Title: Review of some of the course topics
1Review of some of the course topics
2Conclusions on game-theoretic analysis tools
- Different solution concepts
- For existence, use strongest equilibrium concept
- For uniqueness, use weakest equilibrium concept
3Mechanism design
4Goal of mechanism design
- Implementing a social choice function f(u1, ,
uA) using a game - Center auctioneer does not know the agents
preferences - Agents may lie
- Goal is to design the rules of the game (aka
mechanism) so that in equilibrium (s1, , sA),
the outcome of the game is f(u1, , uA) - Mechanism designer specifies the strategy sets Si
and how outcome is determined as a function of
(s1, , sA) ? (S1, , SA) - Variants
- Strongest There exists exactly one equilibrium.
Its outcome is f(u1, , uA) - Medium In every equilibrium the outcome is f(u1,
, uA) - Weakest In at least one equilibrium the outcome
is f(u1, , uA)
5Revelation principle
- Any outcome that can be supported in Nash
(dominant strategy) equilibrium via a complex
indirect mechanism can be supported in Nash
(dominant strategy) equilibrium via a direct
mechanism where agents reveal their types
truthfully in a single step
6Uses of the revelation principle
- Literal Only direct mechanisms needed
- Problems
- Strategy formulator might be complex
- Complex to determine and/or execute best-response
strategy - Computational burden is pushed on the center
(assumed away) - Thus the revelation principle might not hold in
practice if these computational problems are hard - This problem traditionally ignored in game theory
- Even if the indirect mechanism has a unique
equilibrium, the direct mechanism can have
additional bad equilibria - As an analysis tool
- Best direct mechanism gives tight upper bound on
how well any indirect mechanism can do - Space of direct mechanisms is smaller than that
of indirect ones - One can analyze all direct mechanisms pick best
one - Thus one can know when one has designed an
optimal indirect mechanism (when it is as good as
the best direct one)
7Implementation in dominant strategies
Strongest form of mechanism design
8Implementation in dominant strategies
- Goal is to design the rules of the game (aka
mechanism) so that in dominant strategy
equilibrium (s1, , sA), the outcome of the
game is f(u1, , uA) - Nice in that agents cannot benefit from
counterspeculating each other - Others preferences
- Others rationality
- Others endowments
- Others capabilities
9Gibbard-Satterthwaite impossibility
- Thrm. If O 3 (and each outcome would be
the social choice under f for some input profile
(u1, , uA) ) and f is implementable in
dominant strategies, then f is dictatorial
10(No Transcript)
11Special case where dominant strategy
implementation is possible Quasilinear
preferences -gt Clarke tax mechanism
- Outcome (x1, x2, ..., xk, m1, m2, ..., mA )
- Quasilinear preferences ui(x, m) mi vi(x1,
x2, ..., xk) - Utilitarian setting Social welfare maximizing
choice - Outcome s(v1, v2, ..., vA) maxx ?i vi(x1, x2,
..., xk) - Agents payment mi ?j?i vj(s(v)) - ?j?i
vj(s(v-i)) ? 0 is a tax - Thrm Every agents dominant strategy is to
reveal preferences truthfully - Intuition Agent internalizes the negative
externality he imposes on others by affecting the
outcome - Agent pays nothing if he does not change the
outcome - Example k1, x1joint pool built or not,
mi - E.g. equal sharing of construction cost -c / A
12Clarke tax mechanism
- Pros
- Social welfare maximizing outcome
- Truth-telling is a dominant strategy
- Feasible in that it does not need a benefactor
(?i mi ? 0) - Cons
- Budget balance not maintained (in pool example,
generally ?i mi lt 0) - Have to burn the excess money that is collected
- Thrm. Green Laffont 1979. Let the agents
