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Combinatorial Problems I Finding Solutions

- Ashish Sabharwal
- Cornell University
- March 3, 2008
- 2nd Asian-Pacific School on Statistical Physics

and Interdisciplinary Applications

KITPC/ITP-CAS, Beijing, China

Computer Science

Engineering

Mathematics

Cross-fertilization of ideas for the study and

design of Intelligent Systems

Operations Research

Economics

Phase transition

Physics

Cognitive Science

Research part of Cornells Intelligent

Information Systems Institute (IISI) Director

Carla Gomes

Combinatorial Problems

- Examples
- Routing Given a partially connected networkon

N nodes, find the shortest path between X and Y - Traveling Salesperson Problem (TSP) Given

apartially connected network on N nodes, find a

paththat visits every node of the network

exactly oncemuch harder!! - Scheduling Given N tasks with earliest start

times, completion deadlines, and set of M

machines on which they can execute, schedule them

so that they all finish by their deadlines

Problem Instance, Algorithm

- Specific instantiation of the problem
- E.g. three instances for the routing problem with

N8 nodes - Objective a single, generic algorithm for the

problem that can solve any instance of that

problem

A sequence of steps, a recipe

Measuring the Effectiveness of Algorithms

- Capture scaling with input size N, rather than

runtime on specific instances - The most common notion in Computer Science is

worst-case complexity What is the longest time

(or number of steps) the algorithm might take on

any input of size N?Perhaps only N steps, 100

N5 ?N linear time, O(N)Maybe N2 steps, or N2

4 N 6 quadratic ,O(N2)Maybe N3 1000 log

N cubic, O(N3) Maybe 2N, or 2N

N1000 exponential, O(2N)

Polynomial vs. Exponential Complexity

Polynomial time tractable, canhope to solve

very large problemswith enough computing

power E.g. known routing / shortestpath

algorithms O(N3) Exponential time quickly run

intoscalability issues as N increases E.g. best

known algorithms for TSP

Are some problems inherently harder than

others?A large amount of work on answering this

question computational complexity theory

Computational Complexity Hierarchy

EXP-complete games like Go,

Hard

EXP

PSPACE-complete QBF, adversarial planning,

chess (bounded),

PSPACE

P-complete/hard SAT, sampling,

probabilistic inference,

PP

PH

NP-complete SAT, scheduling, graph

coloring, puzzles,

NP

P-complete circuit-value,

P

In P sorting, shortest path,

Easy

Note widely believed hierarchy know P?EXP for

sure

NP-Completeness

- P class of problems for which a solution can

be found in poly time e.g. can find a

shortest path in poly time - NP class of problems for which a solution can be

verified in poly time e.g. cant find a

TSP solution in poly time (as far as we know)

but, given a candidate solution (a witness)

can verify the correctness of the witness

in poly time N non-deterministic, with

the power of guessing P polynomial

time - NP-complete the hardest problems within NP

NP-Completeness

- One of the biggest discoveries in Computer

Science - All NP-complete problems are equally hard!

worst-case complexity - An algorithm for any one NP-complete problem can

be used to solve any other NP-complete problem

with only a polynomial overhead! - There are catalogues of 10,000s of such

problemse.g. Boolean satisfiability or SAT,

TSP, scheduling, (bounded) planning, chip

verification, 0-1 integer programming, graph

coloring, logical inference, - Similarly for PSPACE-complete, P-complete,

etc.

Can one design a single algorithm that can

efficiently solve thousands of different problems

of interest?

The Quest for Machine Reasoning

A cornerstone of Artificial Intelligence Objectiv

e Develop foundations and technology to enable

effective, practical, large-scale automated

reasoning.

Current reasoning technology

Machine Reasoning (1960-90s)

Computational complexity of reasoning appears to

severely limit real-world applications

Revisiting the challenge Significant progress

with new ideas / tools for dealing with

complexity (scale-up), uncertainty, and

multi-agent reasoning

General Automated Reasoning

GeneralInferenceEngine

ModelGenerator(Encoder)

Probleminstance

Solution

Domain-specific

Generic

e.g. logistics, chess,planning, scheduling, ...

applicable to all domainswithin range of

modeling language

Research objective Better reasoning and

modeling technology

Impact Faster solutions in several domains

Reasoning Complexity

- EXPONENTIAL COMPLEXITY INHERENT
- AN worst case
- N No. of Variables/Objects A Object

states - TIME/SPACE
- ?Granularity ? ? Object states
- Current implementations trade
- time with soundness

Search for rules to apply

For N variables 2N cases drive complexity!

