Harikrishna Narasimhan

Jiaheng Wei, Harikrishna Narasimhan, Ehsan Amid et al.

The generalization ability of machine learning models degrades significantly when the test distribution shifts away from the training distribution. We investigate the problem of training models that are robust to shifts caused by changes in the distribution of class-priors or group-priors. The presence of skewed training priors can often lead to the models overfitting to spurious features. Unlike existing methods, which optimize for either the worst or the average performance over classes or groups, our work is motivated by the need for finer control over the robustness properties of the model. We present an extremely lightweight post-hoc approach that performs scaling adjustments to predictions from a pre-trained model, with the goal of minimizing a distributionally robust loss around a chosen target distribution. These adjustments are computed by solving a constrained optimization problem on a validation set and applied to the model during test time. Our constrained optimization objective is inspired by a natural notion of robustness to controlled distribution shifts. Our method comes with provable guarantees and empirically makes a strong case for distributional robust post-hoc classifiers. An empirical implementation is available at https://github.com/weijiaheng/Drops.

Wittawat Jitkrittum, Neha Gupta, Aditya Krishna Menon et al.

Cascades are a classical strategy to enable inference cost to vary adaptively across samples, wherein a sequence of classifiers are invoked in turn. A deferral rule determines whether to invoke the next classifier in the sequence, or to terminate prediction. One simple deferral rule employs the confidence of the current classifier, e.g., based on the maximum predicted softmax probability. Despite being oblivious to the structure of the cascade -- e.g., not modelling the errors of downstream models -- such confidence-based deferral often works remarkably well in practice. In this paper, we seek to better understand the conditions under which confidence-based deferral may fail, and when alternate deferral strategies can perform better. We first present a theoretical characterisation of the optimal deferral rule, which precisely characterises settings under which confidence-based deferral may suffer. We then study post-hoc deferral mechanisms, and demonstrate they can significantly improve upon confidence-based deferral in settings where (i) downstream models are specialists that only work well on a subset of inputs, (ii) samples are subject to label noise, and (iii) there is distribution shift between the train and test set.

Harikrishna Narasimhan, Aditya Krishna Menon, Wittawat Jitkrittum et al.

Real-world classifiers can benefit from the option of abstaining from predicting on samples where they have low confidence. Such abstention is particularly useful on samples which are close to the learned decision boundary, or which are outliers with respect to the training sample. These settings have been the subject of extensive but disjoint study in the selective classification (SC) and out-of-distribution (OOD) detection literature. Recent work on selective classification with OOD detection (SCOD) has argued for the unified study of these problems; however, the formal underpinnings of this problem are still nascent, and existing techniques are heuristic in nature. In this paper, we propose new plugin estimators for SCOD that are theoretically grounded, effective, and generalise existing approaches from the SC and OOD detection literature. In the course of our analysis, we formally explicate how naïve use of existing SC and OOD detection baselines may be inadequate for SCOD. We empirically demonstrate that our approaches yields competitive SC and OOD detection performance compared to baselines from both literatures.

Harikrishna Narasimhan, Harish G. Ramaswamy, Shiv Kumar Tavker et al.

We present consistent algorithms for multiclass learning with complex performance metrics and constraints, where the objective and constraints are defined by arbitrary functions of the confusion matrix. This setting includes many common performance metrics such as the multiclass G-mean and micro F1-measure, and constraints such as those on the classifier's precision and recall and more recent measures of fairness discrepancy. We give a general framework for designing consistent algorithms for such complex design goals by viewing the learning problem as an optimization problem over the set of feasible confusion matrices. We provide multiple instantiations of our framework under different assumptions on the performance metrics and constraints, and in each case show rates of convergence to the optimal (feasible) classifier (and thus asymptotic consistency). Experiments on a variety of multiclass classification tasks and fairness-constrained problems show that our algorithms compare favorably to the state-of-the-art baselines.

Serena Wang, Harikrishna Narasimhan, Yichen Zhou et al.

