuous on all of Rd\mathbb R^dRd; and SSS has nonempty interior. The goal says that every measurable minimizer fff of SPO+ population risk satisfies

f(x)=m(x)for ν-almost every x,RSPO(f)≤RSPO(g)for every measurable g.f(x)=m(x)\quad\text{for }\nu\text{-almost every }x, \qquad R_{\mathrm{SPO}}(f)\le R_{\mathrm{SPO}}(g) \quad\text{for every measurable }g.f(x)=m(x)for ν-almost every x,RSPO​(f)≤RSPO​(g)for every measurable g.

This is the paper's Fisher-consistency statement, including its stronger identification of every SPO+ minimizer with the conditional mean Elmachtoub and Grigas, 2020, Theorem 1. The goal does not assert that a minimizer exists.

Supporting propositions

The milestone list follows the paper's numbered results: Proposition 3's pointwise upper bound, convexity, and subgradient; Proposition 6's mean minimizer and uniqueness claims for a single cost law; and both directions of Proposition 5, which relate SPO risk minimizers to decisions optimal at the mean Elmachtoub and Grigas, 2020, pp. 18, 22–23. The single-law propositions have no feature variable.

Significance

Theorem 1 identifies a condition under which a convex training objective preserves the population target of the decision loss. Its identification statement is stronger than merely saying that one selected SPO+ minimizer is SPO-optimal: all SPO+ minimizers agree almost surely with conditional mean cost. The propositions isolate what this depends on. Proposition 6 concerns the surrogate risk, while Proposition 5 connects a prediction's optimal-decision set to the true risk.

The result was proved in the cited preprint and published in Management Science in 2022; this mission asks for a Lean proof of that known result, not a new consistency theorem. A completed development would provide reusable definitions for cost-based decision losses and a checked account of the distributional assumptions needed for uniqueness. The published oracle predicate is already available on the platform; the two losses, risks, and distributional predicates are introduced here.

Difficulty

The SPO loss may jump when a predicted cost admits more than one optimal decision. Its definition takes the maximum realized cost over that whole decision set. Consequently, showing that a prediction selects one mean-optimal decision does not by itself control the SPO loss; Proposition 5's converse requires a singleton set. The surrogate is convex but generally not differentiable, because the support function of SSS need not be differentiable. Establishing the unique population minimizer also depends on how the cost law covers the space: absolute continuity by itself permits a bounded-support law for which nearby predictions tie. These are substantive issues in moving from the single-cost-law statements to an almost-sure claim about measurable predictors Elmachtoub and Grigas, 2020, §4 and Appendix B.

Formalization scope

The code represents Rd\mathbb R^dRd by EuclideanSpace ℝ (Fin d) and c⊤wc^\top wc⊤w by its standard inner product. Every theorem assumes the paper's nonempty compact convex SSS. Real infima and suprema encode the attained minima and maxima on SSS. An oracle is an explicit parameter satisfying the published SPOBounds.Natarajan.IsOracle predicate; it is not given an extra measurability or tie-breaking assumption. The SPO loss is the paper's unambiguous Definition 2, which differs from the oracle-dependent loss in the published module.

Expected losses are extended nonnegative integrals, so an infinite risk remains infinite. Conditional costs are represented by a Markov kernel κ\kappaκ, and the joint law by ν⊗κ\nu\otimes\kappaν⊗κ. Integrability of costs makes the conditional and joint means finite. Central symmetry means equality of the conditional law with its reflection c↦2m(x)−cc\mapsto 2m(x)-cc↦2m(x)−c. Assumption 1.3, “continuous on all of Rd\mathbb R^dRd,” is pinned to absolute continuity with respect to Lebesgue measure and full support, meaning every nonempty open set has positive probability. This full-support condition is needed for Proposition 6(b)'s uniqueness claim: a continuous law confined to a small ball supplies a counterexample to the weaker reading.

The risks range over all measurable predictors, as display (12) requires. A Bochner integral for an arbitrary nonintegrable loss, a restricted hypothesis class, the oracle-dependent SPO loss of Definition 1, or absolute continuity without full support would change or trivialize the target. Contributions to the support-function, measurable-risk, and conditional-law infrastructure are useful beyond this mission; the seven numbered proposition parts provide its immediate formalization targets.

Selected references

  • A. N. Elmachtoub and P. Grigas, Smart “Predict, then Optimize”, arXiv:1710.08005v5, 2020; published in Management Science 68(1), 2022. Preprint
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Numerical AnalysisOptimization·Captain: mikedeng1

A Nonlinear Conjugate Gradient Method with a Strong Global Convergence Property: β_k = ‖g_{k+1}‖²/d_kᵀy_k with Standard Wolfe Steps Gives liminf ‖g_k‖ = 0 for f Bounded BelowResearch Paper

Motivation

Nonlinear conjugate gradient methods minimize a smooth function f:Rn→Rf:\mathbb R^n\to\mathbb Rf:Rn→R using only function values, gradients and a handful of vectors of storage. That makes them a standard tool for large-scale unconstrained optimization, where quasi-Newton matrices do not fit in memory. Each method is fixed by a scalar βk\beta_kβk​, and the classical choices (Fletcher–Reeves, Polak–Ribière–Polyak, Hestenes–Stiefel) have been analysed by many authors. Their convergence proofs normally require the strong Wolfe line search, and often a bounded level set. Many other unconstrained methods, by contrast, are proved convergent under the weaker standard Wolfe conditions.

In 1999 Y. H. Dai and Y. Yuan (SIAM J. Optim. 10 (1999) 177–182) proposed a new formula,

βk=∥gk+1∥2dkTyk,\beta_k=\frac{\|g_{k+1}\|^2}{d_k^Ty_k},βk​=dkT​yk​∥gk+1​∥2​,

the numerator of Fletcher–Reeves over the denominator of Hestenes–Stiefel. They proved that the resulting method converges whenever every step satisfies the standard Wolfe conditions, under assumptions on fff that do not include a bounded level set. The method is now known as the Dai–Yuan method.

Timeline.

  • Zoutendijk (1970) and Wolfe (1969, 1971): the antecedents of the summability condition (3.2), as attributed by Dai and Yuan.
  • Al-Baali (1985): global convergence of Fletcher–Reeves under strong Wolfe with σ<1/2\sigma<1/2σ<1/2 (IMA J. Numer. Anal. 5 (1985) 121–124).
  • Gilbert and Nocedal (1992): convergence of methods with ∣βk∣≤βkFR|\beta_k|\le\beta_k^{FR}∣βk​∣≤βkFR​ and of PR+^++, assuming a bounded level set and strong Wolfe or sufficient descent (SIAM J. Optim. 2 (1992) 21–42).
  • Dai and Yuan (1999): the formula above, convergent under standard Wolfe steps for fff bounded below with Lipschitz gradient near the level set.

Setting

Write g(x)=∇f(x)g(x)=\nabla f(x)g(x)=∇f(x), gk=g(xk)g_k=g(x_k)gk​=g(xk​), fk=f(xk)f_k=f(x_k)fk​=f(xk​), yk=gk+1−gky_k=g_{k+1}-g_kyk​=gk+1​−gk​. The inner product of Rn\mathbb R^nRn is uTvu^TvuTv and ∥⋅∥\|\cdot\|∥⋅∥ the Euclidean norm. Fix line-search constants 0<δ<σ<10<\delta<\sigma<10<δ<σ<1.

A step α>0\alpha>0α>0 along a direction ddd from xxx is a standard Wolfe step if

f(x)−f(x+αd)≥−δα g(x)Td(1.7),g(x+αd)Td>σ g(x)Td(1.10),f(x)-f(x+\alpha d)\ge-\delta\alpha\,g(x)^Td \quad(1.7),\qquad g(x+\alpha d)^Td>\sigma\,g(x)^Td\quad(1.10),f(x)−f(x+αd)≥−δαg(x)Td(1.7),g(x+αd)Td>σg(x)Td(1.10),

and a strong Wolfe step if (1.7) holds together with ∣g(x+αd)Td∣≤−σg(x)Td|g(x+\alpha d)^Td|\le-\sigma g(x)^Td∣g(x+αd)Td∣≤−σg(x)Td (1.8).

Algorithm 2.1 starts at x1x_1x1​ with d1=−g1d_1=-g_1d1​=−g1​ and stops if g1=0g_1=0g1​=0. At iteration k≥1k\ge1k≥1 it picks a standard Wolfe step αk>0\alpha_k>0αk​>0, sets xk+1=xk+αkdkx_{k+1}=x_k+\alpha_kd_kxk+1​=xk​+αk​dk​, stops if gk+1=0g_{k+1}=0gk+1​=0, and otherwise sets

dk+1=−gk+1+βkdk,βk=∥gk+1∥2dkTyk(2.4).d_{k+1}=-g_{k+1}+\beta_kd_k,\qquad \beta_k=\frac{\|g_{k+1}\|^2}{d_k^Ty_k}\quad(2.4).dk+1​=−gk+1​+βk​dk​,βk​=dkT​yk​∥gk+1​∥2​(2.4).

Assumption 3.1 at x1x_1x1​ requires three things. First, fff is bounded below on Rn\mathbb R^nRn. Second, fff is continuously differentiable on a neighbourhood N\mathcal NN of the level set L={x:f(x)≤f(x1)}\mathcal L=\{x: f(x)\le f(x_1)\}L={x:f(x)≤f(x1​)}. Third, there is L>0L>0L>0 with

∥∇f(x)−∇f(y)∥≤L∥x−y∥for all x,y∈N(3.1).\|\nabla f(x)-\nabla f(y)\|\le L\|x-y\|\qquad\text{for all }x,y\in\mathcal N\quad(3.1).∥∇f(x)−∇f(y)∥≤L∥x−y∥for all x,y∈N(3.1).

In the Lean development these objects are levelSet, Assumption31 f x1 N L, StdWolfe, StrongWolfe, betaDY, IsDYIteration, IsDYRun, IsDYRunStrong, IsDescentWolfeMethod and LiminfGradZero, all in DaiYuanCG.Conv.Setting.

Formalization targets

Goal: Theorem 3.3 (p. 180)

Under Assumption 3.1 at x1x_1x1​, a run of Algorithm 2.1 either terminates at a stationary point or satisfies

lim inf⁡k→∞∥gk∥=0(3.7).\liminf_{k\to\infty}\|g_k\|=0\quad(3.7).k→∞liminf​∥gk​∥=0(3.7).

The goal is the non-terminating branch: gk≠0g_k\neq0gk​=0 for every k≥1k\ge1k≥1 implies (3.7).

Milestones, in attack order

  1. (2.5), p. 179: gk+1Tdk+1=∥gk+1∥2dkTykgkTdk=βkgkTdkg_{k+1}^Td_{k+1}=\dfrac{\|g_{k+1}\|^2}{d_k^Ty_k}g_k^Td_k=\beta_kg_k^Td_kgk+1T​dk+1​=dkT​yk​∥gk+1​∥2​gkT​dk​=βk​gkT​dk​.
  2. (3.9)–(3.10), p. 180: along a non-terminating run, gkTdk<0g_k^Td_k<0gkT​dk​<0 and dkTyk≥(σ−1)dkTgk>0d_k^Ty_k\ge(\sigma-1)d_k^Tg_k>0dkT​yk​≥(σ−1)dkT​gk​>0 for all k≥1k\ge1k≥1.
  3. (3.13), p. 180: ∥dk+1∥2(gk+1Tdk+1)2≤∥dk∥2(gkTdk)2+1∥gk+1∥2\dfrac{\|d_{k+1}\|^2}{(g_{k+1}^Td_{k+1})^2}\le\dfrac{\|d_k\|^2}{(g_k^Td_k)^2}+\dfrac1{\|g_{k+1}\|^2}(gk+1T​dk+1​)2∥dk+1​∥2​≤(gkT​dk​)2∥dk​∥2​+∥gk+1​∥21​.
  4. (3.14), p. 180: ∥dk∥2(gkTdk)2≤∑i=1k1∥gi∥2\dfrac{\|d_k\|^2}{(g_k^Td_k)^2}\le\sum_{i=1}^k\dfrac1{\|g_i\|^2}(gkT​dk​)2∥dk​∥2​≤∑i=1k​∥gi​∥21​.
  5. (3.16)–(3.17), p. 181: if ∥gk∥≥c>0\|g_k\|\ge c>0∥gk​∥≥c>0 for all kkk, then ∥dk∥2/(gkTdk)2≤k/c2\|d_k\|^2/(g_k^Td_k)^2\le k/c^2∥dk​∥2/(gkT​dk​)2≤k/c2 and ∑k≥1(gkTdk)2/∥dk∥2=∞\sum_{k\ge1}(g_k^Td_k)^2/\|d_k\|^2=\infty∑k≥1​(gkT​dk​)2/∥dk​∥2=∞.
  6. (3.6), pp. 179–180: for any descent method with standard Wolfe steps under Assumption 3.1, fk−fk+1≥c (gkTdk)2/∥dk∥2f_k-f_{k+1}\ge c\,(g_k^Td_k)^2/\|d_k\|^2fk​−fk+1​≥c(gkT​dk​)2/∥dk​∥2 with c=δ(1−σ)/Lc=\delta(1-\sigma)/Lc=δ(1−σ)/L.
  7. Lemma 3.2, p. 179 (the Zoutendijk condition): for the same methods, ∑k≥1(gkTdk)2/∥dk∥2<∞\sum_{k\ge1}(g_k^Td_k)^2/\|d_k\|^2<\infty∑k≥1​(gkT​dk​)2/∥dk​∥2<∞.

A companion item, not a milestone, states §4's observation (p. 181): under strong Wolfe steps, gk+1Tdk/gkTdk∈[−σ,σ]g_{k+1}^Td_k/g_k^Td_k\in[-\sigma,\sigma]gk+1T​dk​/gkT​dk​∈[−σ,σ] and gkTdk≤−∥gk∥2/(1+σ)g_k^Td_k\le-\|g_k\|^2/(1+\sigma)gkT​dk​≤−∥gk​∥2/(1+σ).

Significance

The result. Theorem 3.3 answers the question posed in §1 of the paper, whether some conjugate gradient method converges under the standard Wolfe conditions, and it does so without a bounded level set. Weakening the line search matters in practice: a standard Wolfe step is easier to find than a strong one, and the convergence theory now matches what quasi-Newton codes already had. The descent property (3.9) holds at every iteration without any restriction on σ\sigmaσ other than σ<1\sigma<1σ<1.

Formalizing it. The theorem has a complete published proof; nothing here is open. To our knowledge neither the theorem nor the Zoutendijk condition under these hypotheses has a machine-checked proof. The mission produces three things: a formal Wolfe line-search vocabulary over EuclideanSpace; a Zoutendijk lemma whose assumptions are local to a neighbourhood of the level set, so other descent methods can reuse it; and the Dai–Yuan convergence proof itself.

Difficulty

The algebra of (2.5)–(3.17) is short. The analytic difficulty is in Lemma 3.2. The Lipschitz bound (3.1) applies only on N\mathcal NN, so it cannot be applied to an arbitrary step until the iterates are known to lie there. The finite decrease at each step must also control an infinite series, which is why the global lower bound on fff matters. A global Lipschitz constant or a bounded level set would simplify this issue. Both are assumptions the paper does not make, and §4 points out that avoiding the bounded level set is part of the result.

A second point is that βk\beta_kβk​ is only well defined because (1.10) gives dkTyk>0d_k^Ty_k>0dkT​yk​>0 once dkd_kdk​ is a descent direction. Descent of dk+1d_{k+1}dk+1​ in turn depends on the value of βk\beta_kβk​ through (2.5), so these properties depend on each other across iterations.

Formalization scope

  • Rn\mathbb R^nRn is EuclideanSpace ℝ (Fin n) and g(x)g(x)g(x) is Mathlib's gradient f x. All sequences are maps ℕ → _ indexed from 111; index 000 is unconstrained and never used.
  • Standing assumptions. Every item about the run assumes the line-search constants it uses (σ<1\sigma<1σ<1 for the run identities; 0<δ<σ<10<\delta<\sigma<10<δ<σ<1 for the goal, Lemma 3.2, (3.6) and the companion). Assumption 3.1 is assumed by the goal, Lemma 3.2 and (3.6). "Continuously differentiable in N\mathcal NN" means N\mathcal NN is open and contains L\mathcal LL, fff is differentiable at every point of N\mathcal NN, and ∇f\nabla f∇f is continuous on N\mathcal NN. The Lipschitz bound is required on N\mathcal NN only. No global differentiability, global Lipschitz constant or bounded level set is assumed.
  • The curvature condition (1.10) is strict, as printed.
  • βk\beta_kβk​ is a Lean division (zero when dkTyk=0d_k^Ty_k=0dkT​yk​=0). Along a run its denominator is positive (milestone 2), so this convention never takes effect. Milestone 1 carries dkTyk≠0d_k^Ty_k\neq0dkT​yk​=0 as a disclosed hypothesis, because it is stated for the bare iteration without line search.
  • Termination. The algorithm stops exactly when gk=0g_k=0gk​=0. The goal and the run milestones take "the algorithm does not terminate" as the explicit hypothesis gk≠0g_k\neq0gk​=0 for all k≥1k\ge1k≥1, which is (3.8).
  • lim inf⁡∥gk∥=0\liminf\|g_k\|=0liminf∥gk​∥=0 is stated as: for all ε>0\varepsilon>0ε>0 and KKK, some k≥Kk\ge Kk≥K has ∥gk∥<ε\|g_k\|<\varepsilon∥gk​∥<ε. A series "<∞<\infty<∞" or "=∞=\infty=∞" of nonnegative terms is stated as Summable or ¬ Summable of the terms shifted to start at k=1k=1k=1.
  • Non-triviality. The goal assumes no descent property, no positivity of dkTykd_k^Ty_kdkT​yk​, no recurrence (3.13) and no Zoutendijk condition. A sorry-free check confirms that its hypotheses hold for an infinite run with nonzero gradients: f(x)=∥x∥2/2f(x)=\|x\|^2/2f(x)=∥x∥2/2 on R1\mathbb R^1R1 with δ=1/4\delta=1/4δ=1/4, σ=3/4\sigma=3/4σ=3/4.
  • Reusable beyond this mission: the Wolfe-step predicates and Lemma 3.2, which applies to any descent method. Contributions are welcome on every milestone, and on general lemmas about Lipschitz gradients restricted to a set.

Selected references

  • Y. H. Dai and Y. Yuan, A nonlinear conjugate gradient method with a strong global convergence property, SIAM J. Optim. 10(1) (1999), 177–182. https://doi.org/10.1137/S1052623497318992
  • M. Al-Baali, Descent property and global convergence of the Fletcher–Reeves method with inexact line search, IMA J. Numer. Anal. 5 (1985), 121–124. https://doi.org/10.1093/imanum/5.1.121
  • J. C. Gilbert and J. Nocedal, Global convergence properties of conjugate gradient methods for optimization, SIAM J. Optim. 2 (1992), 21–42. https://doi.org/10.1137/0802003
  • P. Wolfe, Convergence conditions for ascent methods, SIAM Rev. 11 (1969), 226–235. https://doi.org/10.1137/1011036
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Machine LearningOptimizationReinforcement Learning·Captain: mikedeng1

On the Theory of Policy Gradient Methods: Optimality, Approximation, and Distribution Shift 4: Log-Barrier-Regularized Softmax Policy Gradient Is ε-Optimal After 320|S|²|A|²D∞²/((1−γ)⁶ε²) StepsResearch Paper

Motivation

Policy gradient methods search directly over parameterized policies of a Markov decision process (MDP) by gradient ascent on the expected discounted reward. They are among the most widely used methods in reinforcement learning, yet the value Vπθ(ρ)V^{\pi_\theta}(\rho)Vπθ​(ρ) is a nonconcave function of the parameters, and until recently little was known about whether, or how fast, such methods reach a globally optimal policy. Agarwal, Kakade, Lee and Mahajan (arXiv:1908.00261v5, JMLR 22(98), 2021) give a systematic answer for tabular and function-approximation settings.

This mission formalizes one of their central results. Under the softmax parameterization, plain gradient ascent converges to optimal values only asymptotically (their Theorem 5.1, rate unknown): parameters can diverge and policies become nearly deterministic early, which stalls progress. Adding a log barrier regularizer, equivalent to a relative-entropy penalty towards the uniform policy, keeps action probabilities away from zero, and the paper shows that this yields an iteration count polynomial in every problem quantity. The result is the "softmax + log barrier" row of the paper's Table 1 and a reference point for later analyses of entropy-regularized policy gradient (for example Mei et al., 2020; Cen et al., 2021).

Setting

A finite MDP consists of finite sets S\mathcal SS (states) and A\mathcal AA (actions, nonempty), a transition kernel P(s′∣s,a)P(s'\mid s,a)P(s′∣s,a), rewards r(s,a)∈[0,1]r(s,a)\in[0,1]r(s,a)∈[0,1] and a discount factor γ∈[0,1)\gamma\in[0,1)γ∈[0,1). A policy π\piπ assigns a probability distribution π(⋅∣s)\pi(\cdot\mid s)π(⋅∣s) over actions to every state. Its value is Vπ(s)=E[∑t≥0γtr(st,at)∣π,s0=s]V^\pi(s)=\mathbb E[\sum_{t\ge0}\gamma^t r(s_t,a_t)\mid\pi,s_0=s]Vπ(s)=E[∑t≥0​γtr(st​,at​)∣π,s0​=s], and for a distribution ρ\rhoρ over states Vπ(ρ)=Es∼ρVπ(s)V^\pi(\rho)=\mathbb E_{s\sim\rho}V^\pi(s)Vπ(ρ)=Es∼ρ​Vπ(s). The action value is Qπ(s,a)=r(s,a)+γ∑s′P(s′∣s,a)Vπ(s′)Q^\pi(s,a)=r(s,a)+\gamma\sum_{s'}P(s'\mid s,a)V^\pi(s')Qπ(s,a)=r(s,a)+γ∑s′​P(s′∣s,a)Vπ(s′) and the advantage is Aπ(s,a)=Qπ(s,a)−Vπ(s)A^\pi(s,a)=Q^\pi(s,a)-V^\pi(s)Aπ(s,a)=Qπ(s,a)−Vπ(s). An optimal policy π⋆\pi^\starπ⋆ maximizes Vπ(s)V^\pi(s)Vπ(s) at every state simultaneously; V⋆=Vπ⋆V^\star=V^{\pi^\star}V⋆=Vπ⋆.

The discounted state visitation distribution is dρπ(s)=(1−γ)∑t≥0γtPr⁡π(st=s∣s0∼ρ)d^\pi_\rho(s)=(1-\gamma)\sum_{t\ge0}\gamma^t\Pr^\pi(s_t=s\mid s_0\sim\rho)dρπ​(s)=(1−γ)∑t≥0​γtPrπ(st​=s∣s0​∼ρ). Given a start distribution μ\muμ used by the algorithm, the distribution mismatch coefficient is ∥dρπ⋆/μ∥∞=max⁡sdρπ⋆(s)/μ(s)\|d^{\pi^\star}_\rho/\mu\|_\infty=\max_s d^{\pi^\star}_\rho(s)/\mu(s)∥dρπ⋆​/μ∥∞​=maxs​dρπ⋆​(s)/μ(s).

The softmax policy with parameter θ∈R∣S∣∣A∣\theta\in\mathbb R^{|\mathcal S||\mathcal A|}θ∈R∣S∣∣A∣ is πθ(a∣s)=exp⁡(θs,a)/∑a′exp⁡(θs,a′)\pi_\theta(a\mid s)=\exp(\theta_{s,a})/\sum_{a'}\exp(\theta_{s,a'})πθ​(a∣s)=exp(θs,a​)/∑a′​exp(θs,a′​). For λ>0\lambda>0λ>0 the log barrier regularized objective is

Lλ(θ)=Vπθ(μ)+λ∣S∣ ∣A∣∑s,alog⁡πθ(a∣s)+λlog⁡∣A∣=Vπθ(μ)−λ Es∼UnifSKL(UnifA,πθ(⋅∣s)),L_\lambda(\theta)=V^{\pi_\theta}(\mu)+\frac{\lambda}{|\mathcal S|\,|\mathcal A|}\sum_{s,a}\log\pi_\theta(a\mid s)+\lambda\log|\mathcal A| =V^{\pi_\theta}(\mu)-\lambda\,\mathbb E_{s\sim\mathrm{Unif}_{\mathcal S}}\mathrm{KL}(\mathrm{Unif}_{\mathcal A},\pi_\theta(\cdot\mid s)),Lλ​(θ)=Vπθ​(μ)+∣S∣∣A∣λ​s,a∑​logπθ​(a∣s)+λlog∣A∣=Vπθ​(μ)−λEs∼UnifS​​KL(UnifA​,πθ​(⋅∣s)),

and gradient ascent with step size η\etaη is θ(t+1)=θ(t)+η∇θLλ(θ(t))\theta^{(t+1)}=\theta^{(t)}+\eta\nabla_\theta L_\lambda(\theta^{(t)})θ(t+1)=θ(t)+η∇θ​Lλ​(θ(t)). Write V(t)=Vπθ(t)V^{(t)}=V^{\pi_{\theta^{(t)}}}V(t)=Vπθ(t)​.

Formalization targets

Goal: Corollary 5.1 (iteration complexity)

Let D≥dρπ⋆(s)/μ(s)D\ge d^{\pi^\star}_\rho(s)/\mu(s)D≥dρπ⋆​(s)/μ(s) for all sss (for example the mismatch coefficient), ϵ>0\epsilon>0ϵ>0, λ=ϵ(1−γ)/(2D)\lambda=\epsilon(1-\gamma)/(2D)λ=ϵ(1−γ)/(2D), βλ=8/(1−γ)3+2λ/∣S∣\beta_\lambda=8/(1-\gamma)^3+2\lambda/|\mathcal S|βλ​=8/(1−γ)3+2λ/∣S∣ and η=1/βλ\eta=1/\beta_\lambdaη=1/βλ​. Starting from a parameter whose softmax policy is uniform (e.g. θ(0)=0\theta^{(0)}=0θ(0)=0),

min⁡t<T{V⋆(ρ)−V(t)(ρ)}≤ϵwheneverT≥320 ∣S∣2∣A∣2(1−γ)6ϵ2 D2.\min_{t<T}\big\{V^\star(\rho)-V^{(t)}(\rho)\big\}\le\epsilon\quad\text{whenever}\quad T\ge\frac{320\,|\mathcal S|^2|\mathcal A|^2}{(1-\gamma)^6\epsilon^2}\,D^2 .t<Tmin​{V⋆(ρ)−V(t)(ρ)}≤ϵwheneverT≥(1−γ)6ϵ2320∣S∣2∣A∣2​D2.

