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Martin-Löf designed the type theory on the principles of
mathematical constructivism.
Constructivism requires any existence proof to contain a "witness".
So, any proof of "there exists a prime greater than 1000" must identify a
specific number that is both prime and greater than 1000.
Intuitionistic type theory accomplished this design goal by
internalizing the
BHK interpretation. An interesting consequence is that proofs become mathematical objects that can be examined, compared, and manipulated.
Intuitionistic type theory's type constructors were built to
follow a one-to-one correspondence with logical connectives. For
example, the logical connective called implication (
) corresponds to the type of a function (
). This correspondence is called the
Curry–Howard isomorphism. Previous type theories had also followed this isomorphism, but Martin-Löf's was the first to extend it to
predicate logic by introducing
dependent types.
Type theory
Intuitionistic
type theory has 3 finite types, which are then composed using 5
different type constructors. Unlike set theories, type theories are not
built on top of a logic like
Frege's. So, each feature of the type theory does double duty as a feature of both math and logic.
If you are unfamiliar with type theory and know set theory, a
quick summary is: Types contain terms just like sets contain elements.
Terms belong to one and only one type. Terms like and compute ("reduce") down to canonical terms like 4. For more, see the article on Type theory.
0 type, 1 type and 2 type
There are 3 finite types: The 0 type contains 0 terms. The 1 type contains 1 canonical term. And the 2 type contains 2 canonical terms.
Because the
0 type contains 0 terms, it is also called the
empty type. It is used to represent anything that cannot exist. It is also written
and represents anything unprovable. (That is, a proof of it cannot exist.) As a result,
negation is defined as a function to it:
.
Likewise, the
1 type contains 1 canonical term and represents existence. It also is called the
unit type. It often represents propositions that can be proven and is, therefore, sometimes written
.
Finally, the
2 type contains 2 canonical terms. It represents a definite choice between two values. It is used for
Boolean values but
not propositions. Propositions are considered the
1 type and may be proven to never have a proof (the
0 type), or may not be proven either way. (The
Law of Excluded Middle does not hold for propositions in intuitionistic type theory.)
Σ type constructor
Σ-types contain ordered pairs. As with typical ordered pair (or 2-tuple) types, a Σ-type can describe the
cartesian product,
, of two other types,
and
. Logically, such an ordered pair would hold a proof of
and a proof of
, so one may see such a type written as
.
Σ-types are more powerful than typical ordered pair types because of
dependent typing.
In the ordered pair, the type of the second term can depend on the
value of the first term. For example, the first term of the pair might
be a natural number and the second term's type might be a vector of
length equal to the first term. Such a type would be written:
Using set-theory terminology, this is similar to an indexed
disjoint unions
of sets. In the case of usual ordered pairs, the type of the second
term does not depend on the value of the first term. Thus the type
describing the cartesian product
is written:
It is important to note here that the value of the first term,
, is not depended on by the type of the second term,
.
Obviously, Σ-types can be used to build up longer dependently-typed
tuples used in mathematics and the
records or structs
used in most programming languages. An example of a dependently-typed
3-tuple is two integers and a proof that the first integer is smaller
than the second integer, described by the type:
Dependent typing allows Σ-types to serve the role of
existential quantifier. The statement "there exists an
of type
, such that
is proven" becomes the type of ordered pairs where the first item is the value
of type
and the second item is a proof of
. Notice that the type of the second item (proofs of
) depends on the value in the first part of the ordered pair (
). Its type would be:
Π type constructor
Π-types
contain functions. As with typical function types, they consist of an
input type and an output type. They are more powerful than typical
function types however, in that the return type can depend on the input
value. Functions in type theory are different from set theory. In set
theory, you look up the argument's value in a set of ordered pairs. In
type theory, the argument is substituted into a term and then
computation ("reduction") is applied to the term.
As an example, the type of a function that, given a natural number
, returns a vector containing
real numbers is written:
When the output type does not depend on the input value, the function type is often simply written with a
. Thus,
is the type of functions from natural numbers to real numbers. Such
Π-types correspond to logical implication. The logical proposition
corresponds to the type
, containing functions that take proofs-of-A and return proofs-of-B. This type could be written more consistently as:
Π-types are also used in logic for
universal quantification. The statement "for every
of type
,
is proven" becomes a function from
of type
to proofs of
. Thus, given the value for
the function generates a proof that
holds for that value. The type would be
= type constructor
=-types are created from two terms. Given two terms like
and
, you can create a new type
. The terms of that new type represent proofs that the pair reduce to the same canonical term. Thus, since both
and
compute to the canonical term
, there will be a term of the type
. In intuitionistic type theory, there is a single way to make terms of =-types and that is by
reflexivity:
It is possible to create =-types such as
where the terms do not reduce to the same canonical term, but you will
be unable to create terms of that new type. In fact, if you were able
to create a term of
, you could create a term of
. Putting that into a function would generating a function of type
. Since
is how intuitionistic type theory defines negation, you would have
or, finally,
.
