Finding a Hamiltonian Path in a Cube with Specified Turns is Hard

We prove the NP-completeness of finding a Hamiltonian path in an N × N × N cube graph with turns exactly at specified lengths along the path. This result establishes NP-completeness of Snake Cube puzzles: folding a chain of N3 unit cubes, joined at face centers (usually by a cord passing through all the cubes), into an N × N × N cube. Along the way, we prove a universality result that zig-zag chains (which must turn every unit) can fold into any polycube after 4 × 4 × 4 refinement, or into any Hamiltonian polycube after 2 × 2 × 2 refinement

Folding equilateral plane graphs

22nd International Symposium, ISAAC 2011, Yokohama, Japan, December 5-8, 2011. ProceedingsWe consider two types of folding applied to equilateral plane graph linkages. First, under continuous folding motions, we show how to reconfigure any linear equilateral tree (lying on a line) into a canonical configuration. By contrast, such reconfiguration is known to be impossible for linear (nonequilateral) trees and for (nonlinear) equilateral trees. Second, under instantaneous folding motions, we show that an equilateral plane graph has a noncrossing linear folded state if and only if it is bipartite. Not only is the equilateral constraint necessary for this result, but we show that it is strongly NP-complete to decide whether a (nonequilateral) plane graph has a linear folded state. Equivalently, we show strong NP-completeness of deciding whether an abstract metric polyhedral complex with one central vertex has a noncrossing flat folded state with a specified “outside region”. By contrast, the analogous problem for a polyhedral manifold with one central vertex (single-vertex origami) is only weakly NP-complete

A framework for proving the computational intractability of motion planning problems

Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, September, 2020Cataloged from student-submitted PDF of thesis.Includes bibliographical references (pages 235-240).This thesis develops a framework for proving computational complexity results about motion planning problems. The model captures reactive environments with local interaction. We introduce a motion planning problem involving one or more agents that move around a connection graph and through "gadgets" which are stateful parts of the environment whose state and traversability can change only in response to traversals of the agent within the gadget. The model includes variants for 0-player, 1-player, 2-player, and team imperfect information games. This thesis considers various classes of gadgets and give both algorithms and hardness results ranging from NL-completeness to Undecidability. Full dichotomies are obtained for some classes including the natural class of gadgets which can be traversed a bounded number of times. For 1-player this gives a separation between containment in NL versus NP-completeness, for 2-player a separation between containment in P and PSPACE-completeness, and for team imperfect information games a separation between containment in P and NEXPTIME-completeness. Our model builds on and generalizes several other proof techniques for motion planning problems and games. This thesis also provides examples of how this new framework can simplify many of those old results, as well as applying to many new hardness results for video games and variants of block pushing puzzles. New hardness results include PSPACE-hardness for Trainyard, Sokobond, The Legend of Zelda: Breath of the Wild, The Legend of Zelda: The Minish Cap, The Legend of Zelda: Oracle of Seasons, Captain Toad: Treasure Tracker, Super Mario Oddsey, Super Mario Galaxy 1 and 2, Super Mario Sunshine, and Super Mario 64.by Jayson Lynch.Ph. D.Ph.D. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Scienc

On the computational complexity of portal and push-pull block puzzles

Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2015.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from student-submitted PDF version of thesis.Includes bibliographical references (pages 49-53).We classify the computational complexity of two types of motion planning problems represented in games. Portal, a popular video game, is shown to be NP-hard or PSPACE-complete depending on the game mechanics allowed. Push-pull block puzzles are games, similar to Sokoban, which involve moving a 'robot' on a square grid with obstacles and blocks that can be pushed or pulled by the robot into adjacent squares. We prove that push-pull block puzzles in 3D and push-pull block puzzles in 2D with thin walls are NP-hard to solve. We also show certain 3D push-pull block puzzles are PSPACE-complete. This work follows in a long line of algorithms and complexity work on similar problems Wil91, DDO00, Hof00, DHH04, DH01, DO92, DHH02, Cul98, DZ96, Rit10]. The 2D push-pull block puzzle also shows up in a number of video games, thus implying other results, further continuing the work on understanding video games as in Vig12, ADGV14, For10, Cor04.by Jayson Lynch.M. Eng

Push-Pull Block Puzzles are Hard

This paper proves that push-pull block puzzles in 3D are PSPACE-complete to solve, and push-pull block puzzles in 2D with thin walls are NP-hard to solve, settling an open question [19]. Push-pull block puzzles are a type of recreational motion planning problem, similar to Sokoban, that involve moving a ‘robot’ on a square grid with 1 × 1 obstacles. The obstacles cannot be traversed by the robot, but some can be pushed and pulled by the robot into adjacent squares. Thin walls prevent movement between two adjacent squares. This work follows in a long line of algorithms and complexity work on similar problems [3– 9, 14, 16, 18]. The 2D push-pull block puzzle shows up in the video games Pukoban as well as The Legend of Zelda: A Link to the Past, giving another proof of hardness for the latter [2]. This variant of block-pushing puzzles is of particular interest because of its connections to reversibility, since any action (e.g., push or pull) can be inverted by another valid action (e.g., pull or push)