Milestones

  1. Lemma 3.2 (performance difference): Vπ(s0)−Vπ′(s0)=11−γEs∼ds0πEa∼π(⋅∣s)Aπ′(s,a)V^\pi(s_0)-V^{\pi'}(s_0)=\frac1{1-\gamma}\mathbb E_{s\sim d^\pi_{s_0}}\mathbb E_{a\sim\pi(\cdot|s)}A^{\pi'}(s,a)Vπ(s0​)−Vπ′(s0​)=1−γ1​Es∼ds0​π​​Ea∼π(⋅∣s)​Aπ′(s,a).
  2. Lemma C.1 (softmax gradient): ∂Vπθ(μ)/∂θs,a=11−γdμπθ(s)πθ(a∣s)Aπθ(s,a)\partial V^{\pi_\theta}(\mu)/\partial\theta_{s,a}=\frac1{1-\gamma}d^{\pi_\theta}_\mu(s)\pi_\theta(a|s)A^{\pi_\theta}(s,a)∂Vπθ​(μ)/∂θs,a​=1−γ1​dμπθ​​(s)πθ​(a∣s)Aπθ​(s,a).
  3. Display (14): the same plus λ∣S∣(1∣A∣−πθ(a∣s))\frac{\lambda}{|\mathcal S|}(\frac1{|\mathcal A|}-\pi_\theta(a|s))∣S∣λ​(∣A∣1​−πθ​(a∣s)) for ∂Lλ/∂θs,a\partial L_\lambda/\partial\theta_{s,a}∂Lλ​/∂θs,a​.
  4. Opening claim of the proof of Theorem 5.2: at an ϵopt\epsilon_{\rm opt}ϵopt​-stationary point with ϵopt≤λ/(2∣S∣∣A∣)\epsilon_{\rm opt}\le\lambda/(2|\mathcal S||\mathcal A|)ϵopt​≤λ/(2∣S∣∣A∣), max⁡aAπθ(s,a)≤2λ/(μ(s)∣S∣)\max_a A^{\pi_\theta}(s,a)\le 2\lambda/(\mu(s)|\mathcal S|)maxa​Aπθ​(s,a)≤2λ/(μ(s)∣S∣).
  5. Theorem 5.2: under the same hypotheses, Vπθ(ρ)≥V⋆(ρ)−2λ1−γ∥dρπ⋆/μ∥∞V^{\pi_\theta}(\rho)\ge V^\star(\rho)-\frac{2\lambda}{1-\gamma}\|d^{\pi^\star}_\rho/\mu\|_\inftyVπθ​(ρ)≥V⋆(ρ)−1−γ2λ​∥dρπ⋆​/μ∥∞​.
  6. Lemma D.4: LλL_\lambdaLλ​ has βλ\beta_\lambdaβλ​-Lipschitz gradient, βλ=8/(1−γ)3+2λ/∣S∣\beta_\lambda=8/(1-\gamma)^3+2\lambda/|\mathcal S|βλ​=8/(1−γ)3+2λ/∣S∣.
  7. Theorem E.1(3) (Beck, Theorem 10.15), unconstrained ascent form: for β\betaβ-smooth f≤Mf\le Mf≤M and step 1/β1/\beta1/β, min⁡t<T∥∇f(xt)∥≤2β(M−f(x0))/T\min_{t<T}\|\nabla f(x_t)\|\le\sqrt{2\beta(M-f(x_0))}/\sqrt Tmint<T​∥∇f(xt​)∥≤2β(M−f(x0​))​/T​.

Significance

The corollary shows that a first-order method on a nonconcave objective reaches an ϵ\epsilonϵ-optimal policy in a number of steps polynomial in ∣S∣|\mathcal S|∣S∣, ∣A∣|\mathcal A|∣A∣, 1/(1−γ)1/(1-\gamma)1/(1−γ), 1/ϵ1/\epsilon1/ϵ and the mismatch coefficient, with no dependence on the MDP's structure beyond these quantities. Theorem 5.2 is of independent use: it certifies any approximately stationary point of the regularized objective, however it was found, as approximately optimal for the original problem. The dependence on ∥dρπ⋆/μ∥∞\|d^{\pi^\star}_\rho/\mu\|_\infty∥dρπ⋆​/μ∥∞​ makes precise why the exploratory start distribution μ\muμ matters.

The results are proved in the paper; none of them is machine-checked. A formal development adds a checked softmax policy gradient formula on an infinite-horizon discounted MDP, a checked smoothness bound for the regularized objective, the nonconvex gradient-method rate in Euclidean space, and a corrected statement of the corollary (see the next sections). Lemma 3.2 and Lemma C.1 are reused across the other missions of this series.

Difficulty

The value function is not concave in θ\thetaθ and its gradient vanishes where policies become deterministic, so the standard route "small gradient implies near-optimal" fails for the unregularized objective. With the regularizer, the link between stationarity and optimality has to hold with explicit constants that do not degrade as policies approach the boundary of the simplex, which is where the unregularized argument breaks down. The second obstacle is smoothness: Vπθ(μ)V^{\pi_\theta}(\mu)Vπθ​(μ) is an infinite discounted sum of products of transition probabilities, and its Hessian must be bounded uniformly in θ\thetaθ by 8/(1−γ)38/(1-\gamma)^38/(1−γ)3, which in Lean means differentiating a tsum of matrix-power–like terms in θ\thetaθ. The policy gradient formula itself requires the same interchange of differentiation and infinite summation.

Formalization scope

States and actions are finite types; A\mathcal AA is nonempty. Parameters live in EuclideanSpace ℝ (S × A), so ∥⋅∥\|\cdot\|∥⋅∥ is the ℓ2\ell_2ℓ2​ norm and ∇θ\nabla_\theta∇θ​ is Mathlib's gradient. The MDP layer (transition kernel, policy, occupation probabilities, VπV^\piVπ, QπQ^\piQπ, optimal policy) is the published FoundationsML.ReinforcementLearning library, and Vπ(ρ)V^\pi(\rho)Vπ(ρ), AπA^\piAπ, dρπd^\pi_\rhodρπ​ are defined on top of it. Standing assumptions are those of §3: PPP a kernel, r∈[0,1]r\in[0,1]r∈[0,1], 0≤γ<10\le\gamma<10≤γ<1, μ,ρ\mu,\rhoμ,ρ probability distributions, π⋆\pi^\starπ⋆ optimal at every state.

Conventions committed to:

  • the mismatch coefficient is replaced by any DDD with dρπ⋆≤Dμd^{\pi^\star}_\rho\le D\mudρπ⋆​≤Dμ componentwise; no division by μ(s)\mu(s)μ(s) occurs, and the same DDD sets λ\lambdaλ;
  • min⁡t<T\min_{t<T}mint<T​ is "there is t<Tt<Tt<T with …";
  • λ>0\lambda>0λ>0, implicit in the paper, is a hypothesis of Theorem 5.2 and its proof-step milestone; λ≥0\lambda\ge0λ≥0 in Lemma D.4;
  • Theorem E.1 is posed for ascent on Rd\mathbb R^dRd with an upper bound MMM in place of an attained optimum.

Two corrections of the printed corollary. The printed statement allows "any initial θ(0)\theta^{(0)}θ(0)", but its proof uses Lλ(θ⋆)−Lλ(θ(0))≤1/(1−γ)L_\lambda(\theta^\star)-L_\lambda(\theta^{(0)})\le1/(1-\gamma)Lλ​(θ⋆)−Lλ​(θ(0))≤1/(1−γ), valid for a uniform initial policy and false in general; the formal goal assumes a uniform start. The printed βλ=8γ/(1−γ)3+2λ/∣S∣\beta_\lambda=8\gamma/(1-\gamma)^3+2\lambda/|\mathcal S|βλ​=8γ/(1−γ)3+2λ/∣S∣ contradicts the proof, which takes βλ\beta_\lambdaβλ​ from Lemma D.4, 8/(1−γ)3+2λ/∣S∣8/(1-\gamma)^3+2\lambda/|\mathcal S|8/(1−γ)3+2λ/∣S∣; the formal goal uses the latter, with the same iteration count.

The goal is not trivialized by its encoding: the hypotheses fix the run completely from θ(0)\theta^{(0)}θ(0), λ\lambdaλ and η\etaη, they are jointly satisfiable (a sorry-free check exhibits a one-state, two-action MDP with an optimal policy and D=1D=1D=1), and the conclusion concerns the unregularized value of the iterates. Theorem 5.2, Lemma D.4 and Theorem E.1 are milestones, not hypotheses of the goal.

Infrastructure that a complete development needs, and that is reusable beyond this mission: differentiability of discounted values in the policy parameters and the policy gradient theorem for the softmax class; Hessian bounds for softmax; the descent lemma and the O(1/T)O(1/\sqrt T)O(1/T​) rate of gradient methods for smooth nonconvex functions on Euclidean space. Contributions to any of these, or proofs of single milestones, are welcome.

Selected references

  • A. Agarwal, S. M. Kakade, J. D. Lee, G. Mahajan, On the Theory of Policy Gradient Methods: Optimality, Approximation, and Distribution Shift, JMLR 22(98), 2021; arXiv:1908.00261v5. https://arxiv.org/abs/1908.00261v5
  • S. Kakade, J. Langford, Approximately Optimal Approximate Reinforcement Learning, ICML 2002. https://dl.acm.org/doi/10.5555/645531.656005
  • A. Beck, First-Order Methods in Optimization, SIAM, 2017. https://doi.org/10.1137/1.9781611974997
  • J. Mei, C. Xiao, C. Szepesvári, D. Schuurmans, On the Global Convergence Rates of Softmax Policy Gradient Methods, ICML 2020. https://arxiv.org/abs/2005.06392
  • S. Cen, C. Cheng, Y. Chen, Y. Wei, Y. Chi, Fast Global Convergence of Natural Policy Gradient Methods with Entropy Regularization, Operations Research 70(4), 2022. https://arxiv.org/abs/2007.06558
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Algorithmic Game TheoryOperations ResearchOptimization+1·Captain: mikedeng1

Assortment Optimisation Under a General Discrete Choice Model: A Tight Analysis of Revenue-Ordered Assortments IV: Uniform Pricing Earns OPT/(1 + ln(v_m/v_1)) in Unit-Demand Min-PricingResearch Paper

Pricing with unit-demand consumers

A seller with nnn distinct items faces mmm consumers, each of whom wants at most one item. Choosing item prices to maximise revenue in this setting is the unit-demand envy-free pricing problem, introduced by Rusmevichientong and studied in algorithmic game theory and revenue management since the mid-2000s. Optimal prices are hard to compute in general, so the guarantees of simple pricing rules matter. The simplest such rule is uniform pricing: put one price qqq on every item and choose qqq to maximise revenue.

Aggarwal, Feder, Motwani and Zhu (ICALP 2004) and Guruswami, Hartline, Karlin, Kempe, Kenyon and McSherry (SODA 2005) analysed uniform pricing; in the min-buying model it recovers a 1/(1+ln⁡m)1/(1+\ln m)1/(1+lnm) fraction of the optimum, a bound Berbeglia and Joret attribute to Aggarwal et al. Berbeglia and Joret (arXiv:1606.01371, Algorithmica 2020) observed that the min-buying problem is a special case of assortment optimisation under a regular discrete choice model, and that uniform pricing then coincides with the revenue-ordered assortments heuristic. Their general guarantee for that heuristic yields a second bound for uniform pricing, in terms of the spread of the valuations rather than the number of consumers. This mission formalizes that bound (Corollary 4.7) together with the reduction it rests on (Theorem 4.6).

Setting

Unit-demand min-pricing (UDPmin⁡\mathrm{UDP}_{\min}UDPmin​). There are items [n][n][n] and consumers [m][m][m], m≥1m\ge 1m≥1. Consumer iii is interested in a set Bi⊆[n]B_i\subseteq[n]Bi​⊆[n] and has a valuation vi>0v_i>0vi​>0. Given a price assignment p:[n]→R>0p:[n]\to\mathbb R_{>0}p:[n]→R>0​, consumer iii buys a cheapest item of BiB_iBi​ if its price is at most viv_ivi​, and nothing otherwise. The seller's revenue is

revUDP(p)=∑i: Bi≠∅, min⁡x∈Bip(x)≤vi min⁡x∈Bip(x),\mathrm{rev}_{\mathrm{UDP}}(p)=\sum_{i:\ B_i\ne\emptyset,\ \min_{x\in B_i}p(x)\le v_i}\ \min_{x\in B_i}p(x),revUDP​(p)=i: Bi​=∅, minx∈Bi​​p(x)≤vi​∑​ x∈Bi​min​p(x),

the optimum is OPTUDP=sup⁡p>0revUDP(p)\mathrm{OPT}_{\mathrm{UDP}}=\sup_{p>0}\mathrm{rev}_{\mathrm{UDP}}(p)OPTUDP​=supp>0​revUDP​(p), and uniform pricing earns UP=sup⁡q>0revUDP(q,…,q)\mathrm{UP}=\sup_{q>0}\mathrm{rev}_{\mathrm{UDP}}(q,\dots,q)UP=supq>0​revUDP​(q,…,q). Write vmax⁡=vmv_{\max}=v_mvmax​=vm​ and vmin⁡=v1v_{\min}=v_1vmin​=v1​ for the extreme valuations.

Regular choice models. A finite product set C\mathcal CC carries choice probabilities P(x,S)\mathcal P(x,S)P(x,S) for x∈Cx\in\mathcal Cx∈C, S⊆CS\subseteq\mathcal CS⊆C, with no-purchase probability P(0,S)=1−∑x∈SP(x,S)\mathcal P(0,S)=1-\sum_{x\in S}\mathcal P(x,S)P(0,S)=1−∑x∈S​P(x,S). The model is regular if (i) all probabilities are nonnegative, (ii) P(x,S)=0\mathcal P(x,S)=0P(x,S)=0 for x∉Sx\notin Sx∈/S, (iii) ∑x∈SP(x,S)≤1\sum_{x\in S}\mathcal P(x,S)\le1∑x∈S​P(x,S)≤1, and (iv) P(x,S)≥P(x,S′)\mathcal P(x,S)\ge\mathcal P(x,S')P(x,S)≥P(x,S′) for S⊆S′S\subseteq S'S⊆S′ and every x∈S∪{0}x\in S\cup\{0\}x∈S∪{0}. With revenues r:C→R>0r:\mathcal C\to\mathbb R_{>0}r:C→R>0​, an assortment earns rev(S)=∑x∈SP(x,S)r(x)\mathrm{rev}(S)=\sum_{x\in S}\mathcal P(x,S)r(x)rev(S)=∑x∈S​P(x,S)r(x) and OPT=max⁡Srev(S)\mathrm{OPT}=\max_S\mathrm{rev}(S)OPT=maxS​rev(S). If r1<⋯<rkr_1<\dots<r_kr1​<⋯<rk​ are the distinct revenues and Si={x:r(x)≥ri}S_i=\{x: r(x)\ge r_i\}Si​={x:r(x)≥ri​}, revenue-ordered assortments earn RO=max⁡irev(Si)\mathrm{RO}=\max_i\mathrm{rev}(S_i)RO=maxi​rev(Si​).

The reduction. From a UDPmin⁡\mathrm{UDP}_{\min}UDPmin​ instance the paper builds C=[n]×{v1,…,vm}\mathcal C=[n]\times\{v_1,\dots,v_m\}C=[n]×{v1​,…,vm​}, r((x,v))=m vr((x,v))=m\,vr((x,v))=mv, and P=1m∑iPi\mathcal P=\frac1m\sum_i\mathcal P_iP=m1​∑i​Pi​, where Pi\mathcal P_iPi​ spreads probability one over the set Qi(S)Q_i(S)Qi​(S) of pairs (x,v)∈S(x,v)\in S(x,v)∈S with x∈Bix\in B_ix∈Bi​, v≤viv\le v_iv≤vi​ and vvv minimal among the pairs of SSS whose item lies in BiB_iBi​.

Formalization targets

Goal: Corollary 4.7

OPTUDP ≤ (1+ln⁡vmax⁡vmin⁡)⋅UP.\mathrm{OPT}_{\mathrm{UDP}}\ \le\ \Big(1+\ln\frac{v_{\max}}{v_{\min}}\Big)\cdot\mathrm{UP}.OPTUDP​ ≤ (1+lnvmin​vmax​​)⋅UP.

The bound is the paper's "approximates the optimum revenue to within a factor of 1/(1+ln⁡ρ)1/(1+\ln\rho)1/(1+lnρ), ρ:=vm/v1\rho:=v_m/v_1ρ:=vm​/v1​", stated in product form.

Milestones

  1. Lemma 4.5. Some optimal price assignment takes only valuations as prices; in particular OPTUDP\mathrm{OPT}_{\mathrm{UDP}}OPTUDP​ is attained.
  2. Regularity of the reduction's choice model (proof of Theorem 4.6, pp. 17–18).
  3. Assortments to prices: rev(S)=revUDP(pS)\mathrm{rev}(S)=\mathrm{rev}_{\mathrm{UDP}}(p_S)rev(S)=revUDP​(pS​) with pS(x)=min⁡{v:(x,v)∈S}p_S(x)=\min\{v:(x,v)\in S\}pS​(x)=min{v:(x,v)∈S} (p. 19).
  4. Prices to assortments: for valuation-valued ppp, rev(Sp)=revUDP(p)\mathrm{rev}(S_p)=\mathrm{rev}_{\mathrm{UDP}}(p)rev(Sp​)=revUDP​(p) with Sp={(x,v):v≥p(x)}S_p=\{(x,v): v\ge p(x)\}Sp​={(x,v):v≥p(x)} (p. 19).
  5. Theorem 4.6 for the explicit instance: regularity, positive revenues, equal optima, and the two-way correspondence between threshold sets and uniform valuation prices.
  6. Theorem 3.2 for an arbitrary regular model:
OPT≤(∑i=1kri−ri−1ri)RO,∑i=1kri−ri−1ri≤1+ln⁡rkr1,r0:=0.\mathrm{OPT}\le\Big(\sum_{i=1}^k\frac{r_i-r_{i-1}}{r_i}\Big)\mathrm{RO},\qquad \sum_{i=1}^k\frac{r_i-r_{i-1}}{r_i}\le 1+\ln\frac{r_k}{r_1},\qquad r_0:=0.OPT≤(i=1∑k​ri​ri​−ri−1​​)RO,i=1∑k​ri​ri​−ri−1​​≤1+lnr1​rk​​,r0​:=0.

Significance

The corollary gives a uniform-pricing guarantee that is independent of the number of consumers and items: when valuations lie within a factor ρ\rhoρ of each other, a single price recovers a 1/(1+ln⁡ρ)1/(1+\ln\rho)1/(1+lnρ) fraction of the optimum, which improves on 1/(1+ln⁡m)1/(1+\ln m)1/(1+lnm) whenever ρ<m\rho<mρ<m. More broadly, Theorem 4.6 places UDPmin⁡\mathrm{UDP}_{\min}UDPmin​ inside the class of regular choice models, so every guarantee proved for revenue-ordered assortments under regularity transfers to uniform pricing.

All results here are proved in the paper. Nothing in this mission is formalized elsewhere as far as a search of the platform shows: there is no regular choice model, no UDPmin⁡\mathrm{UDP}_{\min}UDPmin​ problem and no revenue-ordered guarantee on Prove2Me. The mission produces the reduction as reusable infrastructure, a machine-checked version of the paper's Lemma 4.5 (whose appendix proof is an informal repair argument), and the first formal guarantee for uniform pricing.

Difficulty

The reduction is where the work sits. Regularity hinges on the no-purchase case of axiom (iv): enlarging an assortment can only make QiQ_iQi​ nonempty, never empty, and this must be checked for the specific sets Qi(S)Q_i(S)Qi​(S) whose definition depends on the whole of SSS. The revenue identities require tracking the minimum over BiB_iBi​ of a price function obtained from an assortment, including items absent from SSS, which receive the paper's "+∞+\infty+∞" price. Lemma 4.5 is needed to make the optimum of the uncountable pricing problem coincide with that of a finite assortment problem, and the statement is about a supremum over a continuum of price vectors whose attainment is not obvious. Theorem 3.2 has to relate the optimum to threshold sets of an arbitrary regular model, where products may share revenues and the optimal assortment need not be a threshold set.

The naive route of comparing uniform pricing to the optimum directly, consumer by consumer, does not give a bound in terms of vm/v1v_m/v_1vm​/v1​; the reduction to a regular model is what supplies it.

Formalization scope

  • Items and consumers are finite types X and M, with Nonempty M (m≥1m\ge1m≥1). Valuations satisfy vi>0v_i>0vi​>0 as a field of the instance; the paper says "non-negative", but its reduction (r=m v>0r=m\,v>0r=mv>0) and its ratio vm/v1v_m/v_1vm​/v1​ need positivity.
  • A consumer with Bi=∅B_i=\emptysetBi​=∅ pays 000. Ties among cheapest items do not affect payments, so payments are defined directly.
  • OPTUDP\mathrm{OPT}_{\mathrm{UDP}}OPTUDP​ and UP\mathrm{UP}UP are real suprema over positive price assignments and positive uniform prices; both index sets are nonempty and the revenues are bounded by ∑ivi\sum_i v_i∑i​vi​. Uniform pricing ranges over all q>0q>0q>0, not only valuations.
  • The no-purchase option is not a product: it is P(0,S)=1−∑x∈SP(x,S)\mathcal P(0,S)=1-\sum_{x\in S}\mathcal P(x,S)P(0,S)=1−∑x∈S​P(x,S), and regularity includes axiom (iv) for it. OPT is a maximum over all Finset C; RO is a maximum over the kkk threshold sets only. Distinct revenues are sorted 0-based (Fin k), with r0=0r_0=0r0​=0 handled as a separate case.
  • The paper's +∞+\infty+∞ price for pSp_SpS​ is the real 1+∑ivi1+\sum_i v_i1+∑i​vi​, which exceeds every valuation, as its Remark on p. 18 allows. The valuation set collapses equal valuations.
  • Approximation factors are in product form, OPT≤D⋅RO\mathrm{OPT}\le D\cdot\mathrm{RO}OPT≤D⋅RO; ln⁡\lnln is Real.log applied to ratios ≥1\ge1≥1.
  • Trivializing readings are excluded: Theorem 4.6 is stated for the explicit instance of its proof, not as the bare existence of a regular instance with the same optimum (a single product of revenue OPTUDP\mathrm{OPT}_{\mathrm{UDP}}OPTUDP​ would satisfy that); OPTUDP\mathrm{OPT}_{\mathrm{UDP}}OPTUDP​ ranges over all positive price assignments, not uniform ones; valuations are positive, so no logarithm takes a junk value.
  • Theorem 3.2 is restated here for this mission's copy of the regular model; it is also the goal of mission I of this series. Reusable pieces: the regular choice model and revenue-ordered value, and the UDPmin⁡\mathrm{UDP}_{\min}UDPmin​ model. Contributions of any milestone, and alternative proofs of Lemma 4.5, are welcome.

Selected references

  • G. Berbeglia and G. Joret, Assortment Optimisation Under a General Discrete Choice Model: A Tight Analysis of Revenue-Ordered Assortments, arXiv:1606.01371v3, 2019; Algorithmica 82 (2020). https://arxiv.org/abs/1606.01371
  • G. Aggarwal, T. Feder, R. Motwani and A. Zhu, Algorithms for multi-product pricing, ICALP 2004. https://doi.org/10.1007/978-3-540-27836-8_8
  • V. Guruswami, J. D. Hartline, A. R. Karlin, D. Kempe, C. Kenyon and F. McSherry, On profit-maximizing envy-free pricing, SODA 2005. https://dl.acm.org/doi/10.5555/1070432.1070598
  • P. Rusmevichientong, B. Van Roy and P. W. Glynn, A nonparametric approach to multiproduct pricing, Operations Research 54(1), 2006. https://doi.org/10.1287/opre.1050.0236
  • A. Aouad, V. Farias, R. Levi and D. Segev, The approximability of assortment optimization under ranking preferences, Operations Research 66(6), 2018. https://doi.org/10.1287/opre.2018.1754
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Bandit AlgorithmsMachine LearningOperations Research+1·Captain: mikedeng1

MNL-Bandit: A Dynamic Learning Approach to Assortment Selection II: Under a K-Cardinality Constraint Every Policy Has Regret at Least C√(NT/K)Research Paper

Motivation

A retailer with a large catalogue but a limited display (a web page, a shelf, a search result) must decide which assortment of products to show each arriving customer. Customers choose among the displayed products or leave without buying, and the retailer does not know their preferences in advance; it learns them only from the purchases it observes. This is the MNL-Bandit problem of Agrawal, Avadhanula, Goyal and Zeevi (arXiv:1706.03880v2; Operations Research 67(5), 2019), in which customer choices follow the multinomial logit model, the workhorse of revenue management and marketing.

The same paper gives an epoch-based upper-confidence-bound policy whose regret is at most of order NTlog⁡NT\sqrt{NT\log NT}NTlogNT​ (its Theorem 1). This mission formalizes the matching lower bound, the paper's Theorem 2: under a constraint that at most KKK products be displayed, no policy can have regret smaller than order NT/K\sqrt{NT/K}NT/K​ on every instance. Lower bounds of this kind are what certify that an algorithm is near-optimal rather than merely good.

Timeline. The square-root lower bound for NNN-armed bandits goes back to Auer, Cesa-Bianchi, Freund and Schapire (2002), presented in the survey of Bubeck and Cesa-Bianchi (arXiv:1204.5721, 2012). Rusmevichientong, Shen and Shmoys (2010) and Sauré and Zeevi (2013) minimized regret under MNL choice with explore-then-exploit policies, obtaining O(N2log⁡2T)O(N^2\log^2T)O(N2log2T) and O(Nlog⁡T)O(N\log T)O(NlogT) bounds for instances whose best and second-best assortments are well separated. Agrawal et al. (2017–2019) proved the instance-independent Ω(NT/K)\Omega(\sqrt{NT/K})Ω(NT/K​) lower bound formalized here; Chen and Wang (2017) later obtained Ω(NT)\Omega(\sqrt{NT})Ω(NT​) when K<N/4K<N/4K<N/4.

Setting

There are nnn products. An instance consists of a no-purchase weight v0>0v_0>0v0​>0, attraction parameters v1,…,vnv_1,\dots,v_nv1​,…,vn​ with 0≤vi≤v00\le v_i\le v_00≤vi​≤v0​, and revenues ri∈[0,1]r_i\in[0,1]ri​∈[0,1]. At each period t=1,…,Tt=1,\dots,Tt=1,…,T the seller offers an assortment St⊆{1,…,n}S_t\subseteq\{1,\dots,n\}St​⊆{1,…,n} and observes a choice ct∈St∪{0}c_t\in S_t\cup\{0\}ct​∈St​∪{0}, where 000 means no purchase. Under the multinomial logit (MNL) model,

pi(S)=viv0+∑j∈Svj(i∈S∪{0}),pi(S)=0 otherwise,p_i(S)=\frac{v_i}{v_0+\sum_{j\in S}v_j}\quad(i\in S\cup\{0\}),\qquad p_i(S)=0\ \text{otherwise},pi​(S)=v0​+∑j∈S​vj​vi​​(i∈S∪{0}),pi​(S)=0 otherwise,

and choices are independent across periods given the offered sets. The expected revenue of SSS is R(S,v)=∑i∈Srivi/(v0+∑j∈Svj)R(S,v)=\sum_{i\in S}r_iv_i/(v_0+\sum_{j\in S}v_j)R(S,v)=∑i∈S​ri​vi​/(v0​+∑j∈S​vj​).

A policy chooses StS_tSt​ from the past assortments and choices, possibly at random. It satisfies the KKK-cardinality constraint if ∣St∣≤K|S_t|\le K∣St​∣≤K always. Its regret over TTT periods is

Regπ(T,v)=Eπ(∑t=1TR(S∗,v)−R(St,v)),\mathrm{Reg}_\pi(T,v)=\mathbb E_\pi\Big(\sum_{t=1}^{T}R(S^*,v)-R(S_t,v)\Big),Regπ​(T,v)=Eπ​(t=1∑T​R(S∗,v)−R(St​,v)),

where S∗S^*S∗ maximizes R(⋅,v)R(\cdot,v)R(⋅,v) over assortments of at most KKK products.

