arXiv subjects

Tuomas Sandholm

Publications and source records attributed to Tuomas Sandholm.

At least 145 records · Page 8Linked to original sources

arXiv2018

Learning to Branch

Tree search algorithms, such as branch-and-bound, are the most widely used tools for solving combinatorial and nonconvex problems. For example, they are the foremost method for solving (mixed) integer programs and constraint satisfaction problems. Tree search algorithms recursively partition the search space to find an optimal solution. In order to keep the tree size small, it is crucial to carefully decide, when expanding a tree node, which question (typically variable) to branch on at that node in order to partition the remaining space. Numerous partitioning techniques (e.g., variable selection) have been proposed, but there is no theory describing which technique is optimal. We show how to use machine learning to determine an optimal weighting of any set of partitioning procedures for the instance distribution at hand using samples from the distribution. We provide the first sample complexity guarantees for tree search algorithm configuration. These guarantees bound the number of samples sufficient to ensure that the empirical performance of an algorithm over the samples nearly matches its expected performance on the unknown instance distribution. This thorough theoretical investigation naturally gives rise to our learning algorithm. Via experiments, we show that learning an optimal weighting of partitioning procedures can dramatically reduce tree size, and we prove that this reduction can even be exponential. Through theory and experiments, we show that learning to branch is both practical and hugely beneficial.

cs.AI↗

arXiv2017

Robust Stackelberg Equilibria in Extensive-Form Games and Extension to Limited Lookahead

Stackelberg equilibria have become increasingly important as a solution concept in computational game theory, largely inspired by practical problems such as security settings. In practice, however, there is typically uncertainty regarding the model about the opponent. This paper is, to our knowledge, the first to investigate Stackelberg equilibria under uncertainty in extensive-form games, one of the broadest classes of game. We introduce robust Stackelberg equilibria, where the uncertainty is about the opponent's payoffs, as well as ones where the opponent has limited lookahead and the uncertainty is about the opponent's node evaluation function. We develop a new mixed-integer program for the deterministic limited-lookahead setting. We then extend the program to the robust setting for Stackelberg equilibrium under unlimited and under limited lookahead by the opponent. We show that for the specific case of interval uncertainty about the opponent's payoffs (or about the opponent's node evaluations in the case of limited lookahead), robust Stackelberg equilibria can be computed with a mixed-integer program that is of the same asymptotic size as that for the deterministic setting.

cs.GT↗

arXiv2017

Safe and Nested Subgame Solving for Imperfect-Information Games

In imperfect-information games, the optimal strategy in a subgame may depend on the strategy in other, unreached subgames. Thus a subgame cannot be solved in isolation and must instead consider the strategy for the entire game as a whole, unlike perfect-information games. Nevertheless, it is possible to first approximate a solution for the whole game and then improve it by solving individual subgames. This is referred to as subgame solving. We introduce subgame-solving techniques that outperform prior methods both in theory and practice. We also show how to adapt them, and past subgame-solving techniques, to respond to opponent actions that are outside the original action abstraction; this significantly outperforms the prior state-of-the-art approach, action translation. Finally, we show that subgame solving can be repeated as the game progresses down the game tree, leading to far lower exploitability. These techniques were a key component of Libratus, the first AI to defeat top humans in heads-up no-limit Texas hold'em poker.

cs.AI↗

arXiv2017

On the Verification and Computation of Strong Nash Equilibrium

Computing equilibria of games is a central task in computer science. A large number of results are known for \emph{Nash equilibrium} (NE). However, these can be adopted only when coalitions are not an issue. When instead agents can form coalitions, NE is inadequate and an appropriate solution concept is \emph{strong Nash equilibrium} (SNE). Few computational results are known about SNE. In this paper, we first study the problem of verifying whether a strategy profile is an SNE, showing that the problem is in $\mathcal{P}$. We then design a spatial branch--and--bound algorithm to find an SNE, and we experimentally evaluate the algorithm.