Inductive types
Inductive types allow the creation of complex, self-referential
types. For example, a linked list of natural numbers is either an empty
list or a pair of a natural number and another linked list. Inductive
types can be used to define unbounded mathematical structures like
trees, graphs, etc.. In fact, the natural numbers type may be defined
as an inductive type, either being
or the
successor of another natural number.
Inductive types define new constants, such as zero
and the successor function
. Since
does not have a definition and cannot be evaluated using substitution, terms like
and
become the canonical terms of the natural numbers.
Proofs on inductive types are made possible by
induction. Each new inductive type comes with its own inductive rule. To prove a predicate
for every natural number, you use the following rule:
Inductive types in intuitionistic type theory are defined in terms of W-types, the type of
well-founded
trees. Later work in type theory generated coinductive types,
induction-recursion, and induction-induction for working on types with
more obscure kinds of self-referentiality.
Higher inductive types allow equality to be defined between terms.
Universe types
The
universe types allow proofs to be written about all the types created
with the other type constructors. Every term in the universe type
can be mapped to a type created with any combination of
and the inductive type constructor. However, to avoid paradoxes, there is no term in
that maps to
.
To write proofs about all "the small types" and
, you must use
, which does contain a term for
, but not for itself
. Similarly, for
. There is a
predicative hierarchy of universes, so to quantify a proof over any fixed constant
universes, you can use
.
Universe types are a tricky feature of type theories. Martin-Löf's original type theory had to be changed to account for
Girard's paradox. Later research covered topics such as "super universes", "Mahlo universes", and impredicative universes.
Judgements
The formal definition of intuitionistic type theory is written using judgements. For example, in the statement "if
is a type and
is a type then
is a type" there are judgements of "is a type", "and", and "if ... then ...". The expression
is not a judgement; it is the type being defined.
This second level of the type theory can be confusing,
particularly where it comes to equality. There is a judgement of term
equality, which might say
. It is a statement that two terms reduce to the same canonical term. There is also a judgement of type equality, say that
, which means every element of
is an element of the type
and vice versa. At the type level, there is a type
and it contains terms if there is a proof that
and
reduce to the same value. (Obviously, terms of this type are generated
using the term-equality judgement.) Lastly, there is an
English-language level of equality, because we use the word "four" and
symbol "
" to refer to the canonical term
. Synonyms like these are called "definitionally equal" by Martin-Löf.
The description of judgements below is based on the discussion in Nordström, Petersson, and Smith.
The formal theory works with types and objects.
A type is declared by:
An object exists and is in a type if:
Objects can be equal
and types can be equal
A type that depends on an object from another type is declared
and removed by substitution
- , replacing the variable with the object in .
An object that depends on an object from another type can be done two ways.
If the object is "abstracted", then it is written
and removed by substitution
- , replacing the variable with the object in .
The object-depending-on-object can also be declared as a constant as
part of a recursive type. An example of a recursive type is:
Here,
is a constant object-depending-on-object. It is not associated with an abstraction.
Constants like
can be removed by defining equality. Here the relationship with
addition is defined using equality and using pattern matching to handle
the recursive aspect of
:
is manipulated as an opaque constant - it has no internal structure for substitution.
So, objects and types and these relations are used to express
formulae in the theory. The following styles of judgements are used to
create new objects, types and relations from existing ones:
|
σ is a well-formed type in the context Γ. | |
|
t is a well-formed term of type σ in context Γ.
|
|
σ and τ are equal types in context Γ.
|
|
t and u are judgmentally equal terms of type σ in context Γ.
|
|
Γ is a well-formed context of typing assumptions.
|
By convention, there is a type that represents all other types. It is called
(or
). Since
is a type, the member of it are objects. There is a dependent type
that maps each object to its corresponding type.
In most texts is never written. From the context of the statement, a reader can almost always tell whether
refers to a type, or whether it refers to the object in
that corresponds to the type.
This is the complete foundation of the theory. Everything else is derived.
To implement logic, each proposition is given its own type. The
objects in those types represent the different possible ways to prove
the proposition. Obviously, if there is no proof for the proposition,
then the type has no objects in it. Operators like "and" and "or" that
work on propositions introduce new types and new objects. So
is a type that depends on the type
and the type
. The objects in that dependent type are defined to exist for every pair of objects in
and
. Obviously, if
or
has no proof and is an empty type, then the new type representing
is also empty.
This can be done for other types (booleans, natural numbers, etc.) and their operators.
Categorical models of type theory
A category with families is a category C of contexts (in which the objects are contexts, and
the context morphisms are substitutions), together with a functor T : Cop → Fam(Set).
Fam(
Set) is the
category of families of Sets, in which objects are pairs
of an "index set"
A and a function
B:
X →
A, and morphisms are pairs of functions
f :
A →
A' and
g :
X →
X' , such that
B' ° g =
f ° B — in other words,
f maps
Ba to
Bg(a).