A randomized instance is a probability distribution over instances with common known revenues and a common no-purchase weight; the regret against it is averaged over the hidden attraction parameters, the choices and the policy's randomization.

Formalization targets

Goal: Theorem 2 (p. 14)

There is an absolute constant C>0C>0C>0 such that for all n≥2n\ge2n≥2, 1≤K≤n1\le K\le n1≤K≤n and T≥nT\ge nT≥n there is a finitely supported randomized instance, chosen before the policy, such that every policy π\piπ respecting the KKK-cardinality constraint satisfies

Ev[Regπ(T,v)]≥CnTK.\mathbb E_{v}\big[\mathrm{Reg}_\pi(T,v)\big]\ge C\sqrt{\frac{nT}{K}} .Ev​[Regπ​(T,v)]≥CKnT​​.

The constant is not fixed; any positive value suffices.

Milestones

The paper proves Theorem 2 in two cases.

  1. Lemma E.1 (p. 57): the Bernoulli divergence bound kl(α,α+ϵ)≤4ϵ2/α\mathrm{kl}(\alpha,\alpha+\epsilon)\le 4\epsilon^2/\alphakl(α,α+ϵ)≤4ϵ2/α in the direction used by Lemma E.2.
  2. Lemma E.2 (p. 57): for a guessing algorithm on N≥12N\ge12N≥12 coins and t≤Nα/(60ϵ2)t\le N\alpha/(60\epsilon^2)t≤Nα/(60ϵ2), at least N/3N/3N/3 hiding places jjj of the biased coin have Pj(at=j)≤1/2\mathcal P_j(a_t=j)\le 1/2Pj​(at​=j)≤1/2.
  3. Lemma 5.1 (p. 15): on the Bernoulli instance IMABI_{\mathrm{MAB}}IMAB​ with ϵ=1100Nα/T\epsilon=\frac1{100}\sqrt{N\alpha/T}ϵ=1001​Nα/T​, every online algorithm has expected regret at least ϵT/6\epsilon T/6ϵT/6.
  4. Lemma E.4 (p. 60): one period of MNL feedback on the instance I^MNL\hat I_{\mathrm{MNL}}I^MNL​, where ϵ=1/(32T)\epsilon=\sqrt{1/(32T)}ϵ=1/(32T)​, has divergence at most 4ϵ24\epsilon^24ϵ2.
  5. Lemma E.5 (p. 61): over TTT periods the two choice laws of that instance have divergence at most 4Tϵ24T\epsilon^24Tϵ2.

Items 1–3 serve the case K<nK<nK<n, which the paper reduces to a multi-armed bandit through the instance IMNLI_{\mathrm{MNL}}IMNL​ of Definition 5.2 (NKNKNK products in NNN groups of KKK, one hidden group with larger attraction). Items 4–5 serve the case K=nK=nK=n through the two-point instance I^MNL\hat I_{\mathrm{MNL}}I^MNL​ of Definition E.1.

Significance

The theorem shows that the T\sqrt{T}T​ growth of regret in assortment learning cannot be improved, and that the dependence on the number of products is polynomial: when the display size KKK is fixed, the UCB policy of the same paper is optimal up to logarithmic factors (Remark 4). It separates what learning under the MNL model costs from what the combinatorics of the assortment adds, and the reduction it uses, simulating an assortment algorithm inside a bandit algorithm, is reusable for other choice-model bandits.

The result is proved in the paper, with its proof in Appendix E. To our knowledge neither the theorem nor its lemmas have been machine-checked. A formal proof has to repair several printed slips: Lemma 5.1's hypotheses do not exclude α\alphaα close to 111, where the bound fails; the proof of Lemma E.2 uses a form of Pinsker's inequality with a wrong constant; Lemma E.1 states one direction of the divergence and computes the other; and the constants of the K=NK=NK=N case do not match. The formal statements here carry the corrected hypotheses, each disclosed in its note.

Difficulty

The obvious argument fails at the reduction. The bandit lower bound is a statement about algorithms that pull one arm per round, while an assortment policy offers KKK products at once and sees a choice among them. Transferring the bound requires simulating MNL feedback from Bernoulli coins (Algorithm 2 of the paper), whose loop has a random length, and then relating the regret of the simulated assortment algorithm over a random number of calls to the bandit regret over TTT pulls. The paper does this in expectation, and the constants have to be tracked through the random horizon.

A second difficulty is that the lower bound must hold for every policy, including randomized ones, against a single randomized instance fixed in advance. Bounding the regret of each deterministic policy separately is not enough unless the instance does not depend on the policy, which the statement requires. The change-of-measure steps (Lemmas E.2 and E.5) need a chain rule for the divergence between laws of adaptively generated histories.

Formalization scope

Products, periods and arms are 0-based (Fin n); a choice is Option (Fin n) with none the no-purchase alternative. Histories have finite length TTT, laws of histories are explicit products of policy weights and MNL (or Bernoulli) probabilities, and every expectation is a finite sum, so no measurability or integrability side conditions arise. The no-purchase weight v0v_0v0​ is explicit (Definition 5.2 has v0=Kv_0=Kv0​=K). R(S∗,v)R(S^*,v)R(S∗,v) is a maximum over the finite, nonempty family {S:∣S∣≤K}\{S:|S|\le K\}{S:∣S∣≤K}.

Policies are behavioural: at every history they give a probability vector over assortments, which by Kuhn's theorem covers the paper's admissible policies with external randomization. The randomized instance is a finite list of instances with nonnegative weights summing to one; every support point has the same revenues and no-purchase weight, which are known to the seller. The quantifiers are in the paper's order: the constant first, then n,K,Tn,K,Tn,K,T, then the randomized instance, then every policy. A formalization with the policy quantified before the instance, with C=0C=0C=0 allowed, with varying known revenues across hidden support points, or with only deterministic policies, would be weaker and is ruled out.

Hypotheses added to the printed statements: n≥2n\ge2n≥2 and K≥1K\ge1K≥1 in Theorem 2 (the claim fails for n=1n=1n=1 and K=0K=0K=0); 0<α0<\alpha0<α, 0<ϵ0<\epsilon0<ϵ, α+ϵ≤3/4\alpha+\epsilon\le3/4α+ϵ≤3/4 in Lemma E.1; 0<α0<\alpha0<α, 0<ϵ0<\epsilon0<ϵ, 2α+ϵ≤12\alpha+\epsilon\le12α+ϵ≤1 in Lemma E.2; 0<α0<\alpha0<α, 2α+ϵ≤12\alpha+\epsilon\le12α+ϵ≤1, T≥1T\ge1T≥1 in Lemma 5.1. Lemmas E.4 and E.5 use Definition E.1's ϵ=1/(32T)\epsilon=\sqrt{1/(32T)}ϵ=1/(32T)​, with T≥1T\ge1T≥1 and n≥2n\ge2n≥2 so the instance is defined. Lemma E.5 is stated, as in its proof, for deterministic policies.

The development reuses three published definitions: the MNL revenue ChoiceCDLP.MNL.mnlObjective, the Bernoulli divergence RegretBandits.Stochastic.klBern, and the discrete Kullback–Leibler divergence FoundationsRL.GeneralDM.klDivDiscrete (valued in [0,∞][0,\infty][0,∞]). Proved platform results useful to solvers include Pinsker's inequality (BanditAlgorithm.pinsker_inequality_total_variation), the Bernoulli bound d(p,q)≤(q−p)2/(p(2−p−q))d(p,q)\le(q-p)^2/(p(2-p-q))d(p,q)≤(q−p)2/(p(2−p−q)) (BanditAlgorithm.bernoulli_relative_entropy_le_sq_div_of_add_le_one) and a divergence decomposition for bandits. A chain rule for the divergence of finite adaptive histories, and a formal version of the simulation of Algorithm 2, would be reusable beyond this mission; both are welcome as supporting lemmas.

Selected references

  • S. Agrawal, V. Avadhanula, V. Goyal, A. Zeevi, MNL-Bandit: A Dynamic Learning Approach to Assortment Selection, Operations Research 67(5):1453–1485, 2019; preprint arXiv:1706.03880v2. https://arxiv.org/abs/1706.03880 — DOI https://doi.org/10.1287/opre.2018.1832
  • S. Bubeck, N. Cesa-Bianchi, Regret Analysis of Stochastic and Nonstochastic Multi-armed Bandit Problems, Foundations and Trends in Machine Learning 5(1), 2012. https://arxiv.org/abs/1204.5721
  • P. Auer, N. Cesa-Bianchi, Y. Freund, R. E. Schapire, The Nonstochastic Multiarmed Bandit Problem, SIAM Journal on Computing 32(1), 2002. https://doi.org/10.1137/S0097539701398375
  • D. Sauré, A. Zeevi, Optimal Dynamic Assortment Planning with Demand Learning, Manufacturing & Service Operations Management 15(3), 2013. https://doi.org/10.1287/msom.2013.0429
  • X. Chen, Y. Wang, A Note on a Tight Lower Bound for MNL-Bandit Assortment Selection Models, arXiv:1709.06109, 2017. https://arxiv.org/abs/1709.06109
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Algorithmic Game TheoryMarkov ChainProbability·Captain: mikedeng1

The Evolution of Conventions I: In a Weakly Acyclic Game, Adaptive Play with k ≤ m/(L_Γ + 2) Converges Almost Surely to a ConventionResearch Paper

Motivation

A convention is a pattern of behaviour that is customary because everyone expects everyone else to follow it: driving on the right, or which party yields at a narrow bridge. Peyton Young's The Evolution of Conventions (Econometrica 61 (1993) 57–84) asks how such a pattern can emerge from decentralized play. The players have limited memory and limited information, and nobody coordinates them. The paper's model, adaptive play, is now a standard dynamic of learning in games. It is the starting point of the stochastic-stability theory of equilibrium selection (Foster and Young 1990; Kandori, Mailath and Rob 1993), which builds on the perturbation theory of Freidlin and Wentzell (1984).

This mission covers the first half of the paper: §3 (the model) and §4 (convergence when the players make no mistakes). Before mistakes can be added and stochastically stable conventions selected, the unperturbed process must be shown to settle at all. Theorem 1 gives the condition under which it does.

Setting

Let Γ\GammaΓ be a game with finitely many players iii, a finite nonempty strategy set SiS_iSi​ for each player, and payoffs ui(s)u_i(s)ui​(s) for strategy tuples s∈∏jSjs \in \prod_j S_js∈∏j​Sj​. Write (x,s−i)(x, s_{-i})(x,s−i​) for sss with player iii's strategy replaced by xxx.

  • A play is a strategy tuple. Fix a memory mmm and a sample size kkk with 1≤k≤m1 \le k \le m1≤k≤m. The state h∈H=(∏jSj)mh \in H = (\prod_j S_j)^mh∈H=(∏j​Sj​)m is the sequence of the last mmm plays, oldest first.
  • A successor of hhh is obtained by deleting the oldest play and appending a new one.
  • A sample is a set of kkk positions of hhh. Player iii's best reply to a sample KKK maximizes the total payoff ∑t∈Kui(x,(ht)−i)\sum_{t \in K} u_i(x, (h_t)_{-i})∑t∈K​ui​(x,(ht​)−i​) against the sampled plays.
  • A best-reply distribution gives, for each iii and hhh, a probability distribution pi(⋅∣h)p_i(\cdot \mid h)pi​(⋅∣h) on SiS_iSi​ that is positive exactly on the strategies that are best replies to some sample of size kkk. The sampling law itself is arbitrary.
  • Adaptive play P0P^0P0 is the Markov chain on HHH that moves from hhh to the successor with new play sss with probability ∏ipi(si∣h)\prod_i p_i(s_i \mid h)∏i​pi​(si​∣h).
  • A strict Nash equilibrium is a tuple sss from which every unilateral deviation is strictly worse. A convention is a state (s,s,…,s)(s, s, \dots, s)(s,s,…,s) with sss a strict Nash equilibrium.
  • The best-reply graph has an edge s→(x,s−i)s \to (x, s_{-i})s→(x,s−i​) whenever x≠six \ne s_ix=si​ is a best reply of iii to s−is_{-i}s−i​. Γ\GammaΓ is weakly acyclic if from every sss a directed path leads to a sink. L(s)L(s)L(s) is the length of a shortest such path from sss to a strict Nash equilibrium, and LΓ=max⁡sL(s)L_\Gamma = \max_s L(s)LΓ​=maxs​L(s).

Formalization targets

Goal: Theorem 1 (p. 64)

If Γ\GammaΓ is weakly acyclic and k≤m/(LΓ+2)k \le m/(L_\Gamma + 2)k≤m/(LΓ​+2), then for every best-reply distribution and every initial state hhh,

lim⁡t→∞∑h′ a convention((P0)t)hh′=1.\lim_{t\to\infty} \sum_{h' \text{ a convention}} \big((P^0)^t\big)_{hh'} = 1 .t→∞lim​h′ a convention∑​((P0)t)hh′​=1.

Milestones

  1. Absorbing states (§4, p. 62): Phh0=1P^0_{hh} = 1Phh0​=1 if and only if hhh is a convention.
  2. Sinks (§4, p. 64): the sinks of the best-reply graph are exactly the strict Nash equilibria. Hence weak acyclicity means that one-player-at-a-time best replies can reach a strict equilibrium from every tuple.
  3. A run of best replies (proof of Theorem 1, p. 64): if m≥2k−1m \ge 2k-1m≥2k−1, then with positive probability kkk consecutive identical best replies to the last kkk plays are appended.
  4. Uniform bound (proof of Theorem 1, p. 65): there is q>0q > 0q>0 such that from every state a convention is reached within M=kLΓ+mM = kL_\Gamma + mM=kLΓ​+m periods with probability at least qqq.
  5. Geometric tail (proof of Theorem 1, p. 64): such a uniform bound makes the probability of no convention after rMrMrM periods at most (1−q)r(1-q)^r(1−q)r.
  6. Example 2 (pp. 65–66, off the goal's path): in a Battle-of-the-Sexes game with complete sampling k=mk = mk=m, a perfectly miscoordinated history stays miscoordinated forever.

Significance

Theorem 1 identifies a class of games, the weakly acyclic ones, in which boundedly rational players who best-reply to small random samples of the past almost surely lock in to a strict pure equilibrium. The paper's examples of weakly acyclic games (p. 63) are pure coordination games and games with common interests in which no two strategy tuples are payoff equivalent. Absorption is in behaviour, not just in empirical frequencies. Example 2 shows that this fails for fictitious-play-like complete sampling, so the sampling ratio k/mk/mk/m is a real ingredient. The absorbing states identified in the first milestone are the states among which the stochastic-stability analysis of the paper's later sections selects.

The result is proved in the paper. To the best of our knowledge no machine-checked version exists. The mission asks for a formal proof of Theorem 1 and its milestones for an arbitrary best-reply distribution. That generality is the paper's own: non-uniform sampling is explicitly allowed. A formal proof also pins down the memory bookkeeping in the paper's proof (look-backs of 2k−12k-12k−1, 3k−13k-13k−1 and kr+2k−1kr + 2k - 1kr+2k−1 periods), which the text checks only in words.

Difficulty

Adaptive play is a finite Markov chain. The obvious route through the generic theory of absorbing chains requires showing that a convention is reachable from every state, and that is where the argument becomes delicate. A best-reply path in the game cannot be followed directly: each player only sees a random sample, and the players who are not moving must keep playing their old strategies. The proof gets around this by having the non-moving players keep sampling older parts of the history, so those parts must still be in memory. This is what forces the bound k≤m/(LΓ+2)k \le m/(L_\Gamma+2)k≤m/(LΓ​+2). A uniform, state-independent constant is then needed to turn reachability into almost-sure convergence.

Formalization scope

Players form a finite type ι, strategies a family of finite nonempty types S i, and payoffs u : ι → (∀ i, S i) → ℝ. A state is Fin m → ∀ i, S i with position 0 the oldest play. A best-reply distribution is any p : ∀ i, H → S i → ℝ with the stated support. All statements quantify over every such p. Adaptive play is a Matrix H H ℝ, and "converges almost surely to a convention" is stated through matrix powers. That is equivalent to almost-sure absorption because conventions are absorbing. The condition k≤m/(LΓ+2)k \le m/(L_\Gamma+2)k≤m/(LΓ​+2) is k(LΓ+2)≤mk(L_\Gamma+2) \le mk(LΓ​+2)≤m in ℕ. L(s)L(s)L(s) is an sInf on ℕ that is never empty under weak acyclicity.

The display (1) on p. 62 reads "the right-most element of hhh". The formalization uses the right-most element of the successor h′h'h′, the only reading under which the rule is meaningful.

The goal cannot be satisfied trivially. The sampling law is not fixed, the conclusion is a limit equal to 111 from every initial state (not "with positive probability" or "along some path"), and the hypotheses are jointly satisfiable, for example by a 2×22\times22×2 coordination game with uniform sampling. A best reply to a sample uses the joint empirical distribution of the sampled plays, not independent marginals.

A complete development needs elementary Markov-chain facts about matrix powers and absorbing sets, plus combinatorics of shifted histories. These parts are reusable for any finite-memory learning dynamic. Proofs of individual milestones are welcome independently.

Related platform work: stochastic fictitious play in potential games (StochFictPlay.*, Hofbauer–Sandholm 2002) and calibrated learning to correlated equilibrium (CalibratedCE.*, Foster–Vohra 1997) formalize other learning dynamics. The perturbed process and the selection of risk-dominant conventions are the subject of the sibling missions The Evolution of Conventions II and III.

Selected references

  • H. P. Young, The Evolution of Conventions, Econometrica 61(1), 1993, 57–84. https://doi.org/10.2307/2951778
  • D. Foster and H. P. Young, Stochastic Evolutionary Game Dynamics, Theoretical Population Biology 38, 1990, 219–232. https://doi.org/10.1016/0040-5809(90)90011-J
  • M. Kandori, G. J. Mailath and R. Rob, Learning, Mutation, and Long Run Equilibria in Games, Econometrica 61(1), 1993, 29–56. https://doi.org/10.2307/2951777
  • M. I. Freidlin and A. D. Wentzell, Random Perturbations of Dynamical Systems, Springer, 1984. https://doi.org/10.1007/978-1-4684-0176-9
  • J. C. Harsanyi and R. Selten, A General Theory of Equilibrium Selection in Games, MIT Press, 1988.
  • J. Hofbauer and W. H. Sandholm, On the Global Convergence of Stochastic Fictitious Play, Econometrica 70(6), 2002, 2265–2294. https://doi.org/10.1111/1468-0262.00376
  • D. P. Foster and R. V. Vohra, Calibrated Learning and Correlated Equilibrium, Games and Economic Behavior 21, 1997, 40–55. https://doi.org/10.1006/game.1997.0595
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Operations ResearchOptimizationProbability·Captain: mikedeng1

Inventory Control and Price Theory 2: For Style Goods with Uniform Demand Linear in Unit Profit, Expected Profit Is Maximized at P* = ((P₀ − 3L) + √((3L − P₀)² + 16P₀L))/4Research Paper

Pricing and stocking a perishable good

A retailer of style goods — seasonal clothing, newspapers, anything that loses most of its value when the selling period ends — must decide before the season how many units to stock, knowing demand only as a probability distribution. Units left over are liquidated at a loss; units short are sales forgone. This single-period trade-off is the newsvendor problem, and its solution, the critical-fractile rule, is one of the first results of stochastic inventory theory.

In practice the retailer also sets the price, and the price moves the demand distribution. T. M. Whitin's 1955 paper Inventory Control and Price Theory (DOI 10.1287/mnsc.2.1.61) is one of the first to put the two decisions into one model. Its Section 3 restates the critical fractile for a given price, then lets the demand distribution depend on the unit profit and asks for the unit profit and stock that jointly maximize expected profit. For one explicit family of demand laws it solves the problem in closed form. This joint price-setting newsvendor problem later grew into a large literature (Mills 1959, Karlin and Carr 1962, and the survey of Petruzzi and Dada 1999), which cites Whitin's model as its starting point.

Setting

There is one selling period. Stock x≥0x \ge 0x≥0 is on hand at its start. Each unit sold earns the unit profit PPP; each unit left over at the close is liquidated at the unit liquidation loss L>0L > 0L>0.

Demand depends on the unit profit through its mean. The mean demand is the linear function

μ(P)=k (P−P0),\mu(P) = k\,(P - P_0),μ(P)=k(P−P0​),

where P0>0P_0 > 0P0​>0 is the unit profit at which demand falls to zero and kkk is the reciprocal of the slope of the line relating unit profit and amount demanded. Demand decreases in PPP, so k<0k < 0k<0, and the admissible unit profits are 0<P<P00 < P < P_00<P<P0​. At unit profit PPP, demand XXX has the rectangular (uniform) distribution on [0,2μ(P)][0, 2\mu(P)][0,2μ(P)].

The expected marginal profit of the xxx-th unit is f(x)=P Pr⁡(X≥x)f(x) = P\,\Pr(X \ge x)f(x)=PPr(X≥x), the probability that it sells weighted by the unit profit, and the expected marginal loss is g(x)=L Pr⁡(X<x)g(x) = L\,\Pr(X < x)g(x)=LPr(X<x), the probability that it does not sell weighted by the liquidation loss. The expected profit of stocking xxx units at unit profit PPP is the area between them,

E(P,x)=∫0x[f(t)−g(t)] dt,E(P, x) = \int_0^x \big[f(t) - g(t)\big]\,dt,E(P,x)=∫0x​[f(t)−g(t)]dt,

which is the expected profit on sales minus the expected liquidation loss. The equilibrium stock is

xM(P)=−2kP(P0−P)P+L.x_M(P) = -\frac{2kP(P_0 - P)}{P + L}.xM​(P)=−P+L2kP(P0​−P)​.

Formalization targets

Goal: the optimal unit profit (Eq. (16))

With

P∗=(P0−3L)+(3L−P0)2+16P0L4,P^* = \frac{(P_0 - 3L) + \sqrt{(3L - P_0)^2 + 16P_0L}}{4},P∗=4(P0​−3L)+(3L−P0​)2+16P0​L​​,

one has 0<P∗<P00 < P^* < P_00<P∗<P0​, and for all 0<P<P00 < P < P_00<P<P0​ and all x≥0x \ge 0x≥0

E(P,x)≤E(P∗,xM(P∗)),E(P, x) \le E\big(P^*, x_M(P^*)\big),E(P,x)≤E(P∗,xM​(P∗)),

with equality only at (P,x)=(P∗,xM(P∗))(P, x) = (P^*, x_M(P^*))(P,x)=(P∗,xM​(P∗)). The formula for P∗P^*P∗ involves only P0P_0P0​ and LLL: the optimal unit profit is independent of the demand slope kkk.

Milestones, in the order of the paper

  1. Eq. (8) — for a general demand law, profit is maximized at the stock whose probability of being sold is L/(G+P+L)L/(G + P + L)L/(G+P+L) (GGG a goodwill loss per unit short). This is already proved on the platform as SupplyChainTheory.chain_optimal_fractile and enters as a reference.
  2. Eq. (11) — on 0≤x≤2μ(P)0 \le x \le 2\mu(P)0≤x≤2μ(P), f(x)=P2k(P0−P)x+Pf(x) = \frac{P}{2k(P_0 - P)}x + Pf(x)=2k(P0​−P)P​x+P and g(x)=−L2k(P0−P)xg(x) = \frac{-L}{2k(P_0 - P)}xg(x)=2k(P0​−P)−L​x.
  3. Eqs. (10), (13) — on the same range, E(P,x)=P+L4k(P0−P)x2+PxE(P, x) = \frac{P + L}{4k(P_0 - P)}x^2 + PxE(P,x)=4k(P0​−P)P+L​x2+Px.
  4. Eqs. (9), (12) — xM(P)x_M(P)xM​(P) lies in (0,2μ(P))(0, 2\mu(P))(0,2μ(P)), is the only stock with f=gf = gf=g, and is the unique maximizer of E(P,⋅)E(P, \cdot)E(P,⋅) over x≥0x \ge 0x≥0.
  5. Eq. (14) — E(P,xM(P))=−kP2(P0−P)/(P+L)E(P, x_M(P)) = -kP^2(P_0 - P)/(P + L)E(P,xM​(P))=−kP2(P0​−P)/(P+L).
  6. Eq. (15) — the derivative of P↦E(P,xM(P))P \mapsto E(P, x_M(P))P↦E(P,xM​(P)) vanishes exactly when 2P2+(3L−P0)P−2P0L=02P^2 + (3L - P_0)P - 2P_0L = 02P2+(3L−P0​)P−2P0​L=0.
  7. Footnote 7 — the elasticity of mean demand at P∗P^*P∗ equals P∗/(P0−P∗)P^*/(P_0 - P^*)P∗/(P0​−P∗), and it tends to 111 as P0→∞P_0 \to \inftyP0​→∞ with LLL fixed.

Significance

The goal is a complete closed-form solution of a joint pricing-and-stocking problem under uncertainty: one price and one stock level, explicitly, with a proof that no other pair does as well. The independence of the optimal unit profit from kkk says that, in this family, the scale of the market does not affect the optimal margin; only the ratio of the zero-demand margin to the liquidation loss does. Footnote 7 relates the optimum to the classical monopoly rule (unit elasticity) in the limit of a negligible liquidation loss.

Whitin's derivation is calculus on closed forms and was never stated as a theorem with hypotheses. He calls the stationary point of (15) "the optimal PPP" without checking that it is a maximum, that it is global, or that the stock beyond the support of demand cannot do better. The formalization fixes all three: the goal is a statement of global, unique optimality over the whole admissible region. No machine-checked proof of this result, of the price-setting newsvendor, or of the uniform-demand newsvendor exists on the platform; the general critical-fractile rule (8) is the only part of Section 3 already proved there.

Difficulty

The expected profit is defined from the demand law, so the closed forms (11) and (13) must be derived from the uniform distribution — probabilities of half-lines under a conditioned Lebesgue measure, and an interval integral of the resulting piecewise-linear functions. They hold only on the support of demand; beyond 2μ(P)2\mu(P)2μ(P) the marginal profit is 000 and the marginal loss is LLL, and the global statement must cover that region too.

The pricing step is where the paper is loose. Setting the derivative of (14) to zero gives a quadratic with two real roots, and a stationary point of a function on an open interval need not be its maximum. The goal asks for the global maximum over 0<P<P00 < P < P_00<P<P0​ and its uniqueness, and asks that it be the global maximum of the joint problem, not only of the reduced function P↦E(P,xM(P))P \mapsto E(P, x_M(P))P↦E(P,xM​(P)).

Formalization scope

All quantities are real numbers; stock is continuous, as in the paper's calculus. Mean demand is meanDemand k P₀ P = k * (P - P₀) and the paper's sign convention is kept: k<0k < 0k<0 is a hypothesis of every statement, as are L>0L > 0L>0 and 0<P<P00 < P < P_00<P<P0​ (or P0>0P_0 > 0P0​>0 where PPP is not fixed). The demand law is ProbabilityTheory.cond volume (Set.Icc 0 (2 * μ)); fff and ggg use Pr⁡(X≥x)\Pr(X \ge x)Pr(X≥x) and Pr⁡(X<x)\Pr(X < x)Pr(X<x); EEE is an interval integral defined for every xxx.

