Two-player games on graphs is central in many problems in formal verification and program analysis such as synthesis and verification of open systems. In this work we consider solving recursive game graphs (or pushdown game graphs) that can model the control flow of sequential programs with recursion. While pushdown games have been studied before with qualitative objectives, such as reachability and $ω$-regular objectives, in this work we study for the first time such games with the most well-studied quantitative objective, namely, mean-payoff objectives. In pushdown games two types of strategies are relevant: (1) global strategies, that depend on the entire global history; and (2) modular strategies, that have only local memory and thus does not depend on the context of invocation, but only on the history of the current invocation of the module. Our main results are as follows (1) One-player pushdown games with mean-payoff objectives under global strategies is decidable in polynomial time. (2) Two-player pushdown games with mean-payoff objectives under global strategies is undecidable. (3) One-player pushdown games with mean-payoff objectives under modular strategies is NP-hard. (4) Two-player pushdown games with mean-payoff objectives under modular strategies can be solved in NP (i.e., both one-player and two-player pushdown games with mean-payoff objectives under modular strategies is NP-complete). We also establish the optimal strategy complexity showing that global strategies for mean-payoff objectives require infinite memory even in one-player pushdown games; and memoryless modular strategies are sufficient in two-player pushdown games. Finally we also show that all the problems have the same complexity if the stack boundedness condition is added, where along with the mean-payoff objective the player must also ensure that the stack height is bounded.
We consider both finite-state game graphs and recursive game graphs (or pushdown game graphs), that can model the control flow of sequential programs with recursion, with multi-dimensional mean-payoff objectives. In pushdown games two types of strategies are relevant: global strategies, that depend on the entire global history; and modular strategies, that have only local memory and thus do not depend on the context of invocation. We present solutions to several fundamental algorithmic questions and our main contributions are as follows: (1) We show that finite-state multi-dimensional mean-pay…
This paper studies a large class of two-player perfect-information turn-based parity games on infinite graphs, namely those generated by collapsible pushdown automata. The main motivation for studying these games comes from the connections from collapsible pushdown automata and higher-order recursion schemes, both models being equi-expressive for generating infinite trees. Our main result is to establish the decidability of such games and to provide an effective representation of the winning region as well as of a winning strategy. Thus, the results obtained here provide all necessary tools fo…
We give a direct polynomial-time reduction from parity games played over the configuration graphs of collapsible pushdown systems to safety games played over the same class of graphs. That a polynomial-time reduction would exist was known since both problems are complete for the same complexity class. Coming up with a direct reduction, however, has been an open problem. Our solution to the puzzle brings together a number of techniques for pushdown games and adds three new ones. This work contributes to a recent trend of liveness to safety reductions which allow the advanced state-of-the-art in…
Games on recursive game graphs can be used to reason about the control flow of sequential programs with recursion. In games over recursive game graphs, the most natural notion of strategy is the modular strategy, i.e., a strategy that is local to a module and is oblivious to previous module invocations, and thus does not depend on the context of invocation. In this work, we study for the first time modular strategies with respect to winning conditions that can be expressed by a pushdown automaton. We show that such games are undecidable in general, and become decidable for visibly pushdown aut…
Some decidable winning conditions of arbitrarily high finite Borel complexity for games on finite graphs or on pushdown graphs have been recently presented by O. Serre in [ Games with Winning Conditions of High Borel Complexity, in the Proceedings of the International Conference ICALP 2004, LNCS, Volume 3142, p. 1150-1162 ]. We answer in this paper several questions which were raised by Serre in the above cited paper. We first show that, for every positive integer n, the class C_n(A), which arises in the definition of decidable winning conditions, is included in the class of non-ambiguous cont…
Mean-payoff games are important quantitative models for open reactive systems. They have been widely studied as games of full observation. In this paper we investigate the algorithmic properties of several sub-classes of mean-payoff games where the players have asymmetric information about the state of the game. These games are in general undecidable and not determined according to the classical definition. We show that such games are determined under a more general notion of winning strategy. We also consider mean-payoff games where the winner can be determined by the winner of a finite cycle…
Mean-payoff games on timed automata are played on the infinite weighted graph of configurations of priced timed automata between two players, Player Min and Player Max, by moving a token along the states of the graph to form an infinite run. The goal of Player Min is to minimize the limit average weight of the run, while the goal of the Player Max is the opposite. Brenguier, Cassez, and Raskin recently studied a variation of these games and showed that mean-payoff games are undecidable for timed automata with five or more clocks. We refine this result by proving the undecidability of mean-payo…
We propose a novel algorithm for the solution of mean-payoff games that merges together two seemingly unrelated concepts introduced in the context of parity games, small progress measures and quasi dominions. We show that the integration of the two notions can be highly beneficial and significantly speeds up convergence to the problem solution. Experiments show that the resulting algorithm performs orders of magnitude better than the asymptotically-best solution algorithm currently known, without sacrificing on the worst-case complexity.