Check Contradictions

Exponential Complexity Growth The Challenge of

Complex Domains

Note rough estimates, for propositional reasoning

1M 5M

War Gaming

10301,020

0.5M 1M

VLSI Verification

10150,500

Case complexity

100K 450K

Military Logistics

106020

20K 100K

Chess (20 steps deep)

103010

No. of atoms on the earth

10K 50K

Deep space mission control

Seconds until heat death of sun

1047

100 200

1030

Car repair diagnosis

Protein folding Calculation (petaflop-year)

Variables

100

10K

20K

100K

1M

Rules (Constraints)

Credit Kumar, DARPA Cited in Computer World

magazine

Progress in Last 15 Years

- Focus Combinatorial Search Spaces
- Specifically, the Boolean satisfiability problem,

SAT - Significant progress since the 1990s.
- How much?
- Problem size We went from 100 variables, 200

constraints (early 90s) to 1,000,000 vars. and

5,000,000 constraints in 15 years.Search space

from 1015 to 10300,000.Aside one can

encode quite a bit in 1M variables. - Tools 50 competitive SAT solvers available
- Overview of the state of the art Plenary talk

at IJCAI-05 (Selman) Discrete App. Math. article

(Kautz-Selman 06)

How Large are the Problems?

A bounded model checking problem

SAT Encoding

(automatically generated from problem

specification)

i.e., ((not x1) or x7) ((not x1) or x6)

etc.

x1, x2, x3, etc. are our Boolean variables (to be

set to True or False)

Should x1 be set to False??

10 Pages Later

i.e., (x177 or x169 or x161 or x153 x33 or x25

or x17 or x9 or x1 or (not x185)) clauses /

constraints are getting more interesting

Note x1

4,000 Pages Later

Finally, 15,000 Pages Later

Search space of truth assignments

Current SAT solvers solve this instance in under

30 seconds!

SAT Solver Progress

Solvers have continually improved over time

Source Marques-Silva 2002

How do SAT Solvers Keep Improving?

- From academically interesting to practically

relevant. - We now have regular SAT solver competitions.
- (Germany 89, Dimacs 93, China 96, SAT-02,

SAT-03, , SAT-07) - E.g. at SAT-2006 (Seattle, Aug 06)
- 35 solvers submitted, most of them open source
- 500 industrial benchmarks
- 50,000 benchmark instances available on the www
- This constant improvement in SAT solvers is the

key to making, e.g.,SAT-based planning very

successful.

Current Automated Reasoning Tools

- Most-successful fully automated methods based

on Boolean Satisfiability (SAT) / Propositional

Reasoning - Problems modeled as rules / constraints over

Boolean variables - SAT solver used as the inference engine
- Applications single-agent search
- AI planning
- SATPLAN-06, fastest optimal planner ICAPS-06

competition (Kautz Selman 06) - Verification hardware and software
- Major groups at Intel, IBM, Microsoft, and

universitiessuch as CMU, Cornell, and

Princeton.SAT has become the dominant

technology. - Many other domains Test pattern generation,

Scheduling,Optimal Control, Protocol Design,

Routers, Multi-agent systems,E-Commerce

(E-auctions and electronic trading agents), etc.

Recall General Automated Reasoning

GeneralInferenceEngine

ModelGenerator(Encoder)

Probleminstance

Solution

Domain-specific

Generic

e.g. logistics, chess,planning, scheduling, ...

applicable to all domainswithin range of

modeling language

Research objective Better reasoning and

modeling technology

Impact Faster solutions in several domains

Automated Reasoning with SAT

- A simple but useful modeling language Boolean

formulas - Corresponding inference engine Satisfiability

or SAT algorithm (e.g. complete search, local

search, message passing) - Numerous applications hardware and software

verification, planning, scheduling, e-commerce,

circuit design, open problems in algebra,

Boolean Logic

- Defined over Boolean (binary) variables a, b, c,

- Each of these can be True (1, T) or False (0, F)
- Variables connected together with logic

operators and, or, not (denoted ?) - E.g. ((c ? ?d) ? f) is True iff

either c is True and d is False, or f is True - Fact All other Boolean logic operators can be

expressed with and, or, not - E.g. (a ? b) same as (?a or b)
- Boolean formula, e.g. F (a or b) and ?(a

and (b or c)) - (Truth) Assignment any setting of the variables

to True or False - Satisfying assignment assignment where the

formula evaluates to True - E.g. F has 3 satisfying assignments

(0,1,0), (0,1,1), (1,0,0)

Boolean Logic Example

- F (a or b) and ?(a and (b or c))
- Note True often written as 1, False as 0
- There are 23 8 possible truth assignments to a,

b, c - (a0,b1,c0) representing (aFalse, bTrue,

cFalse) - (a0,b0,c1)

