We study the computational complexity of finding Stackelberg Equilibria in general-sum games, where the set of pure strategies of the leader and the followers are exponentially large in a natrual representation of the problem.
In \emph{zero-sum} games, the notion of a Stackelberg equilibrium coincides with the notion of a \emph{Nash Equilibrium}~\cite{korzhyk2011stackelberg}. Finding these equilibrium concepts in zero-sum games can be efficiently done when the players have polynomially many pure strategies or when (in additional to some structural properties) a best-response oracle is available~\cite{ahmadinejad2016duels, DHL+17, KV05}. Despite such advancements in the case of zero-sum games, little is known for general-sum games.
In light of the above, we examine the computational complexity of computing a Stackelberg equilibrium in large general-sum games. We show that while there are natural large general-sum games where the Stackelberg Equilibria can be computed efficiently if the Nash equilibrium in its zero-sum form could be computed efficiently, in general, structural properties that allow for efficient computation of Nash equilibrium in zero-sum games are not sufficient for computing Stackelberg equilibria in general-sum games.
In this paper, we employ a hypergame framework to analyze the single-leader-multiple-followers (SLMF) Stackelberg security game with two typical misinformed situations: misperception and deception. We provide a stability criterion with the help of hyper Nash equilibrium (HNE) to investigate both strategic stability and cognitive stability of equilibria in SLMF games with misinformation. In fact, we find mild stable conditions such that the equilibria with misperception and deception can become HNE. Moreover, we discuss the robustness of the equilibria to reveal whether players have the ability…
Czech Technical University in Prague（布拉格捷克理工大学）；Hebrew University of Jerusalem（耶路撒冷希伯来大学）；Aarhus University（奥胡斯大学）；IT-University of Copenhagen（哥本哈根信息技术大学）
The Stackelberg equilibrium solution concept describes optimal strategies to commit to: Player 1 (termed the leader) publicly commits to a strategy and Player 2 (termed the follower) plays a best response to this strategy (ties are broken in favor of the leader). We study Stackelberg equilibria in finite sequential games (or extensive-form games) and provide new exact algorithms, approximate algorithms, and hardness results for several classes of these sequential games.
A growing body of work in game theory extends the traditional Stackelberg game to settings with one leader and multiple followers who play a Nash equilibrium. Standard approaches for computing equilibria in these games reformulate the followers' best response as constraints in the leader's optimization problem. These reformulation approaches can sometimes be effective, but often get trapped in low-quality solutions when followers' objectives are non-linear or non-quadratic. Moreover, these approaches assume a unique equilibrium or a specific equilibrium concept, e.g., optimistic or pessimistic…
We introduce and study incentive equilibria for multi-player meanpayoff games. Incentive equilibria generalise well-studied solution concepts such as Nash equilibria and leader equilibria (also known as Stackelberg equilibria). Recall that a strategy profile is a Nash equilibrium if no player can improve his payoff by changing his strategy unilaterally. In the setting of incentive and leader equilibria, there is a distinguished player called the leader who can assign strategies to all other players, referred to as her followers. A strategy profile is a leader strategy profile if no player, exc…
This paper investigates inventory management in a multi channel distribution system consisting of one manufacturer and an arbitrary number of retailers that face stochastic demand. Existence of the pure Nash equilibrium is proved and parameter restriction which implies uniqueness of it is derived. Also the Stackelberg game where the manufacturer plays a roll as a leader is discussed. Under specified parameter restrictions which guarantee profitability, sufficient condition for uniqueness of Stackelberg equilibrium is obtained. In addition comparison with simultaneous move game is made. The res…
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 uncert…
Here we present a ground-breaking new postulate for game theory. The first part of this postulate contains the axiomatic observation that all games are created by a designer, whether they are: e.g., (dynamic/static) or (stationary/non-stationary) or (sequential/one-shot) non-cooperative games, and importantly, whether or not they are intended to represent a non-cooperative Stackelberg game, they can be mapped to a Stackelberg game. I.e., the game designer is the leader who is totally rational and honest, and the followers are mapped to the players of the designed game. If now the game designer…
Stackelberg equilibrium is a solution concept that describes optimal strategies to commit: Player 1 (the leader) first commits to a strategy that is publicly announced, then Player 2 (the follower) plays a best response to the leader's commitment. We study the problem of computing Stackelberg equilibria in sequential games with finite and indefinite horizons, when players can play history-dependent strategies. Using the alternate formulation called strategies with memory, we establish that strategy profiles with polynomial memory size can be described efficiently. We prove that there exist a p…