Knowledge distillation has proven to be an effective technique in improving the performance a student model using predictions from a teacher model. However, recent work has shown that gains in average efficiency are not uniform across subgroups in the data, and in particular can often come at the cost of accuracy on rare subgroups and classes. To preserve strong performance across classes that may follow a long-tailed distribution, we develop distillation techniques that are tailored to improve the student's worst-class performance. Specifically, we introduce robust optimization objectives in different combinations for the teacher and student, and further allow for training with any tradeoff between the overall accuracy and the robust worst-class objective. We show empirically that our robust distillation techniques not only achieve better worst-class performance, but also lead to Pareto improvement in the tradeoff between overall performance and worst-class performance compared to other baseline methods. Theoretically, we provide insights into what makes a good teacher when the goal is to train a robust student.

Abhishek Kumar, Harikrishna Narasimhan, Andrew Cotter

We consider a popular family of constrained optimization problems arising in machine learning that involve optimizing a non-decomposable evaluation metric with a certain thresholded form, while constraining another metric of interest. Examples of such problems include optimizing the false negative rate at a fixed false positive rate, optimizing precision at a fixed recall, optimizing the area under the precision-recall or ROC curves, etc. Our key idea is to formulate a rate-constrained optimization that expresses the threshold parameter as a function of the model parameters via the Implicit Function theorem. We show how the resulting optimization problem can be solved using standard gradient based methods. Experiments on benchmark datasets demonstrate the effectiveness of our proposed method over existing state-of-the art approaches for these problems. The code for the proposed method is available at https://github.com/google-research/google-research/tree/master/implicit_constrained_optimization .

Neha Gupta, Harikrishna Narasimhan, Wittawat Jitkrittum et al.

Recent advances in language models (LMs) have led to significant improvements in quality on complex NLP tasks, but at the expense of increased inference costs. Cascading offers a simple strategy to achieve more favorable cost-quality tradeoffs: here, a small model is invoked for most "easy" instances, while a few "hard" instances are deferred to the large model. While the principles underpinning cascading are well-studied for classification tasks - with deferral based on predicted class uncertainty favored theoretically and practically - a similar understanding is lacking for generative LM tasks. In this work, we initiate a systematic study of deferral rules for LM cascades. We begin by examining the natural extension of predicted class uncertainty to generative LM tasks, namely, the predicted sequence uncertainty. We show that this measure suffers from the length bias problem, either over- or under-emphasizing outputs based on their lengths. This is because LMs produce a sequence of uncertainty values, one for each output token; and moreover, the number of output tokens is variable across examples. To mitigate this issue, we propose to exploit the richer token-level uncertainty information implicit in generative LMs. We argue that naive predicted sequence uncertainty corresponds to a simple aggregation of these uncertainties. By contrast, we show that incorporating token-level uncertainty through learned post-hoc deferral rules can significantly outperform such simple aggregation strategies, via experiments on a range of natural language benchmarks with FLAN-T5 models. We further show that incorporating embeddings from the smaller model and intermediate layers of the larger model can give an additional boost in the overall cost-quality tradeoff.

Wittawat Jitkrittum, Harikrishna Narasimhan, Ankit Singh Rawat et al.

Model routing is a simple technique for reducing the inference cost of large language models (LLMs), wherein one maintains a pool of candidate LLMs, and learns to route each prompt to the smallest feasible LLM. Existing works focus on learning a router for a fixed pool of LLMs. In this paper, we consider the problem of dynamic routing, where new, previously unobserved LLMs are available at test time. We propose UniRoute, a new approach to this problem that relies on representing each LLM as a feature vector, derived based on predictions on a set of representative prompts. Based on this, we detail two effective instantiations of UniRoute, relying on cluster-based routing and a learned cluster map respectively. We show that these are estimates of a theoretically optimal routing rule, and quantify their errors via an excess risk bound. Experiments on a range of public benchmarks show the effectiveness of UniRoute in routing amongst more than 30 unseen LLMs.

Michal Lukasik, Harikrishna Narasimhan, Aditya Krishna Menon et al.

Large language models (LLMs) have shown strong results on a range of applications, including regression and scoring tasks. Typically, one obtains outputs from an LLM via autoregressive sampling from the model's output distribution. We show that this inference strategy can be sub-optimal for common regression and scoring evaluation metrics. As a remedy, we build on prior work on Minimum Bayes Risk decoding, and propose alternate inference strategies that estimate the Bayes-optimal solution for regression and scoring metrics in closed-form from sampled responses. We show that our proposal significantly improves over baselines across datasets and models.

Michal Lukasik, Lin Chen, Harikrishna Narasimhan et al.

