diff --git a/CHANGELOG.md b/CHANGELOG.md index fc6c2d0e04..23230b83e3 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,9 +1,8 @@ # Changelog -## Version 1.1.0 - -* Added support for onnx networks with `tanh` nodes to command-line interface. +## Next Release +* Added support for onnx networks with tanh nodes to command-line interface. +* Added proof producing versions of Sign, Max, Absolute Value and Disjunction constraints ## Version 1.0.0 - * Initial versioned release \ No newline at end of file diff --git a/maraboupy/Marabou.py b/maraboupy/Marabou.py index 8d344a48cf..6555b23ffa 100644 --- a/maraboupy/Marabou.py +++ b/maraboupy/Marabou.py @@ -126,7 +126,7 @@ def createOptions(numWorkers=1, initialTimeout=5, initialSplits=0, onlineSplits= preprocessorBoundTolerance=0.0000000001, dumpBounds=False, tighteningStrategy="deeppoly", milpTightening="none", milpSolverTimeout=0, numSimulations=10, numBlasThreads=1, performLpTighteningAfterSplit=False, - lpSolver=""): + lpSolver="", produceProofs=False): """Create an options object for how Marabou should solve the query Args: @@ -179,4 +179,5 @@ def createOptions(numWorkers=1, initialTimeout=5, initialSplits=0, onlineSplits= options._numBlasThreads = numBlasThreads options._performLpTighteningAfterSplit = performLpTighteningAfterSplit options._lpSolver = lpSolver + options._produceProofs = produceProofs return options diff --git a/maraboupy/MarabouCore.cpp b/maraboupy/MarabouCore.cpp index f4bb934f3b..4b46c03265 100644 --- a/maraboupy/MarabouCore.cpp +++ b/maraboupy/MarabouCore.cpp @@ -231,7 +231,7 @@ struct MarabouOptions { , _tighteningStrategyString( Options::get()->getString( Options::SYMBOLIC_BOUND_TIGHTENING_TYPE ).ascii() ) , _milpTighteningString( Options::get()->getString( Options::MILP_SOLVER_BOUND_TIGHTENING_TYPE ).ascii() ) , _lpSolverString( Options::get()->getString( Options::LP_SOLVER ).ascii() ) - , _produceProofs( Options::get()->getBool( Options::PRODUCE_PROOFS )) + , _produceProofs( Options::get()->getBool( Options::PRODUCE_PROOFS ) ) {}; void setOptions() diff --git a/regress/regress1/CMakeLists.txt b/regress/regress1/CMakeLists.txt index 398a515d7d..0470a2f53f 100644 --- a/regress/regress1/CMakeLists.txt +++ b/regress/regress1/CMakeLists.txt @@ -140,6 +140,8 @@ foreach(file ${unsat_ipqs}) endforeach() # Proof production tests + +# ReLU marabou_add_acasxu_proof_test(1 "ACASXU_experimental_v2a_5_9" "3" unsat) marabou_add_acasxu_proof_test(1 "ACASXU_experimental_v2a_5_7" "3" unsat) marabou_add_acasxu_proof_test(1 "ACASXU_experimental_v2a_3_7" "3" unsat) @@ -150,3 +152,17 @@ marabou_add_coav_proof_test(1 "reluBenchmark0.453322172165s_UNSAT.nnet" unsat) marabou_add_coav_proof_test(1 "reluBenchmark0.30711388588s_UNSAT.nnet" unsat) marabou_add_coav_proof_test(1 "reluBenchmark0.725997209549s_UNSAT.nnet" unsat) marabou_add_coav_proof_test(1 "reluBenchmark1.81178617477s_UNSAT.nnet" unsat) + +# Absolute value +marabou_add_input_query_test(1 ACASXU_abstest1.ipq unsat "--prove-unsat" "ipq") +marabou_add_input_query_test(1 ACASXU_abstest2.ipq unsat "--prove-unsat" "ipq") + +# ReLU ad Max +marabou_add_input_query_test(1 ACASXU_maxtest1.ipq unsat "--prove-unsat" "ipq") +marabou_add_input_query_test(1 ACASXU_maxtest2.ipq unsat "--prove-unsat" "ipq") + +# Sign +marabou_add_input_query_test(1 deep_6_index_5566.ipq unsat "--prove-unsat" "ipq") +marabou_add_input_query_test(1 deep_6_index_5567.ipq unsat "--prove-unsat" "ipq") +marabou_add_input_query_test(1 deep_6_index_5525.ipq unsat "--prove-unsat" "ipq") +marabou_add_input_query_test(1 deep_6_index_7779.ipq unsat "--prove-unsat" "ipq") \ No newline at end of file diff --git a/regress/regress1/input_queries/ACASXU_abstest1.ipq b/regress/regress1/input_queries/ACASXU_abstest1.ipq new file mode 100644 index 0000000000..2f35576329 --- /dev/null +++ b/regress/regress1/input_queries/ACASXU_abstest1.ipq @@ -0,0 +1,936 @@ +610 +305 +5 +309 +300 +5 +0,0 +1,1 +2,2 +3,3 +4,4 +5 +0,605 +1,606 +2,607 +3,608 +4,609 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+++ b/src/basis_factorization/SparseUnsortedList.cpp @@ -52,6 +52,12 @@ void SparseUnsortedList::initialize( const double *V, unsigned size ) } } +void SparseUnsortedList::initializeToEmpty() +{ + _size = 0; + _list.clear(); +} + void SparseUnsortedList::clear() { _list.clear(); diff --git a/src/common/Statistics.h b/src/common/Statistics.h index 85d5f1f3ac..512633e32d 100644 --- a/src/common/Statistics.h +++ b/src/common/Statistics.h @@ -320,7 +320,7 @@ class Statistics /* Print a long attribute in time format - */ + */ void printLongAttributeAsTime( unsigned long long longAsNumber ) const; private: diff --git a/src/configuration/GlobalConfiguration.cpp b/src/configuration/GlobalConfiguration.cpp index 890bfb7eaa..ecd8bb17eb 100644 --- a/src/configuration/GlobalConfiguration.cpp +++ b/src/configuration/GlobalConfiguration.cpp @@ -102,7 +102,7 @@ const unsigned GlobalConfiguration::POLARITY_CANDIDATES_THRESHOLD = 5; const unsigned GlobalConfiguration::DNC_DEPTH_THRESHOLD = 5; const double GlobalConfiguration::MINIMAL_COEFFICIENT_FOR_TIGHTENING = 0.01; -const double GlobalConfiguration::LEMMA_CERTIFICATION_TOLERANCE = 0.0000001; +const double GlobalConfiguration::LEMMA_CERTIFICATION_TOLERANCE = 0.000001; #ifdef ENABLE_GUROBI const unsigned GlobalConfiguration::GUROBI_NUMBER_OF_THREADS = 1; diff --git a/src/engine/AbsoluteValueConstraint.cpp b/src/engine/AbsoluteValueConstraint.cpp index 41944d27e9..63172d9f32 100644 --- a/src/engine/AbsoluteValueConstraint.cpp +++ b/src/engine/AbsoluteValueConstraint.cpp @@ -135,18 +135,34 @@ void AbsoluteValueConstraint::notifyLowerBound( unsigned variable, double bound // Update partner's bound if ( isActive() && _boundManager ) { + bool proofs = _boundManager->shouldProduceProofs(); + + if ( proofs ) + createPosTighteningRow(); + if ( variable == _b ) { if ( bound < 0 ) { - double fUpperBound = - FloatUtils::max( -bound, getUpperBound( _b ) ); - _boundManager->tightenUpperBound( _f, fUpperBound ); + double fUpperBound = FloatUtils::max( -bound, getUpperBound( _b ) ) ; + // If phase is not fixed, both bounds are stored and checker should check the max of the two + if ( proofs && !phaseFixed() ) + _boundManager->addLemmaExplanationAndTightenBound( _f, fUpperBound, BoundType::UPPER, + { variable, variable }, BoundType::UPPER, getType() ); + else if ( proofs && phaseFixed() ) + { + std::shared_ptr tighteningRow = fUpperBound == getUpperBound( _b ) ? _posTighteningRow : _negTighteningRow; + _boundManager->tightenUpperBound( _f, fUpperBound, *tighteningRow ); + } + else + _boundManager->tightenUpperBound( _f, fUpperBound ); if ( _auxVarsInUse ) { - _boundManager->tightenUpperBound( _posAux, - fUpperBound - bound ); + if ( proofs ) + _boundManager->tightenUpperBound( _posAux, fUpperBound - bound , *_posTighteningRow ); + else + _boundManager->tightenUpperBound( _posAux, fUpperBound - bound ); } } else @@ -161,7 +177,10 @@ void AbsoluteValueConstraint::notifyLowerBound( unsigned variable, double bound // bother. The only exception is if the lower bound is, // for some reason, negative if ( bound < 0 ) - _boundManager->tightenLowerBound( _f, 0 ); + { + if ( !proofs ) + _boundManager->tightenLowerBound( _f, 0 ); + } } // Any lower bound tightening on the aux variables, if they @@ -179,24 +198,45 @@ void AbsoluteValueConstraint::notifyUpperBound( unsigned variable, double bound !FloatUtils::lt( bound, getUpperBound( variable ) ) ) return; - setUpperBound( variable, bound ); + setUpperBound( variable, bound ); // Check whether the phase has become fixed fixPhaseIfNeeded(); // Update partner's bound if ( isActive() && _boundManager ) { + + bool proofs = _boundManager->shouldProduceProofs(); + + if ( proofs ) + { + createPosTighteningRow(); + createNegTighteningRow(); + } + if ( variable == _b ) { - if ( bound > 0 ) + if ( bound > 0 ) { - double fUpperBound = FloatUtils::max( bound, -getLowerBound( _b ) ); - _boundManager->tightenUpperBound( _f, fUpperBound ); + double fUpperBound = FloatUtils::max( bound, -getLowerBound( _b ) ) ; + // If phase is not fixed, both bonds are stored and checker should check the max of the two + if ( proofs && !phaseFixed() ) + _boundManager->addLemmaExplanationAndTightenBound( _f, fUpperBound, BoundType::UPPER, + { variable, variable }, BoundType::UPPER, getType() ); + else if ( proofs && phaseFixed() ) + { + std::shared_ptr tighteningRow = fUpperBound == bound ? _posTighteningRow : _negTighteningRow; + _boundManager->tightenUpperBound( _f, fUpperBound, *tighteningRow ); + } + else + _boundManager->tightenUpperBound( _f, fUpperBound ); if ( _auxVarsInUse ) { - _boundManager-> - tightenUpperBound( _negAux, fUpperBound + bound ); + if ( proofs ) + _boundManager->tightenUpperBound( _negAux, fUpperBound + bound, *_negTighteningRow ); + else + _boundManager->tightenUpperBound( _negAux, fUpperBound + bound ); } } else @@ -207,24 +247,38 @@ void AbsoluteValueConstraint::notifyUpperBound( unsigned variable, double bound else if ( variable == _f ) { // F's upper bound can restrict both bounds of B - if ( bound < getUpperBound( _b ) ) - _boundManager->tightenUpperBound( _b, bound ); + if ( FloatUtils::lt( bound, getUpperBound( _b ) ) ) + { + if ( proofs ) + _boundManager->tightenUpperBound( _b, bound, *_posTighteningRow ); + else + _boundManager->tightenUpperBound( _b, bound ); + } - if ( -bound > getLowerBound( _b ) ) - _boundManager->tightenLowerBound( _b, -bound ); + if ( FloatUtils::gt( -bound, getLowerBound( _b ) ) ) + { + if ( proofs ) + _boundManager->tightenLowerBound( _b, -bound, *_negTighteningRow ); + else + _boundManager->tightenLowerBound( _b, -bound ); + } if ( _auxVarsInUse ) { if ( existsLowerBound( _b ) ) { - _boundManager-> - tightenUpperBound( _posAux, bound - getLowerBound( _b ) ); + if ( proofs ) + _boundManager->tightenUpperBound( _posAux, bound - getLowerBound( _b ), *_posTighteningRow ); + else + _boundManager->tightenUpperBound( _posAux, bound - getLowerBound( _b ) ); } if ( existsUpperBound( _b ) ) { - _boundManager-> - tightenUpperBound( _negAux, bound + getUpperBound( _b ) ); + if ( proofs ) + _boundManager->tightenUpperBound( _negAux, bound + getUpperBound( _b ), *_negTighteningRow ); + else + _boundManager->tightenUpperBound( _negAux, bound + getUpperBound( _b ) ); } } } @@ -234,28 +288,36 @@ void AbsoluteValueConstraint::notifyUpperBound( unsigned variable, double bound { if ( existsUpperBound( _b ) ) { - _boundManager-> - tightenUpperBound( _f, getUpperBound( _b ) + bound ); + if ( proofs ) + _boundManager->tightenUpperBound( _f, getUpperBound( _b ) + bound, *_posTighteningRow ); + else + _boundManager->tightenUpperBound( _f, getUpperBound( _b ) + bound ); } if ( existsLowerBound( _f ) ) { - _boundManager-> - tightenLowerBound( _b, getLowerBound( _f ) - bound ); + if ( proofs ) + _boundManager->tightenLowerBound( _b, getLowerBound( _f ) - bound, *_posTighteningRow ); + else + _boundManager->tightenLowerBound( _b, getLowerBound( _f ) - bound ); } } else if ( variable == _negAux ) { if ( existsLowerBound( _b ) ) { - _boundManager-> - tightenUpperBound( _f, bound - getLowerBound( _b ) ); + if ( proofs ) + _boundManager->tightenUpperBound( _f, bound - getLowerBound( _b ), *_negTighteningRow ); + else + _boundManager->tightenUpperBound( _f, bound - getLowerBound( _b ) ); } if ( existsLowerBound( _f ) ) { - _boundManager-> - tightenUpperBound( _b, bound - getLowerBound( _f ) ); + if ( proofs ) + _boundManager->tightenUpperBound( _b, bound - getLowerBound( _f ), *_negTighteningRow ); + else + _boundManager->tightenUpperBound( _b, bound - getLowerBound( _f ) ); } } } @@ -729,10 +791,24 @@ String AbsoluteValueConstraint::serializeToString() const void AbsoluteValueConstraint::fixPhaseIfNeeded() { + if ( phaseFixed() ) + return; + + bool proofs = _boundManager && _boundManager->shouldProduceProofs(); + + if ( proofs ) + { + createPosTighteningRow(); + createNegTighteningRow(); + } + // Option 1: b's range is strictly positive if ( existsLowerBound( _b ) && getLowerBound( _b ) >= 0 ) { setPhaseStatus( ABS_PHASE_POSITIVE ); + if ( proofs ) + _boundManager->addLemmaExplanationAndTightenBound( _posAux, 0, BoundType::UPPER, { _b }, + BoundType::LOWER, getType() ); return; } @@ -740,6 +816,9 @@ void AbsoluteValueConstraint::fixPhaseIfNeeded() if ( existsUpperBound( _b ) && getUpperBound( _b ) <= 0 ) { setPhaseStatus( ABS_PHASE_NEGATIVE ); + if ( proofs ) + _boundManager->addLemmaExplanationAndTightenBound( _negAux, 0, BoundType::UPPER, { _b }, + BoundType::UPPER, getType() ); return; } @@ -751,6 +830,9 @@ void AbsoluteValueConstraint::fixPhaseIfNeeded() if ( existsUpperBound( _b ) && getLowerBound( _f ) > getUpperBound( _b ) ) { setPhaseStatus( ABS_PHASE_NEGATIVE ); + if ( proofs ) + _boundManager->addLemmaExplanationAndTightenBound( _negAux, 0, BoundType::UPPER, { _b, _f }, + BoundType::UPPER, getType() ); return; } @@ -759,6 +841,9 @@ void AbsoluteValueConstraint::fixPhaseIfNeeded() if ( existsLowerBound( _b ) && getLowerBound( _f ) > -getLowerBound( _b ) ) { setPhaseStatus( ABS_PHASE_POSITIVE ); + if ( proofs ) + _boundManager->addLemmaExplanationAndTightenBound( _posAux, 0, BoundType::UPPER, { _b, _f }, + BoundType::LOWER, getType() ); return; } @@ -775,6 +860,9 @@ void AbsoluteValueConstraint::fixPhaseIfNeeded() if ( existsLowerBound( _posAux ) && FloatUtils::isPositive( getLowerBound( _posAux ) ) ) { setPhaseStatus( ABS_PHASE_NEGATIVE ); + if ( proofs ) + _boundManager->addLemmaExplanationAndTightenBound( _negAux, 0, BoundType::UPPER, { _posAux }, + BoundType::LOWER, getType() ); return; } @@ -789,6 +877,9 @@ void AbsoluteValueConstraint::fixPhaseIfNeeded() if ( existsLowerBound( _negAux ) && FloatUtils::isPositive( getLowerBound( _negAux ) ) ) { setPhaseStatus( ABS_PHASE_POSITIVE ); + if ( proofs ) + _boundManager->addLemmaExplanationAndTightenBound( _posAux, 0, BoundType::UPPER, { _negAux }, + BoundType::LOWER, getType() ); return; } } @@ -811,3 +902,57 @@ String AbsoluteValueConstraint::phaseToString( PhaseStatus phase ) return "UNKNOWN"; } }; + +void AbsoluteValueConstraint::createPosTighteningRow() +{ + // Create the row only when needed and when not already created + if ( !