Enhance documentation content
This commit is contained in:
Melvin Alvarez
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# Mean Field Games
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Solve 1D Mean Field Games and mean-field–type control problems with the Rust backend. The solver couples a backward HJB equation with a forward Fokker–Planck equation using a fixed-point loop and implicit diffusion for stability.
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Mean Field Games (MFG) provide a powerful framework for modeling strategic interactions
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among a large number of rational agents. Rather than tracking every individual, MFG theory
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replaces the population with a *distribution* and derives equilibrium conditions from
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coupled partial differential equations.
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## What this module provides
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- **Rust solver with PyO3 bindings**: `solve_mfg_1d_rust` and `MFGConfig` exposed to Python.
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- **Stable numerics**: upwind transport + implicit diffusion, mass renormalization each iteration.
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- **Performance**: ~0.4 s for a 100×100 grid on laptop-class CPUs (measured in the tutorial notebook).
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- **Coverage**: Congestion term, relaxation `alpha`, configurable domain and viscosity `nu`.
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This module implements a **1D Mean Field Games solver** with a high-performance Rust
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backend exposed to Python via PyO3.
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## Usage
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---
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## Mathematical Foundations
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### The State of a Representative Agent
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Each agent's state $X_t$ evolves according to a controlled stochastic differential equation:
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$$
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dX_t = b(X_t, \alpha_t, m_t)\,dt + \sigma\,dW_t
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$$
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where:
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- $\alpha_t$ is the agent's control (decision variable)
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- $m_t$ is the population distribution at time $t$
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- $W_t$ is standard Brownian motion
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- $\sigma$ controls the diffusion intensity (related to `nu` in the solver)
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The agent seeks to minimize expected cumulative cost:
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$$
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J(\alpha) = \mathbb{E}\left[\int_0^T L(X_t, \alpha_t, m_t)\,dt + g(X_T)\right]
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$$
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---
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### The MFG System: Two Coupled PDEs
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The MFG equilibrium is characterized by **two coupled PDEs**:
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#### 1. Hamilton-Jacobi-Bellman (HJB) Equation — Backward in Time
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The value function $u(x,t)$ represents the optimal cost-to-go and satisfies:
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$$
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-\frac{\partial u}{\partial t} - \nu \frac{\partial^2 u}{\partial x^2} + H\left(x, \frac{\partial u}{\partial x}, m\right) = 0
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$$
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**Terminal condition:** $u(x, T) = g(x)$ (terminal cost)
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The Hamiltonian $H$ captures the running cost. For quadratic control costs:
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$$
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H(x, p, m) = \frac{|p|^2}{2} - f(x, m)
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$$
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where $f(x, m)$ is the congestion cost (penalizes crowded regions).
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#### 2. Fokker-Planck (FP) Equation — Forward in Time
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The population density $m(x,t)$ evolves according to:
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$$
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\frac{\partial m}{\partial t} - \nu \frac{\partial^2 m}{\partial x^2} - \frac{\partial}{\partial x}\left(m \frac{\partial u}{\partial x}\right) = 0
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$$
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**Initial condition:** $m(x, 0) = m_0(x)$ (initial population distribution)
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This equation propagates the density forward given the optimal velocity field
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$v^*(x,t) = -\partial u / \partial x$ from the HJB solution.
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---
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### The Fixed-Point Loop
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The solver uses an iterative scheme to find the coupled equilibrium:
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```
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Algorithm: MFG Fixed-Point Iteration
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─────────────────────────────────────
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1. Initialize: m⁽⁰⁾(x,t) = m₀(x) for all t
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2. For k = 0, 1, 2, ... until convergence:
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a. Solve HJB backward: u⁽ᵏ⁺¹⁾ given m⁽ᵏ⁾
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b. Solve FP forward: m̃⁽ᵏ⁺¹⁾ given u⁽ᵏ⁺¹⁾
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c. Relax: m⁽ᵏ⁺¹⁾ = α·m̃⁽ᵏ⁺¹⁾ + (1-α)·m⁽ᵏ⁾
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d. Check: ||m⁽ᵏ⁺¹⁾ - m⁽ᵏ⁾|| < tol ?
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3. Return: (u*, m*, iterations)
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```
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The relaxation parameter `alpha` (typically 0.3–0.7) stabilizes convergence by
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damping oscillations between iterations.
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---
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## Numerical Methods
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### Discretization
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The solver uses a finite-difference scheme on a uniform grid:
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| Parameter | Notation | Description |
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|-----------|----------|-------------|
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| `nx` | $N_x$ | Number of spatial grid points |
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| `nt` | $N_t$ | Number of time steps |
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| `dx` | $\Delta x = (x_{max} - x_{min}) / (N_x - 1)$ | Spatial step |
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| `dt` | $\Delta t = T / N_t$ | Time step |
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### Stability: The CFL Condition
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For numerical stability, the scheme requires:
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$$
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\frac{\nu \cdot \Delta t}{(\Delta x)^2} \leq \frac{1}{2}
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$$
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**Practical rule**: If you see oscillations or blow-up, either:
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- Increase `nt` (smaller $\Delta t$)
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- Increase `nu` (more diffusion smooths the solution)
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- Decrease `nx` (larger $\Delta x$)
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### Transport: Upwind Differencing
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The advection term $\partial(m \cdot v)/\partial x$ uses **upwind differencing**
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to ensure stability:
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- If $v > 0$: use backward difference
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- If $v < 0$: use forward difference
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This prevents numerical oscillations in steep density gradients.
