The problem of exact maximum-likelihood (ML) decoding of general linear codes is well-known to be NP-hard. In this paper, we show that exact ML decoding of a class of asymptotically good low density parity check codes — expander codes — over binary symmetric channels (BSCs) is possible with an average-case polynomial complexity. This offers a new way of looking at the complexity issue of exact ML decoding for communication systems where the randomness in channel plays a fundamental central role. More precisely, for any bit-flipping probability p in a nontrivial range, there exists a rate region of non-zero support and a family of asymptotically good codes which achieve error probability exponentially decaying in coding length n while admitting exact ML decoding in average-case polynomial time. As p approaches zero, this rate region approaches the Shannon channel capacity region. Similar results can be extended to AWGN channels, suggesting it may be feasible to eliminate the error floor phenomenon associated with belief-propagation decoding of LDPC codes in the high SNR regime. The derivations are based on a hierarchy of ML certificate decoding algorithms adaptive to the channel realization. In this process, we propose an efficient O(n^2) new ML certificate algorithm based on the max-flow algorithm. Moreover, exact ML decoding of the considered class of codes constructed from LDPC codes with regular left degree, of which the considered expander codes are a special case, remains NP-hard; thus giving an interesting contrast between the worst-case and average-case complexities