The paper's loose phrases are read as follows. "Equation (9) may be solved for xxx" becomes uniqueness of the root of f−gf - gf−g on x≥0x \ge 0x≥0; "the equilibrium value of xxx" becomes the unique maximizer of E(P,⋅)E(P, \cdot)E(P,⋅) over x≥0x \ge 0x≥0; "differentiating (14)" becomes a HasDerivAt statement with the explicit derivative for P↦E(P,xM(P))P \mapsto E(P, x_M(P))P↦E(P,xM​(P)), together with the equivalence with (15); "solving (15) gives the optimal PPP" becomes the goal's joint global maximum with equality case; "independent of kkk" is the shape of the formula for P∗P^*P∗; "as P0P_0P0​ becomes large relative to LLL, the optimal elasticity approaches unity" becomes a limit as P0→∞P_0 \to \inftyP0​→∞ with LLL fixed.

Defining EEE by the closed form (13) instead of from the demand law would make milestones (11) and (13) tautologies and would change the model beyond the support of demand; this formalization rules that out. The paper's goodwill loss GGG belongs to the fixed-price model of (8) and does not appear in EEE.

A complete development needs the uniform distribution's tail probabilities, interval integrals of piecewise-linear functions, and one-variable calculus for the quadratic and the cubic P2(P0−P)/(P+L)P^2(P_0 - P)/(P + L)P2(P0​−P)/(P+L); the uniform-law lemmas are reusable for any newsvendor problem with uniform demand. Proofs of the milestones, and alternative arguments for the goal, are welcome.

Selected references

  • T. M. Whitin, Inventory Control and Price Theory, Management Science 2(1), 61–68, 1955. https://doi.org/10.1287/mnsc.2.1.61
  • E. S. Mills, Uncertainty and Price Theory, Quarterly Journal of Economics 73(1), 116–130, 1959. https://doi.org/10.2307/1883828
  • S. Karlin and C. R. Carr, Prices and Optimal Inventory Policy, in Arrow, Karlin and Scarf (eds.), Studies in Applied Probability and Management Science, Stanford University Press, 159–172, 1962.
  • N. C. Petruzzi and M. Dada, Pricing and the Newsvendor Problem: A Review with Extensions, Operations Research 47(2), 183–194, 1999. https://doi.org/10.1287/opre.47.2.183
  • L. V. Snyder and Z.-J. M. Shen, Fundamentals of Supply Chain Theory, 2nd ed., Wiley, 2019, Eq. (14.8) (the critical fractile, formalized on the platform as SupplyChainTheory.chain_optimal_fractile).
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Computational GeometryDynamic ProgrammingOperations Research+1·Captain: mikedeng1

Economic Lot Sizing: An O(n log n) Algorithm That Runs in Linear Time in the Wagner-Whitin Case 1: The Threshold Rule on Efficient Periods Picks an Optimal Next Production PeriodResearch Paper

Motivation

Economic lot sizing asks how to meet a known sequence of demands while deciding when to set up production and how much to carry forward. It is a basic deterministic inventory problem: a setup has a fixed cost, production has a per-unit cost, and inventory may be held for later demand. Recomputing every possible next production period in the standard backward dynamic program takes a quadratic number of candidate comparisons. Wagelmans, Van Hoesel and Kolen use the geometry of cumulative-demand points to identify which candidates can affect the minimum. Their Section 2 gives the threshold rule targeted here. Wagelmans, Van Hoesel and Kolen (1992)

The paper notes independent related work by Aggarwal and Park and by Federgruen and Tzur. The published Prove2Me items for Federgruen and Tzur formalize a forward recursion and its minimal optimal predecessor lists. They address the same planning problem through different state variables; the backward value and efficient periods of this mission are new objects. Wagelmans, Van Hoesel and Kolen (1992), p. S145

Setting

A planning horizon consists of periods 1,…,n1,\dots,n1,…,n, with n≥1n\ge1n≥1, and an extra terminal period n+1n+1n+1. In period iii, a known demand di≥0d_i\ge0di​≥0 must be met without backlogging. The final demand is positive, dn>0d_n>0dn​>0; a trailing zero-demand period could otherwise be deleted. A production setup costs fi≥0f_i\ge0fi​≥0, and every unit produced in that period has a marginal cost ci∈Rc_i\in\mathbb Rci​∈R. The sign of cic_ici​ is unrestricted. Holding costs have been absorbed into these transformed marginal costs, as in Section 1 of the paper. Define the remaining demand D(t)=∑j=tndjD(t)=\sum_{j=t}^{n}d_jD(t)=∑j=tn​dj​, with D(n+1)=0D(n+1)=0D(n+1)=0. If production at iii covers demand until the next production period ttt, then D(i)−D(t)D(i)-D(t)D(i)−D(t) units are produced. Wagelmans, Van Hoesel and Kolen (1992), pp. S146–S147

The backward value G(t)G(t)G(t) starts at G(n+1)=0G(n+1)=0G(n+1)=0 and follows Equation (1). At positive demand, it minimizes fi+ci[D(i)−D(t)]+G(t)f_i+c_i[D(i)-D(t)]+G(t)fi​+ci​[D(i)−D(t)]+G(t) over i<t≤n+1i<t\le n+1i<t≤n+1. When di=0d_i=0di​=0, skipping setup and using G(i+1)G(i+1)G(i+1) is an additional choice. The paper identifies G(t)G(t)G(t) with the optimal cost from ttt onward using the cited zero-inventory property. This mission takes Equation (1) as the definition of GGG; it does not formalize the separate equivalence with the original production-plan formulations. Wagelmans, Van Hoesel and Kolen (1992), p. S147

For a fixed iii, plot the finite points (D(t),G(t))(D(t),G(t))(D(t),G(t)) for i<t≤n+1i<t\le n+1i<t≤n+1. Their lower convex envelope is a piecewise linear graph. Its endpoints and places where its slope changes are breakpoints; the corresponding period indexes form the efficient set EiE_iEi​. Write succ⁡i(t)\operatorname{succ}_i(t)succi​(t) for the next larger index in EiE_iEi​. The consecutive-point ratio is ri(t)=[G(t)−G(succ⁡i(t))]/[D(t)−D(succ⁡i(t))]r_i(t)=[G(t)-G(\operatorname{succ}_i(t))]/[D(t)-D(\operatorname{succ}_i(t))]ri​(t)=[G(t)−G(succi​(t))]/[D(t)−D(succi​(t))]. These objects have no optimization over production policies hidden in their definitions. Wagelmans, Van Hoesel and Kolen (1992), pp. S147–S150

Formalization targets

Efficient candidates

Proposition 1 says every candidate outside EiE_iEi​ can be removed without changing the minimum:

min⁡i<t≤n+1{ci[D(i)−D(t)]+G(t)}=min⁡t∈Ei{ci[D(i)−D(t)]+G(t)}.\min_{i<t\le n+1}\{c_i[D(i)-D(t)]+G(t)\}=\min_{t\in E_i}\{c_i[D(i)-D(t)]+G(t)\}.i<t≤n+1min​{ci​[D(i)−D(t)]+G(t)}=t∈Ei​min​{ci​[D(i)−D(t)]+G(t)}.

The endpoint and slope claims establish the geometry used in this reduction. Proposition 2 compares neighboring efficient periods using ri(t)r_i(t)ri​(t) and cic_ici​. Wagelmans, Van Hoesel and Kolen (1992), pp. S147–S149

Threshold rule and backward value

The selected period is the first efficient index whose ratio falls below the current marginal cost, with the terminal period as fallback:

q(i)=min⁡({n+1}∪{t∈Ei:t<n+1, ri(t)<ci}).q(i)=\min\bigl(\{n+1\}\cup\{t\in E_i:t<n+1,\ r_i(t)<c_i\}\bigr).q(i)=min({n+1}∪{t∈Ei​:t<n+1, ri​(t)<ci​}).

The goal asserts that the full candidate minimum is attained there and that the algorithm's resulting assignment equals G(i)G(i)G(i):

min⁡i<t≤n+1{ci[D(i)−D(t)]+G(t)}=ci[D(i)−D(q(i))]+G(q(i)),\min_{i<t\le n+1}\{c_i[D(i)-D(t)]+G(t)\}=c_i[D(i)-D(q(i))]+G(q(i)),i<t≤n+1min​{ci​[D(i)−D(t)]+G(t)}=ci​[D(i)−D(q(i))]+G(q(i)), G(i)={fi+ci[D(i)−D(q(i))]+G(q(i)),di>0,min⁡{G(i+1),fi+ci[D(i)−D(q(i))]+G(q(i))},di=0.G(i)=\begin{cases}f_i+c_i[D(i)-D(q(i))]+G(q(i)),&d_i>0,\\ \min\{G(i+1),f_i+c_i[D(i)-D(q(i))]+G(q(i))\},&d_i=0.\end{cases}G(i)={fi​+ci​[D(i)−D(q(i))]+G(q(i)),min{G(i+1),fi​+ci​[D(i)−D(q(i))]+G(q(i))},​di​>0,di​=0.​

This states the mathematical choice and value; it does not assert a time bound. Wagelmans, Van Hoesel and Kolen (1992), pp. S149–S150

Significance

The result reduces a finite dynamic-programming minimum to the vertices of a lower envelope and gives an explicit threshold for choosing a minimizing vertex. It explains which future production period the backward recursion may select even when marginal costs are negative or some intermediate demands are zero. The paper uses ordered slopes to implement the selection efficiently; a solver proving the statements here establishes the mathematical correctness of that selection independently of a particular list representation. Wagelmans, Van Hoesel and Kolen (1992), pp. S148–S150

The paper's result is proved in print. The Lean statements are open proof obligations in this proposal. A complete development would add reusable finite lower-envelope facts, including vertex dominance and the order of adjacent slopes, as well as a machine-checked treatment of the zero-demand tie convention. The previously published forward-algorithm items do not supply these backward-recursion facts.

Difficulty

A candidate point can have a smaller value G(t)G(t)G(t) than a neighboring point yet still fail to minimize ci[D(i)−D(t)]+G(t)c_i[D(i)-D(t)]+G(t)ci​[D(i)−D(t)]+G(t) for a given cic_ici​. Comparing raw values alone therefore cannot identify the selected period. The lower envelope must retain exactly the points that can support a line of slope cic_ici​, and their consecutive ratios must be ordered. Zero demand creates repeated abscissae; without a representative rule, a ratio may have denominator zero and the successor is ambiguous. Wagelmans, Van Hoesel and Kolen (1992), pp. S147–S150

Formalization scope

Periods are natural numbers starting at 111; n+1n+1n+1 is the terminal sentinel. Demands, setup costs, marginal costs and values are real numbers. Finite minima use attained Finset.inf', with nonempty domains. The effective score omits the common setup cost fif_ifi​. No sign restriction is imposed on cic_ici​. The efficient set is determined by a finite chord test for lower-envelope vertices: points on a chord are excluded, and at identical abscissa and height the earliest period is retained. This makes explicit the paper's zero-demand replacement convention on p. S150. The successor is used only on nonsentinel efficient periods; there its denominator is positive. Wagelmans, Van Hoesel and Kolen (1992), pp. S147–S150

The algorithm's printed Iterations use d1nd_{1n}d1n​ where dind_{in}din​ is required; the Lean statement uses D(i)−D(q(i))=di,q(i)−1D(i)-D(q(i))=d_{i,q(i)-1}D(i)−D(q(i))=di,q(i)−1​, matching the preceding display and the numerical table. The zero-demand branch explicitly includes skipping setup. The selector is the ratio-threshold rule, rather than an argmin, and the efficient set is the actual lower-envelope vertex set rather than all periods. A finite zero-demand example and Tables I–II are used as verification data. The paper's O(nlog⁡n)O(n\log n)O(nlogn) bound, the binary-search implementation, the amortized list updates, the O(n)O(n)O(n) Wagner–Whitin specialization and the final production-plan construction are outside this mission: they require additional algorithm-state and cost-model statements. Wagelmans, Van Hoesel and Kolen (1992), pp. S149–S152

Selected references

  • A. Wagelmans, S. Van Hoesel and A. Kolen, Economic Lot Sizing: An O(n log n) Algorithm That Runs in Linear Time in the Wagner-Whitin Case, Operations Research 40, Supplement 1 (1992), S145–S156. DOI: 10.1287/opre.40.1.S145
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AnalysisOperations ResearchOptimization·Captain: mikedeng1

Inventory Control and Price Theory 1: With Linear Demand and Economic Lot Sizes, the Profit-Maximizing Price Satisfies the Cubic (7)Research Paper

Motivation

Inventory calculations often take the selling price as fixed, while price calculations often treat the cost of supplying demand as independent of the order policy. Whitin's 1955 model connects the two decisions in one annual-profit calculation. A merchant chooses both the price charged to customers and the size of each replenishment order. Changing the price changes annual demand; changing demand changes the number of orders, inventory carrying cost, and therefore the economic lot size. This makes the selling price and the inventory decision parts of the same optimization problem. Whitin's paper gives a compact example in which the connection can be written down explicitly.

The mission concentrates on Section 2, the stationary-demand model for a stable item. Section 3 of the paper studies style goods under uncertain sales and belongs to a separate mission. The result here concerns a deterministic annual demand curve and continuous order quantities, so a solver can focus on the interaction between a classical economic order quantity calculation and a price first-order condition.

Setting

The price is a real number ppp. Annual demand is the linear function D(p)=ap+bD(p)=ap+bD(p)=ap+b, where aaa and bbb are given real constants. A feasible price has D(p)>0D(p)>0D(p)>0. The paper does not require a<0a<0a<0 in its displayed model, so the formal statements leave the slope unrestricted. Negative aaa is the economically usual decreasing-demand case; in other regimes a joint maximum may simply fail to exist.

The merchant pays a fixed setup cost SSS whenever an order is placed. The purchase cost per unit is CCC, and the annual carrying charge for one unit kept in stock is ICICIC, where III is a carrying-rate factor. If Q>0Q>0Q>0 units are ordered each time, average stock is Q/2Q/2Q/2 and the annual number of orders is D/QD/QD/Q. A per-unit operating cost kkk is incurred on annual demand, and fff is an annual fixed cost. The resulting total variable cost and two-variable annual profit are

TVC⁡(D,Q)=Q2IC+DQS+kD,Π(p,Q)=D(p)p−TVC⁡(D(p),Q)−f.\operatorname{TVC}(D,Q)=\frac Q2 IC+\frac DQ S+kD, \qquad \Pi(p,Q)=D(p)p-\operatorname{TVC}(D(p),Q)-f.TVC(D,Q)=2Q​IC+QD​S+kD,Π(p,Q)=D(p)p−TVC(D(p),Q)−f.

Only pairs with D(p)>0D(p)>0D(p)>0 and Q>0Q>0Q>0 are feasible. For a fixed demand level, the economic lot size is Q∗(D)=2DS/(IC)Q^*(D)=\sqrt{2DS/(IC)}Q∗(D)=2DS/(IC)​. Substituting it into profit gives Whitin's reduced profit

P(p)=ap2+bp−2SIC(ap+b)−k(ap+b)−f.P(p)=ap^2+bp-\sqrt{2SIC(ap+b)}-k(ap+b)-f.P(p)=ap2+bp−2SIC(ap+b)​−k(ap+b)−f.

The paper uses PPP for annual profit in this section. The Lean development calls the two-variable function profit and the function after optimizing QQQ reducedProfit.

Formalization targets

The first target is the unique lot-size minimum in Eq. (3), followed by its value in Eq. (4):

TVC⁡(D,Q∗(D))≤TVC⁡(D,Q)(Q>0),TVC⁡(D,Q∗(D))=2DSIC+kD.\operatorname{TVC}(D,Q^*(D))\leq\operatorname{TVC}(D,Q) \quad(Q>0),\qquad \operatorname{TVC}(D,Q^*(D))=\sqrt{2DSIC}+kD.TVC(D,Q∗(D))≤TVC(D,Q)(Q>0),TVC(D,Q∗(D))=2DSIC​+kD.

Equality in the inequality holds only at Q=Q∗(D)Q=Q^*(D)Q=Q∗(D). The next target is the necessary stationarity condition in Eqs. (6)–(7): when D(p)>0D(p)>0D(p)>0 and the derivative of PPP at ppp is zero,

8a3p3+(16a2b−8ka3)p2+(10ab2−12ka2b+2k2a3)p+2b3−4kab2+2k2a2b−SICa2=0.8a^3p^3+(16a^2b-8ka^3)p^2 +(10ab^2-12ka^2b+2k^2a^3)p +2b^3-4kab^2+2k^2a^2b-SICa^2=0.8a3p3+(16a2b−8ka3)p2+(10ab2−12ka2b+2k2a3)p+2b3−4kab2+2k2a2b−SICa2=0.

The goal joins these steps at a global joint maximum. If a feasible pair (p,Q)(p,Q)(p,Q) maximizes Π\PiΠ over all feasible price and lot-size pairs, then Q=Q∗(D(p))Q=Q^*(D(p))Q=Q∗(D(p)) and ppp satisfies the cubic. The goal is an implication about any joint maximizer; it does not assert that one exists for every demand curve. The cubic is a necessary condition only. Its algebraic roots may include prices that fail the original first-order equation or fail to maximize profit.

Significance

The result gives a concrete relation between a price chosen to maximize annual profit and the ordering cost and carrying charge of the inventory system. The lot-size formula alone optimizes cost at a fixed demand rate. The cubic makes the demand response to price and the resulting inventory cost visible in the price condition. It also specifies what can be inferred from the calculation: an optimal price must satisfy the equation, while selecting an optimum from candidate roots remains a separate question.

The paper already supplies the mathematical result. The formalization task is to represent the joint optimization and verify its necessary conditions in Lean, together with the cost identity on which the reduced-profit expression rests. The published Prove2Me definition InventoryControl_eoq already provides the classical EOQ cost and square-root quantity; this mission uses its cost function and adds Whitin's demand curve and profit. Related inventory results for backorders and multilevel systems describe different models and do not replace the targets here.

Difficulty

At a fixed price, choosing the lot size involves both a term proportional to QQQ and one proportional to 1/Q1/Q1/Q. The optimality statement needs a global inequality and a unique equality case, not merely the observation that a derivative vanishes. After substituting that quantity, the reduced profit contains a square root of the demand curve. Its derivative is meaningful on positive demand, and turning its stationarity equation into the displayed cubic loses information when an equation is squared. A proof therefore has to preserve the implication from optimality to the cubic without promoting all cubic roots to optima.

Formalization scope

The model uses real prices, real demands, and real lot sizes; it does not round order quantities to integers. The hypotheses S,I,C>0S,I,C>0S,I,C>0 make explicit the positive cost and carrying-charge conventions of Section 2. Neither kkk nor fff is assigned a sign, and no sign is imposed on aaa or bbb. The conditions Q>0Q>0Q>0 and D(p)>0D(p)>0D(p)>0 apply to every cost or profit comparison. They exclude Lean's total value for division by zero and the zero value assigned by Real.sqrt to a negative argument. The goal quantifies over every feasible pair in a joint maximum of the original profit, so optimizing QQQ is part of its content. Defining profit only by the reduced formula would erase that claim.

The definitions comprise linear demand, total variable cost, two-variable profit, and reduced profit. The classical EOQ cost comes from the existing InventoryControl_eoq definition; the model-specific layer is small and can be reused in further work on pricing with inventory costs. The theorem targets welcome proofs of the global lot-size inequality, the minimized-cost identity, the stationary cubic, and their combination at a joint maximizer. The paper's quantity-discount footnote is outside this scope because it leaves the revised purchase and carrying-cost model unspecified.

Selected references

  • T. M. Whitin, Inventory Control and Price Theory, Management Science 2(1), 1955, pp. 61–68. DOI: 10.1287/mnsc.2.1.61.
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Operations ResearchOptimizationStochastic Systems·Captain: mikedeng1

Finding Optimal (s, S) Policies Is About As Simple As Evaluating a Single Policy: The Zheng–Federgruen Algorithm Terminates with an Optimal (s, S) Policy and c⁰ = c*Research Paper

Motivation

The (s, S) policy is the standard control rule for a single item reviewed periodically: when the inventory position reaches or drops below a reorder level sss, order enough to bring it up to the order-up-to level SSS. Under a fixed ordering cost and fairly general holding and shortage costs, some (s, S) policy minimizes the long-run average cost among all policies (Veinott 1966). That makes computing the best (s, S) pair a routine subproblem in inventory software, in multi-echelon heuristics, and in textbooks.

Before 1991 the available methods searched a box of candidate pairs. Veinott and Wagner (1965) bounded the optimal sss and SSS and compared policies within the bounds. Later methods (Johnson, Management Science 15, 1968; Bell, SIAM J. Applied Mathematics 18, 1970; Federgruen and Zipkin 1984) used policy iteration or partial enumeration. Zheng and Federgruen (1991) gave an exact search that walks a monotone staircase path through the (s,S)(s,S)(s,S) grid, and showed it costs about as much as evaluating a single policy. The procedure is the one presented in standard inventory texts such as Zipkin's Foundations of Inventory Management (2000).

Setting

One-period demands DDD are i.i.d. and integer valued, with pj=Pr⁡{D=j}p_j=\Pr\{D=j\}pj​=Pr{D=j}, j≥0j\ge0j≥0, and p0<1p_0<1p0​<1. An order costs K>0K>0K>0. G(y)G(y)G(y) is the one-period expected cost when a period starts at inventory position y∈Zy\in\mathbb Zy∈Z. The paper assumes only:

  • −G-G−G is unimodal: for some integer mmm, GGG is nonincreasing on y≤my\le my≤m and nondecreasing on y≥my\ge my≥m;
  • lim⁡∣y∣→∞G(y)>min⁡yG(y)+K\lim_{|y|\to\infty}G(y)>\min_yG(y)+Klim∣y∣→∞​G(y)>miny​G(y)+K.

Write y1∗y_1^*y1∗​ and y2∗y_2^*y2∗​ for the smallest and largest minimizers of GGG. The renewal density mmm and renewal function MMM are

m(0)=(1−p0)−1,m(j)=∑l=0jpl m(j−l) (j≥1),M(0)=0,M(j)=M(j−1)+m(j−1).m(0)=(1-p_0)^{-1},\quad m(j)=\sum_{l=0}^{j}p_l\,m(j-l)\ (j\ge1),\qquad M(0)=0,\quad M(j)=M(j-1)+m(j-1).m(0)=(1−p0​)−1,m(j)=l=0∑j​pl​m(j−l) (j≥1),M(0)=0,M(j)=M(j−1)+m(j−1).

For integers s<Ss<Ss<S, the long-run average cost of the (s, S) policy is

c(s,S)=K+∑j=0S−s−1m(j) G(S−j)M(S−s).c(s,S)=\frac{K+\sum_{j=0}^{S-s-1}m(j)\,G(S-j)}{M(S-s)}.c(s,S)=M(S−s)K+∑j=0S−s−1​m(j)G(S−j)​.

A pair (s,S)(s,S)(s,S) is an optimal policy if c(s,S)≤c(s′,S′)c(s,S)\le c(s',S')c(s,S)≤c(s′,S′) for all integers s′<S′s'<S's′<S′. The optimal cost c∗c^*c∗ is the value of any optimal policy. For fixed SSS, sss is an optimal reorder level if c(s,S)≤c(s′,S)c(s,S)\le c(s',S)c(s,S)≤c(s′,S) for all s′<Ss'<Ss′<S.

The algorithm (§3, p. 659) starts at any minimizer y∗y^*y∗ of GGG.

  • Step 0. Decrease sss from y∗y^*y∗ until c(s,y∗)≤G(s)c(s,y^*)\le G(s)c(s,y∗)≤G(s). Set S0:=y∗S^0:=y^*S0:=y∗, c0:=c(s,S0)c^0:=c(s,S^0)c0:=c(s,S0) and S:=y∗+1S:=y^*+1S:=y∗+1.
  • Step 1. While G(S)≤c0G(S)\le c^0G(S)≤c0: if c(s,S)<c0c(s,S)<c^0c(s,S)<c0, set S0:=SS^0:=SS0:=S, increase sss while c(s,S0)≤G(s+1)c(s,S^0)\le G(s+1)c(s,S0)≤G(s+1), and set c0:=c(s,S0)c^0:=c(s,S^0)c0:=c(s,S0). In either case, S:=S+1S:=S+1S:=S+1.

Formalization targets

Goal: Theorem 1(a)

For every demand law with p0<1p_0<1p0​<1, every K>0K>0K>0, every GGG satisfying the two assumptions, and every minimizer y∗y^*y∗ of GGG, the algorithm terminates. On termination, with final values s,S0,c0s,S^0,c^0s,S0,c0,

c(s,S0)≤c(s′,S′)  for all integers s′<S′,c0=c(s,S0)=c∗.c(s,S^0)\le c(s',S')\ \text{ for all integers } s'<S',\qquad c^0=c(s,S^0)=c^*.c(s,S0)≤c(s′,S′)  for all integers s′<S′,c0=c(s,S0)=c∗.

Milestones

The milestones are the results the paper's justification of the algorithm (p. 659) rests on, in the order it uses them:

  1. the weighted-average identity (6), c(s−1,S)=αnc(s,S)+(1−αn)G(s)c(s-1,S)=\alpha_nc(s,S)+(1-\alpha_n)G(s)c(s−1,S)=αn​c(s,S)+(1−αn​)G(s) with αn=M(n)/M(n+1)\alpha_n=M(n)/M(n+1)αn​=M(n)/M(n+1) and n=S−sn=S-sn=S−s, and Lemma 0 on the comparisons it implies;
  2. Lemma 1(a): a reorder level s0<y1∗s^0<y_1^*s0<y1∗​ with G(s0)≥c(s0,S)≥G(s0+1)G(s^0)\ge c(s^0,S)\ge G(s^0+1)G(s0)≥c(s0,S)≥G(s0+1) (condition (7)) is optimal for SSS;
  3. Corollary 1, the stopping rule of Step 0;
  4. Lemma 2(a)–(c), the bounds y2∗≤S∗y_2^*\le S^*y2∗​≤S∗ and S∗≤Sˉ∗=max⁡{y≥y2∗:G(y)≤c∗}S^*\le\bar S^*=\max\{y\ge y_2^*:G(y)\le c^*\}S∗≤Sˉ∗=max{y≥y2∗​:G(y)≤c∗}, which give the stopping rule of Step 1;
  5. Lemma 3(a), the single-comparison test for improvement, and Corollary 2(b) with Lemma 3(b), which justify the inner loop.

Significance

The result. Theorem 1(a) makes the exact optimum of the (s, S) problem as cheap to compute as the cost of one policy, for any GGG with −G-G−G unimodal. No convexity is needed, and lead times, random lead times of the Zipkin type, and linear purchase costs are allowed. Its bounds (Lemma 2) and the monotone staircase structure of the search also underlie later work on continuous review, discounting and approximation.

Formalizing it. The theorem is proved on paper. As far as we know, none of the results in this mission has a machine-checked proof: the platform's Veinott–Wagner items concern a different (discounted, convex) model. Formalizing it produces a verified correctness proof of a widely implemented algorithm, and checks the paper's lemmas at their edge cases. Two of the printed statements need repair: Lemma 1(b) and Lemma 3(a) (see the scope section).

Difficulty

Optimality is claimed over all pairs s′<S′s'<S's′<S′, an infinite set, but the algorithm visits only a monotone path. The proof therefore has to show that every pair it skips is no better. For a fixed SSS, the skipped reorder levels are handled by the unimodality of c(⋅,S)c(\cdot,S)c(⋅,S) (Lemma 1). The skipped order-up-to levels are handled by the one-comparison test of Lemma 3(a), and those above the stopping point by the bound of Lemma 2(b). An argument from joint convexity or joint unimodality of ccc in (s,S)(s,S)(s,S) is not available. The paper uses no structure of ccc beyond what Lemmas 0–3 state, and these hold only under the side conditions written in them.

