On Non-Classical Stochastic Shortest Path Problems

The stochastic shortest path problem lies at the heart of many questions in the formal verification of probabilistic systems. It asks to find a scheduler resolving the non-deterministic choices in a weighted Markov decision process (MDP) that minimizes or maximizes the expected accumulated weight before a goal state is reached. In the classical setting, it is required that the scheduler ensures that a goal state is reached almost surely. For the analysis of systems without guarantees on the occurrence of an event of interest (reaching a goal state), however, schedulers that miss the goal with positive probability are of interest as well. We study two non-classical variants of the stochastic shortest path problem that drop the restriction that the goal has to be reached almost surely. These variants ask for the optimal partial expectation, obtained by assigning weight 0 to paths not reaching the goal, and the optimal conditional expectation under the condition that the goal is reached, respectively. Both variants have only been studied in structures with non-negative weights. We prove that the decision versions of these non-classical stochastic shortest path problems in MDPs with arbitrary integer weights are at least as hard as the Positivity problem for linear recurrence sequences. This Positivity problem is an outstanding open number-theoretic problem, closely related to the famous Skolem problem. A decid- ability result for the Positivity problem would imply a major breakthrough in analytic number theory. The proof technique we develop can be applied to a series of further problems. In this way, we obtain Positivity-hardness results for problems addressing the termination of one-counter MDPs, the satisfaction of energy objectives, the satisfaction of cost constraints and the computation of quantiles, the conditional value-at-risk – an important risk measure – for accumulated weights, and the model-checking problem of frequency-LTL. Despite these Positivity-hardness results, we show that the optimal values for the non-classical stochastic shortest path problems can be achieved by weight-based deter- ministic schedulers and that the optimal values can be approximated in exponential time. In MDPs with non-negative weights, it is known that optimal partial and conditional expectations can be computed in exponential time. These results rely on the existence of a saturation point, a bound on the accumulated weight above which optimal schedulers can behave memorylessly. We improve the result for partial expectations by showing that the least possible saturation point can be computed efficiently. Further, we show that a simple saturation point also allows us to compute the optimal conditional value-at-risk for the accumulated weight in MDPs with non-negative weights. Moreover, we introduce the notions of long-run probability and long-run expectation addressing the long-run behavior of a system. These notions quantify the long-run average probability that a path property is satisfied on a suffix of a run and the long-run average expected amount of weight accumulated before the next visit to a target state, respectively. We establish considerable similarities of the corresponding optimization problems with non-classical stochastic shortest path problems. On the one hand, we show that the threshold problem for optimal long-run probabilities of regular co-safety properties is Positivity-hard via the Positivity-hardness of non-classical stochastic shortest path problems. On the other hand, we show that optimal long-run expectations in MDPs with arbitrary integer weights and long-run probabilities of constrained reachability properties (a U b) can be computed in exponential time using the existence of a saturation point