cs.GT↗

arXiv2017

Regret Minimization in Behaviorally-Constrained Zero-Sum Games

No-regret learning has emerged as a powerful tool for solving extensive-form games. This was facilitated by the counterfactual-regret minimization (CFR) framework, which relies on the instantiation of regret minimizers for simplexes at each information set of the game. We use an instantiation of the CFR framework to develop algorithms for solving behaviorally-constrained (and, as a special case, perturbed in the Selten sense) extensive-form games, which allows us to compute approximate Nash equilibrium refinements. Nash equilibrium refinements are motivated by a major deficiency in Nash equilibrium: it provides virtually no guarantees on how it will play in parts of the game tree that are reached with zero probability. Refinements can mend this issue, but have not been adopted in practice, mostly due to a lack of scalable algorithms. We show that, compared to standard algorithms, our method finds solutions that have substantially better refinement properties, while enjoying a convergence rate that is comparable to that of state-of-the-art algorithms for Nash equilibrium computation both in theory and practice.

cs.GT↗

arXiv2017

Smoothing Method for Approximate Extensive-Form Perfect Equilibrium

Nash equilibrium is a popular solution concept for solving imperfect-information games in practice. However, it has a major drawback: it does not preclude suboptimal play in branches of the game tree that are not reached in equilibrium. Equilibrium refinements can mend this issue, but have experienced little practical adoption. This is largely due to a lack of scalable algorithms. Sparse iterative methods, in particular first-order methods, are known to be among the most effective algorithms for computing Nash equilibria in large-scale two-player zero-sum extensive-form games. In this paper, we provide, to our knowledge, the first extension of these methods to equilibrium refinements. We develop a smoothing approach for behavioral perturbations of the convex polytope that encompasses the strategy spaces of players in an extensive-form game. This enables one to compute an approximate variant of extensive-form perfect equilibria. Experiments show that our smoothing approach leads to solutions with dramatically stronger strategies at information sets that are reached with low probability in approximate Nash equilibria, while retaining the overall convergence rate associated with fast algorithms for Nash equilibrium. This has benefits both in approximate equilibrium finding (such approximation is necessary in practice in large games) where some probabilities are low while possibly heading toward zero in the limit, and exact equilibrium computation where the low probabilities are actually zero.

cs.GT↗

arXiv2017

Operation Frames and Clubs in Kidney Exchange

A kidney exchange is a centrally-administered barter market where patients swap their willing yet incompatible donors. Modern kidney exchanges use 2-cycles, 3-cycles, and chains initiated by non-directed donors (altruists who are willing to give a kidney to anyone) as the means for swapping. We propose significant generalizations to kidney exchange. We allow more than one donor to donate in exchange for their desired patient receiving a kidney. We also allow for the possibility of a donor willing to donate if any of a number of patients receive kidneys. Furthermore, we combine these notions and generalize them. The generalization is to exchange among organ clubs, where a club is willing to donate organs outside the club if and only if the club receives organs from outside the club according to given specifications. We prove that unlike in the standard model, the uncapped clearing problem is NP-complete. We also present the notion of operation frames that can be used to sequence the operations across batches, and present integer programming formulations for the market clearing problems for these new types of organ exchanges. Experiments show that in the single-donation setting, operation frames improve planning by 34%--51%. Allowing up to two donors to donate in exchange for one kidney donated to their designated patient yields a further increase in social welfare.

cs.GT↗

arXiv2017

Theoretical and Practical Advances on Smoothing for Extensive-Form Games

Sparse iterative methods, in particular first-order methods, are known to be among the most effective in solving large-scale two-player zero-sum extensive-form games. The convergence rates of these methods depend heavily on the properties of the distance-generating function that they are based on. We investigate the acceleration of first-order methods for solving extensive-form games through better design of the dilated entropy function---a class of distance-generating functions related to the domains associated with the extensive-form games. By introducing a new weighting scheme for the dilated entropy function, we develop the first distance-generating function for the strategy spaces of sequential games that has no dependence on the branching factor of the player. This result improves the convergence rate of several first-order methods by a factor of $Ω(b^dd)$, where $b$ is the branching factor of the player, and $d$ is the depth of the game tree. Thus far, counterfactual regret minimization methods have been faster in practice, and more popular, than first-order methods despite their theoretically inferior convergence rates. Using our new weighting scheme and practical tuning we show that, for the first time, the excessive gap technique can be made faster than the fastest counterfactual regret minimization algorithm, CFR+, in practice.