Lemma 2(b)'s printed proof leaves the class of (s, S) policies (it uses a randomized order-up-to level). The limit at −∞-\infty−∞ may be finite, so min⁡s<Sc(s,S)\min_{s<S}c(s,S)mins<S​c(s,S) need not be attained for every SSS. Lattice demands, for which mmm vanishes somewhere, create ties between adjacent reorder levels. Each of these breaks a naive transcription of the paper's argument.

Formalization scope

  • Levels s,S,ys,S,ys,S,y are integers. Demand values are natural numbers, and the demand law is the published VeinottWagnerSS.RenewalCost.DemandDist with the extra hypothesis p0<1p_0<1p0​<1. All costs are real.
  • The cost is the ratio above. Equation (1) on p. 655 is misprinted as M(S−s)K+∑⋯M(S-s)K+\sum\cdotsM(S−s)K+∑⋯, and the ratio is the form fixed by (3) and (5). The Lean value c(s,S)c(s,S)c(s,S) for s≥Ss\ge Ss≥S is a junk 000, so every quantifier over reorder levels carries s<Ss<Ss<S.
  • mmm is defined by the solved recursion m(j)=(1−p0)−1∑l=1jpl m(j−l)m(j)=(1-p_0)^{-1}\sum_{l=1}^{j}p_l\,m(j-l)m(j)=(1−p0​)−1∑l=1j​pl​m(j−l) (p. 660), and M(j)=∑i<jm(i)M(j)=\sum_{i<j}m(i)M(j)=∑i<j​m(i).
  • The growth assumption is encoded as: GGG has a minimizer y0y_0y0​ and G(y)>G(y0)+KG(y)>G(y_0)+KG(y)>G(y0​)+K for all but finitely many yyy. Under unimodality this is equivalent to the page's limit condition. It is not strengthened to G→+∞G\to+\inftyG→+∞.
  • Optimality is among (s, S) policies. That an (s, S) policy is optimal among all policies is Veinott (1966) and is neither stated nor used. c∗c^*c∗, c∗(S)c^*(S)c∗(S), yi∗y_i^*yi∗​, Sˉ∗\bar S^*Sˉ∗, Sˉc\bar S_cSˉc​ and s′s's′ are never real infima: they are the cost of a given optimal pair, ∃\exists∃-statements, or binders characterised as least or greatest elements.
  • The algorithm is a step function on the state (s,S,S0,c0,phase)(s,S,S^0,c^0,\text{phase})(s,S,S0,c0,phase) that keeps the paper's order of tests and its weak and strict inequalities. The run with nnn steps returns an output only if the algorithm has terminated.
  • Ruled out as trivializing: comparing only with the pairs the algorithm visits or with a bounded box; assuming termination, or a budget that returns the current state; assuming G→+∞G\to+\inftyG→+∞; leaving c(s,S)c(s,S)c(s,S) unguarded for s≥Ss\ge Ss≥S.
  • Repaired statements. Lemma 3(a) is stated with condition (7) at S0S^0S0 as an extra hypothesis. With s0s^0s0 merely optimal it fails when mmm has a zero: for p=(1/5,0,1/5,3/5)p=(1/5,0,1/5,3/5)p=(1/5,0,1/5,3/5), m(1)=0m(1)=0m(1)=0 and adjacent reorder levels tie. The algorithm always has (7). Lemma 1(b), "an optimal reorder level satisfying (7) exists for every SSS", is false when lim⁡y→−∞G(y)\lim_{y\to-\infty}G(y)limy→−∞​G(y) is finite. An example is D≡2D\equiv2D≡2, K=1K=1K=1, G(0)=5G(0)=5G(0)=5, G(y)=10−0.1⋅2−∣y∣G(y)=10-0.1\cdot2^{-|y|}G(y)=10−0.1⋅2−∣y∣ (y≠0y\neq0y=0), S=1S=1S=1, where no optimal reorder level exists. It is not posed here, and the goal does not depend on it.
  • Not formalized: Theorem 1(b)–(c), the operation counts, which depend on a bookkeeping model described in words; Corollary 3, which the paper notes is not needed for the algorithm; and the variant for a general starting level S0S_0S0​.
  • Welcome contributions: general facts about the discrete renewal density (m≥0m\ge0m≥0, M>0M>0M>0), the identity (6), and lemmas on c(⋅,S)c(\cdot,S)c(⋅,S) that are reusable for related (s, S) and (r, Q) work.

Selected references

  • Y.-S. Zheng and A. Federgruen, Finding Optimal (s, S) Policies Is About As Simple As Evaluating a Single Policy, Operations Research 39(4):654–665, 1991. https://doi.org/10.1287/opre.39.4.654
  • A. F. Veinott Jr. and H. M. Wagner, Computing Optimal (s, S) Inventory Policies, Management Science 11(5):525–552, 1965. https://doi.org/10.1287/mnsc.11.5.525
  • A. F. Veinott Jr., On the Optimality of (s, S) Inventory Policies: New Conditions and a New Proof, SIAM J. Applied Mathematics 14(5):1067–1083, 1966. https://doi.org/10.1137/0114086
  • A. Federgruen and P. Zipkin, An Efficient Algorithm for Computing Optimal (s, S) Policies, Operations Research 32(6):1268–1285, 1984. https://doi.org/10.1287/opre.32.6.1268
  • A. Federgruen and Y.-S. Zheng, An Efficient Algorithm for Computing an Optimal (r, Q) Policy in Continuous Review Stochastic Inventory Systems, Operations Research 40(4):808–813, 1992. https://doi.org/10.1287/opre.40.4.808
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Negative Dynamic Programming IV: Switching at Each Stage to the Policy with the Better Continuation Return Does at Least as Well as Both PoliciesResearch Paper

Motivation

Policy improvement is one of the two classical ways of solving a Markov decision problem: start from a policy, compute its return, and change the decision wherever another action looks better against that return. Howard (1960, Dynamic Programming and Markov Processes) introduced it for finite state and action spaces, and Blackwell (1965) proved it for discounted problems on Borel spaces. A related routine combines two given policies instead of improving one: at each state, follow whichever policy has the larger return there. Eaton and Zadeh (1962, J. Basic Eng. Ser. D 84, 23–29) proved that this combination of two stationary policies is at least as good as both in the negative case with finite state and action spaces (as credited on p. 889 of Strauch's paper).

Strauch's paper Negative Dynamic Programming (Ann. Math. Statist. 37 (1966) 871–890) treats the negative case: all one-stage returns are non-positive (costs) and there is no discounting. This case covers stochastic shortest-path and optimal-stopping problems with positive costs, where expected total returns may be −∞-\infty−∞ and the contraction arguments of the discounted case are not available. Section 9 of the paper shows that both improvement routines remain valid there, for arbitrary randomized history-dependent policies on Borel spaces, and that they fail in the positive case (Examples 4.2 and 9.1 of the paper).

Timeline:

  • 1960, Howard: policy iteration for finite state and action spaces.
  • 1962, Eaton and Zadeh: the two-policy combination for finite negative problems.
  • 1965, Blackwell: both routines for discounted problems with Borel state and action spaces.
  • 1966, Strauch, §9: Howard's routine (Theorem 9.2), the history-dependent switching theorem (Theorem 9.3) and its Markov and stationary forms (Corollaries 9.1, 9.2) in the negative case on Borel spaces.

Setting

The state space SSS and the action space AAA are non-empty Borel sets. The law of motion q(⋅∣s,a)q(\cdot\mid s,a)q(⋅∣s,a) is a probability kernel from S×AS\times AS×A to SSS, and the return r(s,a,t)r(s,a,t)r(s,a,t) is a Borel function with −∞<r≤0-\infty<r\le 0−∞<r≤0 whose one-step expectation ∫r(s,a,t) q(dt∣s,a)\int r(s,a,t)\,q(dt\mid s,a)∫r(s,a,t)q(dt∣s,a) is finite at every (s,a)(s,a)(s,a). There is no discounting (β=1\beta=1β=1).

A policy π=(π1,π2,… )\pi=(\pi_1,\pi_2,\dots)π=(π1​,π2​,…) chooses the nnn-th action ana_nan​ from a probability kernel πn(⋅∣h)\pi_n(\cdot\mid h)πn​(⋅∣h) that may depend on the whole history h=(s1,a1,…,an−1,sn)h=(s_1,a_1,\dots,a_{n-1},s_n)h=(s1​,a1​,…,an−1​,sn​). The expected return from the initial state sss is

I(π)(s)=∑n=1∞π1q⋯πnqr (s)∈[−∞,0],I(\pi)(s)=\sum_{n=1}^{\infty}\pi_1q\cdots\pi_nqr\,(s)\in[-\infty,0],I(π)(s)=n=1∑∞​π1​q⋯πn​qr(s)∈[−∞,0],

the sum of the expected one-stage returns. For a terminal reward w≤0w\le 0w≤0 that depends on the history (s1,a1,…,sn+1)(s_1,a_1,\dots,s_{n+1})(s1​,a1​,…,sn+1​), In(π,w)I_n(\pi,w)In​(π,w) is the expected return of following π\piπ for nnn stages and then receiving www.

Given two policies σ\sigmaσ and τ\tauτ, their continuation returns at a history h=(s1,…,sn)h=(s_1,\dots,s_n)h=(s1​,…,sn​) are

un(h)=∑j=n∞σnq⋯σjqr (h),vn(h)=∑j=n∞τnq⋯τjqr (h),u_n(h)=\sum_{j=n}^{\infty}\sigma_nq\cdots\sigma_jqr\,(h),\qquad v_n(h)=\sum_{j=n}^{\infty}\tau_nq\cdots\tau_jqr\,(h),un​(h)=j=n∑∞​σn​q⋯σj​qr(h),vn​(h)=j=n∑∞​τn​q⋯τj​qr(h),

the expected returns from stage nnn on if σ\sigmaσ, respectively τ\tauτ, is used from hhh on with its own kernels fed the full history. The switching policy π\piπ uses σn\sigma_nσn​ on Bn={un>vn}B_n=\{u_n>v_n\}Bn​={un​>vn​} and τn\tau_nτn​ on its complement. In Lean these objects are contReturn, IsSwitch, wmax (for wn=max⁡(un,vn)w_n=\max(u_n,v_n)wn​=max(un​,vn​)), InH (for In(π,w)I_n(\pi,w)In​(π,w)) and I, in the namespace NegativeDP.Switching.

Formalization targets

Goal: Theorem 9.3 (negative case)

For all policies σ,τ\sigma,\tauσ,τ, the switching rule defines a policy π\piπ, and every such π\piπ satisfies

I(π)≥max⁡(I(σ),I(τ))at every initial state.I(\pi)\ge\max\big(I(\sigma),I(\tau)\big)\quad\text{at every initial state.}I(π)≥max(I(σ),I(τ))at every initial state.

Milestones (proof of Theorem 9.3, p. 888)

With wn=max⁡(un,vn)w_n=\max(u_n,v_n)wn​=max(un​,vn​) and π\piπ the switching policy:

I0(π,w1)=w1=max⁡(I(σ),I(τ)),I_0(\pi,w_1)=w_1=\max(I(\sigma),I(\tau)),I0​(π,w1​)=w1​=max(I(σ),I(τ)), wn=πn(r+un+1) on Bn,wn=πn(r+vn+1) on Bnc,w_n=\pi_n(r+u_{n+1})\text{ on }B_n,\qquad w_n=\pi_n(r+v_{n+1})\text{ on }B_n^c,wn​=πn​(r+un+1​) on Bn​,wn​=πn​(r+vn+1​) on Bnc​, wn≤πn(r+wn+1),In−1(π,wn)≤In(π,wn+1),In−1(π,wn)≥max⁡(I(σ),I(τ)).w_n\le\pi_n(r+w_{n+1}),\qquad I_{n-1}(\pi,w_n)\le I_n(\pi,w_{n+1}),\qquad I_{n-1}(\pi,w_n)\ge\max(I(\sigma),I(\tau)).wn​≤πn​(r+wn+1​),In−1​(π,wn​)≤In​(π,wn+1​),In−1​(π,wn​)≥max(I(σ),I(τ)).

Further results (not milestones)

Theorem 9.2 (Howard): if I(f,π)≥I(π)I(f,\pi)\ge I(\pi)I(f,π)≥I(π) then I(f(∞))≥I(π)I(f^{(\infty)})\ge I(\pi)I(f(∞))≥I(π). Corollary 9.1: the switching theorem for Markov policies, comparing I(n−1σ)I(^{n-1}\sigma)I(n−1σ) and I(n−1τ)I(^{n-1}\tau)I(n−1τ) at the current state. Corollary 9.2 (Eaton–Zadeh): for stationary f(∞),g(∞)f^{(\infty)},g^{(\infty)}f(∞),g(∞), the rule h=fh=fh=f where I(f(∞))≥I(g(∞))I(f^{(\infty)})\ge I(g^{(\infty)})I(f(∞))≥I(g(∞)) and h=gh=gh=g elsewhere satisfies I(h(∞))≥max⁡(I(f(∞)),I(g(∞)))I(h^{(\infty)})\ge\max(I(f^{(\infty)}),I(g^{(\infty)}))I(h(∞))≥max(I(f(∞)),I(g(∞))).

Significance

Theorem 9.3 yields an improvement step that needs only the returns of two policies, not an optimality equation or a value function. Its Markov and stationary forms give policy-combination results usable for stochastic shortest-path and positive-cost problems, and together with Theorem 9.2 they justify policy-iteration schemes in the negative case on general state spaces. Example 9.1 of the paper shows that no comparable routine exists in the positive case, so the sign assumption is essential.

The results are proved in the paper. No machine-checked version of any of them exists, for the negative case or on Borel spaces; the related items on Prove2Me treat finite or discounted models. This mission produces the statements in Lean over Blackwell's published model of history-dependent plans, a construction of continuation returns from an arbitrary history, and terminal rewards that depend on the whole history.

Difficulty

The argument of the discounted case, which passes to the limit through the vanishing tail βnwn\beta^n w_nβnwn​, is not available: with β=1\beta=1β=1 the terminal term does not vanish, and returns may be −∞-\infty−∞. Comparing unu_nun​ and vnv_nvn​ at the current state only is not enough either: for history-dependent policies the continuation returns depend on the whole history, and the switching set BnB_nBn​ must be shown to be Borel in the history before the switching rule is even a policy. The induction also requires integrating extended-real terminal rewards against the history law and identifying the integral of the one-step operator with the next-stage expected return.

Formalization scope

  • Borel sets are non-empty standard Borel types; Baire functions are measurable functions. Policies are Blackwell's DiscountedDP.Stationary.Plan (one Markov kernel per decision, on Hist S A n). Decisions are numbered from 000 in Lean, so Lean's index nnn is the paper's stage n+1n+1n+1.
  • Only the negative case is formalized (r≤0r\le0r≤0 real-valued, qqq-integrable at every (s,a)(s,a)(s,a), β=1\beta=1β=1). The paper states Theorem 9.3 for the discounted and negative cases; the discounted case is not part of this mission.
  • Returns lie in [−∞,0][-\infty,0][−∞,0] and are EReal values computed as minus the lintegral of the loss −r-r−r; Bochner integrals and toReal are never used, so a return of −∞-\infty−∞ is not silently turned into 000. I(π)I(\pi)I(π) is the sum of stage expectations, equal to eπρe_\pi\rhoeπ​ρ by monotone convergence.
  • Terminal rewards are read through their negative parts; they are applied only to wn≤0w_n\le 0wn​≤0.
  • The switching policy is characterized by the predicate IsSwitch, not constructed. A statement "every switching policy satisfies the bound" would hold vacuously if no plan satisfied the rule; the goal therefore also asserts that a switching plan exists, which is the content of the paper's "define π\piπ by". The same pattern is used in Corollaries 9.1 and 9.2 (the rule defines a measurable decision rule).
  • Ties un=vnu_n=v_nun​=vn​ go to τ\tauτ in Theorem 9.3, and I(n−1σ)=I(n−1τ)I(^{n-1}\sigma)=I(^{n-1}\tau)I(n−1σ)=I(n−1τ) to gng_ngn​ in Corollary 9.1 (strict >>> as printed); in Corollary 9.2 ties go to fff (non-strict ≥\ge≥ as printed).
  • Lemma 3.1 (In(π,0)↓I(π)I_n(\pi,0)\downarrow I(\pi)In​(π,0)↓I(π)), used in the last step of the proof, is posed in mission I of this series and not repeated here.

Contributions welcome: measurability of continuation returns in the history (needed for the existence part), the identification of the history law with the continuation law from the initial state, and a Chapman–Kolmogorov identity for the continuation kernels. These are reusable in any development on history-dependent policies over Borel spaces.

Selected references

  • R. E. Strauch, Negative Dynamic Programming, Ann. Math. Statist. 37(4) (1966) 871–890. https://doi.org/10.1214/aoms/1177699369
  • D. Blackwell, Discounted Dynamic Programming, Ann. Math. Statist. 36(1) (1965) 226–235. https://doi.org/10.1214/aoms/1177700285
  • J. H. Eaton and L. A. Zadeh, Optimal pursuit strategies in discrete-state probabilistic systems, J. Basic Eng. Ser. D 84 (1962) 23–29 (reference [7] of Strauch's paper).
  • R. A. Howard, Dynamic Programming and Markov Processes, MIT Press, 1960.
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An Introduction to Timetabling 2: When Every Teacher Is Available in at Most Two Periods, Limited Backtracking Finds a Timetable or Correctly Reports That None ExistsResearch Paper

Motivation

School and university timetabling is one of the oldest applications of combinatorial optimization. In the class–teacher model, classes and teachers must be brought together for a prescribed number of lectures, each lecture occupies one period, and nobody can be in two places at once. With no further side constraints the model reduces to edge colouring of a bipartite multigraph and is solved exactly by König's theorem. Real instances, however, come with preassignments (a class and a teacher must meet at a fixed period) and unavailabilities (a teacher or a class cannot be scheduled at some periods). With these, deciding whether a daily timetable exists is NP-complete, as the paper records citing Even, Itai and Shamir (1976).

D. de Werra's invited review An introduction to timetabling (European Journal of Operational Research 19, 1985) surveys this landscape. In its §2.2 it isolates one restricted case that is easy: when every teacher is available during at most two periods, a limited backtracking method finds a timetable or proves that none exists (Proposition 2.4, attributed to [9], Even–Itai–Shamir). The Remark that follows recasts the procedure as a decision method for stable sets of half the vertices in graphs with a perfect matching, which is the 2-satisfiability problem in graph form.

Setting

There are mmm classes c1,…,cmc_1,\dots,c_mc1​,…,cm​, nnn teachers t1,…,tnt_1,\dots,t_nt1​,…,tn​ and ppp periods of one day. After removing the preassigned lectures, rˉij∈N\bar r_{ij}\in\mathbb Nrˉij​∈N lectures of class cic_ici​ with teacher tjt_jtj​ remain; bˉik∈{0,1}\bar b_{ik}\in\{0,1\}bˉik​∈{0,1} is 111 exactly when class cic_ici​ is available and not preassigned at period kkk; cˉjk∈{0,1}\bar c_{jk}\in\{0,1\}cˉjk​∈{0,1} is 111 exactly when teacher tjt_jtj​ is available and not preassigned at period kkk. A timetable (a solution of CT4) is a 0/10/10/1 array xˉijk\bar x_{ijk}xˉijk​ with

∑kxˉijk=rˉij,∑jxˉijk≤bˉik,∑ixˉijk≤cˉjk.\sum_{k}\bar x_{ijk}=\bar r_{ij},\qquad \sum_{j}\bar x_{ijk}\le\bar b_{ik},\qquad \sum_{i}\bar x_{ijk}\le\bar c_{jk}.k∑​xˉijk​=rˉij​,j∑​xˉijk​≤bˉik​,i∑​xˉijk​≤cˉjk​.

A possible schedule of tjt_jtj​ is the slice yik=xˉijky_{ik}=\bar x_{ijk}yik​=xˉijk​ of a candidate array that satisfies the constraints involving tjt_jtj​ alone. The conflict graph GGG has one node per pair (teacher, possible schedule); two nodes are linked when they are different schedules of the same teacher or put the same class in the same period. When each teacher has exactly two schedules, they are written xjx_jxj​ and xˉj\bar x_jxˉj​, and in Lean the nodes are (j, true) and (j, false) of Fin n × Bool.

The limited backtracking works on such a graph. The implications cl(S)\mathrm{cl}(S)cl(S) of a set SSS of chosen nodes form the least set containing SSS such that whenever uuu is in it and uuu is linked to a node www of another teacher, the other node of www's teacher is in it. A state is either run(A)\mathrm{run}(A)run(A), with AAA the nodes fixed so far, or fail\mathrm{fail}fail. From run(A)\mathrm{run}(A)run(A), for any teacher not yet fixed and any first choice bbb of its node:

  1. if cl(A∪{(j,b)})\mathrm{cl}(A\cup\{(j,b)\})cl(A∪{(j,b)}) is independent, the procedure moves there;
  2. otherwise, if cl(A∪{(j,¬b)})\mathrm{cl}(A\cup\{(j,\lnot b)\})cl(A∪{(j,¬b)}) is independent, it moves there;
  3. otherwise it fails.

Formalization targets

Goal: correctness of the limited backtracking

For every nnn and every graph GGG on Fin n×Bool\mathrm{Fin}\,n\times\mathrm{Bool}Finn×Bool in which xjx_jxj​ and xˉj\bar x_jxˉj​ are linked for all jjj:

(1) the move relation is well founded from run(∅);(2) every reachable run(A) with an unfixed teacher has a move;(3) a reachable run(A) with all teachers fixed has A a set of n pairwise non-adjacent nodes;(4) if fail is reachable, G has no set of n pairwise non-adjacent nodes.\begin{aligned} &\text{(1) the move relation is well founded from } \mathrm{run}(\emptyset);\\ &\text{(2) every reachable } \mathrm{run}(A) \text{ with an unfixed teacher has a move};\\ &\text{(3) a reachable } \mathrm{run}(A) \text{ with all teachers fixed has } A \text{ a set of } n \text{ pairwise non-adjacent nodes};\\ &\text{(4) if } \mathrm{fail} \text{ is reachable, } G \text{ has no set of } n \text{ pairwise non-adjacent nodes.} \end{aligned}​(1) the move relation is well founded from run(∅);(2) every reachable run(A) with an unfixed teacher has a move;(3) a reachable run(A) with all teachers fixed has A a set of n pairwise non-adjacent nodes;(4) if fail is reachable, G has no set of n pairwise non-adjacent nodes.​

All four clauses range over every run of the nondeterministic procedure.

Milestones

  1. A teacher available in at most 222 periods has at most 222 possible schedules.
  2. CT4 has a solution iff its conflict graph has nnn pairwise non-adjacent nodes.
  3. The implications of chosen nodes lie inside every timetable that contains those nodes.
  4. If AAA is independent and closed under implications, GGG has a timetable iff it has one containing AAA.
  5. In a graph G=(X,E)G=(X,E)G=(X,E) with a perfect matching MMM, a stable set has at most ∣X∣/2|X|/2∣X∣/2 nodes, and one of exactly ∣X∣/2|X|/2∣X∣/2 nodes contains one endpoint of every edge of MMM.

Significance

Proposition 2.4 identifies a polynomial special case inside a scheduling problem that the paper cites as NP-complete in general (Even–Itai–Shamir [9]). The correctness of the procedure is what makes that special case tractable. Milestones 1 and 2 reduce the timetabling instance to a graph question, and the goal settles the graph question. Milestone 4 is the reason the method needs to undo only the last decision. It is the graph form of the autarky principle of 2-SAT solving: a closed, consistent partial assignment can always be kept. Milestone 5 extends the method from timetables to any graph with a perfect matching.

On the formal side, no machine-checked treatment of this reduction or of the backtracking argument exists on the platform; 2-SAT, unit propagation and autarky have no items there either. The statements are proved in the paper only in prose, and the propagation and autarky arguments are compressed into a few sentences. A formal proof makes the invariants explicit: what is closed, what is independent, and why a contradiction after a reversed decision is global.

Difficulty

Soundness of a successful run is an invariant argument. Soundness of failure is the hard part. The naive argument "both choices for tjt_jtj​ lead to a contradiction, hence no timetable" is wrong in general backtracking, because an earlier decision might be at fault, and full backtracking would revisit it. The proof has to show that an earlier permanent decision never needs revisiting. This requires that the set of fixed nodes is closed under implications and independent, so that no unscheduled teacher is linked to it. This invariant must be maintained through both the keep and the reverse moves. Termination and progress are routine but must be stated: without them the correctness clauses hold for a procedure that never moves. On the CT4 side, the reduction must check that the class constraint (13)(13)(13) with bˉik∈{0,1}\bar b_{ik}\in\{0,1\}bˉik​∈{0,1} splits exactly into per-teacher availability and pairwise disjointness of schedules.

Formalization scope

  • Data. rˉ,bˉ,cˉ\bar r,\bar b,\bar crˉ,bˉ,cˉ are taken as data; the preassignments that produce them are not modelled. Indices are Fin m, Fin n, Fin p; 0/10/10/1 variables are Bool.
  • Schedules. The page's "each teacher has exactly 2 possible schedules" holds only after its normalisation. The milestone states the faithful bound ≤2\le 2≤2. The CT4-to-graph equivalence is stated for every instance, so its graph has ∑j#{schedules of tj}\sum_j\#\{\text{schedules of }t_j\}∑j​#{schedules of tj​} nodes rather than 2n2n2n.
  • Procedure. The implications are an inductive predicate with no iteration bound. A contradiction is a non-independent set of implications, checked against previously fixed nodes as well. The move relation is an inductive Step with one constructor for each of keep, reverse and fail, so the choice of teacher and of first schedule stays arbitrary.
  • Not formalized. The O(n2)O(n^2)O(n2) running time of Proposition 2.4 and of the Remark has no machine model or constant on the page; termination stands in for it.
  • Ruled out. A goal with only clauses (3)–(4) would be satisfied by a relation with no moves, and a fixed choice rule would prove a weaker statement. The goal therefore includes termination and progress and quantifies over every run.
  • Needed infrastructure. Mathlib's SimpleGraph, IsIndepSet, IsNIndepSet, Subgraph.IsPerfectMatching, Relation.ReflTransGen and Acc. The autarky lemma (Milestone 4) and the propagation lemma (Milestone 3) are reusable for any 2-SAT-type development. Proofs of the milestones, and a bridge from the CT4 instance to the abstract graph on Fin n × Bool in the exactly-two-schedules case, are welcome.

Selected references

  • D. de Werra, An introduction to timetabling, European Journal of Operational Research 19 (1985) 151–162. https://doi.org/10.1016/0377-2217(85)90167-5
  • S. Even, A. Itai, A. Shamir, On the complexity of timetable and multicommodity flow problems, SIAM Journal on Computing 5 (1976) 691–703. https://doi.org/10.1137/0205048
  • B. Aspvall, M. F. Plass, R. E. Tarjan, A linear-time algorithm for testing the truth of certain quantified boolean formulas, Information Processing Letters 8 (1979) 121–123. https://doi.org/10.1016/0020-0190(79)90002-4
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Algorithmic Game TheoryOptimization·Captain: mikedeng1

On General Minimax Theorems 2: Kneser–Fan — If f Is Concave-Convexlike and u.s.c. in μ on Compact M, Then sup inf f = inf sup fResearch Paper

Motivation

A minimax theorem asserts that for a real function f(μ,ν)f(\mu,\nu)f(μ,ν) of two variables the order of optimization does not matter:

sup⁡μinf⁡νf(μ,ν)=inf⁡νsup⁡μf(μ,ν).\sup_{\mu}\inf_{\nu} f(\mu,\nu)=\inf_{\nu}\sup_{\mu} f(\mu,\nu).μsup​νinf​f(μ,ν)=νinf​μsup​f(μ,ν).

