In computational complexity and optimization the no free lunch theorem is a result that states that for certain types of mathematical problems, the computational cost of finding a solution, averaged over all problems in the class, is the same for any solution method. The name alludes to the saying "no such thing as a free lunch", that is, no method offers a "short cut". This is under the assumption that the search space is a probability density function. It does not apply to the case where the search space has underlying structure (e.g., is a differentiable function) that can be exploited more efficiently (e.g., Newton's method in optimization) than random search or even has closed-form solutions (e.g., the extrema of a quadratic polynomial) that can be determined without search at all. For such probabilistic assumptions, the outputs of all procedures solving a particular type of problem are statistically identical. A colourful way of describing such a circumstance, introduced by David Wolpert and William G. Macready in connection with the problems of search and optimization, is to say that there is no free lunch. Wolpert had previously derived no free lunch theorems for machine learning (statistical inference). Before Wolpert's article was published, Cullen Schaffer independently proved a restricted version of one of Wolpert's theorems and used it to critique the current state of machine learning research on the problem of induction.
In the "no free lunch" metaphor, each "restaurant" (problem-solving procedure) has a "menu" associating each "lunch plate" (problem) with a "price" (the performance of the procedure in solving the problem). The menus of restaurants are identical except in one regard – the prices are shuffled from one restaurant to the next. For an omnivore who is as likely to order each plate as any other, the average cost of lunch does not depend on the choice of restaurant. But a vegan who goes to lunch regularly with a carnivore who seeks economy might pay a high average cost for lunch. To methodically reduce the average cost, one must use advance knowledge of a) what one will order and b) what the order will cost at various restaurants. That is, improvement of performance in problem-solving hinges on using prior information to match procedures to problems.
In formal terms, there is no free lunch when the probability distribution on problem instances is such that all problem solvers have identically distributed results. In the case of search, a problem instance in this context is a particular objective function, and a result is a sequence of values obtained in evaluation of candidate solutions in the domain of the function. For typical interpretations of results, search is an optimization process. There is no free lunch in search if and only if the distribution on objective functions is invariant under permutation of the space of candidate solutions.Streeter, M. (2003) "Two Broad Classes of Functions for Which a No Free Lunch Result Does Not Hold," Genetic and Evolutionary Computation – GECCO 2003, pp. 1418–1430.Igel, C., and Toussaint, M. (2004) "A No-Free-Lunch Theorem for Non-Uniform Distributions of Target Functions," Journal of Mathematical Modelling and Algorithms 3, pp. 313–322.English, T. (2004) No More Lunch: Analysis of Sequential Search, Proceedings of the 2004 IEEE Congress on Evolutionary Computation, pp. 227–234. This condition does not hold precisely in practice, but an "(almost) no free lunch" theorem suggests that it holds approximately.S. Droste, T. Jansen, and I. Wegener. 2002. "Optimization with randomized search heuristics: the (A)NFL theorem, realistic scenarios, and difficult functions," Theoretical Computer Science, vol. 287, no. 1, pp. 131–144.
Overview
Some computational problems are solved by searching for good solutions in a space of candidate solutions. A description of how to repeatedly select candidate solutions for evaluation is called a search algorithm. On a particular problem, different search algorithms may obtain different results, but over all problems, they are indistinguishable. It follows that if an algorithm achieves superior results on some problems, it must pay with inferiority on other problems. In this sense there is no free lunch in search. Alternatively, following Schaffer, search performance is conserved. Usually search is interpreted as optimization, and this leads to the observation that there is no free lunch in optimization.
"The 'no free lunch' theorem of Wolpert and Macready," as stated in plain language by Wolpert and Macready themselves, is that "any two algorithms are equivalent when their performance is averaged across all possible problems."Wolpert, D.H., and Macready, W.G. (2005) "Coevolutionary free lunches," IEEE Transactions on Evolutionary Computation, 9(6): 721–735 The "no free lunch" results indicate that matching algorithms to problems gives higher average performance than does applying a fixed algorithm to all. Igel and Toussaint and English have established a general condition under which there is no free lunch. While it is physically possible, it does not hold precisely. Droste, Jansen, and Wegener have proved a theorem they interpret as indicating that there is "(almost) no free lunch" in practice.
To make matters more concrete, consider an optimization practitioner confronted with a problem. Given some knowledge of how the problem arose, the practitioner may be able to exploit the knowledge in selection of an algorithm that will perform well in solving the problem. If the practitioner does not understand how to exploit the knowledge, or simply has no knowledge, then he or she faces the question of whether some algorithm generally outperforms others on real-world problems. The authors of the "(almost) no free lunch" theorem say that the answer is essentially no, but admit some reservations as to whether the theorem addresses practice.