cs.GT↗

arXiv2017

Efficiency and Budget Balance in General Quasi-linear Domains

We study efficiency and budget balance for designing mechanisms in general quasi-linear domains. Green and Laffont (1979) proved that one cannot generically achieve both. We consider strategyproof budget-balanced mechanisms that are approximately efficient. For deterministic mechanisms, we show that a strategyproof and budget-balanced mechanism must have a sink agent whose valuation function is ignored in selecting an alternative, and she is compensated with the payments made by the other agents. We assume the valuations of the agents come from a bounded open interval. Using this result, we find a tight lower bound on the inefficiencies of strategyproof, budget-balanced mechanisms in this domain. The bound shows that the inefficiency asymptotically disappears when the number of agents is large---a result close in spirit to Green and Laffont (1979, Theorem 9.4). However, our results provide worst-case bounds and the best possible rate of convergence. Next, we consider minimizing any convex combination of inefficiency and budget imbalance. We show that if the valuations are unrestricted, no deterministic mechanism can do asymptotically better than minimizing inefficiency alone. Finally, we investigate randomized mechanisms and provide improved lower bounds on expected inefficiency. We give a tight lower bound for an interesting class of strategyproof, budget-balanced, randomized mechanisms. We also use an optimization-based approach---in the spirit of automated mechanism design---to provide a lower bound on the minimum achievable inefficiency of any randomized mechanism. Experiments with real data from two applications show that the inefficiency for a simple randomized mechanism is 5--100 times smaller than the worst case. This relative difference increases with the number of agents.

cs.GT↗

arXiv2016

Small Representations of Big Kidney Exchange Graphs

Kidney exchanges are organized markets where patients swap willing but incompatible donors. In the last decade, kidney exchanges grew from small and regional to large and national---and soon, international. This growth results in more lives saved, but exacerbates the empirical hardness of the $\mathcal{NP}$-complete problem of optimally matching patients to donors. State-of-the-art matching engines use integer programming techniques to clear fielded kidney exchanges, but these methods must be tailored to specific models and objective functions, and may fail to scale to larger exchanges. In this paper, we observe that if the kidney exchange compatibility graph can be encoded by a constant number of patient and donor attributes, the clearing problem is solvable in polynomial time. We give necessary and sufficient conditions for losslessly shrinking the representation of an arbitrary compatibility graph. Then, using real compatibility graphs from the UNOS nationwide kidney exchange, we show how many attributes are needed to encode real compatibility graphs. The experiments show that, indeed, small numbers of attributes suffice.

cs.AI↗

arXiv2016

Reduced Space and Faster Convergence in Imperfect-Information Games via Regret-Based Pruning

Counterfactual Regret Minimization (CFR) is the most popular iterative algorithm for solving zero-sum imperfect-information games. Regret-Based Pruning (RBP) is an improvement that allows poorly-performing actions to be temporarily pruned, thus speeding up CFR. We introduce Total RBP, a new form of RBP that reduces the space requirements of CFR as actions are pruned. We prove that in zero-sum games it asymptotically prunes any action that is not part of a best response to some Nash equilibrium. This leads to provably faster convergence and lower space requirements. Experiments show that Total RBP results in an order of magnitude reduction in space, and the reduction factor increases with game size.

cs.GT↗

arXiv2016

Sample Complexity of Automated Mechanism Design

The design of revenue-maximizing combinatorial auctions, i.e. multi-item auctions over bundles of goods, is one of the most fundamental problems in computational economics, unsolved even for two bidders and two items for sale. In the traditional economic models, it is assumed that the bidders' valuations are drawn from an underlying distribution and that the auction designer has perfect knowledge of this distribution. Despite this strong and oftentimes unrealistic assumption, it is remarkable that the revenue-maximizing combinatorial auction remains unknown. In recent years, automated mechanism design has emerged as one of the most practical and promising approaches to designing high-revenue combinatorial auctions. The most scalable automated mechanism design algorithms take as input samples from the bidders' valuation distribution and then search for a high-revenue auction in a rich auction class. In this work, we provide the first sample complexity analysis for the standard hierarchy of deterministic combinatorial auction classes used in automated mechanism design. In particular, we provide tight sample complexity bounds on the number of samples needed to guarantee that the empirical revenue of the designed mechanism on the samples is close to its expected revenue on the underlying, unknown distribution over bidder valuations, for each of the auction classes in the hierarchy. In addition to helping set automated mechanism design on firm foundations, our results also push the boundaries of learning theory. In particular, the hypothesis functions used in our contexts are defined through multi-stage combinatorial optimization procedures, rather than simple decision boundaries, as are common in machine learning.