Interactions among selfish users sharing a common transmission channel can be modeled as a non-cooperative game using the game theory framework. When selfish users choose their transmission probabilities independently without any coordination mechanism, Nash equilibria usually result in a network collapse. We propose a methodology that transforms the non-cooperative game into a Stackelberg game. Stackelberg equilibria of the Stackelberg game can overcome the deficiency of the Nash equilibria of the original game. A particular type of Stackelberg intervention is constructed to show that any pos…
Equilibrium refinements are important in extensive-form (i.e., tree-form) games, where they amend weaknesses of the Nash equilibrium concept by requiring sequential rationality and other beneficial properties. One of the most attractive refinement concepts is quasi-perfect equilibrium. While quasi-perfection has been studied in extensive-form games, it is poorly understood in Stackelberg settings---that is, settings where a leader can commit to a strategy---which are important for modeling, for example, security games. In this paper, we introduce the axiomatic definition of quasi-perfect Stack…
Stackelberg equilibrium is a solution concept in two-player games where the leader has commitment rights over the follower. In recent years, it has become a cornerstone of many security applications, including airport patrolling and wildlife poaching prevention. Even though many of these settings are sequential in nature, existing techniques pre-compute the entire solution ahead of time. In this paper, we present a theoretically sound and empirically effective way to apply search, which leverages extra online computation to improve a solution, to the computation of Stackelberg equilibria in ge…
In this paper, we study the notion of adversarial Stackelberg value for two-player non-zero sum games played on bi-weighted graphs with the mean-payoff and the discounted sum functions. The adversarial Stackelberg value of Player 0 is the largest value that Player 0 can obtain when announcing her strategy to Player 1 which in turn responds with any of his best response. For the mean-payoff function, we show that the adversarial Stackelberg value is not always achievable but epsilon-optimal strategies exist. We show how to compute this value and prove that the associated threshold problem is in…
There has been significant recent interest in game-theoretic approaches to security, with much of the recent research focused on utilizing the leader-follower Stackelberg game model. Among the major applications are the ARMOR program deployed at LAX Airport and the IRIS program in use by the US Federal Air Marshals (FAMS). The foundational assumption for using Stackelberg games is that security forces (leaders), acting first, commit to a randomized strategy; while their adversaries (followers) choose their best response after surveillance of this randomized strategy. Yet, in many situations, a…
As an effective approach to thwarting advanced attacks, moving target defense (MTD) has been applied to various domains. Previous works on MTD, however, mainly focus on deciding the sequence of system configurations to be used and have largely ignored the equally important timing problem. Given that both the migration cost and attack time vary over system configurations, it is crucial to jointly optimize the spatial and temporal decisions in MTD to better protect the system from persistent threats. In this work, we propose a Stackelberg game model for MTD where the defender commits to a joint …
We consider a two-player zero-sum network routing game in which a router wants to maximize the amount of legitimate traffic that flows from a given source node to a destination node and an attacker wants to block as much legitimate traffic as possible by flooding the network with malicious traffic. We address scenarios with asymmetric information, in which the router must reveal its policy before the attacker decides how to distribute the malicious traffic among the network links, which is naturally modeled by the notion of Stackelberg equilibria. The paper focuses on parallel networks, and in…
This paper studies the performance of overlay device-to-device (D2D) communication links via carrier sense multiple access (CSMA) protocols. We assume that the D2D links have heterogeneous rate requirements and different willingness to pay, and each of them acts non-altruistically to achieve its target rate while maximizing its own payoff. Spatial reuse is allowed if the links are not interfering with each other. A non-cooperative game model is used to address the resource allocation among the D2D links, at the same time leveraging on the ideal CSMA network (ICN) model to address the physical …
Strong Stackelberg equilibrium (SSE) is the standard solution concept of Stackelberg security games. As opposed to the weak Stackelberg equilibrium (WSE), the SSE assumes that the follower breaks ties in favor of the leader and this is widely acknowledged and justified by the assertion that the defender can often induce the attacker to choose a preferred action by making an infinitesimal adjustment to her strategy. Unfortunately, in security games with resource assignment constraints, the assertion might not be valid; it is possible that the defender cannot induce the desired outcome. As a res…