_boundManager->getBoundExplainer() || _posTighteningRow || !_auxVarsInUse || _tableauAuxVars.empty() ) + return; + _posTighteningRow = std::unique_ptr( new TableauRow ( 3 ) ); + + // f = b + aux + counterpart (an additional aux variable of tableau) + _posTighteningRow->_lhs = _f; + _posTighteningRow->_row[0] = TableauRow::Entry( _b, 1 ); + _posTighteningRow->_row[1] = TableauRow::Entry( _posAux, 1 ); + _posTighteningRow->_row[2] = TableauRow::Entry( _tableauAuxVars.front(), 1 ); +} + +void AbsoluteValueConstraint::createNegTighteningRow() +{ + // Create the row only when needed and when not already created + if ( !_boundManager->getBoundExplainer() || _negTighteningRow || !_auxVarsInUse || _tableauAuxVars.empty() ) + return; + + _negTighteningRow = std::unique_ptr( new TableauRow ( 3 ) ); + + // f = b + aux + counterpart (an additional aux variable of tableau) + _negTighteningRow->_lhs = _f; + _negTighteningRow->_row[0] = TableauRow::Entry( _b, -1 ); + _negTighteningRow->_row[1] = TableauRow::Entry( _negAux, 1 ); + _negTighteningRow->_row[2] = TableauRow::Entry( _tableauAuxVars.back(), 1 ); +} + +const List AbsoluteValueConstraint::getNativeAuxVars() const +{ + if ( _auxVarsInUse ) + return { _posAux, _negAux }; + return {}; +} + +void AbsoluteValueConstraint::addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) +{ + ASSERT( constraintAuxVar == _negAux || constraintAuxVar == _posAux ); + if ( _tableauAuxVars.size() == 2 ) + return; + + if ( constraintAuxVar == _negAux ) + { + _tableauAuxVars.append( tableauAuxVar ); + ASSERT( _tableauAuxVars.back() == tableauAuxVar ); + } + else + { + _tableauAuxVars.appendHead( tableauAuxVar ); + ASSERT( _tableauAuxVars.front() == tableauAuxVar ); + } +} diff --git a/src/engine/AbsoluteValueConstraint.h b/src/engine/AbsoluteValueConstraint.h index 5d01c00d77..cf34ca02b1 100644 --- a/src/engine/AbsoluteValueConstraint.h +++ b/src/engine/AbsoluteValueConstraint.h @@ -201,6 +201,7 @@ class AbsoluteValueConstraint : public PiecewiseLinearConstraint inline unsigned getPosAux() const { return _posAux; }; inline unsigned getNegAux() const { return _negAux; }; + const List getNativeAuxVars() const override; private: /* The variables that make up this constraint; _f = | _b |. @@ -230,6 +231,26 @@ class AbsoluteValueConstraint : public PiecewiseLinearConstraint Return true iff _b and _f are not both within bounds. */ bool haveOutOfBoundVariables() const; + + std::shared_ptr _posTighteningRow; + std::shared_ptr _negTighteningRow; + + /* + Create a the tableau row used for explaining bound tightening caused by the constraint + stored in _posTighteningRow + */ + void createPosTighteningRow(); + + /* + Create a the tableau row used for explaining bound tightening caused by the constraint + Stored in _negTighteningRow + */ + void createNegTighteningRow(); + + /* + Assign a variable as an aux variable by the tableau, related to some existing aux variable. + */ + void addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) override; }; #endif // __AbsoluteValueConstraint_h__ diff --git a/src/engine/BoundManager.cpp b/src/engine/BoundManager.cpp index f2e4cd7077..9ca61cdde6 100644 --- a/src/engine/BoundManager.cpp +++ b/src/engine/BoundManager.cpp @@ -321,7 +321,7 @@ bool BoundManager::tightenLowerBound( unsigned variable, double value, const Tab if ( tightened ) { if ( _engine->shouldProduceProofs() ) - _boundExplainer->updateBoundExplanation( row, LOWER, variable ); + _boundExplainer->updateBoundExplanation( row, BoundType::LOWER, variable ); if ( _tableau != nullptr ) _tableau->updateVariableToComplyWithLowerBoundUpdate( variable, value ); @@ -336,7 +336,7 @@ bool BoundManager::tightenUpperBound( unsigned variable, double value, const Tab if ( tightened ) { if ( _engine->shouldProduceProofs() ) - _boundExplainer->updateBoundExplanation( row, UPPER, variable ); + _boundExplainer->updateBoundExplanation( row, BoundType::UPPER, variable ); if ( _tableau != nullptr ) _tableau->updateVariableToComplyWithUpperBoundUpdate( variable, value ); @@ -351,7 +351,7 @@ bool BoundManager::tightenLowerBound( unsigned variable, double value, const Spa if ( tightened ) { if ( _engine->shouldProduceProofs() ) - _boundExplainer->updateBoundExplanationSparse( row, LOWER, variable ); + _boundExplainer->updateBoundExplanationSparse( row, BoundType::LOWER, variable ); if ( _tableau != nullptr ) _tableau->updateVariableToComplyWithLowerBoundUpdate( variable, value ); @@ -366,7 +366,7 @@ bool BoundManager::tightenUpperBound( unsigned variable, double value, const Spa if ( tightened ) { if ( _engine->shouldProduceProofs() ) - _boundExplainer->updateBoundExplanationSparse( row, UPPER, variable ); + _boundExplainer->updateBoundExplanationSparse( row, BoundType::UPPER, variable ); if ( _tableau != nullptr ) _tableau->updateVariableToComplyWithUpperBoundUpdate( variable, value ); @@ -406,26 +406,68 @@ void BoundManager::updateBoundExplanationSparse( const SparseUnsortedList &row, _boundExplainer->updateBoundExplanationSparse( row, isUpper, var ); } -bool BoundManager::addLemmaExplanation( unsigned var, double value, BoundType affectedVarBound, - unsigned causingVar, BoundType causingVarBound, - PiecewiseLinearFunctionType constraintType ) +bool BoundManager::addLemmaExplanationAndTightenBound( unsigned var, double value, BoundType affectedVarBound, + const List &causingVars, BoundType causingVarBound, + PiecewiseLinearFunctionType constraintType ) { if ( !shouldProduceProofs() ) return false; - ASSERT( causingVar < _tableau->getN() && var < _tableau->getN() ); + ASSERT( var < _tableau->getN() ); // Register new ground bound, update certificate, and reset explanation Vector explanation( 0 ); - getExplanation( causingVar, causingVarBound, explanation ); + Vector> allExplanations( 0 ); - bool tightened = affectedVarBound == UPPER ? tightenUpperBound( var, value ) : tightenLowerBound( var, value ); + bool tightened = affectedVarBound == BoundType::UPPER ? tightenUpperBound( var, value ) : tightenLowerBound( var, value ); if ( tightened ) { - std::shared_ptr PLCExpl = std::make_shared( causingVar, var, value, causingVarBound, affectedVarBound, explanation, constraintType ); - _engine->getUNSATCertificateCurrentPointer()->addPLCExplanation( PLCExpl ); - affectedVarBound == UPPER ? _engine->updateGroundUpperBound( var, value ) : _engine->updateGroundLowerBound( var, value ); + if ( constraintType == RELU || constraintType == SIGN ) + { + ASSERT( causingVars.size() == 1 ); + getExplanation( causingVars.front(), causingVarBound, explanation ); + allExplanations.append( explanation ); + } + else if ( constraintType == ABSOLUTE_VALUE ) + { + if ( causingVars.size() == 1 ) + { + getExplanation( causingVars.front(), causingVarBound, explanation ); + allExplanations.append( explanation ); + } + else + { + // Used for two cases: + // 1. Lemma of the type _f = max(upperBound(b), -lowerBound(b)). + // Two explanations are stored so the checker could check that f has the maximal value of the two. + // 2. Lemmas of the type lowerBound(f) > -lowerBound(b) or upperBound(b). + // Again, two explanations are involved in the proof. + // Add zero vectors to maintain consistency of explanations size + getExplanation( causingVars.front(), causingVarBound == BoundType::UPPER, explanation ); + allExplanations.append( explanation.empty() ? Vector( _tableau->getM(), 0 ) : explanation ); + explanation.clear(); + + getExplanation( causingVars.back(), BoundType::LOWER, explanation ); + allExplanations.append( explanation.empty() ? Vector( _tableau->getM(), 0 ) : explanation ); + } + } + else if ( constraintType == MAX ) + { + for ( const auto &element : causingVars ) + { + // Add zero vectors to maintain consistency of explanations size + getExplanation( element, BoundType::UPPER, explanation ); + allExplanations.append( explanation.empty() ? Vector( _tableau->getM(), 0 ) : explanation ); + explanation.clear(); + } + } + else + throw MarabouError( MarabouError::FEATURE_NOT_YET_SUPPORTED ); + + std::shared_ptr PLCExpl = std::make_shared( causingVars, var, value, causingVarBound, affectedVarBound, allExplanations, constraintType ); + _engine->getUNSATCertificateCurrentPointer()->addPLCLemma(PLCExpl ); + affectedVarBound == BoundType::UPPER ? _engine->updateGroundUpperBound( var, value ) : _engine->updateGroundLowerBound( var, value ); resetExplanation( var, affectedVarBound ); } return true; diff --git a/src/engine/BoundManager.h b/src/engine/BoundManager.h index 0b9d54e0a1..1280166592 100644 --- a/src/engine/BoundManager.h +++ b/src/engine/BoundManager.h @@ -46,7 +46,7 @@ #include "ITableau.h" #include "IEngine.h" #include "List.h" -#include "PlcExplanation.h" +#include "PlcLemma.h" #include "Tightening.h" #include "UnsatCertificateNode.h" #include "Vector.h" @@ -253,9 +253,9 @@ class BoundManager : public IBoundManager /* Adds a lemma to the UNSATCertificateNode object */ - bool addLemmaExplanation( unsigned var, double value, BoundType affectedVarBound, - unsigned causingVar, BoundType causingVarBound, - PiecewiseLinearFunctionType constraintType ); + bool addLemmaExplanationAndTightenBound( unsigned var, double value, BoundType affectedVarBound, + const List &causingVars, BoundType causingVarBound, + PiecewiseLinearFunctionType constraintType ); /* Explainer of all bounds diff --git a/src/engine/DisjunctionConstraint.cpp b/src/engine/DisjunctionConstraint.cpp index 650f6ed901..8899761c24 100644 --- a/src/engine/DisjunctionConstraint.cpp +++ b/src/engine/DisjunctionConstraint.cpp @@ -513,3 +513,42 @@ bool DisjunctionConstraint::caseSplitIsFeasible( const PiecewiseLinearCaseSplit return true; } + +List DisjunctionConstraint::getFeasibleDisjuncts() const +{ + List validDisjuncts = List(); + + for ( const auto &feasibleDisjunct : _feasibleDisjuncts ) + validDisjuncts.append( _disjuncts.get( feasibleDisjunct ) ); + + return validDisjuncts; +} + +bool DisjunctionConstraint::removeFeasibleDisjunct(const PiecewiseLinearCaseSplit &disjunct ) +{ + for ( unsigned i = 0; i < _disjuncts.size(); ++i ) + if ( _disjuncts[i] == disjunct ) + { + _feasibleDisjuncts.erase( i ); + return true; + } + + return false; +} + +bool DisjunctionConstraint::addFeasibleDisjunct( const PiecewiseLinearCaseSplit &disjunct ) +{ + for ( unsigned i = 0; i < _disjuncts.size(); ++i ) + if ( _disjuncts[i] == disjunct ) + { + _feasibleDisjuncts.append( i ); + return true; + } + + return false; +} + +// No aux vars in disjunction constraint, so the function is suppressed +void DisjunctionConstraint::addTableauAuxVar( unsigned /* tableauAuxVar */, unsigned /* constraintAuxVar */ ) +{ +} diff --git a/src/engine/DisjunctionConstraint.h b/src/engine/DisjunctionConstraint.h index e39448ffa1..060d041a57 100644 --- a/src/engine/DisjunctionConstraint.h +++ b/src/engine/DisjunctionConstraint.h @@ -172,6 +172,23 @@ class DisjunctionConstraint : public PiecewiseLinearConstraint */ String serializeToString() const override; + /* + Returns the list of feasible disjuncts + */ + List getFeasibleDisjuncts() const; + + /* + Removes a disjunct from the list of feasible disjuncts + Returns true iff disjunct was found. + */ + bool removeFeasibleDisjunct( const PiecewiseLinearCaseSplit &disjunct ); + + /* + Adds a disjunct from the list of feasible disjuncts + Returns true iff disjunct was found. + */ + bool addFeasibleDisjunct( const PiecewiseLinearCaseSplit &disjunct ); + private: /* The disjuncts that form this PL constraint @@ -219,6 +236,8 @@ class DisjunctionConstraint : public PiecewiseLinearConstraint //ASSERT( phase != PHASE_NOT_FIXED ); return static_cast( phase ) - 1; } + + void addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) override; }; #endif // __DisjunctionConstraint_h__ diff --git a/src/engine/Engine.cpp b/src/engine/Engine.cpp index 72543ebfc0..16202a99dc 100644 --- a/src/engine/Engine.cpp +++ b/src/engine/Engine.cpp @@ -1343,8 +1343,10 @@ void Engine::initializeBoundsAndConstraintWatchersInTableau( unsigned constraint->setStatistics( &_statistics ); // Assuming aux var is use, add the constraint's auxiliary variable assigned to it in the tableau, to the constraint - if ( _produceUNSATProofs && _preprocessedQuery->_lastAddendToAux.exists( constraint->getParticipatingVariables().back() ) ) - constraint->setTableauAuxVar( _preprocessedQuery->_lastAddendToAux.at( constraint->getParticipatingVariables().back() ) ); + if ( _produceUNSATProofs ) + for ( unsigned var : constraint->getNativeAuxVars() ) + if ( _preprocessedQuery->_lastAddendToAux.exists( var ) ) + constraint->addTableauAuxVar( _preprocessedQuery->_lastAddendToAux.at( var ), var ); } _tsConstraints = _preprocessedQuery->getTranscendentalConstraints(); @@ -1399,22 +1401,19 @@ bool Engine::processInputQuery( InputQuery &inputQuery, bool preprocess ) if ( _produceUNSATProofs ) { - bool containsNonReLUs = false; for ( auto &plConstraint : _preprocessedQuery->getPiecewiseLinearConstraints() ) { - if ( plConstraint->getType() != RELU ) + if ( !UNSATCertificateUtils::getSupportedActivations().exists( plConstraint->getType() ) ) { - containsNonReLUs = true; _produceUNSATProofs = false; Options::get()->setBool( Options::PRODUCE_PROOFS, false ); + String activationType = plConstraint->serializeToString().tokenize(",").back(); + ENGINE_LOG( "Turning off proof production since activation %s is not yet supported\n", activationType.ascii() ); + break; } } - if ( containsNonReLUs ) - { - ENGINE_LOG( "Turning off proof production since activations are not yet supported\n" ); - printf( "Turning off proof production since activations not are yet supported\n" ); - } + } if ( _lpSolverType == LPSolverType::NATIVE ) @@ -2008,7 +2007,7 @@ void Engine::applySplit( const PiecewiseLinearCaseSplit &split ) ENGINE_LOG( Stringf( "x%u: lower bound set to %.3lf", variable, bound._value ).ascii() ); if ( _produceUNSATProofs && FloatUtils::gt( bound._value, _boundManager.getLowerBound( bound._variable ) ) ) { - _boundManager.resetExplanation( variable, LOWER ); + _boundManager.resetExplanation( variable, BoundType::LOWER ); updateGroundLowerBound( variable, bound._value ); _boundManager.tightenLowerBound( variable, bound._value ); } @@ -2020,7 +2019,7 @@ void Engine::applySplit( const PiecewiseLinearCaseSplit &split ) ENGINE_LOG( Stringf( "x%u: upper bound set to %.3lf", variable, bound._value ).ascii() ); if ( _produceUNSATProofs && FloatUtils::lt( bound._value, _boundManager.getUpperBound( bound._variable ) ) ) { - _boundManager.resetExplanation( variable, UPPER ); + _boundManager.resetExplanation( variable, BoundType::UPPER ); updateGroundUpperBound( variable, bound._value ); _boundManager.tightenUpperBound( variable, bound._value ); } @@ -3323,9 +3322,16 @@ bool Engine::certifyInfeasibility( unsigned var ) const if ( contradiction.empty() ) return FloatUtils::isNegative( _groundBoundManager.getUpperBound( var ) - _groundBoundManager.getLowerBound( var ) ); - double derivedBound = UNSATCertificateUtils::computeCombinationUpperBound( contradiction.data(), _tableau->getSparseA(), - _groundBoundManager.getUpperBounds(), _groundBoundManager.getLowerBounds(), - _tableau->getM(), _tableau->getN() ); + SparseUnsortedList sparseContradiction = SparseUnsortedList(); + + contradiction.empty() ? sparseContradiction.initializeToEmpty() : sparseContradiction.initialize( contradiction.data(), contradiction.size() ); + + // In case contradiction is a vector of zeros + if ( sparseContradiction.empty() ) + return FloatUtils::isNegative( _groundBoundManager.getUpperBound( var ) - _groundBoundManager.getLowerBound( var ) ); + + double derivedBound = UNSATCertificateUtils::computeCombinationUpperBound( sparseContradiction, _tableau->getSparseA(), + _groundBoundManager.getUpperBounds(), _groundBoundManager.getLowerBounds(), _tableau->getN() ); return FloatUtils::isNegative( derivedBound ); } @@ -3338,10 +3344,15 @@ double Engine::explainBound( unsigned var, bool isUpper ) const if ( !_boundManager.isExplanationTrivial( var, isUpper ) ) _boundManager.getExplanation( var, isUpper, explanationVec ); - const double *explanation = explanationVec.empty() ? NULL : explanationVec.data(); + SparseUnsortedList explanation = SparseUnsortedList( explanationVec.size() ); + explanationVec.empty() ? explanation.initializeToEmpty() : explanation.initialize( explanationVec.data(), explanationVec.size() ); + + if ( explanation.empty() ) + return isUpper ? _groundBoundManager.getUpperBound( var ) : _groundBoundManager.getLowerBound( var ); + return UNSATCertificateUtils::computeBound( var, isUpper, explanation, _tableau->getSparseA(), _groundBoundManager.getUpperBounds(), _groundBoundManager.getLowerBounds(), - _tableau->getM(), _tableau->getN() ); + _tableau->getN() ); } bool Engine::validateBounds( unsigned var, double epsilon, bool isUpper ) const @@ -3378,7 +3389,7 @@ bool Engine::validateAllBounds( double epsilon ) const bool res = true; for ( unsigned var = 0; var < _tableau->getN(); ++var ) - if ( !validateBounds( var, epsilon, UPPER ) || !validateBounds( var, epsilon, LOWER ) ) + if ( !validateBounds( var, epsilon, BoundType::UPPER ) || !validateBounds( var, epsilon, BoundType::LOWER ) ) res = false; return res; @@ -3414,12 +3425,12 @@ unsigned Engine::explainFailureWithTableau() _tableau->getTableauRow( i, &boundUpdateRow ); basicVar = boundUpdateRow._lhs; - if ( FloatUtils::gt( _boundManager.computeRowBound( boundUpdateRow, LOWER ), _boundManager.getUpperBound( basicVar ) ) - && explainAndCheckContradiction( basicVar, LOWER, &boundUpdateRow ) ) + if ( FloatUtils::gt( _boundManager.computeRowBound( boundUpdateRow, BoundType::LOWER ), _boundManager.getUpperBound( basicVar ) ) + && explainAndCheckContradiction( basicVar, BoundType::LOWER, &boundUpdateRow ) ) return basicVar; - if ( FloatUtils::lt( _boundManager.computeRowBound( boundUpdateRow, UPPER ), _boundManager.getLowerBound( basicVar ) ) - && explainAndCheckContradiction( basicVar, UPPER, &boundUpdateRow ) ) + if ( FloatUtils::lt( _boundManager.computeRowBound( boundUpdateRow, BoundType::UPPER ), _boundManager.getLowerBound( basicVar ) ) + && explainAndCheckContradiction( basicVar, BoundType::UPPER, &boundUpdateRow ) ) return basicVar; } } @@ -3449,9 +3460,9 @@ unsigned Engine::explainFailureWithCostFunction() curUpper = ( curCost < 0 ); // Check the basic variable has no slack - if ( !( !curUpper && FloatUtils::gt( _boundManager.computeSparseRowBound( *costRow, LOWER, curBasicVar ), + if ( !( !curUpper && FloatUtils::gt( _boundManager.computeSparseRowBound( *costRow, BoundType::LOWER, curBasicVar ), _boundManager.getUpperBound( curBasicVar ) ) ) && - !( curUpper && FloatUtils::lt( _boundManager.computeSparseRowBound( *costRow, UPPER, curBasicVar ), + !( curUpper && FloatUtils::lt( _boundManager.computeSparseRowBound( *costRow, BoundType::UPPER, curBasicVar ), _boundManager.getLowerBound( curBasicVar ) ) ) ) continue; @@ -3527,9 +3538,10 @@ bool Engine::certifyUNSATCertificate() for ( auto &constraint : _plConstraints ) { - if ( constraint->getType() != RELU ) + if ( !UNSATCertificateUtils::getSupportedActivations().exists( constraint->getType() ) ) { - printf( "Certification Error! Marabou doesn't support certification for none ReLU constraints.\n" ); + String activationType = constraint->serializeToString().tokenize(",").back(); + printf( "Certification Error! Network contains activation function %s, that is not yet supported by Marabou certification.\n", activationType.ascii() ); return false; } } @@ -3568,7 +3580,7 @@ bool Engine::certifyUNSATCertificate() if ( _statistics.getUnsignedAttribute( Statistics::NUM_POPS ) ) { double delegationRatio = _statistics.getUnsignedAttribute( Statistics::NUM_DELEGATED_LEAVES ) / _statistics.getUnsignedAttribute( Statistics::NUM_CERTIFIED_LEAVES ); - ASSERT( FloatUtils::lt( delegationRatio, 0.01 )); + ASSERT( FloatUtils::lt( delegationRatio, 0.01 ) ); } }); @@ -3598,11 +3610,11 @@ const Vector Engine::computeContradiction( unsigned infeasibleVar ) cons Vector upperBoundExplanation( 0 ); Vector lowerBoundExplanation( 0 ); - if ( !