have arbitrary quasilinear preferences. No
social choice function that is (ex post) welfare
maximizing (taking into account money burning as
a loss) is implementable in dominant strategies - If there is some party that has no private
information to reveal and no preferences over x,
welfare maximization and budget balance can be
obtained by having that partys payment be m0 -
?i1.. mi - Auctioneer could be called agent 0
- Vulnerable to collusion
- Even by coalitions of just 2 agents
13Another approach for circumventing the
impossibility of dominant-strategy implementation
- Design the game so that (although manipulations
exist), finding a beneficial manipulation is
computationally so complex for an agent that the
agent cannot do that - E.g. Complexity of Manipulating Elections with
Few Candidates Conitzer Sandholm AAAI-02 - E.g. Universal Voting Protocol Tweaks for Making
Manipulation Hard Conitzer Sandholm IJCAI-03
14Yet another approach for circumventing the
impossibility of dominant-strategy implementation
- Designing the mechanism automatically to the
situation at hand - Input is the probabilistic information that the
center has about the agents - Output is an optimal mechanism where the agents
are motivated to reveal their preferences
truthfully, and a social objective is satisfied
to the optimal extent - Advantages
- Can be used even without side payments
quasilinear preferences - Could achieve better outcomes than Clarke tax
mechanism - Circumvents impossibility in many cases
- Complexity of Mechanism Design Conitzer
Sandholm UAI-02 - Designing a deterministic mechanism is
NP-complete - Designing a randomized mechanism is fast
- No loss in social objective, sometime a gain
- Both results also hold for Bayes-Nash
implementation
15Auctioning one item
- Tuomas Sandholm
- Computer Science Department
- Carnegie Mellon University
16Results for private value auctions
- Dutch strategically equivalent to first-price
sealed-bid - Risk neutral agents gt Vickrey strategically
equivalent to English - All four protocols allocate item efficiently
- (assuming no reservation price for the
auctioneer) - English Vickrey have dominant strategies gt no
effort wasted in counterspeculation - Which of the four auction mechanisms gives
highest expected revenue to the seller? - Assuming valuations are drawn independently
agents are risk-neutral - The four mechanisms have equal expected revenue!
17Revenue equivalence theorem
- Even more generally Thrm.
- Assume risk-neutral bidders, valuations drawn
independently from potentially different
distributions with no gaps - Consider two Bayes-Nash equilibria of any two
auction mechanisms - Assume allocation probabilities yi(v1, vA)
are same in both equilibria - Here v1, vA are true types, not revelations
- E.g., if the equilibrium is efficient, then yi
1 for bidder with highest vi - Assume that if any agent i draws his lowest
possible valuation vi, his expected payoff is
same in both equilibria - E.g., may want a bidder to lose pay nothing if
bidders valuations are drawn from same
distribution, and the bidder draws the lowest
possible valuation - Then, the two equilibria give the same expected
payoffs to the bidders ( thus to the seller)
18Revenue equivalence ceases to hold if agents are
not risk-neutral
- Risk averse bidders
- Dutch, first-price sealed-bid Vickrey, English
- Risk averse auctioneer
- Dutch, first-price sealed-bid Vickrey, English
19Optimal auctions
- Private-value auction with 2 risk-neutral bidders
- As valuation is uniformly distributed on 0,1
- Bs valuation is uniformly distributed on 1,4
- What revenue do the 4 basic auction types give?
- Can the seller get higher expected revenue?
- Is the allocation Pareto efficient?
- What is the worst-case revenue for the seller?