cs.LG↗

arXiv2016

Position-Indexed Formulations for Kidney Exchange

A kidney exchange is an organized barter market where patients in need of a kidney swap willing but incompatible donors. Determining an optimal set of exchanges is theoretically and empirically hard. Traditionally, exchanges took place in cycles, with each participating patient-donor pair both giving and receiving a kidney. The recent introduction of chains, where a donor without a paired patient triggers a sequence of donations without requiring a kidney in return, increased the efficacy of fielded kidney exchanges---while also dramatically raising the empirical computational hardness of clearing the market in practice. While chains can be quite long, unbounded-length chains are not desirable: planned donations can fail before transplant for a variety of reasons, and the failure of a single donation causes the rest of that chain to fail, so parallel shorter chains are better in practice. In this paper, we address the tractable clearing of kidney exchanges with short cycles and chains that are long but bounded. This corresponds to the practice at most modern fielded kidney exchanges. We introduce three new integer programming formulations, two of which are compact. Furthermore, one of these models has a linear programming relaxation that is exactly as tight as the previous tightest formulation (which was not compact) for instances in which each donor has a paired patient. On real data from the UNOS nationwide exchange in the United States and the NLDKSS nationwide exchange in the United Kingdom, as well as on generated realistic large-scale data, we show that our new models are competitive with all existing solvers---in many cases outperforming all other solvers by orders of magnitude.

cs.DS↗

arXiv2016

Imperfect-Recall Abstractions with Bounds in Games

Imperfect-recall abstraction has emerged as the leading paradigm for practical large-scale equilibrium computation in incomplete-information games. However, imperfect-recall abstractions are poorly understood, and only weak algorithm-specific guarantees on solution quality are known. In this paper, we show the first general, algorithm-agnostic, solution quality guarantees for Nash equilibria and approximate self-trembling equilibria computed in imperfect-recall abstractions, when implemented in the original (perfect-recall) game. Our results are for a class of games that generalizes the only previously known class of imperfect-recall abstractions where any results had been obtained. Further, our analysis is tighter in two ways, each of which can lead to an exponential reduction in the solution quality error bound. We then show that for extensive-form games that satisfy certain properties, the problem of computing a bound-minimizing abstraction for a single level of the game reduces to a clustering problem, where the increase in our bound is the distance function. This reduction leads to the first imperfect-recall abstraction algorithm with solution quality bounds. We proceed to show a divide in the class of abstraction problems. If payoffs are at the same scale at all information sets considered for abstraction, the input forms a metric space. Conversely, if this condition is not satisfied, we show that the input does not form a metric space. Finally, we use these results to experimentally investigate the quality of our bound for single-level abstraction.

cs.GT↗

arXiv2016

Hardness of the Pricing Problem for Chains in Barter Exchanges

Kidney exchange is a barter market where patients trade willing but medically incompatible donors. These trades occur via cycles, where each patient-donor pair both gives and receives a kidney, and via chains, which begin with an altruistic donor who does not require a kidney in return. For logistical reasons, the maximum length of a cycle is typically limited to a small constant, while chains can be much longer. Given a compatibility graph of patient-donor pairs, altruists, and feasible potential transplants between them, finding even a maximum-cardinality set of vertex-disjoint cycles and chains is NP-hard. There has been much work on developing provably optimal solvers that are efficient in practice. One of the leading techniques has been branch and price, where column generation is used to incrementally bring cycles and chains into the optimization model on an as-needed basis. In particular, only positive-price columns need to be brought into the model. We prove that finding a positive-price chain is NP-complete. This shows incorrectness of two leading branch-and-price solvers that suggested polynomial-time chain pricing algorithms.