_boundManager.isExplanationTrivial( infeasibleVar, UPPER ) ) - _boundManager.getExplanation( infeasibleVar, UPPER, upperBoundExplanation ); + if ( !_boundManager.isExplanationTrivial( infeasibleVar, BoundType::UPPER ) ) + _boundManager.getExplanation( infeasibleVar, BoundType::UPPER, upperBoundExplanation ); - if( !_boundManager.isExplanationTrivial( infeasibleVar, LOWER ) ) - _boundManager.getExplanation( infeasibleVar, LOWER, lowerBoundExplanation ); + if( !_boundManager.isExplanationTrivial( infeasibleVar, BoundType::LOWER ) ) + _boundManager.getExplanation( infeasibleVar, BoundType::LOWER, lowerBoundExplanation ); if ( upperBoundExplanation.empty() && lowerBoundExplanation.empty() ) return Vector( 0 ); diff --git a/src/engine/Engine.h b/src/engine/Engine.h index 731e5f8fa0..259e09adf6 100644 --- a/src/engine/Engine.h +++ b/src/engine/Engine.h @@ -40,6 +40,7 @@ #include "SignalHandler.h" #include "SmtCore.h" #include "SnCDivideStrategy.h" +#include "SparseUnsortedList.h" #include "Statistics.h" #include "SumOfInfeasibilitiesManager.h" #include "SymbolicBoundTighteningType.h" diff --git a/src/engine/IBoundManager.h b/src/engine/IBoundManager.h index 1f3c246af4..18936cd4d9 100644 --- a/src/engine/IBoundManager.h +++ b/src/engine/IBoundManager.h @@ -127,11 +127,11 @@ class IBoundManager /* Add a lemma to the UNSATCertificateNode object - Return true iff adding the lemma has succeeded + Return true iff adding the lemma was successful */ - virtual bool addLemmaExplanation( unsigned var, double value, BoundType affectedVarBound, - unsigned causingVar, BoundType causingVarBound, - PiecewiseLinearFunctionType constraintType ) = 0; + virtual bool addLemmaExplanationAndTightenBound( unsigned var, double value, BoundType affectedVarBound, + const List &causingVars, BoundType causingVarBound, + PiecewiseLinearFunctionType constraintType ) = 0; /* Return the content of the object containing all explanations for variable bounds in the tableau diff --git a/src/engine/Marabou.cpp b/src/engine/Marabou.cpp index 7b2c24381f..66489d77c1 100644 --- a/src/engine/Marabou.cpp +++ b/src/engine/Marabou.cpp @@ -203,10 +203,11 @@ void Marabou::exportAssignment() const void Marabou::solveQuery() { if ( _engine.processInputQuery( _inputQuery ) ) + { _engine.solve( Options::get()->getInt( Options::TIMEOUT ) ); - - if ( _engine.shouldProduceProofs() && _engine.getExitCode() == Engine::UNSAT ) - _engine.certifyUNSATCertificate(); + if ( _engine.shouldProduceProofs() && _engine.getExitCode() == Engine::UNSAT ) + _engine.certifyUNSATCertificate(); + } if ( _engine.getExitCode() == Engine::SAT ) _engine.extractSolution( _inputQuery ); diff --git a/src/engine/MaxConstraint.cpp b/src/engine/MaxConstraint.cpp index 3ec796e2e4..3899400492 100644 --- a/src/engine/MaxConstraint.cpp +++ b/src/engine/MaxConstraint.cpp @@ -77,6 +77,8 @@ MaxConstraint::MaxConstraint( const String &serializedMax ) MaxConstraint::~MaxConstraint() { + _elementToTighteningRow.clear(); + _elementToTableauAux.clear(); _elements.clear(); } @@ -147,6 +149,8 @@ void MaxConstraint::notifyLowerBound( unsigned variable, double value ) setLowerBound( variable, value ); } + bool proofs = _boundManager && _boundManager->shouldProduceProofs(); + /* See if we can eliminate any cases. */ @@ -190,19 +194,15 @@ void MaxConstraint::notifyLowerBound( unsigned variable, double value ) if ( isActive() && _boundManager ) { + if ( proofs ) + for ( const auto &element : _elements ) + createElementTighteningRow( element ); + // TODO: optimize this. Don't need to recompute ALL possible bounds, // Can focus only on the newly learned bound and possible consequences. List tightenings; getEntailedTightenings( tightenings ); - for ( const auto &tightening : tightenings ) - { - if ( tightening._type == Tightening::LB ) - _boundManager->tightenLowerBound( tightening._variable, - tightening._value ); - else if ( tightening._type == Tightening::UB ) - _boundManager->tightenUpperBound( tightening._variable, - tightening._value ); - } + applyTightenings( tightenings ); } } @@ -220,6 +220,9 @@ void MaxConstraint::notifyUpperBound( unsigned variable, double value ) setUpperBound( variable, value ); } + + bool proofs = _boundManager && _boundManager->shouldProduceProofs(); + /* See if we can eliminate any cases. */ @@ -257,19 +260,15 @@ void MaxConstraint::notifyUpperBound( unsigned variable, double value ) if ( isActive() && _boundManager ) { + if ( proofs ) + for ( const auto &element : _elements ) + createElementTighteningRow( element ); + // TODO: optimize this. Don't need to recompute ALL possible bounds, // Can focus only on the newly learned bound and possible consequences. List tightenings; getEntailedTightenings( tightenings ); - for ( const auto &tightening : tightenings ) - { - if ( tightening._type == Tightening::LB ) - _boundManager->tightenLowerBound( tightening._variable, - tightening._value ); - else if ( tightening._type == Tightening::UB ) - _boundManager->tightenUpperBound( tightening._variable, - tightening._value ); - } + applyTightenings( tightenings ); } } @@ -301,25 +300,18 @@ void MaxConstraint::getEntailedTightenings( List &tightenings ) cons if ( FloatUtils::areDisequal( fUB, maxElementUB ) ) { if ( FloatUtils::gt( fUB, maxElementUB ) ) - { tightenings.append( Tightening( _f, maxElementUB, Tightening::UB ) ); - } else - { // f_UB <= maxElementUB for ( const auto &element : _elements ) - { if ( !existsUpperBound( element ) || FloatUtils::gt( getUpperBound( element ), fUB ) ) - tightenings.append - ( Tightening( element, fUB, Tightening::UB ) ); - } - } + tightenings.append( Tightening( element, fUB, Tightening::UB ) ); } // fLB cannot be smaller than maxElementLB if ( FloatUtils::lt( fLB, maxElementLB ) ) - tightenings.append( Tightening( _f, maxElementLB, Tightening::LB ) ); + tightenings.append( Tightening( _f, maxElementLB, Tightening::LB ) ); // TODO: bound tightening for aux vars. } @@ -674,6 +666,12 @@ String MaxConstraint::serializeToString() const void MaxConstraint::eliminateCase( unsigned variable ) { + bool proofs = _boundManager && _boundManager->shouldProduceProofs(); + + // Function is not yet supported for proof production + if ( proofs ) + return; + if ( _cdInfeasibleCases ) { markInfeasible( variableToPhase( variable ) ); @@ -681,12 +679,25 @@ void MaxConstraint::eliminateCase( unsigned variable ) else { _elements.erase( variable ); + _eliminatedElements.insert( variable ); + if ( _elementToAux.exists( variable ) ) { unsigned aux = _elementToAux[variable]; _elementToAux.erase( variable ); _auxToElement.erase( aux ); } + if ( proofs ) + { + if ( _elementToTighteningRow.exists( variable ) && _elementToTighteningRow[variable] != NULL ) + { + _elementToTighteningRow[variable] = NULL; + _elementToTighteningRow.erase( variable ); + } + + if ( _elementToTableauAux.exists( variable ) ) + _elementToTableauAux.erase( variable ); + } } } @@ -712,3 +723,84 @@ bool MaxConstraint::haveOutOfBoundVariables() const } return false; } + +void MaxConstraint::createElementTighteningRow( unsigned element ) +{ + // Create the row only when needed and when not already created + if ( !