- For the revenue-maximizing auction, see
Wolfstetters survey on class web page
20Vulnerability to bidder collusioneven in
private-value auctions
- v1 20, vi 18 for others
- Collusive agreement for English e.g. 1 bids 6,
others bid 5. Self-enforcing - Collusive agreement for Vickrey e.g. 1 bids 20,
others bid 5. Self-enforcing - In first-price sealed-bid or Dutch, if 1 bids
below 18, others are motivated to break the
collusion agreement - Need to identify coalition parties
21Vulnerability to shills
- Only a problem in non-private-value settings
- English all-pay auction protocols are
vulnerable - Classic analyses ignore the possibility of shills
- Vickrey, first-price sealed-bid, and Dutch are
not vulnerable
22Vulnerability to a lying auctioneer
- Truthful auctioneer classically assumed
- In Vickrey auction, auctioneer can overstate 2nd
highest bid to the winning bidder in order to
increase revenue - Bid verification mechanisms, e.g. cryptographic
signatures - Trusted 3rd party auction servers (reveal highest
bid to seller after closing) - In English, first-price sealed-bid, Dutch, and
all-pay, auctioneer cannot lie because bids are
public
23Auctioneers other possibilities
- Bidding
- Seller may bid more than his reservation price
because truth-telling is not dominant for the
seller even in the English or Vickrey protocol
(because his bid may be 2nd highest determine
the price) gt seller may inefficiently get the
item - In an expected revenue maximizing auction, seller
sets a reservation price strategically like this
Myerson 81 - So, auctions are not Pareto efficient
- Nor are any other mechanisms for this setting
that are individually rational and budget
balanced Myerson Satterthwaite 83 - Setting a minimum price (analogous)
- Refusing to sell after the auction has ended
24Undesirable private information revelation
- Agents strategic marginal cost information
revealed because truthful bidding is a dominant
strategy in Vickrey (and English) - Observed problems with subcontractors
- First-price sealed-bid Dutch may not reveal
this info as accurately - Lying
- No dominant strategy
- Bidding decisions depend on beliefs about others
25Untruthful bidding with local uncertainty even in
Vickrey
- Uncertainty (inherent or from computation
limitations) - Many real-world parties are risk averse
- Computational agents take on owners preferences
- Thrm Sandholm ICMAS-96. It is not the case that
in a private value Vickrey auction with
uncertainty about an agents own valuation, it is
a risk averse agents best (dominant or
equilibrium) strategy to bid its expected value - Higher expected utility e.g. by bidding low
26Wasteful counterspeculation
Thrm Sandholm ICMAS-96. In a private value
Vickrey auction with uncertainty about an agents
own valuation, a risk neutral agents best
(deliberation or information gathering) action
can depend on others.
E.g. two bidders (1 and 2) bid for a good. v1
uniform between 0 and 1 v2 deterministic, 0
v2 0.5 Agent 1 bids 0.5 and gets item at price
v2 Say agent 1 has the choice of paying c
to find out v1. Then agent 1 will bid v1 and get
the item iff v1 v2 (no loss possibility, but c
invested)
27Results for non-private value auctions
- Dutch strategically equivalent to first-price
sealed-bid - Vickrey not strategically equivalent to English
- All four protocols allocate item efficiently
- Winners curse
- Common value auctions
- Agent should lie (bid low) even in Vickrey
English Revelation to proxy bidders? - Thrm (revenue non-equivalence ). With more than 2
bidders, the expected revenues are not the same
English Vickrey Dutch first-price sealed bid
28Results for non-private value auctions...
- Common knowledge that auctioneer has private info
- Q What info should the auctioneer release ?
- A auctioneer is best off releasing all of it
- No news is worst news
- Mitigates the winners curse
29Results for non-private value auctions...
- Asymmetric info among bidders
- E.g. 1 auctioning pennies in class
- E.g. 2 first-price sealed-bid common value
auction with bidders A, B, C, D - A B have same good info. C has this extra
signal. D has poor but independent info - A B should not bid D should sometimes
- gt Bid less if more bidders or your info is
worse - Most important in sealed-bid auctions Dutch
30Sniping
- bidding very late in the auction in the hopes
that other bidders do not have time to respond - Especially an issue in electronic auctions with
network lag and lossy communication links
31Mobile bidder agents in eMediator
- Allow user to participate while disconnected
- Avoid network lag
- Put expert bidders and novices on an equal
footing - Full flexibility of Java (Concordia)
- Template agents through an HTML page for
non-programmers - Information agent
- Incrementor agent
- N-agent
- Control agent
- Discover agent
32Exchanges
- markets with many buyers and many sellers
- Lets consider a 1-item 1-unit exchange first
33Exchange game in class
- 1 buyer, 1 seller, 1 good
- The agents valuations for the good are drawn
uniformly from 0, 100. This is common
knowledge - The agents dont know each others valuations
34Does a good exchange mechanism exist ?
- E.g Keith is selling a car to Tuomas
- Both have quasilinear utility functions
- Each party knows his valuation, but not the
others valuation - Probability distributions of valuations are
common knowledge - Want a mechanism that is
- Budget balanced Keith gets what Tuomas pays
- Pareto efficient Car changes hands if and only
if vbuyer gt vseller - Individually rational Both Keith and Tuomas get
higher expected utility by participating than not - Thrm. Such a mechanism does not exist (even if
randomized mechanisms are allowed)
Myerson-Satterthwaite - This impossibility is at the heart of more
general exchange settings (NYSE, NASDAQ,
combinatorial exchanges, ) !