In game theory it says that a two-person zero-sum game has a value; in optimization it is the engine behind Lagrangian duality, robust optimization (exchanging the decision and the adversary) and distributionally robust and online-learning bounds, where a worst case over a family of distributions is exchanged with a minimization over decisions.

Most minimax theorems require linear structure: fff concave in μ\muμ and convex in ν\nuν on convex sets. K. Fan observed that a much weaker, purely order-theoretic condition suffices, which he called concavelike and convexlike, and which makes sense on sets with no linear structure at all. This is the setting needed when the strategy sets are, for instance, sets of stopping times, of measurable policies, or of combinatorial objects whose mixtures are only "dominated" by another member of the set.

Timeline:

  • 1928 — J. von Neumann proves the minimax theorem for bilinear payoffs on simplices (finite matrix games).
  • 1952 — H. Kneser proves it for fff concave-convex on a compact convex set and a convex set, with fff upper semicontinuous in the compact variable (Kneser, C. R. Acad. Sci. Paris 234, 1952; reference [6] of Sion's paper).
  • 1953 — K. Fan replaces concavity-convexity by concavelikeness-convexlikeness and removes the linear structure (Fan 1953).
  • 1958 — M. Sion, in On general minimax theorems (Sion 1958), proves the quasi-concave-convex minimax theorem and, in §4, re-derives the Kneser–Fan theorem from a finite-reduction criterion (his Theorems 4.1, 4.1′, 4.2, 4.2′).

Setting

Let MMM and NNN be arbitrary sets and f:M×N→Rf:M\times N\to\mathbb Rf:M×N→R a real-valued function; μ∈M\mu\in Mμ∈M is the maximizing variable and ν∈N\nu\in Nν∈N the minimizing one.

  • fff is concavelike in MMM if for all μ1,μ2∈M\mu_1,\mu_2\in Mμ1​,μ2​∈M and 0≤t≤10\le t\le10≤t≤1 there is one μ∈M\mu\in Mμ∈M with tf(μ1,ν)+(1−t)f(μ2,ν)≤f(μ,ν)t f(\mu_1,\nu)+(1-t)f(\mu_2,\nu)\le f(\mu,\nu)tf(μ1​,ν)+(1−t)f(μ2​,ν)≤f(μ,ν) for every ν∈N\nu\in Nν∈N.
  • fff is convexlike in NNN if for all ν1,ν2∈N\nu_1,\nu_2\in Nν1​,ν2​∈N and 0≤t≤10\le t\le10≤t≤1 there is one ν∈N\nu\in Nν∈N with tf(μ,ν1)+(1−t)f(μ,ν2)≥f(μ,ν)t f(\mu,\nu_1)+(1-t)f(\mu,\nu_2)\ge f(\mu,\nu)tf(μ,ν1​)+(1−t)f(μ,ν2​)≥f(μ,ν) for every μ∈M\mu\in Mμ∈M.
  • fff is concave-convexlike if it is both.

In each definition the witness depends only on the two given points and on ttt, never on the point of the other space. The two values compared are the extended reals

sup⁡inf⁡f=sup⁡μ∈Minf⁡ν∈Nf(μ,ν),inf⁡sup⁡f=inf⁡ν∈Nsup⁡μ∈Mf(μ,ν),\sup\inf f=\sup_{\mu\in M}\inf_{\nu\in N}f(\mu,\nu),\qquad \inf\sup f=\inf_{\nu\in N}\sup_{\mu\in M}f(\mu,\nu),supinff=μ∈Msup​ν∈Ninf​f(μ,ν),infsupf=ν∈Ninf​μ∈Msup​f(μ,ν),

which may be ±∞\pm\infty±∞. In the Lean development these are Concavelike f, Convexlike f, ConcaveConvexlike f, supInf f and infSup f in the namespace SionMinimax.KneserFan. The inequality sup⁡inf⁡f≤inf⁡sup⁡f\sup\inf f\le\inf\sup fsupinff≤infsupf always holds; the theorems assert the reverse.

Formalization targets

Goal: the Kneser–Fan theorem (Theorem 4.2, p. 175)

If MMM is a compact topological space, fff is concave-convexlike, and μ↦f(μ,ν)\mu\mapsto f(\mu,\nu)μ↦f(μ,ν) is upper semicontinuous for each ν∈N\nu\in Nν∈N, then

sup⁡inf⁡f=inf⁡sup⁡f.\sup\inf f=\inf\sup f.supinff=infsupf.

No structure on NNN and no linear structure on MMM are assumed.

Milestones

  • Theorem 4.1′ (p. 175): if fff is concave-convexlike and for every real c>sup⁡inf⁡fc>\sup\inf fc>supinff there is a finite Y⊂NY\subset NY⊂N such that every μ∈M\mu\in Mμ∈M has some y∈Yy\in Yy∈Y with f(μ,y)<cf(\mu,y)<cf(μ,y)<c, then sup⁡inf⁡f=inf⁡sup⁡f\sup\inf f=\inf\sup fsupinff=infsupf.
  • Theorem 4.1 (p. 175): the dual criterion — for every real c<inf⁡sup⁡fc<\inf\sup fc<infsupf a finite X⊂MX\subset MX⊂M such that every ν∈N\nu\in Nν∈N has some x∈Xx\in Xx∈X with f(x,ν)>cf(x,\nu)>cf(x,ν)>c.
  • Theorem 4.2′ (p. 175): the dual of the goal — NNN compact and f(μ,⋅)f(\mu,\cdot)f(μ,⋅) lower semicontinuous for each μ\muμ.

The paper itself states that 4.2 is a special case of 4.1′, which in turn follows from the finite-dimensional minimax theorem. Sion's own minimax theorem (Theorem 3.4 and its Corollary) is already formalized on the platform as FamousTheorems.sion_minimax_theorem and is included in the mission as a reference item.

Significance

The Kneser–Fan theorem is the standard minimax theorem for settings without a natural linear structure. Its finite-reduction form (4.1, 4.1′) isolates the only place where topology enters: compactness and semicontinuity are used solely to replace NNN (or MMM) by a finite set, after which the argument is finite-dimensional. Statements of this kind are used to exchange the order of optimization in robust and distributionally robust optimization, in statistical decision theory (existence of least favourable priors, Wald's complete-class theorems) and in learning theory, where the adversary's set is a space of distributions and the learner's set is a space of hypotheses with no convex parametrization.

The theorem is classical and fully proved in the literature. No machine-checked proof of it is known in Mathlib or on the platform: Mathlib contains Sion's quasi-concave-convex theorem (Topology/Sion.lean) and the platform has the bilinear and quasi-convex cases, but neither covers concavelike-convexlike functions, which are independent of quasi-concave-convex ones. This mission produces machine-checked versions of all four §4 statements in the extended reals, including the degenerate cases where values are infinite.

Difficulty

The obvious reduction, "replace MMM by its convex hull and apply a linear minimax theorem", is unavailable: MMM and NNN are bare sets, so there is no convex hull and no mixed strategy to form. Concavelikeness only promises that a mixture of two strategies is dominated by some third strategy, and this has to be iterated to finite mixtures and combined with a separation argument in RY\mathbb R^YRY for a finite YYY.

The second difficulty is bookkeeping: the minimax values live in [−∞,+∞][-\infty,+\infty][−∞,+∞], the threshold ccc is real, and fff may be unbounded, so every step comparing a real ccc with sup⁡inf⁡f\sup\inf fsupinff or inf⁡sup⁡f\inf\sup finfsupf must handle infinite values; a real-valued supremum would silently replace them by 000.

Formalization scope

  • MMM, NNN are arbitrary Lean types and f:M→N→Rf : M\to N\to\mathbb Rf:M→N→R. For Theorem 4.2 the type MMM carries an arbitrary topology with CompactSpace M; for 4.2′, NNN carries one with CompactSpace N. No Hausdorff, metric or linear structure is assumed.
  • "Upper (lower) semi-continuous in μ\muμ for each ν\nuν" is Mathlib's UpperSemicontinuous (fun μ => f μ ν) (resp. LowerSemicontinuous (fun ν => f μ ν)) on the whole compact space.
  • sup⁡inf⁡f\sup\inf fsupinff and inf⁡sup⁡f\inf\sup finfsupf are EReal-valued (⨆ μ, ⨅ ν, (f μ ν : EReal) and its dual); the threshold ccc in 4.1, 4.1′ is a real number compared through the coercion; the finite sets are Finsets chosen after ccc.
  • Added reading. Every statement assumes Nonempty M ∨ Nonempty N. When M=N=∅M=N=\varnothingM=N=∅ all printed hypotheses hold vacuously (take X=∅X=\varnothingX=∅ or Y=∅Y=\varnothingY=∅), yet sup⁡inf⁡f=sup⁡∅=−∞\sup\inf f=\sup\varnothing=-\inftysupinff=sup∅=−∞ and inf⁡sup⁡f=inf⁡∅=+∞\inf\sup f=\inf\varnothing=+\inftyinfsupf=inf∅=+∞, so the printed statements fail only in that corner. When exactly one of the sets is empty both sides coincide and that case is kept. No printed slip is corrected; the milestone texts are verbatim.
  • Ruled out. The concavelike/convexlike witnesses are chosen before the universally quantified point of the other space; reversing the quantifiers would make every function with pointwise maximizers concavelike and the theorems false. The definitions contain no compactness or finite-cover property, and there is no linear structure through which concavity could be substituted for concavelikeness.
  • Infrastructure. A complete development needs the extension of concavelikeness to finite convex combinations, a finite-dimensional separation (or a finite minimax) lemma for RY\mathbb R^YRY, and lemmas on EReal suprema of real-valued families; these are reusable for any minimax result without linear structure. Contributions proving the milestones independently, or deriving 4.1′ from the referenced Sion theorem by embedding into a simplex, are welcome.

Selected references

  • M. Sion, On general minimax theorems, Pacific Journal of Mathematics 8(1), 171–176, 1958. https://doi.org/10.2140/pjm.1958.8.171
  • K. Fan, Minimax theorems, Proceedings of the National Academy of Sciences 39, 42–47, 1953. https://doi.org/10.1073/pnas.39.1.42
  • H. Kneser, Sur un théorème fondamental de la théorie des jeux, Comptes Rendus de l'Académie des Sciences Paris 234, 2418–2420, 1952 (cited as [6] in Sion 1958, https://doi.org/10.2140/pjm.1958.8.171).
  • H. Nikaidô, On von Neumann's minimax theorem, Pacific Journal of Mathematics 4, 65–72, 1954. https://doi.org/10.2140/pjm.1954.4.65
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Operations ResearchOptimization·Captain: mikedeng1

Some Theoretical Aspects of Road Traffic Research IV: Optimum Phase Times of a Two-Phase Fixed-Time Signal — When the Minimum Cycle Minimizes Average Delay, and the Optimum OtherwiseResearch Paper

Motivation

A fixed-time traffic signal is set by two numbers per phase: how long the green lasts and, through the other phase's green, how long the red lasts. Traffic engineers in the early 1950s set signals by Adams' formula, the shortest cycle that can clear the arriving traffic, on the working assumption that the shortest feasible cycle also gives the least delay. J. G. Wardrop's 1952 paper Some theoretical aspects of road traffic research (DOI 10.1680/ipeds.1952.11259), the paper that also introduced the two Wardrop principles of route choice, tested that assumption analytically for a two-phase signal with uniform arrivals. Appendix IV shows that the shortest cycle is optimal only under an explicit condition on the flows, and gives the optimal cycle when the condition fails. Its numerical example (p. 339) lengthens the cycle by 75 per cent and reduces the overall mean delay by 11 per cent, a case that arises when one phase serves a minor road.

The question was taken up by F. V. Webster's 1958 delay formula and optimum-cycle rule for random arrivals, which became the standard practice; the deterministic two-phase analysis here is its uniform-flow precursor.

Setting

A two-phase signal serves two streams. For phase k∈{1,2}k \in \{1,2\}k∈{1,2}:

  • qkq_kqk​ is the arriving flow (vehicles per unit time);
  • pkp_kpk​ is the saturation flow, the rate at which a queue discharges at minimum headway;
  • aka_kak​ is the lost time, the delay of the first vehicle at the start of green;
  • gkg_kgk​ is the green time and rkr_krk​ the red time, with r1=g2r_1 = g_2r1​=g2​ and r2=g1r_2 = g_1r2​=g1​.

The totals are Q=q1+q2Q = q_1 + q_2Q=q1​+q2​, A=a1+a2A = a_1 + a_2A=a1​+a2​, and the cycle time c=g1+g2c = g_1 + g_2c=g1​+g2​. Vehicles do not accumulate indefinitely on phase kkk when the green, less its lost time, can clear one cycle's arrivals: qkc≤pk(gk−ak)q_k c \le p_k(g_k - a_k)qk​c≤pk​(gk​−ak​). Equality on both phases (both greens saturated) gives Adams' formula

c=A1−q1/p1−q2/p2.(12)c = \frac{A}{1 - q_1/p_1 - q_2/p_2}. \tag{12}c=1−q1​/p1​−q2​/p2​A​.(12)

The flow-weighted average delay at the intersection is

T=12Qc{q1(r1+a1)21−q1/p1+q2(r2+a2)21−q2/p2}.(16)T = \frac{1}{2Qc}\left\{\frac{q_1(r_1+a_1)^2}{1 - q_1/p_1} + \frac{q_2(r_2+a_2)^2}{1 - q_2/p_2}\right\}. \tag{16}T=2Qc1​{1−q1​/p1​q1​(r1​+a1​)2​+1−q2​/p2​q2​(r2​+a2​)2​}.(16)

Appendix IV changes variables to the effective-red fractions x=(r1+a1)/cx = (r_1+a_1)/cx=(r1​+a1​)/c and y=(r2+a2)/cy = (r_2+a_2)/cy=(r2​+a2​)/c. With

ξ=1−q1p1,η=1−q2p2,λ=Aq12Qξ,μ=Aq22Qη,\xi = 1 - \frac{q_1}{p_1},\quad \eta = 1 - \frac{q_2}{p_2},\quad \lambda = \frac{Aq_1}{2Q\xi},\quad \mu = \frac{Aq_2}{2Q\eta},ξ=1−p1​q1​​,η=1−p2​q2​​,λ=2QξAq1​​,μ=2QηAq2​​,

one has c=A/(x+y−1)c = A/(x+y-1)c=A/(x+y−1), the no-accumulation conditions become x≤ξx \le \xix≤ξ and y≤ηy \le \etay≤η, and

T(x,y)=λx2+μy2x+y−1.T(x,y) = \frac{\lambda x^2 + \mu y^2}{x + y - 1}.T(x,y)=x+y−1λx2+μy2​.

The feasible region is F={(x,y):x≤ξ, y≤η, x+y>1}F = \{(x,y) : x \le \xi,\ y \le \eta,\ x + y > 1\}F={(x,y):x≤ξ, y≤η, x+y>1}. Its corner (ξ,η)(\xi,\eta)(ξ,η) is the minimum cycle (12). The phases are labelled so that λ≥μ\lambda \ge \muλ≥μ.

Formalization targets

Goal: the optimum phase times

Put

D=μλη2+2ξ(1−η)−ξ2,x0=1−η+(1−η)2+μλη2.D = \frac{\mu}{\lambda}\eta^2 + 2\xi(1-\eta) - \xi^2, \qquad x_0 = 1 - \eta + \sqrt{(1-\eta)^2 + \frac{\mu}{\lambda}\eta^2}.D=λμ​η2+2ξ(1−η)−ξ2,x0​=1−η+(1−η)2+λμ​η2​.

For λ≥μ>0\lambda \ge \mu > 0λ≥μ>0, 0<ξ,η<10 < \xi, \eta < 10<ξ,η<1 and ξ+η>1\xi + \eta > 1ξ+η>1:

D>0  ⟹  T(ξ,η)=min⁡FT,D≤0  ⟹  (x0,η)∈F and T(x0,η)=min⁡FT.D > 0 \implies T(\xi,\eta) = \min_{F} T, \qquad D \le 0 \implies (x_0,\eta) \in F \text{ and } T(x_0,\eta) = \min_F T.D>0⟹T(ξ,η)=Fmin​T,D≤0⟹(x0​,η)∈F and T(x0​,η)=Fmin​T.

At D=0D = 0D=0, x0=ξx_0 = \xix0​=ξ, so the second formula gives the minimum cycle. This boundary case belongs to the page's final “if this condition is not satisfied” clause.

Milestones (Appendix IV, in the order of the argument)

  1. The partial derivatives at the corner:
[∂T∂x]ξ,η=λξ2−μη2−2λξ(1−η)(ξ+η−1)2,[∂T∂y]ξ,η=μη2−λξ2−2μη(1−ξ)(ξ+η−1)2.\left[\frac{\partial T}{\partial x}\right]_{\xi,\eta} = \frac{\lambda\xi^2 - \mu\eta^2 - 2\lambda\xi(1-\eta)}{(\xi+\eta-1)^2},\qquad \left[\frac{\partial T}{\partial y}\right]_{\xi,\eta} = \frac{\mu\eta^2 - \lambda\xi^2 - 2\mu\eta(1-\xi)}{(\xi+\eta-1)^2}.[∂x∂T​]ξ,η​=(ξ+η−1)2λξ2−μη2−2λξ(1−η)​,[∂y∂T​]ξ,η​=(ξ+η−1)2μη2−λξ2−2μη(1−ξ)​.
  1. If both are negative, (ξ,η)(\xi,\eta)(ξ,η) minimizes TTT over FFF.
  2. When λ≥μ\lambda \ge \muλ≥μ, (ξ+η−1)2[∂T/∂y]ξ,η=−μ{2η(1−η)+(ξ−η)2}−(λ−μ)ξ2<0(\xi+\eta-1)^2[\partial T/\partial y]_{\xi,\eta} = -\mu\{2\eta(1-\eta) + (\xi-\eta)^2\} - (\lambda-\mu)\xi^2 < 0(ξ+η−1)2[∂T/∂y]ξ,η​=−μ{2η(1−η)+(ξ−η)2}−(λ−μ)ξ2<0.
  3. [∂T/∂x]ξ,η<0[\partial T/\partial x]_{\xi,\eta} < 0[∂T/∂x]ξ,η​<0 if and only if D>0D > 0D>0.
  4. If D<0D < 0D<0, x0x_0x0​ is the unique root of λx2−μη2−2λx(1−η)=0\lambda x^2 - \mu\eta^2 - 2\lambda x(1-\eta) = 0λx2−μη2−2λx(1−η)=0 in 0<x<ξ0 < x < \xi0<x<ξ.

Companions

Adams' formula (12) and the minimality of its cycle; the change of variables from (16) to T(x,y)T(x,y)T(x,y); and the translation into the original quantities: λ≥μ\lambda \ge \muλ≥μ iff 1/q1−1/p1≤1/q2−1/p21/q_1 - 1/p_1 \le 1/q_2 - 1/p_21/q1​−1/p1​≤1/q2​−1/p2​, D>0D > 0D>0 iff q1(1−q1/p1)−q2(1−q2/p2)<2q1q2/p2q_1(1 - q_1/p_1) - q_2(1 - q_2/p_2) < 2q_1q_2/p_2q1​(1−q1​/p1​)−q2​(1−q2​/p2​)<2q1​q2​/p2​, and the delay-minimizing cycle c=A/(q2/p2)2+(q2/q1)(1−q1/p1)(1−q2/p2)c = A/\sqrt{(q_2/p_2)^2 + (q_2/q_1)(1 - q_1/p_1)(1 - q_2/p_2)}c=A/(q2​/p2​)2+(q2​/q1​)(1−q1​/p1​)(1−q2​/p2​)​ when D≤0D \le 0D≤0.

Significance

The result gives a closed-form test for whether the minimum cycle is the delay-optimal cycle of a two-phase fixed-time signal with uniform flows, and the optimal cycle when it is not. It shows that the common assumption, shortest cycle equals best cycle, can fail, and identifies when: the test depends on the flow ratios and on which phase is the heavier one in the sense of 1/q−1/p1/q - 1/p1/q−1/p. In the failing case the optimum keeps the minor phase saturated and lengthens only the major phase's green.

The result is proved on the page by a short calculus argument. It has not been machine-checked anywhere known to this mission. The formal work is to establish the global optimality claims behind the page's local reasoning, to pin down the hypotheses the page uses silently (positivity of flows and lost times, the capacity condition, the phase labelling), and to correct the printed slips listed under Formalization scope. The reparametrization and the original-quantity forms tie the abstract statement back to signal settings.

Difficulty

The page argues locally: at the corner both partial derivatives are negative, and "the only possible changes in xxx and yyy are reductions", so TTT is a minimum. Negative partial derivatives at a corner of the region show that no small reduction helps; they do not by themselves exclude a better point far from the corner. The global claim needs a property of TTT on the whole region x+y>1x + y > 1x+y>1, not just at one point. The second case has the same issue: the page locates a critical point on the edge y=ηy = \etay=η and needs, in addition, that no interior or other boundary point does better. The algebra of the corner criterion is routine; the global minimality is the step that carries the content.

Formalization scope

All quantities are real numbers. The objects are delayT lam mu x y =T(x,y)= T(x,y)=T(x,y), feasibleXY xi eta =F= F=F, cornerD =D= D=D, edgeRoot =x0= x_0=x0​, the maps xiOf, etaOf, lamOf, muOf from the flows to ξ,η,λ,μ\xi,\eta,\lambda,\muξ,η,λ,μ, and avgDelay16, the right side of (16). Derivatives are stated with HasDerivAt on the one-variable sections of TTT; minimality is the explicit inequality T(⋅)≤T(z)T(\cdot) \le T(z)T(⋅)≤T(z) for every z∈Fz \in Fz∈F.

Conventions and added hypotheses, each presupposed by the page:

  • x+y>1x + y > 1x+y>1 is part of FFF: it is c>0c > 0c>0 through c=A/(x+y−1)c = A/(x+y-1)c=A/(x+y−1). Without it, TTT would take Lean's junk value 000 on the line x+y=1x + y = 1x+y=1 and negative values beyond it, and the minimum would be meaningless.
  • ξ+η>1\xi + \eta > 1ξ+η>1, i.e. q1/p1+q2/p2<1q_1/p_1 + q_2/p_2 < 1q1​/p1​+q2​/p2​<1: the minimum cycle is positive and FFF is nonempty. Without it both parts of the goal hold vacuously.
  • 0<ξ0 < \xi0<ξ, 0<η0 < \eta0<η (qk<pkq_k < p_kqk​<pk​), λ,μ>0\lambda, \mu > 0λ,μ>0, and the labelling λ≥μ\lambda \ge \muλ≥μ, which the page imposes by interchanging the phases. Case 1 of the goal is false without λ≥μ\lambda \ge \muλ≥μ.
  • In the companions: 0<qk<pk0 < q_k < p_k0<qk​<pk​, Q=q1+q2>0Q = q_1 + q_2 > 0Q=q1​+q2​>0, and positive total lost time AAA (or A≠0A \ne 0A=0 for Adams' formula), which keeps the divisions in (12) and in c=A/(x+y−1)c = A/(x+y-1)c=A/(x+y−1) from being junk.

The goal is stated in λ,μ,ξ,η\lambda,\mu,\xi,\etaλ,μ,ξ,η alone, which is all Appendix IV uses; the companions connect them to the flows.

Printed slips, corrected in the Lean and named in each item: (ξ+η)2(\xi+\eta)^2(ξ+η)2 for (ξ−η)2(\xi-\eta)^2(ξ−η)2 in the expression for ∂T/∂y\partial T/\partial y∂T/∂y (p. 359); the range "0<x<η0 < x < \eta0<x<η" for 0<x<ξ0 < x < \xi0<x<ξ (p. 359); "≥\ge≥" for ≤\le≤ in the original-quantity form of λ≥μ\lambda \ge \muλ≥μ (p. 359); and "c+ac + ac+a", "a/(x+y−1)a/(x+y-1)a/(x+y−1)", "η=1−q1/p1\eta = 1 - q_1/p_1η=1−q1​/p1​" for c+Ac + Ac+A, A/(x+y−1)A/(x+y-1)A/(x+y−1), η=1−q2/p2\eta = 1 - q_2/p_2η=1−q2​/p2​ (p. 358).

Stating the goal as "the partial derivatives at (ξ,η)(\xi,\eta)(ξ,η) are negative" would replace the theorem by its mechanism; the goal is minimality over the whole feasible region. Not covered: the delay formula (13) and its heuristic derivation in Appendix III, the approximation (14), and the rounded numerical example of p. 339.

Contributions are welcome on every milestone and companion. General facts about functions of the form (λx2+μy2)/(x+y−1)(\lambda x^2 + \mu y^2)/(x+y-1)(λx2+μy2)/(x+y−1) on the half-plane x+y>1x + y > 1x+y>1 are reusable beyond traffic signals.

Selected references

  • J. G. Wardrop, Some theoretical aspects of road traffic research, Proceedings of the Institution of Civil Engineers, Part II, 1 (1952), 325–362. https://doi.org/10.1680/ipeds.1952.11259
  • A. J. H. Clayton, Road traffic calculations, Journal of the Institution of Civil Engineers 16 (1941), p. 247. Cited by Wardrop (his ref. 7) as the source of Adams' formula and of the delay formulae.
  • F. V. Webster, Traffic signal settings, Road Research Technical Paper No. 39, HMSO, London, 1958.
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Algorithmic Game TheoryOperations ResearchOptimization·Captain: mikedeng1

Some Theoretical Aspects of Road Traffic Research II: Equal Journey Times on Alternative Routes — Exactly the Routes with bᵢ < t Are Used, qᵢ = pᵢ(1 − bᵢ/t)Research Paper

Motivation

Planning a road improvement requires an estimate of how traffic will redistribute over the routes affected. Because speed falls as flow rises, sending every vehicle along the route that is quickest today changes which route is quickest. J. G. Wardrop posed the question in its simplest setting in 1952: a given flow QQQ chooses among DDD alternative routes between one origin and one destination, and the journey time on each route rises with the flow on it. He proposed two criteria for the resulting distribution. The first, equal journey times, became known as Wardrop's first principle or user equilibrium: "the journey times on all the routes actually used are equal, and less than those which would be experienced by a single vehicle on any unused route." It describes the state in which no driver can shorten their trip by switching routes, and it is the equilibrium notion behind traffic-assignment models and the theory of selfish routing.

Timeline:

  • 1952. Wardrop states both criteria and, for parallel routes with journey times of the form (22), derives the closed-form equal-times split (23)–(24) (Wardrop 1952, p. 345).
  • 1956. Beckmann, McGuire and Winsten show that, on general networks with increasing link costs, the equal-times conditions are the optimality conditions of a convex program, which gives existence and uniqueness of link flows (Beckmann et al. 1956).
  • 2014. Kelly and Yudovina give a textbook treatment of the network case (Kelly–Yudovina 2014, ch. 4); its existence theorem is on Prove2Me for total, continuous, increasing delay functions.