cs.DS↗

arXiv2015

Ignorance is Almost Bliss: Near-Optimal Stochastic Matching With Few Queries

The stochastic matching problem deals with finding a maximum matching in a graph whose edges are unknown but can be accessed via queries. This is a special case of stochastic $k$-set packing, where the problem is to find a maximum packing of sets, each of which exists with some probability. In this paper, we provide edge and set query algorithms for these two problems, respectively, that provably achieve some fraction of the omniscient optimal solution. Our main theoretical result for the stochastic matching (i.e., $2$-set packing) problem is the design of an \emph{adaptive} algorithm that queries only a constant number of edges per vertex and achieves a $(1-ε)$ fraction of the omniscient optimal solution, for an arbitrarily small $ε>0$. Moreover, this adaptive algorithm performs the queries in only a constant number of rounds. We complement this result with a \emph{non-adaptive} (i.e., one round of queries) algorithm that achieves a $(0.5 - ε)$ fraction of the omniscient optimum. We also extend both our results to stochastic $k$-set packing by designing an adaptive algorithm that achieves a $(\frac{2}{k} - ε)$ fraction of the omniscient optimal solution, again with only $O(1)$ queries per element. This guarantee is close to the best known polynomial-time approximation ratio of $\frac{3}{k+1} -ε$ for the \emph{deterministic} $k$-set packing problem [Furer and Yu, 2013] We empirically explore the application of (adaptations of) these algorithms to the kidney exchange problem, where patients with end-stage renal failure swap willing but incompatible donors. We show on both generated data and on real data from the first 169 match runs of the UNOS nationwide kidney exchange that even a very small number of non-adaptive edge queries per vertex results in large gains in expected successful matches.

cs.DS↗

arXiv2015

Strong Nash equilibria and mixed strategies

In this paper we consider strong Nash equilibria, in mixed strategies, for finite games. Any strong Nash equilibrium outcome is Pareto efficient for each coalition. First, we analyze the two--player setting. Our main result, in its simplest form, states that if a game has a strong Nash equilibrium with full support (that is, both players randomize among all pure strategies), then the game is strictly competitive. In order to get our result we use the indifference principle fulfilled by any Nash equilibrium, and the classical KKT conditions (in the vector setting), that are necessary conditions for Pareto efficiency. Our characterization enables us to design a strong-Nash-equilibrium-finding algorithm with complexity in Smoothed-$\mathcal{P}$. So, this problem---that Conitzer and Sandholm [Conitzer, V., Sandholm, T., 2008. New complexity results about Nash equilibria. Games Econ. Behav. 63, 621--641] proved to be computationally hard in the worst case---is generically easy. Hence, although the worst case complexity of finding a strong Nash equilibrium is harder than that of finding a Nash equilibrium, once small perturbations are applied, finding a strong Nash is easier than finding a Nash equilibrium. Next we switch to the setting with more than two players. We demonstrate that a strong Nash equilibrium can exist in which an outcome that is strictly Pareto dominated by a Nash equilibrium occurs with positive probability. Finally, we prove that games that have a strong Nash equilibrium where at least one player puts positive probability on at least two pure strategies are extremely rare: they are of zero measure.

math.OC↗

arXiv2014

Complexity of Mechanism Design

The aggregation of conflicting preferences is a central problem in multiagent systems. The key difficulty is that the agents may report their preferences insincerely. Mechanism design is the art of designing the rules of the game so that the agents are motivated to report their preferences truthfully and a (socially) desirable outcome is chosen. We propose an approach where a mechanism is automatically created for the preference aggregation setting at hand. This has several advantages, but the downside is that the mechanism design optimization problem needs to be solved anew each time. Focusing on settings where side payments are not possible, we show that the mechanism design problem is NP-complete for deterministic mechanisms. This holds both for dominant-strategy implementation and for Bayes-Nash implementation. We then show that if we allow randomized mechanisms, the mechanism design problem becomes tractable. In other words, the coordinator can tackle the computational complexity introduced by its uncertainty about the agents preferences BY making the agents face additional uncertainty.This comes at no loss, AND IN SOME cases at a gain, IN the(social) objective.

cs.GT↗