35Multi-unit auctions exchanges (multiple
indistinguishable units of one item for sale)
- Tuomas Sandholm
- Carnegie Mellon University
36Multi-unit auctions pricing rules
- Auctioning multiple indistinguishable units of
an item - Naive generalization of the Vickrey auction
uniform price auction - If there are k units for sale, the highest k bids
win, and each bid pays the k1st highest price - Demand reduction lie CramptonAusubel 96
- k5
- Agent 1 values getting her first unit at 9, and
getting a second unit is worth 7 to her - Others have placed bids 2, 6, 8, 10, and 14
- If agent 1 submits one bid at 9 and one at 7,
she gets both items, and pays 2 x 6 12. Her
utility is 9 7 - 12 4 - If agent 1 only submits one bid for 9, she will
get one item, and pay 2. Her utility is
9-27 - Incentive compatible mechanism that is Pareto
efficient and ex post individually rational - Clarke tax. Agent i pays a-b
- b is the others sum of winning bids
- a is the others sum of winning bids had i not
participated
37Multi-unit exchanges
- Multiple buyers, multiple sellers, multiple
units for sale - By Myerson-Satterthwaite thrm, even in 1-unit
case cannot obtain all of - Pareto efficiency
- Budget balance
- Individual rationality (participation)
38Pricing scheme has implications on time
complexity of clearing
- Piecewise linear curves (not necessarily
continuous) can approximate any curve - Clearing objective maximize profit
- Thrm. Nondiscriminatory clearing with piecewise
linear supply/demand O(p log p) - p total number of pieces in the curves
- Thrm. Discriminatory clearing with piecewise
linear supply/demand NP-complete - Thrm. Discriminatory clearing with linear
supply/demand O(a log a) - a number of agents
- These results apply to auctions, reverse
auctions, and exchanges - So, there is an inherent tradeoff between profit
and computational complexity
39Multi-item auctions exchanges (multiple
distinguishable items for sale)
- Tuomas Sandholm
- Carnegie Mellon University
40Multi-item auctions
- Auctioning multiple distinguishable items when
bidders have preferences over combinations of
items complementarity substitutability - Example applications
- Allocation of transportation tasks
- Allocation of bandwidth
- Dynamically in computer networks
- Statically e.g. by FCC
- Manufacturing procurement
- Electricity markets
- Securities markets
- Liquidation
- Reinsurance markets
- Retail ecommerce collectibles,
flights-hotels-event tickets - Resource task allocation in operating systems
mobile agent platforms
41Mechanism design for multi-item auctions
- Sequential auctions
- Impossbile to determine fbest strategy because
game tree is huge - Inefficiencies can result from future
uncertainties - Parallel auctions
- Inefficiencies can still result from future
uncertainties - Postponing minimum participation requirements
- Unclear what equilibrium strategies would be
- Methods to tackle the inefficiencies
- Backtracking via reauctioning (e.g. FCC
McAfeeMcMillan96) - Backtracking via leveled commitment contracts
SandholmLesser95,96Sandholm96AnderssonSandh
olm98a,b - Breach before allocation
- Breach after allocation
42Mechanism design for multi-item auctions...
- Combinatorial auctions Rassenti,SmithBulfin82..
. - Bids can be submitted on combinations (bundles)
of items - Bidders perspective
- Avoids the need for lookahead
- (Potentially 2items valuation calculations)
- Auctioneers perspective
- Automated optimal bundling of items
- Winner determination problem
- Label bids as winning or losing so as to maximize
sum of bid prices ( revenue ? social welfare) - Each item can be allocated to at most one bid
- Exhaustive enumeration is 2bids
43NP-completeness
- NP-complete Karp 72
- Weighted set packing
44Polynomial-time approximation algorithm with
worst case guarantees?