- Exactly 3 truth assignments satisfy F
- (a0,b1,c0)
- (a0,b1,c1)
- (a1,b0,c0)

Boolean Logic Expressivity

- All discrete single-agent search problems can be

cast as a Boolean formula - Variables a, b, c, often represent states of

the system, events, actions, etc. - (more on this later, using Planning as an

example) - Very general encoding language. E.g. can handle
- Numbers (k-bit binary representation)
- Floating-point numbers
- Arithmetic operators like , x, exp(), log()
- SAT encodings (generated automatically from high

level languages) routinely used in domains like

planning, scheduling, verification, e-commerce,

network design,

Recall Example

event

Variables X1 email_ received X2 in_

meeting X3 urgent X4 respond_to_email X5

near_deadline X6 postpone X7

air_ticket_info_request X8 travel_ request X9

info_request

state

action

- Rules
- X1 (not X2) X3 ? X4
- X2 ? not X4
- X5 ? X3 or X6
- 4. X7 ? X8
- 5. X8 ? X9
- 6. X8 ? X5
- 7. X6 ? not X9

constraint

Boolean Logic Standard Representations

- Each problem constraint typically specified as (a

set of) clauses - E.g. (a or b), (c or d or ?f), (?a or c or

d), - Formula in conjunctive normal form, or CNF a

conjunction of clauses - E.g. F (a or b) and ?(a and (b or c))

changes to - FCNF (a or b) and (?a or ?b) and (b

or ?c) - Alternative useful for QBF specify each

constraint as a term (only and, not) - E.g. (a and ?d), (b and ?a and f), (?b and

d and e), - Formula in disjunctive normal form, or DNF a

disjunction of terms - E.g. FDNF (?a and b) or (a and ?b and ?c)

clauses (only or, not)

Boolean Satisfiability Testing

- The Boolean Satisfiability Problem, or SAT
- Given a Boolean formula F,
- find a satisfying assignment for F
- or prove that no such assignment exists.

- A wide range of applications
- Relatively easy to test for small formulas (e.g.

with a Truth Table) - However, very quickly becomes hard to solve
- Search space grows exponentially with formula

size (more on this next) - SAT technology has been very successful in taming

this exponential blow up!

SAT Search Space

All vars free

- SAT Problem Find a path to a True leaf node.
- For N Boolean variables, the raw search space is

of size 2N - Grows very quickly with N
- Brute-force exhaustive search unrealistic without

efficient heuristics, etc.

SAT Solution

All vars free

- A solution to a SAT problem can be seen as a path

in the search tree that leads to the formula

evaluating to True at the leaf. - Goal Find such a path efficiently out of the

exponentially many paths. - Note this is a 4 variable example. Imagine a

tree for 1,000,000 variables!

k-CNF, 3-CNF

- k-CNF all clauses have k literals
- 1-CNF SAT trivial
- 2-CNF SAT solvable in O(N2) time N num.

of variables - 3-CNF SAT NP-complete
- 4-CNF SAT NP-complete

Note Any Boolean formula can be converted into

CNF. -- with or without extra variables (without

? size increase)

Worst-Case Complexity

- SAT is an NP-complete problem
- Worst-case believed to be exponential(roughly 2N

for N variables) - 10,000 problems in CS are NP-complete (e.g.

planning, scheduling, protein folding, reasoning) - P vs. NP --- 1M Clay Prize
- However, real-world instances are usually not

pathological and can often be solved very quickly

with the latest technology! - Typical-case complexity provides a moredetailed

understanding and a more positive picture.

Exponential Complexity Growth

Planning (single-agent) find the right

sequence of actions

HARD 10 actions, 10! 3 x 106 possible plans

Contingency planning (multi-agent) actions

may or may not produce the desired effect!

REALLY HARD 10 x 92 x 84 x 78 x x 2256

10224 possible contingency

plans!

Typical-Case Complexity

A key hardness parameter for k-SAT the ratio

of clauses to variables

Problems that are not critically constrained tend

to be much easier in practicethan the relatively

few critically constrained ones

Mitchell, Selman, and Levesque 92 Kirkpatrick

and Selman Science 94

Typical-Case Complexity

SAT solvers continually getting close to tackling

problems in the hardest region!

SP (survey propagation) now handles 1,000,000

variablesvery near the phase transition region

Tractable Sub-Structure Can Dominate and

Drastically Reduce Solution Cost!

2p-SAT model mix 2-SAT (tractable) and 3-SAT

(intractable) clauses

40 3-SAT exponential scaling

Median runtime

? 40 3-SAT linear scaling!