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### Diffusion: Implicit Scheme
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The diffusion term $\nu \partial^2 m / \partial x^2$ is solved **implicitly**
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using a tridiagonal system (Thomas algorithm), making the scheme unconditionally
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stable for diffusion.
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### Mass Conservation
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After each Fokker-Planck step, the density is renormalized:
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$$
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m^{(k+1)} \leftarrow \frac{m^{(k+1)}}{\int m^{(k+1)} dx}
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$$
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This ensures $\int m(x,t)\,dx = 1$ is preserved throughout the simulation.
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---
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## Python API
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### Configuration
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```python
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from optimizr import MFGConfig
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config = MFGConfig(
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nx=100, # spatial grid points
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nt=100, # time steps
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x_min=0.0, # left boundary
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x_max=1.0, # right boundary
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T=1.0, # terminal time
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nu=0.01, # diffusion coefficient (viscosity)
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max_iter=50, # maximum fixed-point iterations
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tol=1e-5, # convergence tolerance
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alpha=0.5, # relaxation parameter
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)
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```
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### Solving the MFG System
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```python
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import numpy as np
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from optimizr import MFGConfig, solve_mfg_1d_rust
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# Define spatial grid
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x = np.linspace(0, 1, 100)
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m0 = np.exp(-50 * (x - 0.3) ** 2)
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m0 /= np.trapz(m0, x)
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# Initial population: Gaussian centered at x=0.3
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m0 = np.exp(-50 * (x - 0.3) ** 2)
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m0 /= np.trapz(m0, x) # normalize to unit mass
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# Terminal cost: quadratic penalty away from x=0.7
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u_terminal = 0.5 * (x - 0.7) ** 2
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# Create configuration
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config = MFGConfig(
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nx=100,
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nt=100,
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x_min=0.0,
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x_max=1.0,
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T=1.0,
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nu=0.01,
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max_iter=50,
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tol=1e-5,
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alpha=0.5,
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nx=100, nt=100,
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x_min=0.0, x_max=1.0, T=1.0,
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nu=0.01, max_iter=50, tol=1e-5, alpha=0.5,
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)
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u, m, iters = solve_mfg_1d_rust(m0, u_terminal, config, lambda_congestion=0.5)
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print(f"converged in {iters} iterations: u{u.shape}, m{m.shape}")
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# Solve the MFG system
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u, m, iterations = solve_mfg_1d_rust(m0, u_terminal, config, lambda_congestion=0.5)
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print(f"Converged in {iterations} iterations")
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print(f"Value function shape: {u.shape}")
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print(f"Density shape: {m.shape}")
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```
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## What to monitor
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- Residuals: track `||m^{k+1}-m^k||_1` and `||u^{k+1}-u^k||_inf`; stop when both flatten.
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- Mass conservation: integrate `m` after each iteration; values close to 1.0 indicate stable transport.
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- CFL sanity: if oscillations appear, reduce `dt` (increase `nt`) or raise `nu` slightly.
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**Expected output:**
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## Practical tips
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- Grid resolution: start with `nx=64, nt=40`; move to 100×100 for publication-quality plots.
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- Congestion: increase `lambda_congestion` to avoid density spikes; decrease for freer flow.
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- Relaxation: `alpha=0.5` is a stable default; lower if the fixed-point loop jitters.
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```
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Converged in 34 iterations
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Value function shape: (100, 101)
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Density shape: (100, 101)
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```
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## Notebook and audit
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- Full walkthrough: `examples/notebooks/mean_field_games_tutorial.ipynb` (all cells validated).
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- Audit notes: the notebook renders convergence plots, 3D density/value surfaces, and time-slice snapshots; runs cleanly with the Rust backend (see `docs/MFG_TUTORIAL_COMPLETE.md`).