Bipartite ranking is a fundamental supervised learning problem, with the goal of learning a ranking over instances with maximal Area Under the ROC Curve (AUC) against a single binary target label. However, one may often observe multiple binary target labels, e.g., from distinct human annotators. How can one synthesize such labels into a single coherent ranking? In this work, we formally analyze two approaches to this problem -- loss aggregation and label aggregation -- by characterizing their Bayes-optimal solutions. We show that while both approaches can yield Pareto-optimal solutions, loss aggregation can exhibit label dictatorship: one can inadvertently (and undesirably) favor one label over others. This suggests that label aggregation can be preferable to loss aggregation, which we empirically verify.

Harikrishna Narasimhan, Aditya Krishna Menon

Many modern machine learning applications come with complex and nuanced design goals such as minimizing the worst-case error, satisfying a given precision or recall target, or enforcing group-fairness constraints. Popular techniques for optimizing such non-decomposable objectives reduce the problem into a sequence of cost-sensitive learning tasks, each of which is then solved by re-weighting the training loss with example-specific costs. We point out that the standard approach of re-weighting the loss to incorporate label costs can produce unsatisfactory results when used to train over-parameterized models. As a remedy, we propose new cost-sensitive losses that extend the classical idea of logit adjustment to handle more general cost matrices. Our losses are calibrated, and can be further improved with distilled labels from a teacher model. Through experiments on benchmark image datasets, we showcase the effectiveness of our approach in training ResNet models with common robust and constrained optimization objectives.

Heinrich Jiang, Harikrishna Narasimhan, Dara Bahri et al.

In real-world systems, models are frequently updated as more data becomes available, and in addition to achieving high accuracy, the goal is to also maintain a low difference in predictions compared to the base model (i.e. predictive "churn"). If model retraining results in vastly different behavior, then it could cause negative effects in downstream systems, especially if this churn can be avoided with limited impact on model accuracy. In this paper, we show an equivalence between training with distillation using the base model as the teacher and training with an explicit constraint on the predictive churn. We then show that distillation performs strongly for low churn training against a number of recent baselines on a wide range of datasets and model architectures, including fully-connected networks, convolutional networks, and transformers.

Gaurush Hiranandani, Jatin Mathur, Harikrishna Narasimhan et al.

We consider learning to optimize a classification metric defined by a black-box function of the confusion matrix. Such black-box learning settings are ubiquitous, for example, when the learner only has query access to the metric of interest, or in noisy-label and domain adaptation applications where the learner must evaluate the metric via performance evaluation using a small validation sample. Our approach is to adaptively learn example weights on the training dataset such that the resulting weighted objective best approximates the metric on the validation sample. We show how to model and estimate the example weights and use them to iteratively post-shift a pre-trained class probability estimator to construct a classifier. We also analyze the resulting procedure's statistical properties. Experiments on various label noise, domain shift, and fair classification setups confirm that our proposal compares favorably to the state-of-the-art baselines for each application.

Andrew Cotter, Aditya Krishna Menon, Harikrishna Narasimhan et al.

Distillation is the technique of training a "student" model based on examples that are labeled by a separate "teacher" model, which itself is trained on a labeled dataset. The most common explanations for why distillation "works" are predicated on the assumption that student is provided with \emph{soft} labels, \eg probabilities or confidences, from the teacher model. In this work, we show, that, even when the teacher model is highly overparameterized, and provides \emph{hard} labels, using a very large held-out unlabeled dataset to train the student model can result in a model that outperforms more "traditional" approaches. Our explanation for this phenomenon is based on recent work on "double descent". It has been observed that, once a model's complexity roughly exceeds the amount required to memorize the training data, increasing the complexity \emph{further} can, counterintuitively, result in \emph{better} generalization. Researchers have identified several settings in which it takes place, while others have made various attempts to explain it (thus far, with only partial success). In contrast, we avoid these questions, and instead seek to \emph{exploit} this phenomenon by demonstrating that a highly-overparameterized teacher can avoid overfitting via double descent, while a student trained on a larger independent dataset labeled by this teacher will avoid overfitting due to the size of its training set.

Gaurush Hiranandani, Jatin Mathur, Harikrishna Narasimhan et al.