Toward a general complexity theory of motion planning: Characterizing which gadgets make games hard

We begin a general theory for characterizing the computational complexity of motion planning of robot(s) through a graph of “gadgets”, where each gadget has its own state defining a set of allowed traversals which in turn modify the gadget’s state. We study two general families of such gadgets within this theory, one which naturally leads to motion planning problems with polynomially bounded solutions, and another which leads to polynomially unbounded (potentially exponential) solutions. We also study a range of competitive game-theoretic scenarios, from one player controlling one robot to teams of players each controlling their own robot and racing to achieve their team’s goal. Under certain restrictions on these gadgets, we fully characterize the complexity of bounded 1-player motion planning (NL vs. NP-complete), unbounded 1-player motion planning (NL vs. PSPACE-complete), and bounded 2-player motion planning (P vs. PSPACE-complete), and we partially characterize the complexity of unbounded 2-player motion planning (P vs. EXPTIME-complete), bounded 2-team motion planning (P vs. NEXPTIME-complete), and unbounded 2-team motion planning (P vs. undecidable). These results can be seen as an alternative to Constraint Logic (which has already proved useful as a basis for hardness reductions), providing a wide variety of agent-based gadgets, any one of which suffices to prove a problem hard

Mario Kart Is Hard

Nintendo’s Mario Kart is perhaps the most popular racing video game franchise. Players race alone or against opponents to finish in the fastest time possible. Players can also use items to attack and defend from other racers. We prove two hardness results for generalized Mario Kart: deciding whether a driver can finish a course alone in some given time is NP-hard, and deciding whether a player can beat an opponent in a race is PSPACE-hard

Total Tetris: Tetris with Monominoes, Dominoes, Trominoes, Pentominoes,...

We consider variations on the classic video game Tetris where pieces are k-ominoes instead of the usual tetrominoes (k = 4), as popularized by the video games ntris and Pentris. We prove that it is NP-complete to survive or clear a given initial board with a given sequence of pieces for each k ≤ 5, complementing the previous NP-completeness result for k = 4. More surprisingly, we show that board clearing is NP-complete for k = 3; and if pieces may not be rotated, then clearing is NP-complete for k = 2 and survival is NP-complete for k = 3. All of these problems can be solved in polynomial time for k = 1

Folding equilateral plane graphs

We consider two types of folding applied to equilateral plane graph linkages. First, under continuous folding motions, we show how to reconfigure any linear equilateral tree (lying on a line) into a canonical configuration. By contrast, it is known that such reconfiguration is not always possible for linear (nonequilateral) trees and for (nonlinear) equilateral trees. Second, under instantaneous folding motions, we show that an equilateral plane graph has a noncrossing linear folded state if and only if it is bipartite. Furthermore, we show that the equilateral constraint is necessary for this result, by proving that it is strongly NP-complete to decide whether a (nonequilateral) plane graph has a linear folded state. Equivalently, we show strong NP-completeness of deciding whether an abstract metric polyhedral complex with one central vertex has a noncrossing flat folded state. By contrast, the analogous problem for a polyhedral manifold with one central vertex (single-vertex origami) is only weakly NP-complete. ©201

Who witnesses the witness? Finding witnesses in the witness is hard and sometimes impossible

We analyze the computational complexity of the many types of pencil-and-paper-style puzzles featured in the 2016 puzzle video game The Witness. In all puzzles, the goal is to draw a path in a rectangular grid graph from a start vertex to a destination vertex. The different puzzle types place different constraints on the path: preventing some edges from being visited (broken edges); forcing some edges or vertices to be visited (hexagons); forcing some cells to have certain numbers of incident path edges (triangles); or forcing the regions formed by the path to be partially monochromatic (squares), have exactly two special cells (stars), or be singly covered by given shapes (polyominoes) and/or negatively counting shapes (antipolyominoes). We show that any one of these clue types (except the first) is enough to make path finding NP-complete ("witnesses exist but are hard to find"), even for rectangular boards. Furthermore, we show that a final clue type (antibody), which necessarily "cancels" the effect of another clue in the same region, makes path finding Σ2-complete ("witnesses do not exist"), even with a single antibody (combined with many anti/polyominoes), and the problem gets no harder with many antibodies