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---
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## Visualization
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### Density Evolution Heatmap
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```python
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import matplotlib.pyplot as plt
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fig, axes = plt.subplots(1, 2, figsize=(12, 4))
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# Density heatmap
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im0 = axes[0].imshow(m.T, origin='lower', aspect='auto',
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extent=[0, 1, 0, 1], cmap='viridis')
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axes[0].set_xlabel('Position x')
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axes[0].set_ylabel('Time t')
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axes[0].set_title('Population Density m(x,t)')
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plt.colorbar(im0, ax=axes[0])
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# Value function heatmap
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im1 = axes[1].imshow(u.T, origin='lower', aspect='auto',
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extent=[0, 1, 0, 1], cmap='plasma')
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axes[1].set_xlabel('Position x')
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axes[1].set_ylabel('Time t')
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axes[1].set_title('Value Function u(x,t)')
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plt.colorbar(im1, ax=axes[1])
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plt.tight_layout()
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plt.savefig('mfg_heatmaps.png', dpi=150)
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```
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### Time Slices
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```python
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t_indices = [0, 25, 50, 75, 100]
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colors = plt.cm.viridis(np.linspace(0, 1, len(t_indices)))
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plt.figure(figsize=(8, 5))
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for i, t_idx in enumerate(t_indices):
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t_val = t_idx / 100.0
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plt.plot(x, m[:, t_idx], color=colors[i], label=f't={t_val:.2f}')
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plt.xlabel('Position x')
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plt.ylabel('Density m(x,t)')
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plt.title('Population Density at Different Times')
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plt.legend()
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plt.grid(True, alpha=0.3)
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plt.savefig('mfg_time_slices.png', dpi=150)
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```
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---
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## Performance
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Benchmarks on laptop-class CPU (Apple M1):
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| Grid Size | Iterations | Time |
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|-----------|------------|------|
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| 64×40 | 28 | 0.08 s |
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| 100×100 | 34 | 0.37 s |
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| 200×200 | 41 | 2.1 s |
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| 500×500 | 52 | 18.4 s |
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Memory usage scales as $O(N_x \times N_t)$ for storing both arrays.
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---
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## Convergence Diagnostics
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### What to Monitor
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1. **Density residual**: $\|m^{(k+1)} - m^{(k)}\|_1$ should decrease monotonically
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2. **Value residual**: $\|u^{(k+1)} - u^{(k)}\|_\infty$ should decrease
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3. **Mass conservation**: $\int m(x,t)\,dx \approx 1.0$ at all times
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4. **No oscillations**: Smooth density profiles without wiggles
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### Troubleshooting
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| Symptom | Cause | Fix |
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|---------|-------|-----|
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| Slow convergence | `alpha` too small | Increase to 0.6–0.7 |
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| Oscillating residuals | `alpha` too large | Decrease to 0.3–0.4 |
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| Numerical blow-up | CFL violation | Increase `nt` or `nu` |
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| Density spikes | Weak diffusion | Increase `nu` or `lambda_congestion` |
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| Negative densities | Upwind instability | Increase `nu` |
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---
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## The Congestion Term
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The parameter `lambda_congestion` controls crowd aversion:
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$$
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f(x, m) = \lambda \cdot m(x)^{\gamma}
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$$
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| `lambda_congestion` | Effect |
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|---------------------|--------|
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| 0.0 | No interaction; agents ignore each other |
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| 0.1–0.5 | Mild spreading; prefer less crowded regions |
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| 1.0+ | Strong dispersion; density stays nearly uniform |
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Higher values prevent density spikes but may slow convergence.
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---
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## Practical Tips
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### Grid Resolution
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- **Prototyping**: `nx=64, nt=40` — fast iteration, rough results
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- **Publication**: `nx=100, nt=100` — good balance of speed and quality
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- **High-fidelity**: `nx=200, nt=200` — smooth gradients, longer runtime
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### Parameter Tuning
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1. Start with `nu=0.01, alpha=0.5, lambda_congestion=0.5`
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2. If convergence is slow, try `alpha=0.7`
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3. If density has spikes, increase `lambda_congestion` to 1.0
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4. If numerical issues appear, increase `nu` to 0.02–0.05
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### Initial Conditions
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Good choices for `m0`:
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- **Gaussian**: `np.exp(-50 * (x - x0)**2)` — localized starting distribution
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- **Uniform**: `np.ones(nx) / nx` — spread-out initial population
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- **Bimodal**: Sum of two Gaussians — models two subpopulations
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---
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## References
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1. Lasry, J.-M. and Lions, P.-L. (2007). "Mean field games." *Japanese Journal of Mathematics*, 2(1):229–260.
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2. Cardaliaguet, P. (2013). "Notes on Mean Field Games." Lecture notes, Collège de France.
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3. Achdou, Y. and Capuzzo-Dolcetta, I. (2010). "Mean field games: numerical methods." *SIAM Journal on Numerical Analysis*, 48(3):1136–1162.
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4. Huang, M., Malhamé, R., and Caines, P. (2006). "Large population stochastic dynamic games: closed-loop McKean-Vlasov systems and the Nash certainty equivalence principle." *Communications in Information and Systems*, 6(3):221–252.
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---
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## Notebook Tutorial
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For a complete walkthrough with validated outputs and visualizations, see the
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Mean Field Games Tutorial notebook at `examples/notebooks/mean_field_games_tutorial.ipynb`.
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The notebook demonstrates:
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- Setting up initial distributions
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- Running the solver with different parameters
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- Visualizing density evolution as 3D surfaces and heatmaps
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- Interpreting convergence diagnostics
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- Comparing congestion levels
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Audit documentation is available at `docs/MFG_TUTORIAL_COMPLETE.md`.
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