Setting

There are DDD routes, i=1,…,Di = 1, \dots, Di=1,…,D. Route iii has two positive constants: bib_ibi​, its journey time when no additional traffic uses it, and pip_ipi​, the additional flow at which its speed would drop to zero. When an additional flow xxx uses route iii, its journey time is

ti(x)=bi1−x/pi,0≤x<pi.(22)t_i(x) = \frac{b_i}{1 - x/p_i}, \qquad 0 \le x < p_i. \tag{22}ti​(x)=1−x/pi​bi​​,0≤x<pi​.(22)

This form comes from a linear speed/flow relation on each route. A feasible split of the total flow QQQ is a vector q=(q1,…,qD)q = (q_1, \dots, q_D)q=(q1​,…,qD​) with 0≤qi<pi0 \le q_i < p_i0≤qi​<pi​ and ∑iqi=Q\sum_i q_i = Q∑i​qi​=Q. A feasible split qqq satisfies the equal-times criterion with common time ttt when

  • every used route (qi>0q_i > 0qi​>0) has ti(qi)=tt_i(q_i) = tti​(qi​)=t, and
  • every unused route (qi=0q_i = 0qi​=0) has t≤bit \le b_it≤bi​, so a single vehicle could not do better than ttt by moving to it.

Write U(t)={i:bi<t}U(t) = \{ i : b_i < t \}U(t)={i:bi​<t} for the routes whose empty-route time is below ttt. In Lean these objects are routeTime b p i x, IsFeasible p Q q, IsEqualTimes b p Q q t and usedSet b t, all in the namespace WardropTraffic.EqualTimes.

Formalization targets

Goal: the closed form (23)–(24)

For every QQQ, ttt and qqq, the split qqq is feasible and satisfies the equal-times criterion with common time ttt if and only if

qi={pi(1−bit)bi<t,0otherwise,Q=∑i∈U(t)pi−1t∑i∈U(t)pibi.q_i = \begin{cases} p_i\left(1 - \dfrac{b_i}{t}\right) & b_i < t,\\[4pt] 0 & \text{otherwise,}\end{cases} \qquad Q = \sum_{i \in U(t)} p_i - \frac{1}{t}\sum_{i \in U(t)} p_i b_i .qi​=⎩⎨⎧​pi​(1−tbi​​)0​bi​<t,otherwise,​Q=i∈U(t)∑​pi​−t1​i∈U(t)∑​pi​bi​.

This states which routes are used, the flow on each, and the relation between the total flow and the common journey time. The milestones are the steps of Wardrop's derivation:

  1. ti(x)≥bit_i(x) \ge b_iti​(x)≥bi​ for 0≤x<pi0 \le x < p_i0≤x<pi​, with equality exactly when x=0x = 0x=0;
  2. a route in use has bi<tb_i < tbi​<t;
  3. every route with bi<tb_i < tbi​<t is in use;
  4. on a route in use, qi=pi(1−bi/t)q_i = p_i(1 - b_i/t)qi​=pi​(1−bi​/t), equation (23).

Companion: the equal-times split exists and is unique

If 0<Q<∑ipi0 < Q < \sum_i p_i0<Q<∑i​pi​, there is exactly one pair (q,t)(q, t)(q,t) satisfying the criterion. This formalizes the paper's closing sentence, that the solution is found "by picking out the value of ttt which corresponds to the given QQQ".

Significance

The result. For parallel routes with journey times (22), the equilibrium is explicit. The common time ttt is the root of a single scalar equation (24), and the flows follow from ttt by (23). The derivation also shows a threshold structure: a route is used if and only if its empty-route time is below the equilibrium time. Adding flow raises ttt, and the routes enter the set in use one at a time, in increasing order of bib_ibi​. This structure is what the paper's second criterion (minimum average time, the next mission of this series) is compared with.

Formalizing it. The result is classical and its proof is elementary; it has not been machine-checked. The platform has the existence of a Wardrop equilibrium on general networks for delay functions that are total, continuous and increasing on R\mathbb RR, with no closed form. That model excludes the vertical asymptote of (22) at qi=piq_i = p_iqi​=pi​ and has no empty-route time bib_ibi​. This mission adds the closed-form characterization for Wardrop's own model, both directions of it, and the existence and uniqueness of the split, including the corner cases that the printed criterion leaves open.

Difficulty

Each step is short. The difficulty is in the boundaries. The paper labels the routes so that b1<⋯<bDb_1 < \dots < b_Db1​<⋯<bD​ and speaks of "the first jjj routes", with bj<t≯bj+1b_j < t \not> b_{j+1}bj​<t>bj+1​. A faithful formal version has to say what happens at t=bj+1t = b_{j+1}t=bj+1​, at ties among the bib_ibi​, at t≤min⁡ibit \le \min_i b_it≤mini​bi​ (no route is used), and at a route used near capacity. The printed criterion says "less than" for unused routes, yet the derivation's own case split allows equality. With the strict comparison, an equal-times split fails to exist at the values of QQQ where ttt coincides with some bkb_kbk​. The companion's uniqueness requires Q>0Q > 0Q>0: at Q=0Q = 0Q=0 every t≤min⁡ibit \le \min_i b_it≤mini​bi​ is a common time of the zero split. Existence requires a continuity and monotonicity argument for the right-hand side of (24) as a function of ttt.

Formalization scope

  • Routes are indexed by Fin D, and all quantities are real.
  • The standing hypotheses are bi>0b_i > 0bi​>0 and pi>0p_i > 0pi​>0 for every iii. Feasibility includes qi<piq_i < p_iqi​<pi​, the range in which (22) is a positive finite journey time. Without it, Lean's bi/0=0b_i/0 = 0bi​/0=0 would give a route at capacity journey time 000.
  • The criterion is formalized in the weak form t≤bit \le b_it≤bi​ on unused routes, as the paper's derivation uses it. Every split satisfying the printed strict form satisfies it, and the definitions file records the implication. The goal under the weak form is therefore stronger than under the strict one.
  • The ordering b1<⋯<bDb_1 < \dots < b_Db1​<⋯<bD​ is not assumed. "The first jjj routes" becomes the set U(t)={i:bi<t}U(t) = \{i : b_i < t\}U(t)={i:bi​<t}. This generalisation also covers ties.
  • No sign condition on ttt or QQQ is assumed in the goal. For t≤min⁡ibit \le \min_i b_it≤mini​bi​ the term 1/t1/t1/t multiplies an empty sum, and both sides of the equivalence force q=0q = 0q=0 and Q=0Q = 0Q=0.
  • The goal is a two-sided equivalence for arbitrary (Q,q,t)(Q, q, t)(Q,q,t). The companion requires 0<Q<∑ipi0 < Q < \sum_i p_i0<Q<∑i​pi​ and asserts existence and uniqueness. Together they rule out a vacuous reading in which no split satisfies the criterion.

The development needs only the definitions above and basic real analysis (the intermediate value theorem for the companion). The model of a finite family of parallel routes with hyperbolic journey times is reusable for the minimum-average-time criterion. Proofs of the milestones, of the goal and of the companion are welcome.

Selected references

  • J. G. Wardrop, Some theoretical aspects of road traffic research, Proc. Instn Civ. Engrs Part II 1 (1952), 325–362. https://doi.org/10.1680/ipeds.1952.11259
  • M. Beckmann, C. B. McGuire, C. B. Winsten, Studies in the Economics of Transportation, Yale University Press, 1956 (RAND RM-1488, 1955). https://www.rand.org/pubs/research_memoranda/RM1488.html
  • F. Kelly, E. Yudovina, Stochastic Networks, Cambridge University Press, 2014, ch. 4. https://doi.org/10.1017/CBO9781139565363
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Dynamic ProgrammingOperations ResearchProbability·Captain: mikedeng1

Optimal Ordering and Rationing Policies in a Nonstationary Dynamic Inventory Model with n Demand Classes I: Critical Rationing Levels z̄ₜ¹ ≥ ⋯ ≥ z̄ₜⁿ Give an Optimal Policy When Each aₜ Is 0 or 1Research Paper

Motivation

A firm that holds a single stock of a product often serves customers of different priority: military and civilian requisitions, contract and spot customers, emergency and routine orders for spare parts. When stock runs short, it must decide not only how much demand to satisfy but whose. Satisfying a low-priority order now may leave the firm unable to serve a high-priority order that arrives later in the same replenishment cycle. Inventory rationing asks for the optimal rule.

Veinott (Optimal policy in a dynamic, single product, nonstationary inventory model with several demand classes, Operations Research 13 (1965)) studied a model with nnn demand classes, but fixed in advance the rule that a lower class is served only when every higher class has been served in full, and gave conditions on the costs under which that rule is optimal. Topkis (Management Science 15 (1968), 160–176) dropped the fixed rule and characterized the optimal rationing policy within a replenishment period. Theorem 1 of that paper is the target of this mission. It extends the author's earlier two-class analysis; the two-class case was later partly rediscovered by Evans and by Kaplan. Critical-level rationing policies of this kind are a standard object in the later literature on multi-class inventory systems.

Setting

A period between two replenishments is divided into kkk intervals, indexed backwards: interval ttt has t−1t-1t−1 intervals after it, so the period starts in interval kkk and ends in interval 111. Demand comes in classes 1,…,n1,\dots,n1,…,n, with class nnn the most important. At the start of interval ttt the firm holds stock z≥0z\ge0z≥0 and faces the outstanding demand vector B=(B1,…,Bn)≥0B=(B^1,\dots,B^n)\ge0B=(B1,…,Bn)≥0: the backlog bbb carried in plus the new demand dtd_tdt​, whose law μt\mu_tμt​ on [0,∞)n[0,\infty)^n[0,∞)n has finite means. Demands of different intervals are independent.

The firm chooses the vector uuu of demand left unsatisfied, with 0≤u≤B0\le u\le B0≤u≤B, so that w=z−1⋅(B−u)≥0w=z-\mathbf 1\cdot(B-u)\ge0w=z−1⋅(B−u)≥0 units remain in stock, where 1⋅y=∑jyj\mathbf 1\cdot y=\sum_j y^j1⋅y=∑j​yj. It pays the penalty pt⋅up_t\cdot upt​⋅u and the holding cost ht(w)h_t(w)ht​(w). A fraction at≥0a_t\ge0at​≥0 of the unsatisfied demand is carried into the next interval: bt−1=atub_{t-1}=a_tubt−1​=at​u, with at=1a_t=1at​=1 meaning complete backlogging and at=0a_t=0at​=0 lost sales. At the end of interval 111 the salvage cost v1(z)+v2(z−1⋅b)v_1(z)+v_2(z-\mathbf 1\cdot b)v1​(z)+v2​(z−1⋅b) is charged. The standing assumptions are:

  • (A) hth_tht​ is convex and continuous on [0,∞)[0,\infty)[0,∞);
  • (B) v1v_1v1​ is convex and continuous on [0,∞)[0,\infty)[0,∞), v2v_2v2​ is convex and continuous on R\mathbb RR, and D+v2D^+v_2D+v2​ is bounded below, where D+D^+D+ is the right derivative;
  • (C) 0≤pt1≤⋯≤ptn0\le p_t^1\le\cdots\le p_t^n0≤pt1​≤⋯≤ptn​.

The minimal expected cost ftf_tft​ of the last ttt intervals and its expectation gtg_tgt​ satisfy

ft(z,B)=inf⁡0≤u≤Bw=z−1⋅(B−u)≥0[pt⋅u+ht(w)+gt−1(w,atu)],gt(z,b)=E ft(z,b+dt),f_t(z,B)=\inf_{\substack{0\le u\le B\\ w=z-\mathbf 1\cdot(B-u)\ge0}}\big[p_t\cdot u+h_t(w)+g_{t-1}(w,a_tu)\big],\qquad g_t(z,b)=\mathbb E\,f_t(z,b+d_t),ft​(z,B)=0≤u≤Bw=z−1⋅(B−u)≥0​inf​[pt​⋅u+ht​(w)+gt−1​(w,at​u)],gt​(z,b)=Eft​(z,b+dt​),

with g0(z,b)=v1(z)+v2(z−1⋅b)g_0(z,b)=v_1(z)+v_2(z-\mathbf 1\cdot b)g0​(z,b)=v1​(z)+v2​(z−1⋅b).

For a class jjj, with δj\delta_jδj​ its unit vector, the critical rationing level zˉtj∈[0,+∞]\bar z_t^j\in[0,+\infty]zˉtj​∈[0,+∞] is +∞+\infty+∞ if φtj(w)=ptjw+ht(w)+gt−1(w,atwδj)\varphi_t^j(w)=p_t^jw+h_t(w)+g_{t-1}(w,a_tw\delta_j)φtj​(w)=ptj​w+ht​(w)+gt−1​(w,at​wδj​) is strictly decreasing on [0,∞)[0,\infty)[0,∞), and is the smallest minimizer of φtj\varphi_t^jφtj​ on [0,∞)[0,\infty)[0,∞) otherwise. With B(j)=∑i≥jBiB^{(j)}=\sum_{i\ge j}B^iB(j)=∑i≥j​Bi, the rationing level policy leaves unsatisfied

uj=(B(j)−z+zˉtj)+∧Bj.u^j=\big(B^{(j)}-z+\bar z_t^j\big)^+\wedge B^j .uj=(B(j)−z+zˉtj​)+∧Bj.

In words: going down from class nnn, it serves as much of each class as it can without letting the stock fall below that class's critical level.

Formalization targets

Goal: Theorem 1

Suppose ai∈{0,1}a_i\in\{0,1\}ai​∈{0,1} for every i≤ti\le ti≤t. Then

  1. the rationing level policy attains ft(z,B)f_t(z,B)ft​(z,B) for every z≥0z\ge0z≥0, B≥0B\ge0B≥0;
  2. the critical levels are ordered as
zˉt1≥zˉt2≥⋯≥zˉtn;\bar z_t^1\ge\bar z_t^2\ge\cdots\ge\bar z_t^n;zˉt1​≥zˉt2​≥⋯≥zˉtn​;
  1. for ε>0\varepsilon>0ε>0, the differences ft(z,B)−ft(z+ε,B+εδj)f_t(z,B)-f_t(z+\varepsilon,B+\varepsilon\delta_j)ft​(z,B)−ft​(z+ε,B+εδj​) and gt(z,b)−gt(z+ε,b+εδj)g_t(z,b)-g_t(z+\varepsilon,b+\varepsilon\delta_j)gt​(z,b)−gt​(z+ε,b+εδj​) do not depend on B1,…,BjB^1,\dots,B^jB1,…,Bj and b1,…,bjb^1,\dots,b^jb1,…,bj.

Milestones

In attack order:

  1. Lemma 1: the infimum of a convex function over one block of variables is convex.
  2. Lemma 2: gtg_tgt​ and ftf_tft​ are convex and continuous on the orthant, and the infimum in (1) is a minimum.
  3. The critical levels exist, so they are well defined.
  4. Lemma 3: moving ε\varepsilonε of demand from class iii to a less important class j<ij<ij<i does not raise ftf_tft​ or gtg_tgt​.
  5. (6): ft(z,B)=min⁡wft(w;z,B)f_t(z,B)=\min_wf_t(w;z,B)ft​(z,B)=minw​ft​(w;z,B), where ft(w;z,B)f_t(w;z,B)ft​(w;z,B) is the cost of issuing exactly z−wz-wz−w units.
  6. Lemma 4: for each www, serving the classes in order of importance is optimal.
  7. Corollary 1: some optimal uuu never serves a class before every more important class has been served in full.

A companion item states the paper's remark that with a linear ordering cost c(y)=c⋅yc(y)=c\cdot yc(y)=c⋅y the optimal order is y(z)=(y(0)−z)+y(z)=(y(0)-z)^+y(z)=(y(0)−z)+.

Significance

Theorem 1 reduces the nnn-dimensional rationing decision in each interval to nnn numbers, which are computed from one-dimensional convex minimizations. Under complete or no backlogging this is the structural result that the rest of the paper builds on: the monotonicity of the levels in time (Theorem 2), the reduction of the backlog case to a single-interval problem (Theorem 3), and the multi-period ordering policy (Theorem 4). The hypothesis on aia_iai​ is sharp in the sense the paper shows: for a2∈(0,1)a_2\in(0,1)a2​∈(0,1) an example on pp. 165–166 has no optimal policy of this form.

The theorem is proved in the paper, but no part of it is machine-checked. A formal development would contribute a reusable treatment of finite-horizon dynamic programs whose value function is defined by an infimum and an expectation over an orthant, with convexity and continuity propagated through the recursion. It would also contribute the comparative statics of critical-level policies.

Difficulty

The obvious argument proves optimality of the rationing level policy by induction from convexity alone. That is not enough. Convexity gives a one-dimensional problem in www (by (6) and Lemma 4). But identifying its minimizer with the class-wise critical levels requires the marginal value of class-jjj demand to be independent of the demand of the less important classes, which is part (c). Part (c) is false when 0<at<10<a_t<10<at​<1, so the induction must carry (a), (b) and (c) together and use at∈{0,1}a_t\in\{0,1\}at​∈{0,1} at every step. A second difficulty is analytic: ftf_tft​ is an infimum and gtg_tgt​ an expectation, and before any structural argument starts the value functions must be shown to be finite, attained, continuous and integrable on the closed orthant (Lemma 2).

Formalization scope

  • Representation. Classes are Fin n; the paper's class jjj is index j−1j-1j−1, so class nnn is the largest index and (b) is Antitone. Intervals are natural numbers counted backwards, as in the paper. Vectors are Fin n → ℝ with the pointwise order.
  • Value functions. ftf_tft​ is defined by the recursion (1) itself, with a real infimum (sInf), and gtg_tgt​ by a Bochner integral against μt\mu_tμt​. Every statement about ftf_tft​, gtg_tgt​ is restricted to z≥0z\ge0z≥0 and B≥0B\ge0B≥0 (or b≥0b\ge0b≥0). Lemma 2's attainment and integrability conjuncts are what identify these values with the paper's.
  • Critical levels. The levels live in WithTop ℝ, with ⊤=+∞\top=+\infty⊤=+∞. They are specified by the predicate IsCriticalLevel: strictly decreasing for +∞+\infty+∞, smallest minimizer otherwise. They are never computed by a real sInf, which would give the junk value 000 when no minimizer exists.
  • Standing assumptions. (A)–(C) are imposed for 1≤t≤k1\le t\le k1≤t≤k. (B)'s limit condition is read as "D+v2D^+v_2D+v2​ is bounded below". D+D^+D+ is an extended-real right Dini derivative. Assumption (D) on the ordering cost is not used.
  • Added hypothesis. Lemma 1 adds the hypothesis that the function is bounded below on every fibre, because a real infimum cannot be −∞-\infty−∞.
  • Not stated. The paper's remark that Assumption (D) ensures an optimal order y(z)y(z)y(z) exists for a general continuous ccc is not formalized. With n=k=1n=k=1n=k=1, h1(w)=w2h_1(w)=w^2h1​(w)=w2, c(w)=w−w2c(w)=w-w^2c(w)=w−w2, p1=1p_1=1p1​=1, v1=v2=0v_1=v_2=0v1​=v2​=0 and demand 111 with certainty, (D) holds but c(y)+g1(y,0)=1−yc(y)+g_1(y,0)=1-yc(y)+g1​(y,0)=1−y for y≥1y\ge1y≥1, so no minimizer exists.
  • Ruled out. Theorem 1 is not proved by assuming Lemma 2, the shape of the optimal vector, or the paper's derivative formulas (8)–(9). Those appear only as milestones or not at all. Part (a) asserts optimality over all feasible uuu, not among rationing level policies.
  • Contributions welcome. Proofs of the milestones, general lemmas on convexity of partial infima and on continuity of parametric minima over polytopes, and integrability of functions of linear growth against laws with finite means.

Selected references

  • D. M. Topkis, Optimal ordering and rationing policies in a nonstationary dynamic inventory model with n demand classes, Management Science 15(3) (1968), 160–176. https://doi.org/10.1287/mnsc.15.3.160
  • A. F. Veinott, Jr., Optimal policy in a dynamic, single product, nonstationary inventory model with several demand classes, Operations Research 13(5) (1965), 761–778. https://doi.org/10.1287/opre.13.5.761
  • R. T. Rockafellar, Convex Analysis, Princeton University Press, 1970 (convexity of partial minima, Theorem 5.7). https://doi.org/10.1515/9781400873173
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Operations ResearchOptimization·Captain: mikedeng1

Revenue Management Under a General Discrete Choice Model of Consumer Behavior 3: The Multinomial Logit Model Has the Nesting-by-Fare-Order PropertyResearch Paper

Motivation

Airline and hotel revenue management sells one perishable resource (seats on a flight, rooms on a night) through several fare products at different prices. The classical models of Littlewood (1972), Belobaba (1989) and Lee and Hersh (1993) assume independent demand: a customer who wants fare class jjj either buys class jjj or leaves, whatever else is on offer. Under that assumption the optimal booking policy is nested by fare order: at any time the firm opens a top segment {1,…,k}\{1, \dots, k\}{1,…,k} of the fare ladder, and closes classes from the cheapest upwards as capacity becomes scarce.

Real customers substitute. If the cheap fare is closed, some buy up; if a mid-priced fare is open, some buy down. Talluri and van Ryzin (working paper 2001; published as Management Science 50(1), 2004) model this with a general discrete choice model: the firm chooses which set SSS of fares to offer, and a customer buys product jjj with probability Pj(S)P_j(S)Pj​(S). Their §3 asks when the fare-order nesting of the independent model survives under choice behaviour. They give a characterization (Theorem 2, the subject of mission 2 of this series) and verify it for two models: the independent demand model (Proposition 5) and the multinomial logit (MNL) model (Proposition 6). The MNL model is the standard choice model in travel demand forecasting and marketing (Ben-Akiva and Lerman, 1985), so Proposition 6 says that the fare-order structure airlines already implement remains optimal under the most widely used substitution model.

Setting

There are nnn fare products N={1,…,n}N = \{1, \dots, n\}N={1,…,n} with revenues r1≥r2≥⋯≥rn≥0r_1 \ge r_2 \ge \dots \ge r_n \ge 0r1​≥r2​≥⋯≥rn​≥0. A choice model assigns to each offer set S⊆NS \subseteq NS⊆N numbers Pj(S)≥0P_j(S) \ge 0Pj​(S)≥0 with ∑j∈SPj(S)≤1\sum_{j\in S} P_j(S) \le 1∑j∈S​Pj​(S)≤1 and Pj(S)=0P_j(S) = 0Pj​(S)=0 for j∉Sj \notin Sj∈/S; the remainder P0(S)=1−∑j∈SPj(S)P_0(S) = 1 - \sum_{j\in S} P_j(S)P0​(S)=1−∑j∈S​Pj​(S) is the no-purchase probability. Write Q(S)=∑j∈SPj(S)Q(S) = \sum_{j\in S} P_j(S)Q(S)=∑j∈S​Pj​(S) for the purchase probability and R(S)=∑j∈SrjPj(S)R(S) = \sum_{j \in S} r_j P_j(S)R(S)=∑j∈S​rj​Pj​(S) for the expected revenue.

The complete sets are Ak={1,…,k}A_k = \{1, \dots, k\}Ak​={1,…,k}, k=0,1,…,nk = 0, 1, \dots, nk=0,1,…,n, with A0=∅A_0 = \emptysetA0​=∅. A choice model has the nesting-by-fare-order property (Definition 4) if

  1. QQQ is increasing: Q(S)≤Q(T)Q(S) \le Q(T)Q(S)≤Q(T) whenever S⊆TS \subseteq TS⊆T; and
  2. for every x1≥x2≥⋯≥xnx_1 \ge x_2 \ge \dots \ge x_nx1​≥x2​≥⋯≥xn​, the problem max⁡S⊆N∑jxjPj(S)\max_{S\subseteq N} \sum_j x_j P_j(S)maxS⊆N​∑j​xj​Pj​(S) has an optimal solution that is complete.

In the single-resource dynamic program, xj=rj−ΔVx_j = r_j - \Delta Vxj​=rj​−ΔV for the marginal value ΔV\Delta VΔV of capacity, so condition 2 says that the optimal offer set is always a top segment of the fare ladder.

The MNL model with preference weights wj=euj>0w_j = e^{u_j} > 0wj​=euj​>0 and no-purchase weight w0=1w_0 = 1w0​=1 is

Pj(S)=wj∑i∈Swi+1,j∈S.(14)P_j(S) = \frac{w_j}{\sum_{i\in S} w_i + 1}, \qquad j \in S. \qquad (14)Pj​(S)=∑i∈S​wi​+1wj​​,j∈S.(14)

The independent model is Pj(S)=qjP_j(S) = q_jPj​(S)=qj​ for j∈Sj \in Sj∈S. A set TTT is dominated (Definition 1) if some randomization over offer sets has no larger expected purchase probability and strictly larger expected revenue, or strictly smaller purchase probability and no smaller revenue.

Formalization targets

Goal: Proposition 6, in the form its proof establishes

∀ w∈R>0n:P=MNL(w) has the nesting-by-fare-order property.\forall\, w \in \mathbb{R}_{>0}^n:\quad P = \mathrm{MNL}(w) \text{ has the nesting-by-fare-order property.}∀w∈R>0n​:P=MNL(w) has the nesting-by-fare-order property.

This leaves the fares unrestricted: condition 2 quantifies over all ordered value vectors xxx, so the goal holds for every fare ladder at once.

Milestones

  • Lemma 5: if θf(y1)+(1−θ)f(y3)=f(y2)\theta f(y_1) + (1-\theta) f(y_3) = f(y_2)θf(y1​)+(1−θ)f(y3​)=f(y2​) for f(y)=y/(y+1)f(y) = y/(y+1)f(y)=y/(y+1), the same holds for g(y)=1/(y+1)g(y) = 1/(y+1)g(y)=1/(y+1).
  • The MNL purchase probability Q(S)=W(S)/(W(S)+1)Q(S) = W(S)/(W(S)+1)Q(S)=W(S)/(W(S)+1), W(S)=∑i∈SwiW(S) = \sum_{i\in S} w_iW(S)=∑i∈S​wi​, is increasing.
  • For an incomplete TTT: an index k∗k^*k∗ with W(Ak∗)≤W(T)<W(Ak∗+1)W(A_{k^*}) \le W(T) < W(A_{k^*+1})W(Ak∗​)≤W(T)<W(Ak∗+1​), and a weight θ∈[0,1]\theta \in [0,1]θ∈[0,1] solving (15).
  • With the weights θ\thetaθ on Ak∗A_{k^*}Ak∗​ and 1−θ1-\theta1−θ on Ak∗+1A_{k^*+1}Ak∗+1​: Pˉj(α)≥Pj(T)\bar P_j(\alpha) \ge P_j(T)Pˉj​(α)≥Pj​(T) for j≤k∗j \le k^*j≤k∗, and the prefix sums beyond k∗k^*k∗ equal Q(T)Q(T)Q(T).
  • Theorem 2, sufficiency direction: increasing QQQ plus such majorizing mixtures for every incomplete TTT give the nesting-by-fare-order property.

Companions

  • Proposition 6, first sentence, under strictly decreasing fares: every nondominated set is complete.
  • Proposition 5: the independent model has the nesting-by-fare-order property.

Significance

The result. Proposition 6 turns a structural question about an exponentially large dynamic program (the firm chooses among 2n2^n2n offer sets in every period) into the familiar one-dimensional policy of opening fares from the top. For MNL demand, the optimal control is described by nnn protection levels, which is how airline reservation systems already operate; the paper's later remark (17) gives the opening condition for fare k+1k+1k+1. Without it, a firm whose customers substitute according to MNL would have no guarantee that fare-ordered nesting is not leaving revenue on the table.