Zero-sum stochastic games have found important applications in a variety of fields, from machine learning to economics. Work on this model has primarily focused on the computation of Nash equilibrium due to its effectiveness in solving adversarial board and video games. Unfortunately, a Nash equilibrium is not guaranteed to exist in zero-sum stochastic games when the payoffs at each state are not convex-concave in the players' actions. A Stackelberg equilibrium, however, is guaranteed to exist. Consequently, in this paper, we study zero-sum stochastic Stackelberg games. Going beyond known exis…
In a stochastic Stackelberg asymmetric security game, the strong Stackelberg equilibrium (SSE) strategy is a popular option for the defender to get the highest utility against an attacker with the best response (BR) strategy. However, the attacker may be a boundedly rational player, who adopts a combination of the BR strategy and a fixed stubborn one. In such a condition, the SSE strategy may not maintain the defensive performance due to the stubborn element. In this paper, we focus on how the defender can adopt the unilateral-control zero-determinate (ZD) strategy to confront the boundedly ra…
It is sometimes the case that one solution concept in game theory is equivalent to applying another solution concept to a modified version of the game. In such cases, does it make sense to study the former separately (as it applies to the original representation of the game), or should we entirely subordinate it to the latter? The answer probably depends on the particular circumstances, and indeed the literature takes different approaches in different cases. In this article, I consider the specific example of Stackelberg mixed strategies. I argue that, even though a Stackelberg mixed strategy …
This article investigates the anti-jamming communications problem in wireless networks from a Stackelberg game perspective. By exploring and analyzing the inherent characteristics of the anti-jamming problem, we present and discuss some technical challenges and fundamental requirements to address them. To be specific, the adversarial characteristic, incomplete information constraints, dynamics, uncertainty, dense deployment, and heterogeneous feature bring technical challenges to anti-jamming communications in wireless networks. Then, for the purpose of improving system performance, four requi…
Real world applications such as economics and policy making often involve solving multi-agent games with two unique features: (1) The agents are inherently asymmetric and partitioned into leaders and followers; (2) The agents have different reward functions, thus the game is general-sum. The majority of existing results in this field focuses on either symmetric solution concepts (e.g. Nash equilibrium) or zero-sum games. It remains open how to learn the Stackelberg equilibrium -- an asymmetric analog of the Nash equilibrium -- in general-sum games efficiently from noisy samples. This paper ini…
We consider communications through a Gaussian noise channel between an encoder and a decoder which have subjective probabilistic models on the source distribution. Although they consider the same cost function, the induced expected costs are misaligned due to their prior mismatch, which requires a game theoretic approach. We consider two approaches: a Nash setup, with no prior commitment, and a Stackelberg solution concept, where the encoder is committed to a given announced policy apriori. We show that the Stackelberg equilibrium cost of the encoder is upper semi continuous, under the Wassers…
Optimizing strategic decisions (a.k.a. computing equilibrium) is key to the success of many non-cooperative multi-agent applications. However, in many real-world situations, we may face the exact opposite of this game-theoretic problem -- instead of prescribing equilibrium of a given game, we may directly observe the agents' equilibrium behaviors but want to infer the underlying parameters of an unknown game. This research question, also known as inverse game theory, has been studied in multiple recent works in the context of Stackelberg games. Unfortunately, existing works exhibit quite negat…
Computational advertising has been studied to design efficient marketing strategies that maximize the number of acquired customers. In an increased competitive market, however, a market leader (a leader) requires the acquisition of new customers as well as the retention of her loyal customers because there often exists a competitor (a follower) who tries to attract customers away from the market leader. In this paper, we formalize a new model called the Stackelberg budget allocation game with a bipartite influence model by extending a budget allocation problem over a bipartite graph to a Stack…
Min-max optimization problems (i.e., min-max games) have attracted a great deal of attention recently as their applicability to a wide range of machine learning problems has become evident. In this paper, we study min-max games with dependent strategy sets, where the strategy of the first player constrains the behavior of the second. Such games are best understood as sequential, i.e., Stackelberg, games, for which the relevant solution concept is Stackelberg equilibrium, a generalization of Nash. One of the most popular algorithms for solving min-max games is gradient descent ascent (GDA). We …
The present survey aims at presenting the current machine learning techniques employed in security games domains. Specifically, we focused on papers and works developed by the Teamcore of University of Southern California, which deepened different directions in this field. After a brief introduction on Stackelberg Security Games (SSGs) and the poaching setting, the rest of the work presents how to model a boundedly rational attacker taking into account her human behavior, then describes how to face the problem of having attacker's payoffs not defined and how to estimate them and, finally, pres…
