The predictions of homogeneous and isotropic cosmological models with ordinary matter and gravity are off by a factor of two in the late universe. One possible explanation is the known breakdown of homogeneity and isotropy due to the formation of non-linear structures. We review how inhomogeneities affect the average expansion rate and can lead to acceleration, and consider a semi-realistic model where the observed timescale of ten billion years emerges from structure formation. We also discuss the relation between the average expansion rate and observed quantities.Non peer reviewe