Theorems
A "problem" is, more formally, an objective function that associates candidate solutions with goodness values. A search algorithm takes an objective function as input and evaluates candidate solutions one-by-one. The output of the algorithm is the sequence of observed goodness values.A search algorithm also outputs the sequence of candidate solutions evaluated, but that output is unused in this article.
Wolpert and Macready stipulate that an algorithm never reevaluates a candidate solution, and that algorithm performance is measured on outputs. For simplicity, we disallow randomness in algorithms. Under these conditions, when a search algorithm is run on every possible input, it generates each possible output exactly once. Because performance is measured on the outputs, the algorithms are indistinguishable in how often they achieve particular levels of performance.
Some measures of performance indicate how well search algorithms do at optimization of the objective function. Indeed, there seems to be no interesting application of search algorithms in the class under consideration but to optimization problems. A common performance measure is the least index of the least value in the output sequence. This is the number of evaluations required to minimize the objective function. For some algorithms, the time required to find the minimum is proportional to the number of evaluations.
The original no free lunch (NFL) theorems assume that all objective functions are equally likely to be input to search algorithms. It has since been established that there is NFL if and only if, loosely speaking, "shuffling" objective functions has no impact on their probabilities. Although this condition for NFL is physically possible, it has been argued that it certainly does not hold precisely.
The obvious interpretation of "not NFL" is "free lunch," but this is misleading. NFL is a matter of degree, not an all-or-nothing proposition. If the condition for NFL holds approximately, then all algorithms yield approximately the same results over all objective functions. "Not NFL" implies only that algorithms are inequivalent overall by some measure of performance. For a performance measure of interest, algorithms may remain equivalent, or nearly so.
Kolmogorov randomness
Almost all elements of the set of all possible functions (in the set-theoretic sense of "function") are Kolmogorov random, and hence the NFL theorems apply to a set of functions almost all of which cannot be expressed more compactly than as a lookup table that contains a distinct (and random) entry for each point in the search space. Functions that can be expressed more compactly (for example, by a mathematical expression of reasonable size) are by definition not Kolmogorov random.
Further, within the set of all possible objective functions, levels of goodness are equally represented among candidate solutions, hence good solutions are scattered throughout the space of candidates. Accordingly, a search algorithm will rarely evaluate more than a small fraction of the candidates before locating a very good solution.
Almost all objective functions are of such high Kolmogorov complexity that they cannot be stored in a particular computer. More precisely, if we model a given physical computer as a register machine with a given size memory on the order of the memories of modern computers, then most objective functions cannot be stored in their memories. There is more information in the typical objective function or algorithm than Seth Lloyd estimates the observable universe is capable of registering. For instance, if each candidate solution is encoded as a sequence of 300 0's and 1's, and the goodness values are 0 and 1, then most objective functions have Kolmogorov complexity of at least 2300 bits, and this is greater than Lloyd's bound of 1090 ≈ 2299 bits. It follows that the original "no free lunch" theorem does not apply to what can be stored in a physical computer; instead the so-called "tightened" no free lunch theorems need to be applied. It has also been shown that NFL results apply to incomputable functions.
Formal synopsis
is the set of all objective functions f:X→Y, where is a finite solution space and is a finite poset. The set of all permutations of X is J. A random variable F is distributed on . For all j in J, F o j is a random variable distributed on , with P(F o j = f) = P(F = f o j−1) for all f in .
Let a(f) denote the output of search algorithm a on input f. If a(F) and b(F) are identically distributed for all search algorithms a and b, then F has an NFL distribution. This condition holds if and only if F and F o j are identically distributed for all j in J. In other words, there is no free lunch for search algorithms if and only if the distribution of objective functions is invariant under permutation of the solution space.The "only if" part was first published by Set-theoretic NFL theorems have recently been generalized to arbitrary cardinality and .
Origin
Wolpert and Macready give two principal NFL theorems, the first regarding objective functions that do not change while search is in progress, and the second regarding objective functions that may change.
Theorem 1: For any pair of algorithms a1 and a2 where denotes the ordered set of size of the cost values associated to input values , is the function being optimized and is the conditional probability of obtaining a given sequence of cost values from algorithm run times on function .
In essence, this says that when all functions f are equally likely, the probability of observing an arbitrary sequence of m values in the course of search does not depend upon the search algorithm.
The second theorem establishes a "more subtle" NFL result for time-varying objective functions.
Interpretations of results