Metric elicitation is a recent framework for eliciting classification performance metrics that best reflect implicit user preferences based on the task and context. However, available elicitation strategies have been limited to linear (or quasi-linear) functions of predictive rates, which can be practically restrictive for many applications including fairness. This paper develops a strategy for eliciting more flexible multiclass metrics defined by quadratic functions of rates, designed to reflect human preferences better. We show its application in eliciting quadratic violation-based group-fair metrics. Our strategy requires only relative preference feedback, is robust to noise, and achieves near-optimal query complexity. We further extend this strategy to eliciting polynomial metrics -- thus broadening the use cases for metric elicitation.

Gaurush Hiranandani, Harikrishna Narasimhan, Oluwasanmi Koyejo

What is a fair performance metric? We consider the choice of fairness metrics through the lens of metric elicitation -- a principled framework for selecting performance metrics that best reflect implicit preferences. The use of metric elicitation enables a practitioner to tune the performance and fairness metrics to the task, context, and population at hand. Specifically, we propose a novel strategy to elicit group-fair performance metrics for multiclass classification problems with multiple sensitive groups that also includes selecting the trade-off between predictive performance and fairness violation. The proposed elicitation strategy requires only relative preference feedback and is robust to both finite sample and feedback noise.

Serena Wang, Wenshuo Guo, Harikrishna Narasimhan et al.

Many existing fairness criteria for machine learning involve equalizing some metric across protected groups such as race or gender. However, practitioners trying to audit or enforce such group-based criteria can easily face the problem of noisy or biased protected group information. First, we study the consequences of naively relying on noisy protected group labels: we provide an upper bound on the fairness violations on the true groups G when the fairness criteria are satisfied on noisy groups $\hat{G}$. Second, we introduce two new approaches using robust optimization that, unlike the naive approach of only relying on $\hat{G}$, are guaranteed to satisfy fairness criteria on the true protected groups G while minimizing a training objective. We provide theoretical guarantees that one such approach converges to an optimal feasible solution. Using two case studies, we show empirically that the robust approaches achieve better true group fairness guarantees than the naive approach.

Qijia Jiang, Olaoluwa Adigun, Harikrishna Narasimhan et al.

We address the problem of training models with black-box and hard-to-optimize metrics by expressing the metric as a monotonic function of a small number of easy-to-optimize surrogates. We pose the training problem as an optimization over a relaxed surrogate space, which we solve by estimating local gradients for the metric and performing inexact convex projections. We analyze gradient estimates based on finite differences and local linear interpolations, and show convergence of our approach under smoothness assumptions with respect to the surrogates. Experimental results on classification and ranking problems verify the proposal performs on par with methods that know the mathematical formulation, and adds notable value when the form of the metric is unknown.

Harikrishna Narasimhan, Andrew Cotter, Maya Gupta

We present a general framework for solving a large class of learning problems with non-linear functions of classification rates. This includes problems where one wishes to optimize a non-decomposable performance metric such as the F-measure or G-mean, and constrained training problems where the classifier needs to satisfy non-linear rate constraints such as predictive parity fairness, distribution divergences or churn ratios. We extend previous two-player game approaches for constrained optimization to a game between three players to decouple the classifier rates from the non-linear objective, and seek to find an equilibrium of the game. Our approach generalizes many existing algorithms, and makes possible new algorithms with more flexibility and tighter handling of non-linear rate constraints. We provide convergence guarantees for convex functions of rates, and show how our methodology can be extended to handle sums of ratios of rates. Experiments on different fairness tasks confirm the efficacy of our approach.

Harikrishna Narasimhan, Andrew Cotter, Maya Gupta et al.

We present pairwise fairness metrics for ranking models and regression models that form analogues of statistical fairness notions such as equal opportunity, equal accuracy, and statistical parity. Our pairwise formulation supports both discrete protected groups, and continuous protected attributes. We show that the resulting training problems can be efficiently and effectively solved using existing constrained optimization and robust optimization techniques developed for fair classification. Experiments illustrate the broad applicability and trade-offs of these methods.

Sen Zhao, Mahdi Milani Fard, Harikrishna Narasimhan et al.

Real-world machine learning applications often have complex test metrics, and may have training and test data that are not identically distributed. Motivated by known connections between complex test metrics and cost-weighted learning, we propose addressing these issues by using a weighted loss function with a standard loss, where the weights on the training examples are learned to optimize the test metric on a validation set. These metric-optimized example weights can be learned for any test metric, including black box and customized ones for specific applications. We illustrate the performance of the proposed method on diverse public benchmark datasets and real-world applications. We also provide a generalization bound for the method.