Formalizing it. The result is proved in the paper; no machine-checked version exists. The mission produces a checked proof of Proposition 6, a checked sufficiency direction of Theorem 2 that applies to any choice model, and the independent-demand case (Proposition 5). The literal wording of Proposition 6 ("the only nondominated sets are the complete sets") is false when fares tie; the mission records the corrected statement under strictly decreasing fares.

Difficulty

The obvious approach compares an incomplete set TTT directly with a single complete set, and it fails: under MNL, adding a fare changes every other fare's probability through the common denominator, so no single complete set need match TTT's purchase probability while selling at least as much of every high fare. A comparison through randomizations over complete sets is needed, and a weight that matches TTT's total purchase probability does not, for a general choice model, match the individual product probabilities as well. The final comparison must also hold for every ordered value vector xxx, including vectors with negative entries, for which the empty set can be the only optimum.

Formalization scope

Products are Fin n (index j−1j-1j−1 for fare jjj); a choice model is P : Finset (Fin n) → Fin n → ℝ with the published RevenueManagement.IsChoiceModel (nonnegativity, total at most one) plus SupportedOn P (Pj(S)=0P_j(S) = 0Pj​(S)=0 off SSS, the model's convention on p. 5). AkA_kAk​ is complete n k = {j | j.val < k} for k∈{0,…,n}k \in \{0, \dots, n\}k∈{0,…,n}; the empty set A0A_0A0​ counts as complete, and the mixture weights α\alphaα are indexed by {0,…,n}\{0, \dots, n\}{0,…,n}. The page indexes complete sets as k=1,…,nk = 1, \dots, nk=1,…,n; without A0A_0A0​, condition 2 fails for every model when all xj<0x_j < 0xj​<0, where only ∅\emptyset∅ is optimal. The order x1≥⋯≥xnx_1 \ge \dots \ge x_nx1​≥⋯≥xn​ is Antitone x. The paper's weight λ\lambdaλ is written θ\thetaθ, since λ is reserved in Lean.

Standing hypotheses and pins: MNL weights wj>0w_j > 0wj​>0 (wj=eujw_j = e^{u_j}wj​=euj​); for the independent model qj≥0q_j \ge 0qj​≥0 and ∑jqj≤1\sum_j q_j \le 1∑j​qj​≤1, so that it is a probability function; strictly decreasing fares StrictAnti r for the nondominated-set companion only, because with r1=r2>0r_1 = r_2 > 0r1​=r2​>0 and w1=w2w_1 = w_2w1​=w2​ the incomplete set {2}\{2\}{2} is nondominated.

The goal is the full Definition 4 with both conditions; it may not be weakened to condition 1 alone, to condition 2 for nonnegative xxx, or to a statement that assumes condition (ii) of Theorem 2 or the existence of k∗k^*k∗. The "Moreover" sentence of Propositions 5 and 6 (nested allocation policies, Definition 3) is not formalized. Theorem 2's sufficiency half is restated here because draft items cannot import the drafts of mission 2; the definitions of complete sets and the property are shared verbatim with that mission.

Contributions welcome: proofs of the milestones, a general summation-by-parts lemma for majorized vectors (reusable beyond this mission), and the converse of Theorem 2 via Farkas' lemma.

Selected references

  • K. Talluri, G. van Ryzin, Revenue management under a general discrete choice model of consumer behavior, working paper, October 21, 2001 (UPF Economics Working Paper 533); published in Management Science 50(1):15–33, 2004. https://doi.org/10.1287/mnsc.1030.0147
  • M. Ben-Akiva, S. Lerman, Discrete Choice Analysis: Theory and Application to Travel Demand, MIT Press, 1985. https://mitpress.mit.edu/9780262536400/
  • T. C. Lee, M. Hersh, A model for dynamic airline seat inventory control with multiple seat bookings, Transportation Science 27(3):252–265, 1993. https://doi.org/10.1287/trsc.27.3.252
  • A. W. Marshall, I. Olkin, B. C. Arnold, Inequalities: Theory of Majorization and Its Applications, 2nd ed., Springer, 2011. https://doi.org/10.1007/978-0-387-68276-1
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On Cores and Indivisibility 2: Gale's Top Trading Cycles Give a Core Allocation Supported by Competitive PricesResearch Paper

Motivation

Markets for indivisible goods, in which each participant owns one unit and wants one unit (houses, kidneys in paired donation, dormitory rooms, school seats), cannot be analysed with the convexity assumptions of classical general equilibrium theory. Shapley and Scarf (1974) introduced the housing market to ask whether the two central solution concepts of exchange economies survive indivisibility: the core (allocations no coalition can improve upon by trading among itself) and competitive equilibrium (allocations supported by prices at which every trader optimizes within his budget). Their paper (doi:10.1016/0304-4068(74)90033-0) gives two proofs that the core is nonempty. The first (Section 4) shows that the associated game without side payments is balanced and invokes Scarf's theorem; that is the companion mission of this series. The second (Section 6) is a constructive argument the authors attribute to David Gale, the top trading cycles method, which also produces competitive prices. This mission formalizes the second.

Timeline.

  • 1967: Scarf proves that balanced games without side payments have nonempty cores (doi:10.2307/1909383).
  • 1974: Shapley and Scarf define the housing market, prove that it has a nonempty core by both arguments, and give Gale's top-trading-cycle construction with competitive prices, allowing indifferences.
  • 1977: Roth and Postlewaite show that with strict preferences the competitive allocation is unique and is the unique allocation in the strong core (doi:10.1016/0304-4068(77)90004-0).
  • 1982: Roth shows the top-trading-cycles mechanism is strategy-proof under strict preferences (doi:10.1016/0165-1765(82)90003-9).
  • 2003: Abdulkadiroğlu and Sönmez adapt top trading cycles to school choice (doi:10.1257/000282803322157061).

Setting

A finite set NNN of traders each brings one indivisible good; "item jjj" is the good of trader jjj. Preferences are a real matrix A=(aij)i,j∈NA = (a_{ij})_{i,j\in N}A=(aij​)i,j∈N​: trader iii prefers item jjj to item kkk when aij>aika_{ij} > a_{ik}aij​>aik​ and is indifferent when aij=aika_{ij} = a_{ik}aij​=aik​. Ties are allowed, and only comparisons matter.

An allocation is a bijection σ:N→N\sigma : N\to Nσ:N→N; trader iii receives item σ(i)\sigma(i)σ(i). For a coalition SSS, an SSS-permutation τ\tauτ reshuffles the items of SSS among the members of SSS. The allocation σ\sigmaσ is a core allocation if there is no nonempty SSS and SSS-permutation τ\tauτ with aiτ(i)>aiσ(i)a_{i\tau(i)} > a_{i\sigma(i)}aiτ(i)​>aiσ(i)​ for every i∈Si \in Si∈S.

Prices price:N→R\mathrm{price}: N \to \mathbb Rprice:N→R are competitive for σ\sigmaσ if each trader iii, selling his own item for price(i)\mathrm{price}(i)price(i), can afford σ(i)\sigma(i)σ(i), i.e. price(σ(i))≤price(i)\mathrm{price}(\sigma(i)) \le \mathrm{price}(i)price(σ(i))≤price(i), and no item kkk with price(k)≤price(i)\mathrm{price}(k) \le \mathrm{price}(i)price(k)≤price(i) is better for him than σ(i)\sigma(i)σ(i).

For R⊆NR \subseteq NR⊆N, a top trading cycle for RRR is a nonempty S⊆RS \subseteq RS⊆R whose members can be arranged in a cycle i1→i2→⋯→is→i1i_1 \to i_2 \to \cdots \to i_s \to i_1i1​→i2​→⋯→is​→i1​ so that each iri_rir​ likes the good of ir+1i_{r+1}ir+1​ at least as well as any other good in RRR. A top-trading-cycle partition is

N=S1∪S2∪⋯∪Sp,N = S^1 \cup S^2 \cup \cdots \cup S^p,N=S1∪S2∪⋯∪Sp,

with S1S^1S1 a top trading cycle for NNN and each SjS^jSj a top trading cycle for N−(S1∪⋯∪Sj−1)N - (S^1\cup\cdots\cup S^{j-1})N−(S1∪⋯∪Sj−1). In Lean the partition carries stage : N → Fin p and the successor map next : N → N.

Formalization targets

Goal: Section 6, assertions (1) and (2), p. 114

For every market AAA and every top-trading-cycle partition with successor map next\mathrm{next}next, the allocation i↦next(i)i \mapsto \mathrm{next}(i)i↦next(i) is a core allocation, and for every choice of prices

π1>π2>⋯>πp>0\pi^1 > \pi^2 > \cdots > \pi^p > 0π1>π2>⋯>πp>0

on the goods of S1,…,SpS^1,\dots,S^pS1,…,Sp it is competitive. The paper asserts that "a set of competitive prices exists"; its argument works for every such choice, and the goal states that.

Milestones (Section 6, p. 114)

  1. Every nonempty R⊆NR\subseteq NR⊆N has a top trading cycle.
  2. A top-trading-cycle partition of NNN exists (so the goal is not vacuous and every market has a competitive core allocation).
  3. If jjj is the first index with S∩Sj≠∅S \cap S^j \ne \emptysetS∩Sj=∅ and i∈S∩Sji \in S\cap S^ji∈S∩Sj, then aik≤ai next(i)a_{ik} \le a_{i\,\mathrm{next}(i)}aik​≤ainext(i)​ for all k∈Sk \in Sk∈S.
  4. Under the prices πstage(k)\pi^{\mathrm{stage}(k)}πstage(k), the successor's item costs the same as one's own, and every affordable item lies in one's own cycle or a later one.

Example (Section 7, pp. 115–116)

For the matrix (01210−1−110)\begin{pmatrix}0&1&2\\1&0&-1\\-1&1&0\end{pmatrix}​01−1​101​2−10​​ the unique competitive payoff is (2,1,1)(2,1,1)(2,1,1) at equal prices, while the allocation with payoff (1,1,0)(1,1,0)(1,1,0) is a core allocation that is competitive at no prices.

Significance

The result gives the existence of a core allocation of every housing market by an explicit construction, and shows that this allocation is competitive, so the competitive solution is nonempty even though goods are indivisible and preferences may have ties. The Section 7 example shows that the inclusion of competitive allocations in the core is strict in general. Under strict preferences, the outcome of the construction is the basis of the matching-market literature: uniqueness of the strong core (Roth–Postlewaite), strategy-proofness (Roth), and the school-choice and kidney-exchange mechanisms built on top trading cycles.

The mathematics is classical and proved. The formalization adds a machine-checked statement of the weak-preference version with the paper's strict blocking notion and its price argument, which existing formal developments do not cover. The closest platform items are AGT.house_core_unique, the strict-preference refinement (Roth–Postlewaite: with strict preferences and weak blocking the core is exactly one allocation), and the school-choice items SchoolChoice.TTC.*. Neither is this statement: the first assumes strict total orders and a different blocking notion, under which the core can be empty once ties are allowed, and says nothing about prices; the second concerns another model with priorities.

Difficulty

Each step is short on paper; the work is in the bookkeeping. The cycle allocation must be shown to be a bijection of NNN from the stage-by-stage cycle structure; the "chain of best-liked goods that eventually must come back to some earlier element" must be turned into a cycle whose members each get a best good in RRR, with ties handled by a choice rather than by a unique top choice; and the first-stage argument must be carried out with the coalition's reshuffling restricted to its own goods. A tempting shortcut, assuming strict preferences or using a union of cycles at a stage, proves a different statement and is ruled out by the definitions.

Formalization scope

  • Traders form an arbitrary finite type N with decidable equality; no nonemptiness is assumed (the empty market has the empty partition). The matrix A : N → N → ℝ has no hypothesis, so ties are allowed.
  • Allocations are bijections σ : N → N rather than zero-one matrices. This loses nothing: a coalition in which all members are strictly better off gives each member exactly one item of the coalition (owning nothing is ranked below everything), and an allocation leaving a trader without an item is blocked by that trader alone.
  • Blocking is strict for every member of the coalition, as on p. 107; the weak notion (all weakly, one strictly better off) makes assertion (1) false with ties.
  • The paper gives no displayed definition of competitive prices. The Lean notion is: σ\sigmaσ is a bijection, price(σ(i))≤price(i)\mathrm{price}(\sigma(i)) \le \mathrm{price}(i)price(σ(i))≤price(i), and price(k)≤price(i)⇒aik≤aiσ(i)\mathrm{price}(k)\le\mathrm{price}(i) \Rightarrow a_{ik}\le a_{i\sigma(i)}price(k)≤price(i)⇒aik​≤aiσ(i)​. This transcribes "can sell his own item for πj\pi^jπj dollars", "cannot afford", and "his utility is maximized" (p. 114).
  • A top trading cycle is a single cycle of the successor map: nonempty, inside RRR, closed under next, every member reaching every other by iterating next. A one-trader cycle with next i = i is allowed (footnote, p. 114).
  • Explicit readings of loose phrases: "it is evident" (milestone 1) is an existence statement; "the highest possible payoff available to him in SSS" (milestone 3) is aik≤ai next(i)a_{ik} \le a_{i\,\mathrm{next}(i)}aik​≤ainext(i)​ for all k∈Sk\in Sk∈S; "cannot afford any items from S1,…,Sj−1S^1,\dots,S^{j-1}S1,…,Sj−1" (milestone 4) is: price at most πj\pi^jπj implies stage at least jjj; "a set of competitive prices exists" (goal) is strengthened to every strictly decreasing positive π\piπ, as the proof gives.
  • Trivializing formalizations are ruled out: the partition is quantified over all choices and its existence is a milestone, cycles are required to be nonempty and single, and the budget clause is part of the price notion, so competitiveness does not reduce to "everyone gets a best good".
  • Contributions welcome: proofs of the milestones, a computable top-trading-cycle algorithm with a proof that it produces a partition, and a proof of the paper's remark that no other competitive prices exist up to ties.

Selected references

  • L. Shapley and H. Scarf, On cores and indivisibility, Journal of Mathematical Economics 1 (1974) 23–37. https://doi.org/10.1016/0304-4068(74)90033-0
  • H. Scarf, The core of an N person game, Econometrica 35 (1967) 50–69. https://doi.org/10.2307/1909383
  • A. E. Roth and A. Postlewaite, Weak versus strong domination in a market with indivisible goods, Journal of Mathematical Economics 4 (1977) 131–137. https://doi.org/10.1016/0304-4068(77)90004-0
  • A. E. Roth, Incentive compatibility in a market with indivisible goods, Economics Letters 9 (1982) 127–132. https://doi.org/10.1016/0165-1765(82)90003-9
  • A. Abdulkadiroğlu and T. Sönmez, School choice: a mechanism design approach, American Economic Review 93 (2003) 729–747. https://doi.org/10.1257/000282803322157061
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Convex OptimizationFunctional AnalysisOperations Research+1·Captain: mikedeng1

Duality and Stability in Extremum Problems Involving Convex Functions 3: If f Is Finite at x and g Is Finite and Continuous at Ax, Then (P) Is Stably Set and inf (P(z)) Is Continuous Near z = 0Research Paper

Motivation

A convex program is useful in practice only if its optimal value responds reasonably to small changes in the data. Lagrangian and Fenchel duality theory makes this precise: the dual problem attains its optimum and has no duality gap exactly when the primal value function does not fall off infinitely steeply under small perturbations. A constraint qualification is a checkable condition on the data that guarantees this good behaviour; Slater's condition (a strictly feasible point) is the best-known example in finite dimensions.

R. T. Rockafellar's 1967 paper Duality and Stability in Extremum Problems Involving Convex Functions (Pacific J. Math. 21 (1967) 167–187) develops Fenchel-type duality for the problem of minimizing f(x)−g(Ax)f(x) - g(Ax)f(x)−g(Ax) in general locally convex spaces. It introduces the notion of a stably set problem, shows that stability is equivalent to strong duality with an attained dual optimum (its Theorem 3), and gives in Theorem 1 a general sufficient condition for stability. Theorem 1 is the infinite-dimensional analogue of Slater's condition and is the form in which the result is usually applied: one exhibits a single point where fff is finite and ggg is finite and continuous.

Timeline. Fenchel (1951) proved the duality theorem for A=IA = IA=I in Rn\mathbb{R}^nRn under relative-interior conditions. Brøndsted (1964) and Moreau (1966–67) extended conjugate duality to paired locally convex spaces. Rockafellar's 1967 paper (this mission) added the linear map AAA, the perturbation function hhh, the notion of stability, and Theorem 1. The perturbational approach was later systematized in Rockafellar's Conjugate Duality and Optimization (SIAM, 1974).

Setting

Let EEE and FFF be real locally convex Hausdorff topological vector spaces and A:E→FA : E \to FA:E→F a continuous linear map. Let f:E→[−∞,+∞]f : E \to [-\infty, +\infty]f:E→[−∞,+∞] and g:F→[−∞,+∞]g : F \to [-\infty, +\infty]g:F→[−∞,+∞].

  • fff is convex if its epigraph {(x,μ)∣x∈E,μ∈R,μ≥f(x)}\{(x, \mu) \mid x \in E, \mu \in \mathbb{R}, \mu \ge f(x)\}{(x,μ)∣x∈E,μ∈R,μ≥f(x)} is a convex subset of E×RE \times \mathbb{R}E×R; it is proper if f(x)>−∞f(x) > -\inftyf(x)>−∞ for all xxx and f(x)<+∞f(x) < +\inftyf(x)<+∞ for some xxx. ggg is concave if −g-g−g is convex, and proper concave if g<+∞g < +\inftyg<+∞ everywhere and g>−∞g > -\inftyg>−∞ somewhere.
  • Throughout, fff is lower semicontinuous proper convex and ggg is upper semicontinuous proper concave. Their effective domains are C={x∣f(x)<+∞}C = \{x \mid f(x) < +\infty\}C={x∣f(x)<+∞} and D={y∣g(y)>−∞}D = \{y \mid g(y) > -\infty\}D={y∣g(y)>−∞}.
  • The primal problem is
(P)minimize f(x)−g(Ax) over x∈E,(P) \qquad \text{minimize } f(x) - g(Ax) \text{ over } x \in E,(P)minimize f(x)−g(Ax) over x∈E,

and its perturbations are (P(z))(P(z))(P(z)): minimize f(x)−g(Ax−z)f(x) - g(Ax - z)f(x)−g(Ax−z), for z∈Fz \in Fz∈F. The perturbation function is h(z)=inf⁡(P(z))=inf⁡x{f(x)−g(Ax−z)}∈[−∞,+∞]h(z) = \inf (P(z)) = \inf_x \{ f(x) - g(Ax - z) \} \in [-\infty, +\infty]h(z)=inf(P(z))=infx​{f(x)−g(Ax−z)}∈[−∞,+∞], so h(0)=inf⁡(P)h(0) = \inf (P)h(0)=inf(P). (P)(P)(P) is consistent if h(0)<+∞h(0) < +\inftyh(0)<+∞.

  • When h(0)h(0)h(0) is finite, the directional derivative is h′(0;z)=lim⁡ε↓0[h(εz)−h(0)]/εh'(0; z) = \lim_{\varepsilon \downarrow 0} [h(\varepsilon z) - h(0)]/\varepsilonh′(0;z)=limε↓0​[h(εz)−h(0)]/ε.
  • (P)(P)(P) is unstably set if h(0)h(0)h(0) is finite and every neighbourhood of 000 contains vectors zzz with h′(0;z)h'(0; z)h′(0;z) a negative number of arbitrarily large magnitude (−∞-\infty−∞ included). (P)(P)(P) is stably set if it is consistent but not unstably set.

Formalization targets

Goal: Theorem 1 (p. 175)

Suppose there exists x∈Ex \in Ex∈E such that fff is finite at xxx and ggg is finite and continuous at AxAxAx. Then

(P) is stably setandthere is a neighbourhood U of 0 on which z↦inf⁡(P(z)) is continuous.(P) \text{ is stably set} \quad\text{and}\quad \text{there is a neighbourhood } U \text{ of } 0 \text{ on which } z \mapsto \inf (P(z)) \text{ is continuous}.(P) is stably setandthere is a neighbourhood U of 0 on which z↦inf(P(z)) is continuous.

The neighbourhood UUU is left unspecified, as in the paper.

Milestones (in the order the proof uses them)

  1. (4.4) {z∣h(z)<+∞}={Ax−y∣f(x)<+∞, g(y)>−∞}=A(C)−D\{z \mid h(z) < +\infty\} = \{Ax - y \mid f(x) < +\infty,\ g(y) > -\infty\} = A(C) - D{z∣h(z)<+∞}={Ax−y∣f(x)<+∞, g(y)>−∞}=A(C)−D.
  2. (4.5) A(C)A(C)A(C) meets int⁡D\operatorname{int} DintD, and 0∈A(C)−int⁡D⊆int⁡(A(C)−D)0 \in A(C) - \operatorname{int} D \subseteq \operatorname{int}(A(C) - D)0∈A(C)−intD⊆int(A(C)−D).
  3. Epigraph of hhh has interior (p. 176): the hypograph G={(y,μ)∣g(y)≥μ>−∞}G = \{(y, \mu) \mid g(y) \ge \mu > -\infty\}G={(y,μ)∣g(y)≥μ>−∞} has nonempty interior, (Ax,λ)−G(Ax, \lambda) - G(Ax,λ)−G lies in the epigraph of hhh for every (x,λ)(x, \lambda)(x,λ) in the epigraph of fff, and so the epigraph of hhh has nonempty interior.
  4. Continuity on the interior of the domain (p. 176): 0∈int⁡{h<+∞}0 \in \operatorname{int}\{h < +\infty\}0∈int{h<+∞} and hhh is continuous there.
  5. (4.6) For a convex hhh with h(0)h(0)h(0) finite: h(z)≥h(0)+h′(0;z)h(z) \ge h(0) + h'(0; z)h(z)≥h(0)+h′(0;z) and h′(0;z)≥−h′(0;−z)h'(0; z) \ge -h'(0; -z)h′(0;z)≥−h′(0;−z) for all zzz.

Significance

The result. Combined with the paper's Theorem 3, Theorem 1 yields: if fff is finite at some xxx where ggg is finite and continuous at AxAxAx, then inf⁡(P)=max⁡(P∗)\inf (P) = \max (P^*)inf(P)=max(P∗), with the dual maximum attained. This is the standard sufficient condition for Fenchel–Rockafellar duality in infinite dimensions, used in calculus of variations, optimal control, and the convex analysis of integral functionals. The continuity half of Theorem 1 says that the optimal value depends continuously on translations of the constraint data near the unperturbed problem, a basic sensitivity statement.

Formalizing it. The theorem is proved (1967) and appears in many textbooks, but there is no machine-checked version on this platform. Mathlib contains continuity criteria for real-valued convex functions on open sets of normed or finite-dimensional spaces (ConvexOn.continuousOn_tfae, ConvexOn.continuousOn_interior), but nothing for extended-real-valued convex functions on general topological vector spaces, no perturbation function, and no notion of a stably set problem. A complete development would provide reusable infrastructure: the epigraph-interior continuity criterion for [−∞,+∞][-\infty, +\infty][−∞,+∞]-valued convex functions and the elementary calculus of one-sided directional derivatives.

Difficulty

The obvious argument says: ggg is continuous at AxAxAx, so h(z)≤f(x)−g(Ax−z)h(z) \le f(x) - g(Ax - z)h(z)≤f(x)−g(Ax−z) is bounded above near 000, hence hhh is continuous at 000 and its directional derivatives are bounded. Two steps of this fail without care. First, the passage from "bounded above near a point" to "continuous" requires convexity of hhh (Lemma 2 of the paper, proved in the companion mission) and a continuity criterion valid in an arbitrary topological vector space, with values in [−∞,+∞][-\infty, +\infty][−∞,+∞]; the normed-space proofs in Mathlib do not apply. Second, hhh may take the value −∞-\infty−∞, and the derivative may be −∞-\infty−∞ in some directions; the bookkeeping of extended-real arithmetic (where (+∞)+(−∞)(+\infty) + (-\infty)(+∞)+(−∞) is not defined mathematically and is given a junk value in Lean) has to be done honestly. Finally, upper bounds on h′(0;⋅)h'(0;\cdot)h′(0;⋅) must be converted into lower bounds, which is where the second inequality of (4.6) enters; an upper bound alone does not give stability.

Formalization scope

All values are in Lean's EReal. Convexity is convexity of the epigraph with real second coordinate (the paper's definition, p. 170); concavity is convexity of −g-g−g. Properness is stated as in the paper. The perturbation function is the EReal infimum ⨅ x, f x - g (A x - z); under properness the undefined form (+∞)−(+∞)(+\infty) - (+\infty)(+∞)−(+∞) never arises. The directional derivative (4.3) is the lower limit of the difference quotient along ε→0+\varepsilon \to 0^+ε→0+, which equals the paper's limit whenever it exists (always, for convex hhh with h(0)h(0)h(0) finite). "Unstably set" quantifies over all neighbourhoods of 000 and all real MMM, with h′(0;z)<−Mh'(0;z) < -Mh′(0;z)<−M allowing −∞-\infty−∞. "Stably set" is h(0)<+∞h(0) < +\inftyh(0)<+∞ together with "not unstably set", so inf⁡(P)=−∞\inf (P) = -\inftyinf(P)=−∞ is stably set, as the paper says on p. 176. Continuity is with respect to the order topology of EReal, and "continuous at AxAxAx" is continuity of ggg itself at that point, not of its restriction to DDD.

The paper's standing setting (§3) includes dual spaces E∗,F∗E^*, F^*E∗,F∗, the adjoint A∗A^*A∗ and the conjugates f∗,g∗f^*, g^*f∗,g∗. Neither Theorem 1 nor its proof uses them, so they are omitted and the theorem is stated for every pair of real locally convex Hausdorff spaces, which includes every paired setting. The lower and upper semicontinuity of fff and ggg are standing hypotheses of the paper and are kept, although the proof does not use them. Inequality (4.6) is stated for an arbitrary convex function finite at 000, the generality in which the paper invokes it. No statement was repaired.

A definition of "stably set" that already presumed finiteness or continuity of hhh near 000, or that tested the derivative only in a fixed set of directions, would make the first conclusion of Theorem 1 trivial; the definition used here is the paper's p. 175 definition verbatim, applied to an arbitrary function hhh. The definitions are local to this mission; the companion missions on Theorem 3 and Theorem 6 of the same paper define the same objects in their own namespaces. Contributions are welcome on the milestones in any order, and in particular on a general continuity criterion for extended-real-valued convex functions on topological vector spaces, which is reusable well beyond this mission.

Selected references

  • R. T. Rockafellar, Duality and stability in extremum problems involving convex functions, Pacific J. Math. 21 (1967) 167–187. https://doi.org/10.2140/pjm.1967.21.167
  • A. Brøndsted, Conjugate convex functions in topological vector spaces, Mat.-Fys. Medd. Dansk. Vid. Selsk. 34 (1964), no. 2.
  • W. Fenchel, Convex Cones, Sets and Functions, lecture notes, Princeton University, 1951.
  • J. J. Moreau, Fonctionnelles convexes, Séminaire Leray, Collège de France, 1966–67.
  • R. T. Rockafellar, Conjugate Duality and Optimization, CBMS-NSF Regional Conference Series in Applied Mathematics 16, SIAM, 1974. https://doi.org/10.1137/1.9781611970524
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