NP-Hardness of Minimizing Neurons in Two-Hidden-Layer ReLU Neural Networks

Neural networks with ReLU activations are a widely used model in machine learning. It is thus important to have a profound understanding of the properties of the functions computed by such networks. Recently, there has been increasing interest in the (parameterized) computational complexity of determining these properties. In this work, we close several gaps and resolve an open problem posed by Froese et al. [COLT '25] regarding the parameterized complexity of various problems related to network verification. In particular, we prove that, for all $\ell\ge 2$, deciding positivity (and thus surjectivity) of a function $f:\mathbb{R}^d\to\mathbb{R}$ computed by an $\ell$-layer ReLU network is W[$\ell-1$]-hard when parameterized by the input dimension $d$. The case $\ell=2$ implies that zonotope non-containment (a problem that is of independent interest in computational geometry, control theory, and robotics) is W[1]-hard with respect to the ambient dimension $d$. Moreover, we show that approximating the maximum within any multiplicative factor and computing the $L_p$-Lipschitz constant for $p\in(0,\infty]$ in $\ell$-layer networks is NP-hard and W[$\ell-1$]-hard with respect to $d$. For $\ell\ge 3$, approximating the $L_p$-Lipschitz constant is NP- and W[$\ell-2$]-hard. We further show that the above problems are NP- and W[$t$]-hard (for all $t\ge 1$) with respect to $\ell$ for constant $d$. Notably, our hardness results imply that the naive enumeration-based methods for these fundamental problems running in $n^{(\ell-1) d}\cdot\operatorname{poly}(N)$ time are all essentially optimal under the Exponential Time Hypothesis.

We study the depth required by ReLU networks to exactly represent piecewise linear functions, focusing specifically on the maximum function. This problem has recently received significant attention in both the ML and TCS literature. We prove that $\max_n(x)=\max\{x_1,\ldots,x_n\}$ is exactly representable with two hidden layers for every $n\leq 12$. Previously, this was only known up to $n\leq5$ [Bakaev, Brunck, Hertrich, Stade, Yehudayoff, STOC'26]. We obtain our constructions through an exact computer-assisted search within a space of candidate solutions: After a symmetry reduction, we obtain a finite system of linear equations over $\mathbb{Q}$ such that any solution yields a valid representation of the maximum function. The resulting constructions have a structured first hidden layer, which enables recursive substitution into deeper networks. This yields an exact ReLU representation of $\max_n$ with at most $\lceil \log_6(n/2) \rceil+1$ hidden layers. Consequently, every continuous piecewise-linear function on $\mathbb{R}^d$ admits an exact representation with at most $\lceil\log_6((d+1)/2)\rceil+1$ hidden layers; in particular, two hidden layers suffice for $d\leq 11$. Again, these results improve upon [Bakaev, Brunck, Hertrich, Stade, Yehudayoff, STOC'26], who proved analogous logarithmic bounds with base three.

We prove a depth hierarchy for ReLU neural networks in which every additional ReLU layer can save exponentially many neurons. For all $k\geq2$, we construct a globally $[0,1]$-valued, $1$-Lipschitz function realized by a depth-$(k+1)$ network of width $\mathcal{O}(d^4)$, whereas any depth-$k$ network with unrestricted weights and width at most $\frac{2^d}{2d(k-1)}$ has squared $L_2$ error at least $1/24$ under an absolutely continuous distribution supported at exponential distance from the origin. To the best of our knowledge, this is the first exponential hierarchy across all adjacent fixed depths, and the first exponential separation for ReLU networks between two fixed depths whose shallower network has depth at least $3$. The lower bound also immediately yields the corresponding hierarchy for exact computation. Moreover, the case $k=2$ gives a compactly supported separation between depths $3$ and $2$ with unrestricted shallow-network weights, answering a question raised by Safran, Eldan, and Shamir (2019). The distribution used in our construction nevertheless has all its mass at exponential radius, placing the hierarchy outside the regularity regime in which such a separation would imply major threshold-circuit lower bounds. We also prove an exact separation for a more regular target, which is globally $[0,1]$-valued and $\mathcal{O}(\sqrt d)$-Lipschitz and maps the unit hypercube onto $[0,1]$. It is computed by a polynomial-width depth-$4$ network, whereas any depth-$3$ network agreeing with it on the unit hypercube requires exponentially many first-layer neurons, even with unrestricted weights.