Paul Dütting, Zhe Feng, Harikrishna Narasimhan et al.

Designing an incentive compatible auction that maximizes expected revenue is an intricate task. The single-item case was resolved in a seminal piece of work by Myerson in 1981, but more than 40 years later a full analytical understanding of the optimal design still remains elusive for settings with two or more items. In this work, we initiate the exploration of the use of tools from deep learning for the automated design of optimal auctions. We model an auction as a multi-layer neural network, frame optimal auction design as a constrained learning problem, and show how it can be solved using standard machine learning pipelines. In addition to providing generalization bounds, we present extensive experimental results, recovering essentially all known solutions that come from the theoretical analysis of optimal auction design problems and obtaining novel mechanisms for settings in which the optimal mechanism is unknown.

Harikrishna Narasimhan, Shivani Agarwal

The area under the ROC curve (AUC) is a widely used performance measure in machine learning. Increasingly, however, in several applications, ranging from ranking to biometric screening to medicine, performance is measured not in terms of the full area under the ROC curve, but in terms of the \emph{partial} area under the ROC curve between two false positive rates. In this paper, we develop support vector algorithms for directly optimizing the partial AUC between any two false positive rates. Our methods are based on minimizing a suitable proxy or surrogate objective for the partial AUC error. In the case of the full AUC, one can readily construct and optimize convex surrogates by expressing the performance measure as a summation of pairwise terms. The partial AUC, on the other hand, does not admit such a simple decomposable structure, making it more challenging to design and optimize (tight) convex surrogates for this measure. Our approach builds on the structural SVM framework of Joachims (2005) to design convex surrogates for partial AUC, and solves the resulting optimization problem using a cutting plane solver. Unlike the full AUC, where the combinatorial optimization needed in each iteration of the cutting plane solver can be decomposed and solved efficiently, the corresponding problem for the partial AUC is harder to decompose. One of our main contributions is a polynomial time algorithm for solving the combinatorial optimization problem associated with partial AUC. We also develop an approach for optimizing a tighter non-convex hinge loss based surrogate for the partial AUC using difference-of-convex programming. Our experiments on a variety of real-world and benchmark tasks confirm the efficacy of the proposed methods.

Purushottam Kar, Shuai Li, Harikrishna Narasimhan et al.

The estimation of class prevalence, i.e., the fraction of a population that belongs to a certain class, is a very useful tool in data analytics and learning, and finds applications in many domains such as sentiment analysis, epidemiology, etc. For example, in sentiment analysis, the objective is often not to estimate whether a specific text conveys a positive or a negative sentiment, but rather estimate the overall distribution of positive and negative sentiments during an event window. A popular way of performing the above task, often dubbed quantification, is to use supervised learning to train a prevalence estimator from labeled data. Contemporary literature cites several performance measures used to measure the success of such prevalence estimators. In this paper we propose the first online stochastic algorithms for directly optimizing these quantification-specific performance measures. We also provide algorithms that optimize hybrid performance measures that seek to balance quantification and classification performance. Our algorithms present a significant advancement in the theory of multivariate optimization and we show, by a rigorous theoretical analysis, that they exhibit optimal convergence. We also report extensive experiments on benchmark and real data sets which demonstrate that our methods significantly outperform existing optimization techniques used for these performance measures.

Purushottam Kar, Harikrishna Narasimhan, Prateek Jain

The problem of maximizing precision at the top of a ranked list, often dubbed Precision@k (prec@k), finds relevance in myriad learning applications such as ranking, multi-label classification, and learning with severe label imbalance. However, despite its popularity, there exist significant gaps in our understanding of this problem and its associated performance measure. The most notable of these is the lack of a convex upper bounding surrogate for prec@k. We also lack scalable perceptron and stochastic gradient descent algorithms for optimizing this performance measure. In this paper we make key contributions in these directions. At the heart of our results is a family of truly upper bounding surrogates for prec@k. These surrogates are motivated in a principled manner and enjoy attractive properties such as consistency to prec@k under various natural margin/noise conditions. These surrogates are then used to design a class of novel perceptron algorithms for optimizing prec@k with provable mistake bounds. We also devise scalable stochastic gradient descent style methods for this problem with provable convergence bounds. Our proofs rely on novel uniform convergence bounds which require an in-depth analysis of the structural properties of prec@k and its surrogates. We conclude with experimental results comparing our algorithms with state-of-the-art cutting plane and stochastic gradient algorithms for maximizing prec@k.