We study the computational complexity of solving mean payoff games. This class of games can be seen as an extension of parity games, and they have similar complexity status: in both cases solving them is in $\textbf{NP} \cap \textbf{coNP}$ and not known to be in $\textbf{P}$. In a breakthrough result Calude, Jain, Khoussainov, Li, and Stephan constructed in 2017 a quasipolynomial time algorithm for solving parity games, which was quickly followed by two other algorithms with the same complexity. Our objective is to investigate how these techniques can be extended to the study of mean payoff ga…
Mean-payoff games (MPGs) are infinite duration two-player zero-sum games played on weighted graphs. Under the hypothesis of perfect information, they admit memoryless optimal strategies for both players and can be solved in NP-intersect-coNP. MPGs are suitable quantitative models for open reactive systems. However, in this context the assumption of perfect information is not always realistic. For the partial-observation case, the problem that asks if the first player has an observation-based winning strategy that enforces a given threshold on the mean-payoff, is undecidable. In this paper, we …
We study nondeterministic strategies in parity games with the aim of computing a most permissive winning strategy. Following earlier work, we measure permissiveness in terms of the average number/weight of transitions blocked by the strategy. Using a translation into mean-payoff parity games, we prove that the problem of computing (the permissiveness of) a most permissive winning strategy is in NP intersected coNP. Along the way, we provide a new study of mean-payoff parity games. In particular, we prove that the opponent player has a memoryless optimal strategy and give a new algorithm for so…
Traditionally quantitative games such as mean-payoff games and discount sum games have two players -- one trying to maximize the payoff, the other trying to minimize it. The associated decision problem, "Can Eve (the maximizer) achieve, for example, a positive payoff?" can be thought of as one player trying to attain a payoff in the interval $(0,\infty)$. In this paper we consider the more general problem of determining if a player can attain a payoff in a finite union of arbitrary intervals for various payoff functions (liminf, mean-payoff, discount sum, total sum). In particular this include…
In mean-payoff games, the objective of the protagonist is to ensure that the limit average of an infinite sequence of numeric weights is nonnegative. In energy games, the objective is to ensure that the running sum of weights is always nonnegative. Generalized mean-payoff and energy games replace individual weights by tuples, and the limit average (resp. running sum) of each coordinate must be (resp. remain) nonnegative. These games have applications in the synthesis of resource-bounded processes with multiple resources. We prove the finite-memory determinacy of generalized energy games and sh…
We consider two-player games played on weighted directed graphs with mean-payoff and total-payoff objectives, two classical quantitative objectives. While for single-dimensional games the complexity and memory bounds for both objectives coincide, we show that in contrast to multi-dimensional mean-payoff games that are known to be coNP-complete, multi-dimensional total-payoff games are undecidable. We introduce conservative approximations of these objectives, where the payoff is considered over a local finite window sliding along a play, instead of the whole play. For single dimension, we show …
In two-player games on graphs, the players move a token through a graph to produce an infinite path, which determines the winner or payoff of the game. We study {\em bidding games} in which the players bid for the right to move the token. Several bidding rules were studied previously. In {\em Richman} bidding, in each round, the players simultaneously submit bids, and the higher bidder moves the token and pays the other player. {\em Poorman} bidding is similar except that the winner of the bidding pays the "bank" rather than the other player. {\em Taxman} bidding spans the spectrum between Ric…
In a mean-payoff parity game, one of the two players aims both to achieve a qualitative parity objective and to minimize a quantitative long-term average of payoffs (aka. mean payoff). The game is zero-sum and hence the aim of the other player is to either foil the parity objective or to maximize the mean payoff. Our main technical result is a pseudo-quasi-polynomial algorithm for solving mean-payoff parity games. All algorithms for the problem that have been developed for over a decade have a pseudo-polynomial and an exponential factors in their running times; in the running time of our algor…
Graph games provide the foundation for modeling and synthesis of reactive processes. Such games are played over graphs where the vertices are controlled by two adversarial players. We consider graph games where the objective of the first player is the conjunction of a qualitative objective (specified as a parity condition) and a quantitative objective (specified as a mean-payoff condition). There are two variants of the problem, namely, the threshold problem where the quantitative goal is to ensure that the mean-payoff value is above a threshold, and the value problem where the quantitative go…
Two-player games on graphs provide the mathematical foundation for the study of reactive systems. In the quantitative framework, an objective assigns a value to every play, and the goal of player 1 is to minimize the value of the objective. In this framework, there are two relevant synthesis problems to consider: the quantitative analysis problem is to compute the minimal (or infimum) value that player 1 can assure, and the boolean analysis problem asks whether player 1 can assure that the value of the objective is at most $ν$ (for a given threshold $ν$). Mean-payoff expression games are playe…
We study graphs and two-player games in which rewards are assigned to states, and the goal of the players is to satisfy or dissatisfy certain property of the generated outcome, given as a mean payoff property. Since the notion of mean-payoff does not reflect possible fluctuations from the mean-payoff along a run, we propose definitions and algorithms for capturing the stability of the system, and give algorithms for deciding if a given mean payoff and stability objective can be ensured in the system
Graph games provide the foundation for modeling and synthesizing reactive processes. In the synthesis of stochastic reactive processes, the traditional model is perfect-information stochastic games, where some transitions of the game graph are controlled by two adversarial players, and the other transitions are executed probabilistically. We consider such games where the objective is the conjunction of several quantitative objectives (specified as mean-payoff conditions), which we refer to as generalized mean-payoff objectives. The basic decision problem asks for the existence of a finite-memo…
Mean-payoff games play a central role in quantitative synthesis and verification. In a single-dimensional game a weight is assigned to every transition and the objective of the protagonist is to assure a non-negative limit-average weight. In the multidimensional setting, a weight vector is assigned to every transition and the objective of the protagonist is to satisfy a boolean condition over the limit-average weight of each dimension, e.g., $\LimAvg(x_1) \leq 0 \vee \LimAvg(x_2)\geq 0 \wedge \LimAvg(x_3) \geq 0$. We recently proved that when one of the players is restricted to finite-memory s…