The functor
T assigns to a context
G a set
of types, and for each
, a set
of terms.
The axioms for a functor require that these play harmoniously with substitution. Substitution is usually
written in the form
Af or
af, where
A is a type in
and
a is a term in
, and
f is a substitution
from
D to
G. Here
and
.
The category
C must contain a terminal object (the empty context), and a final object for a form
of product called comprehension, or context extension, in which the right element is a type in the context of the left element.
If
G is a context, and
, then there should be an object
final among
contexts
D with mappings
p :
D →
G,
q :
Tm(
D,Ap).
A logical framework, such as Martin-Löf's takes the form of
closure conditions on the context dependent sets of types and terms: that there should be a type called
Set, and for each set a type, that the types should be closed under forms of dependent sum and
product, and so forth.
A theory such as that of predicative set theory expresses closure conditions on the types of sets and
their elements: that they should be closed under operations that reflect dependent sum and product,
and under various forms of inductive definition.
Extensional versus intensional
A fundamental distinction is
extensional vs
intensional
type theory. In extensional type theory definitional (i.e.,
computational) equality is not distinguished from propositional
equality, which requires proof. As a consequence type checking becomes
undecidable
in extensional type theory because programs in the theory might not
terminate. For example, such a theory allows one to give a type to the
Y-combinator, a detailed example of this can be found in Nordstöm and Petersson
Programming in Martin-Löf's Type Theory. However, this doesn't prevent extensional type theory from being a basis for a practical tool, for example,
NuPRL
is based on extensional type theory. From a practical standpoint
there's no difference between a program which doesn't terminate and a
program which takes a million years to terminate.
In contrast in intensional type theory
type checking is
decidable,
but the representation of standard mathematical concepts is somewhat
more cumbersome, since intensional reasoning requires using
setoids
or similar constructions. There are many common mathematical objects,
which are hard to work with or can't be represented without this, for
example,
integer numbers,
rational numbers, and
real numbers.
Integers and rational numbers can be represented without setoids, but
this representation isn't easy to work with. Cauchy real numbers can't
be represented without this.
Implementations of type theory
Martin-Löf type theories
Per
Martin-Löf constructed several type theories that were published at
various times, some of them much later than the preprints with their
description became accessible to the specialists (among others
Jean-Yves Girard
and Giovanni Sambin). The list below attempts to list all the theories
that have been described in a printed form and to sketch the key
features that distinguished them from each other. All of these theories
had dependent products, dependent sums, disjoint unions, finite types
and natural numbers. All the theories had the same reduction rules that
did not include η-reduction either for dependent products or for
dependent sums except for MLTT79 where the η-reduction for dependent
products is added.
MLTT71 was the first of type theories created by
Per Martin-Löf.
It appeared in a preprint in 1971. It had one universe but this
universe had a name in itself, i.e. it was a type theory with, as it is
called today, "Type in Type".
Jean-Yves Girard has shown that this system was inconsistent and the preprint was never published.
MLTT72 was presented in a 1972 preprint that has now been published.
That theory had one universe V and no identity types. The universe
was "predicative" in the sense that the dependent product of a family of
objects from V over an object that was not in V such as, for example, V
itself, was not assumed to be in V. The universe was à la Russell,
i.e., one would write directly "T∈V" and "t∈T" (Martin-Löf uses the sign
"∈" instead of modern ":") without the additional constructor such as
"El".
MLTT73 It was the first definition of a type theory that
Per Martin-Löf published (it was presented at the Logic Colloquium 73
and published in 1975).
There are identity types which he calls "propositions" but since no
real distinction between propositions and the rest of the types is
introduced the meaning of this is unclear. There is what later acquires
the name of J-eliminator but yet without a name (see pp. 94–95). There
is in this theory an infinite sequence of universes V0,...,Vn,... . The universes are predicative, a-la Russell and non-cumulative! In fact, Corollary 3.10 on p. 115 says that if A∈Vm and B∈Vn
are such that A and B are convertible then m=n. This means, for
example, that it would be difficult to formulate univalence in this
theory—there are contractible types in each of the Vi but it is unclear how to declare them to be equal since there are no identity types connecting Vi and Vj for i≠j.
MLTT79 It was presented in 1979 and published in 1982.
In this paper, Martin-Löf introduced the four basic types of judgement
for the dependent type theory that has since became fundamental in the
study of the meta-theory of such systems. He also introduced contexts
as a separate concept in it (see p. 161). There are identity types with
the J-eliminator (which already appeared in MLTT73 but did not have
this name there) but also with the rule that makes the theory
"extensional" (p. 169). There are W-types. There is an infinite
sequence of predicative universes that are cumulative.
Bibliopolis There is a discussion of a type theory in the Bibliopolis book from 1984
but it is somewhat open-ended and does not seem to represent a
particular set of choices and so there is no specific type theory
associated with it.