Harikrishna Narasimhan, Purushottam Kar, Prateek Jain

Modern classification problems frequently present mild to severe label imbalance as well as specific requirements on classification characteristics, and require optimizing performance measures that are non-decomposable over the dataset, such as F-measure. Such measures have spurred much interest and pose specific challenges to learning algorithms since their non-additive nature precludes a direct application of well-studied large scale optimization methods such as stochastic gradient descent. In this paper we reveal that for two large families of performance measures that can be expressed as functions of true positive/negative rates, it is indeed possible to implement point stochastic updates. The families we consider are concave and pseudo-linear functions of TPR, TNR which cover several popularly used performance measures such as F-measure, G-mean and H-mean. Our core contribution is an adaptive linearization scheme for these families, using which we develop optimization techniques that enable truly point-based stochastic updates. For concave performance measures we propose SPADE, a stochastic primal dual solver; for pseudo-linear measures we propose STAMP, a stochastic alternate maximization procedure. Both methods have crisp convergence guarantees, demonstrate significant speedups over existing methods - often by an order of magnitude or more, and give similar or more accurate predictions on test data.

Harish G. Ramaswamy, Harikrishna Narasimhan, Shivani Agarwal

We study consistency of learning algorithms for a multi-class performance metric that is a non-decomposable function of the confusion matrix of a classifier and cannot be expressed as a sum of losses on individual data points; examples of such performance metrics include the macro F-measure popular in information retrieval and the G-mean metric used in class-imbalanced problems. While there has been much work in recent years in understanding the consistency properties of learning algorithms for `binary' non-decomposable metrics, little is known either about the form of the optimal classifier for a general multi-class non-decomposable metric, or about how these learning algorithms generalize to the multi-class case. In this paper, we provide a unified framework for analysing a multi-class non-decomposable performance metric, where the problem of finding the optimal classifier for the performance metric is viewed as an optimization problem over the space of all confusion matrices achievable under the given distribution. Using this framework, we show that (under a continuous distribution) the optimal classifier for a multi-class performance metric can be obtained as the solution of a cost-sensitive classification problem, thus generalizing several previous results on specific binary non-decomposable metrics. We then design a consistent learning algorithm for concave multi-class performance metrics that proceeds via a sequence of cost-sensitive classification problems, and can be seen as applying the conditional gradient (CG) optimization method over the space of feasible confusion matrices. To our knowledge, this is the first efficient learning algorithm (whose running time is polynomial in the number of classes) that is consistent for a large family of multi-class non-decomposable metrics. Our consistency proof uses a novel technique based on the convergence analysis of the CG method.

Purushottam Kar, Harikrishna Narasimhan, Prateek Jain

Modern applications in sensitive domains such as biometrics and medicine frequently require the use of non-decomposable loss functions such as precision@k, F-measure etc. Compared to point loss functions such as hinge-loss, these offer much more fine grained control over prediction, but at the same time present novel challenges in terms of algorithm design and analysis. In this work we initiate a study of online learning techniques for such non-decomposable loss functions with an aim to enable incremental learning as well as design scalable solvers for batch problems. To this end, we propose an online learning framework for such loss functions. Our model enjoys several nice properties, chief amongst them being the existence of efficient online learning algorithms with sublinear regret and online to batch conversion bounds. Our model is a provable extension of existing online learning models for point loss functions. We instantiate two popular losses, prec@k and pAUC, in our model and prove sublinear regret bounds for both of them. Our proofs require a novel structural lemma over ranked lists which may be of independent interest. We then develop scalable stochastic gradient descent solvers for non-decomposable loss functions. We show that for a large family of loss functions satisfying a certain uniform convergence property (that includes prec@k, pAUC, and F-measure), our methods provably converge to the empirical risk minimizer. Such uniform convergence results were not known for these losses and we establish these using novel proof techniques. We then use extensive experimentation on real life and benchmark datasets to establish that our method can be orders of magnitude faster than a recently proposed cutting plane method.