value of optimal allocation k
value of best allocation found
- General case
- Cannot be approximated to k bids1- ? (unless
probabilistic polytime NP) - Proven in Sandholm IJCAI-99, AIJ-03 using
Håstad96
45Solving the winner determination problem when all
combinations can be bid onSearch algorithm for
optimal winner determination
- Capitalizes on sparsely populated space of bids
- Generates only populated parts of space of
allocations - Highly optimized
- First generation algorithm scaled to hundreds of
items thousands of bids Sandholm IJCAI-99
Second generation algorithm SandholmSuri
AAAI-00, Sandholm et al. IJCAI-01
46Generalizations of combinatorial auctions
- Free disposal
- Substitutability
- Multiple units of each item
- Combinatorial exchanges ( many-to-many auctions)
- Reservation prices
- On items
- On combinations
- With substitutability
- Combinatorial reverse auctions
- Combinations of these generalizations
47Generalization substitutability Sandholm
IJCAI-99
- What if agent 1 bids
- 7 for 1,2
- 4 for 1
- 5 for 2 ?
- Bids joined with XOR
- Allows bidders to express general preferences
- Groves-Clarke pricing mechanism can be applied to
make truthful bidding a dominant strategy - Worst case Need to bid on all 2items-1
combinations - OR-of-XORs bids maintain full expressiveness
are more concise - E.g. (B2 XOR B3) OR (B1 XOR B3 XOR B4)
OR ... - Our algorithm applies (simply more edges in bid
graph )
48Combinatorial reverse auction
- Example procurement in supply chains
- Auctioneer wants to buy a set of items (has to
get all) - Can take extras if there is free disposal
- Sellers place bids on how cheaply they are
willing to sell bundles of items - Thrm. Winner determination is NP-complete even in
single-unit case with free disposal - Thrm. Single unit case with free disposal is
approximable - k 1 log m (m largest number of items that
any bid contains) - Greedy algorithm Keep choosing bid with lowest
price / items
49No free disposal
- Free disposal seller can keep items, buyers can
take extras - Free disposal has been assumed in the
combinatorial auction literature so far - In practice, freeness of disposal can vary across
items bidders - Without free disposal, the set of feasible
solutions is same for combinatorial auctions
reverse auctions - Thrm. Even finding a feasible solution is
NP-complete
50Combinatorial exchange
- Example bid (buy 20 tons of water, sell 10 cubic
meters of hydrogen, sell 5 cubic meters of
oxygen, ask 500) - Example application manufacturing where a
participant bids for inputs outputs of a
production plan simultaneously - Label bids as winning or losing so as to maximize
(revealed) surplus sum of amounts paid by
bidders minus sum of amounts paid to bidders - On each item, sell quantity ? buy quantity
- Equality if there is no free disposal
- Thrm. NP-complete even in the single-unit case
- Thrm. Inapproximable even in the single-unit case
- Could also maximize trading volume
- Thrm. Without free disposal, even finding a
feasible solution is NP-complete (even in the
single-unit case)
51Conclusions on generalization of combinatorial
auctions
- Generalizations of combinatorial auctions
- No free disposal
- Reverse auctions
- Exchanges
- Single- and multi-unit settings
- Theoretical results
- All these generalizations are NP-complete
- With free disposal
- Auction and exchanges are inapproximable
- Reverse auctions are approximable
- Even finding a feasible solution is NP-complete
if XORs are allowed - Without free disposal, even finding a feasible
solution is NP-complete - Experimental results
- Search does well on auctions at times even
better on reverse auctions - Search does well on single-unit exchanges,
poorly on multi-unit exchanges - Better algorithms needed
- Lack of free disposal makes the problem much
harder
52Hot off the pressKothari, Suri Sandholm 2002
- Q How many bids have to be accepted fractionally
(in worst case) so as to obtain maximum surplus
in a multi-item multi-unit combinatorial exchange
/ combinatorial auction? - Trivial answer bids
- A items (this is independent of units)
- Q How many bids have to be accepted fractionally
(in worst case) so as to maximize liquidity in a
multi-item multi-unit combinatorial exchange? - Trivial answer bids
- A items 1 (this is independent of units)
- Q How complex is it to find such a solution?