There has been significant recent interest in leader-follower security games, where the leader dominates the decision process with the Stackelberg equilibrium (SE) strategy. However, such a leader-follower scheme may become invalid in practice due to subjective or objective factors, and then the Nash equilibrium (NE) strategy may be an alternative option. In this case, the leader may face a dilemma of choosing an SE strategy or an NE strategy. In this paper, we focus on a unified three-player leader-follower security game and study the coincidence between SE and NE. We first explore a necessar…
This paper studies a multi-period demand response management problem in the smart grid where multiple utility companies compete among themselves. The user-utility interactions are modeled by a noncooperative game of a Stackelberg type where the interactions among the utility companies are captured through a Nash equilibrium. It is shown that this game has a unique Stackelberg equilibrium at which the utility companies set prices to maximize their revenues (within a Nash game) while the users respond accordingly to maximize their utilities subject to their budget constraints. Closed-form expres…
University of California, Berkeley（加利福尼亚大学伯克利分校）；Purdue University（普渡大学）；The University of Texas at Austin（得克萨斯大学奥斯汀分校）
In a Stackelberg game, a leader commits to a randomized strategy, and a follower chooses their best strategy in response. We consider an extension of a standard Stackelberg game, called a discrete-time dynamic Stackelberg game, that has an underlying state space that affects the leader's rewards and available strategies and evolves in a Markovian manner depending on both the leader and follower's selected strategies. Although standard Stackelberg games have been utilized to improve scheduling in security domains, their deployment is often limited by requiring complete information of the follow…
Stackelberg Games are gaining importance in the last years due to the raise of Adversarial Machine Learning (AML). Within this context, a new paradigm must be faced: in classical game theory, intervening agents were humans whose decisions are generally discrete and low dimensional. In AML, decisions are made by algorithms and are usually continuous and high dimensional, e.g. choosing the weights of a neural network. As closed form solutions for Stackelberg games generally do not exist, it is mandatory to have efficient algorithms to search for numerical solutions. We study two different proced…
In this paper, we consider a discrete-time stochastic Stackelberg game with a single leader and multiple followers. Both the followers and the leader together have conditionally independent private types, conditioned on action and previous state, that evolve as controlled Markov processes. The objective is to compute the stochastic Stackelberg equilibrium of the game where the leader commits to a dynamic strategy. Each follower's strategy is the best response to the leader's strategies and other followers' strategies while the each leader's strategy is optimum given the followers play the best…
This paper investigates the energy-efficient power allocation for a two-tier, underlaid femtocell network. The behaviors of the Macrocell Base Station (MBS) and the Femtocell Users (FUs) are modeled hierarchically as a Stackelberg game. The MBS guarantees its own QoS requirement by charging the FUs individually according to the cross-tier interference, and the FUs responds by controlling the local transmit power non-cooperatively. Due to the limit of information exchange in intra- and inter-tiers, a self-learning based strategy-updating mechanism is proposed for each user to learn the equilibr…
The behavior of no-regret learning algorithms is well understood in two-player min-max (i.e, zero-sum) games. In this paper, we investigate the behavior of no-regret learning in min-max games with dependent strategy sets, where the strategy of the first player constrains the behavior of the second. Such games are best understood as sequential, i.e., min-max Stackelberg, games. We consider two settings, one in which only the first player chooses their actions using a no-regret algorithm while the second player best responds, and one in which both players use no-regret algorithms. For the former…
With high scalability, high video streaming quality, and low bandwidth requirement, peer-to-peer (P2P) systems have become a popular way to exchange files and deliver multimedia content over the internet. However, current P2P systems are suffering from "free-riding" due to the peers' selfish nature. In this paper, we propose a credit-based incentive mechanism to encourage peers to cooperate with each other in a heterogeneous network consisting of wired and wireless peers. The proposed mechanism can provide differentiated service to peers with different credits through biased resource allocatio…
In this paper, we consider a discrete-time Stackelberg mean field game with a finite number of leaders, a finite number of major followers and an infinite number of minor followers. The leaders and the followers each observe types privately that evolve as conditionally independent controlled Markov processes. The leaders are of "Stackelberg" kind which means they commit to a dynamic policy. We consider two types of followers: major and minor, each with a private type. All the followers best respond to the policies of the Stackelberg leaders and each other. Knowing that the followers would play…