Number of variables

(Monasson, Selman et al. Nature 99 Achlioptas

00)

How are other NP-complete problems translated

into SAT instances?SAT encoding

SAT Encoding Example Planning Domain

- Planning Problem ? Propositional CNF formulaby

axiom schemas - Logistics planning think of a number of trucks

and planes that need to transport a bunch of

packages from their origin to their destination - Discrete time, modeled by integers
- state predicates indexed by time at which they

hold - E.g. at_location(x,,loc,i), free(x,i1),

route(cityA,cityB,i) - action predicates indexed by time at which

action begins - E.g. fly(cityA,cityB,i), pickup(x,loc,i),

drive_truck(loc1,loc2,i) - each action takes 1 time step
- many actions may occur at the same step

Encoding Rules

- Actions imply preconditions and effects
- fly(x,y,i) ? at(x,i) and route(x,y,i)

and at(y,i1) - Conflicting actions cannot occur at same time (A

deletes a precondition of B) - fly(x,y,i) and y?z ? not fly(x,z,i)
- If something changes, an action must have caused

it(Explanatory Frame Axioms) - at(x,i) and not at(x,i1) ? ?y .

route(x,y) and fly(x,y,i) - Initial and final states hold
- at(NY,0) and ... and at(LA,9) and ...

Using SAT Solvers for Planning

Modeling and Solving a Planning Problem

instantiated propositional clauses

instantiate

Problem description inhigh level language

axiom schemas

(manual)

length

mapping

SAT engine(s)

interpret

satisfying model

plan

(fully automatic)

Planning Benchmark Complexity

- Logistics domain a complex, highly-parallel

transportation domain - E.g. logistics.d problem
- 2,165 possible actions per time slot
- optimal solution contains 74 distinct actions

over 14 time slots - (out of 5 x 1046 possible sequential plans of

length 14) - Satplan Selman et al. approach is currently

fastest optimal planning approach. Winner

ICAPS-05 ICAPS-06 international planning

competitions.

Solution Approaches to SAT

Solving SAT Systematic Search

- One possibility enumerate all truth assignments

one-by-one, test whether any satisfies F - Note testing is easy!
- But too many truth assignments (e.g. for N1000

variables, have 21000 ? 10300 truth assignments) - 00000000
- 00000001
- 00000010
- 00000011
- 11111111

2N

Solving SAT Systematic Search

- Smarter approach the DPLL procedure 1960s
- (Davis, Putnam, Logemann, Loveland)
- Assign values to variables one at a time

(partial assignments) - Simplify F
- If contradiction (i.e. some clause becomes

False), backtrack, flip last unflipped

variables value, and continue search - Extended with many new techniques -- 100s of

research papers, yearly conference on SATe.g.,

extremely efficient data-structures

(representation), randomization, restarts,

learning reasons of failure - Provides proof of unsatisfiability if F is unsat.

complete method - Forms the basis of dozens of very effective SAT

solvers!e.g. minisat, zchaff, relsat, rsat,

(open source, available on the www)

Solving SAT Local Search

- Search space all 2N truth assignments for F
- Goal starting from an initial truth assignment

A0, compute assignments A1, A2, , As such that

As is a satisfying assignment for F - Ai1 is computed by a local transformation to

Aie.g. A1 000110111 green bit flips to

red bit A2 001110111 A3

001110101 A4 101110101

As 111010000 solution found! - No proof of unsatisfiability if F is unsat.

incomplete method - Several SAT solvers based on this approach, e.g.

Walksat

Solving SAT Decimation

- Search space all 2N truth assignments for F
- Goal attempt to construct a solution in

one-shot by very carefully setting one variable

at a time - Survey Inspired Decimation
- Estimate certain marginal probabilities of each

variable being True, False, or undecided in

each solution cluster using Survey Propagation - Fix the variable that is the most biased to its

preferred value - Simplify F and repeat
- A method rarely used by computer scientists
- But has received tremendous success from the

physics community on random k-SAT can easily

solve random instances with 1M variables! - No searching for solution
- No proof of unsatisfiability incomplete method

The Next Two Lectures

- Problems beyond SAT / searching for a single

solution - P-complete count the number of solutions of a

SAT instance - P-hard sample a solution uniformly at random

for a SAT instance - PSPACE-complete quantified Boolean formula (QBF)

Thank you for attending!

Slides http//www.cs.cornell.edu/sabhar/tutoria

ls/kitpc08-combinatorial-problems-I.ppt Ashish

Sabharwal http//www.cs.cornell.edu/sabhar Bart

Selman http//www.cs.cornell.edu/selman

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