- A Polynomial time fast
53Ascending multi-item auctions
- Increase prices until each item is demanded only
once - Item prices vs. bundle prices
- E.g. where there exist no appropriate item prices
- Discriminatory vs. nondiscriminatory prices
54Automated bid elicitation
- in combinatorial auctions
- Conen Sandholm IJCAI-01 workshop
ACM-Ecommerce-01 AAAI-02 Hudson Sandholm
-02
55Another complex problem in combinatorial
auctions The revelation problem
- Bidders may need to bid on all 2items
combinations - Need to compute the valuation for each
combination - Each valuation computation can be NP-complete
- For example if a carrier company bids on trucking
tasks TRACONET Sandholm AAAI-93 - Need to communicate the bids
- Need to reveal the bids
- Loss of privacy strategic info
56Approaches for tackling the revelation problem
- Classic single-shot full revelation mechanims
(Vickrey-Clarke-Groves) - Exponentially many valuations revealed
- Ascending mechanisms with price feedback
(iBundle, Parkes et al 1999 , akBa Wurman et
al. 2000 , etc.) - Can save revelation
- Need exponential revelation in worst case Nisan
2001 - Our new approach an elicitor agent
- Knows things that individual bidders dont
(others bids so far) - Asks non-redundant questions from bidders to
focus their revelation - Can save revelation
- Exponential revelation in worst case Nisan 2001
- Could be combined with price feedback mechanisms
57Our Query Types for Elicitation
- Value information What is your valuation for
bundle A? (Answer Exact or Bounds) - Extensions
- More and more refined answers over times
- Bounds in the queries
- Order information Which bundle do you prefer, A
or B? - Rank information
- What is the rank of bundle b?
- What bundle is at rank x?
- Given bundle b, what is the next lower (higher)
ranked bundle? - We designed a host of elicitation algorithms that
use these query types in different combinations
and with different query policies
58Example elicitation experiment with random
non-redundant value queries only
With free disposal
Number of bundle values asked / number of bundles
Random (nonredundant) elicitor
Best elicitor developed so far
Advantage of elicitation also holds as the number
of agents grows
59Incentive compatibility
- Elicitors questions leak information about
others preferences - Can be made incentive compatible in weaker
equilibrium notions - Ask enough questions to determine Clarke tax
prices (agents1 elicitors) - Could interleave these extra questions with
real questions - To avoid lazyness Not necessary from an
incentive perspective - Agents dont have to answer the questions may
answer questions that were not asked - Unlike in ascending price feedback auction
mechanisms
60Side Constraints and Non-Price Attributes in
Markets
Tuomas Sandholm Carnegie Mellon
University Computer Science Department
Paper by Sandholm Suri 2001
61Side constraints in markets
- Traditionally, markets (auctions, reverse
auctions, exchanges) have been designed to
optimize unconstrained economic value (Pareto
efficiency/revenue) - Side constraints are required in many practical
markets (especially in B2B) to encode legal,
contractual and business constraints - Side constraints could be imposed by any party
- Sellers
- Buyers
- Auctioneer
- Market maker
-
- Side constraint have significant implications on
the complexity of clearing the market
62Outline
- Side constraints in non-combinatorial markets
- Side constraints in combinatorial markets
- Constraints under which the winner determination
problem stays polynomial time solvable (if bids
can be accepted partially) - Constraints under which the winner determination
problem is NP-complete even if bids can be
accepted partially - Constraints under which the winner determination
problem is polynomial-time solvable even if bids
have to be accepted entirely or not at all
63Non-price attributes in markets
- Combinatorial markets exist (logistics.com,
Bondconnect, FCC, CombineNet, ) and
multi-attribute markets exist (Frictionless,
Perfect, ), but have not been hybridized - Here we propose a way to hybridize them
- Attribute types
- Attributes from outside sources, e.g., reputation
databases - Attributes that bidders fill into the partial
item description - Handling attributes in combinatorial auctions
reverse auctions - Attribute vector b
- Reweight bids, so p f(p, b)
- Side constraints could be specified on p or p
- Same complexity results on side constraints hold
- Attributes cannot be handled as a preprocessor in
exchanges - Buyers care which sellers goods come from vice
versa - Have to handle attributes as part of the main
winner determination optimization problem
64Conclusions
- Combinatorial markets are important now
feasible - Market types differ in clearing complexity
approximability - Expressive bidding language removes guesswork
sets correct incentives - Side constraints extend usability of dynamic
pricing - Allow the advantages of dynamic pricing while
keeping the advantages of long-term contracts - Different side constraints lead to different
clearing complexity - Can make problem harder or easier
- Even non-combinatorial markets become NP-complete
to clear under natural side constraints