_boundManager->getBoundExplainer() || _elementToTighteningRow[element] != NULL ) + return; + + _elementToTighteningRow[element] = std::make_shared( 3 ); + + // f = element + aux + counterpart (an additional aux variable of tableau) + _elementToTighteningRow[element]->_lhs = _f; + _elementToTighteningRow[element]->_row[0] = TableauRow::Entry( element, 1 ); + _elementToTighteningRow[element]->_row[1] = TableauRow::Entry( _elementToAux[element], 1 ); + _elementToTighteningRow[element]->_row[2] = TableauRow::Entry( _elementToTableauAux[element], 1 ); +} + +const List MaxConstraint::getNativeAuxVars() const +{ + List auxVars = {}; + for ( const auto &element : _elements ) + auxVars.append( _elementToAux[element]); + + return auxVars; +} + +void MaxConstraint::addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) +{ + unsigned element = _auxToElement[constraintAuxVar]; + _elementToTableauAux[element] = tableauAuxVar; + _elementToTighteningRow[element] = nullptr; +} + +void MaxConstraint::applyTightenings( const List &tightenings ) const +{ + bool proofs = _boundManager && _boundManager->shouldProduceProofs(); + + for ( const auto &tightening : tightenings ) + { + if ( tightening._type == Tightening::LB ) + { + if ( proofs ) + { + unsigned maxElementForLB = _f; + double maxElementLB = FloatUtils::negativeInfinity(); + + for ( const auto &element : _elements ) + { + if ( existsLowerBound( element ) ) + { + maxElementLB = FloatUtils::max( getLowerBound( element ), maxElementLB ); + if ( maxElementLB == getLowerBound( element ) ) + maxElementForLB = element; + } + } + + ASSERT( _elements.exists( maxElementForLB ) && _elementToTighteningRow[maxElementForLB] != NULL ); + ASSERT ( tightening._variable == _f ); + _boundManager->tightenLowerBound( _f, maxElementLB, *_elementToTighteningRow[maxElementForLB] ); + } + else + _boundManager->tightenLowerBound( tightening._variable, tightening._value ); + } + else if ( tightening._type == Tightening::UB ) + { + if ( proofs ) + { + if ( tightening._variable == _f ) + _boundManager->addLemmaExplanationAndTightenBound( _f, tightening._value, BoundType::UPPER, getElements(), + BoundType::UPPER, getType() ); + else + { + ASSERT (_elements.exists( tightening._variable ) ); + ASSERT( _elementToTighteningRow[tightening._variable] != NULL ); + _boundManager->tightenUpperBound( tightening._variable, tightening._value, *_elementToTighteningRow[tightening._variable] ); + } + } + else + _boundManager->tightenUpperBound( tightening._variable, tightening._value ); + } + } +} diff --git a/src/engine/MaxConstraint.h b/src/engine/MaxConstraint.h index fa36337eb0..9f5b9f1d37 100644 --- a/src/engine/MaxConstraint.h +++ b/src/engine/MaxConstraint.h @@ -205,7 +205,51 @@ class MaxConstraint : public PiecewiseLinearConstraint bool isImplication() const override; -private: + inline Set getEliminatedElements() const + { + return _eliminatedElements; + } + + inline Set getParticipatingElements() const + { + Set participatingElements = {}; + for ( const auto &element : _elements ) + participatingElements.insert( element ); + + for ( const auto &element : _eliminatedElements ) + participatingElements.insert( element ); + + return participatingElements; + } + + inline double getMaxValueOfEliminatedPhases() const + { + return _maxValueOfEliminatedPhases; + } + + inline unsigned getAuxToElement( unsigned element ) + { + return _auxToElement[element]; + } + + /* + Conversion functions between variables and PhaseStatus. + */ + inline PhaseStatus variableToPhase( unsigned variable ) const + { + return ( variable == MAX_PHASE_ELIMINATED ) + ? MAX_PHASE_ELIMINATED + : static_cast( variable + MAX_VARIABLE_TO_PHASE_OFFSET ); + } + + inline unsigned phaseToVariable( PhaseStatus phase ) const + { + return ( phase == MAX_PHASE_ELIMINATED ) + ? MAX_PHASE_ELIMINATED + : static_cast( phase ) - MAX_VARIABLE_TO_PHASE_OFFSET; + } + + private: unsigned _f; Set _elements; Set _initialElements; @@ -213,6 +257,11 @@ class MaxConstraint : public PiecewiseLinearConstraint Map _auxToElement; Map _elementToAux; + Map _elementToTableauAux; + Map> _elementToTighteningRow; + Set _eliminatedElements; + Set _proofEliminatedElements; + bool _obsolete; /* @@ -234,22 +283,6 @@ class MaxConstraint : public PiecewiseLinearConstraint */ PiecewiseLinearCaseSplit getSplit( unsigned argMax ) const; - /* - Conversion functions between variables and PhaseStatus. - */ - inline PhaseStatus variableToPhase( unsigned variable ) const - { - return ( variable == MAX_PHASE_ELIMINATED ) - ? MAX_PHASE_ELIMINATED - : static_cast( variable + MAX_VARIABLE_TO_PHASE_OFFSET ); - } - - inline unsigned phaseToVariable( PhaseStatus phase ) const - { - return ( phase == MAX_PHASE_ELIMINATED ) - ? MAX_PHASE_ELIMINATED - : static_cast( phase ) - MAX_VARIABLE_TO_PHASE_OFFSET; - } /* Eliminate the case corresponding to the given input variable to Max. @@ -260,6 +293,15 @@ class MaxConstraint : public PiecewiseLinearConstraint Return true iff f or the elements are not all within bounds. */ bool haveOutOfBoundVariables() const; + + void createElementTighteningRow( unsigned element ); + const List getNativeAuxVars() const override; + void addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) override; + + /* + Apply tightenings in the list, discovered by getEntailedTightenings + */ + void applyTightenings( const List &tightenings ) const; }; #endif // __MaxConstraint_h__ diff --git a/src/engine/PiecewiseLinearConstraint.cpp b/src/engine/PiecewiseLinearConstraint.cpp index a02d29e2b4..7ee5132043 100644 --- a/src/engine/PiecewiseLinearConstraint.cpp +++ b/src/engine/PiecewiseLinearConstraint.cpp @@ -29,7 +29,7 @@ PiecewiseLinearConstraint::PiecewiseLinearConstraint() , _score( FloatUtils::negativeInfinity() ) , _statistics( NULL ) , _gurobi( NULL ) - , _tableauAuxVar( 0 ) + , _tableauAuxVars() { } diff --git a/src/engine/PiecewiseLinearConstraint.h b/src/engine/PiecewiseLinearConstraint.h index 1bbe26accb..291040a1e6 100644 --- a/src/engine/PiecewiseLinearConstraint.h +++ b/src/engine/PiecewiseLinearConstraint.h @@ -453,9 +453,17 @@ class PiecewiseLinearConstraint : public ITableau::VariableWatcher return _cdInfeasibleCases; } - void setTableauAuxVar( unsigned var ) + /* + Add a variable to the list of aux vars designated in the Tableau, add connect it to the constraintAuxVariable + */ + virtual void addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) = 0; + + /* + Get the native auxiliary vars + */ + virtual const List getNativeAuxVars() const { - _tableauAuxVar = var; + return {}; } protected: @@ -603,7 +611,7 @@ class PiecewiseLinearConstraint : public ITableau::VariableWatcher return _gurobi->getAssignment( Stringf( "x%u", variable ) ); } - unsigned _tableauAuxVar; + List _tableauAuxVars; }; diff --git a/src/engine/PrecisionRestorer.cpp b/src/engine/PrecisionRestorer.cpp index 88e424bb2a..fd56523ecd 100644 --- a/src/engine/PrecisionRestorer.cpp +++ b/src/engine/PrecisionRestorer.cpp @@ -71,8 +71,8 @@ void PrecisionRestorer::restorePrecision( IEngine &engine, lowerBoundsBackup[i] = tableau.getLowerBound( i ); upperBoundsBackup[i] = tableau.getUpperBound( i ); - groundUpperBoundsBackup[i] = engine.getGroundBound( i, UPPER ); - groundLowerBoundsBackup[i] = engine.getGroundBound( i, LOWER ); + groundUpperBoundsBackup[i] = engine.getGroundBound( i, BoundType::UPPER ); + groundLowerBoundsBackup[i] = engine.getGroundBound( i, BoundType::LOWER ); } } diff --git a/src/engine/ReluConstraint.cpp b/src/engine/ReluConstraint.cpp index 09d59aeee9..6be58f9d01 100644 --- a/src/engine/ReluConstraint.cpp +++ b/src/engine/ReluConstraint.cpp @@ -172,7 +172,8 @@ void ReluConstraint::notifyLowerBound( unsigned variable, double newBound ) { // If we're in the active phase, aux should be 0 if ( proofs && _auxVarInUse ) - _boundManager->addLemmaExplanation( _aux, 0, UPPER, variable, LOWER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _aux, 0, BoundType::UPPER, { variable }, + BoundType::LOWER, getType() ); else if ( !proofs && _auxVarInUse ) _boundManager->tightenUpperBound( _aux, 0 ); @@ -185,7 +186,8 @@ void ReluConstraint::notifyLowerBound( unsigned variable, double newBound ) else if ( _auxVarInUse && variable == _b && FloatUtils::isZero( bound ) ) { if ( proofs && _auxVarInUse ) - _boundManager->addLemmaExplanation( _aux, 0, UPPER, variable, LOWER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _aux, 0, BoundType::UPPER, { variable }, + BoundType::LOWER, getType() ); else if ( !proofs && _auxVarInUse ) _boundManager->tightenUpperBound( _aux, 0 ); } @@ -195,7 +197,8 @@ void ReluConstraint::notifyLowerBound( unsigned variable, double newBound ) else if ( _auxVarInUse && variable == _aux && bound > 0 ) { if ( proofs ) - _boundManager->addLemmaExplanation( _f, 0, UPPER, variable, LOWER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _f, 0, BoundType::UPPER, { variable }, + BoundType::LOWER, getType() ); else _boundManager->tightenUpperBound( _f, 0 ); @@ -212,7 +215,8 @@ void ReluConstraint::notifyLowerBound( unsigned variable, double newBound ) if ( _phaseStatus == RELU_PHASE_INACTIVE ) _boundManager->tightenUpperBound( _aux, -bound, *_tighteningRow ); else if ( _phaseStatus == PHASE_NOT_FIXED ) - _boundManager->addLemmaExplanation( _aux, -bound, UPPER, variable, LOWER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _aux, -bound, BoundType::UPPER, { variable }, + BoundType::LOWER, getType() ); } else _boundManager->tightenUpperBound( _aux, -bound ); @@ -223,7 +227,8 @@ void ReluConstraint::notifyLowerBound( unsigned variable, double newBound ) else if ( bound < 0 && variable == _f ) { if ( proofs ) - _boundManager->addLemmaExplanation( _f, 0, LOWER, variable, LOWER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _f, 0, BoundType::LOWER, { variable }, + BoundType::LOWER, getType() ); else _boundManager->tightenLowerBound( _f, 0 ); } @@ -267,7 +272,8 @@ void ReluConstraint::notifyUpperBound( unsigned variable, double newBound ) else { if ( FloatUtils::isZero( bound ) ) - _boundManager->addLemmaExplanation( _b, 0, UPPER, variable, UPPER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _b, 0, BoundType::UPPER, { variable }, + BoundType::UPPER, getType() ); // Bound cannot be negative if ReLU is inactive else if ( FloatUtils::isNegative( bound ) ) throw InfeasibleQueryException(); @@ -283,7 +289,8 @@ void ReluConstraint::notifyUpperBound( unsigned variable, double newBound ) { // If b has a non-positive upper bound, f's upper bound is 0 if ( proofs ) - _boundManager->addLemmaExplanation( _f, 0, UPPER, variable, UPPER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _f, 0, BoundType::UPPER, { variable }, + BoundType::UPPER, getType() ); else _boundManager->tightenUpperBound( _f, 0 ); @@ -301,7 +308,8 @@ void ReluConstraint::notifyUpperBound( unsigned variable, double newBound ) if ( _phaseStatus == RELU_PHASE_ACTIVE ) _boundManager->tightenUpperBound( _f, bound, *_tighteningRow ); else if ( _phaseStatus == PHASE_NOT_FIXED ) - _boundManager->addLemmaExplanation( _f, bound, UPPER, variable, UPPER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _f, bound, BoundType::UPPER, { variable }, + BoundType::UPPER, getType() ); } else _boundManager->tightenUpperBound( _f, bound ); @@ -316,7 +324,8 @@ void ReluConstraint::notifyUpperBound( unsigned variable, double newBound ) else { if ( FloatUtils::isZero( bound ) ) - _boundManager->addLemmaExplanation( _b, 0, LOWER, variable, UPPER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _b, 0, BoundType::LOWER, { variable }, + BoundType::UPPER, getType() ); // Bound cannot be negative if ReLU is active else if ( FloatUtils::isNegative( bound ) ) throw InfeasibleQueryException(); @@ -1044,7 +1053,7 @@ void ReluConstraint::updateScoreBasedOnPolarity() void ReluConstraint::createTighteningRow() { // Create the row only when needed and when not already created - if ( !_boundManager->getBoundExplainer() || _tighteningRow || !_auxVarInUse || !_tableauAuxVar ) + if ( !_boundManager->getBoundExplainer() || _tighteningRow || !_auxVarInUse || _tableauAuxVars.empty() ) return; _tighteningRow = std::unique_ptr( new TableauRow ( 3 ) ); @@ -1053,7 +1062,22 @@ void ReluConstraint::createTighteningRow() _tighteningRow->_lhs = _f; _tighteningRow->_row[0] = TableauRow::Entry( _b, 1 ); _tighteningRow->_row[1] = TableauRow::Entry( _aux, 1 ); - _tighteningRow->_row[2] = TableauRow::Entry( _tableauAuxVar, 1 ); + _tighteningRow->_row[2] = TableauRow::Entry( _tableauAuxVars.back(), 1 ); +} + +const List ReluConstraint::getNativeAuxVars() const +{ + if ( _auxVarInUse ) + return { _aux }; + return {}; +} + +void ReluConstraint::addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) +{ + ASSERT( _tableauAuxVars.empty() ); + + if ( constraintAuxVar == _aux ) + _tableauAuxVars.append( tableauAuxVar ); } // diff --git a/src/engine/ReluConstraint.h b/src/engine/ReluConstraint.h index 4eede4cdd3..925d75fa83 100644 --- a/src/engine/ReluConstraint.h +++ b/src/engine/ReluConstraint.h @@ -239,7 +239,7 @@ class ReluConstraint : public PiecewiseLinearConstraint void updateScoreBasedOnPolarity() override; - + const List getNativeAuxVars() const override; private: unsigned _b, _f; bool _auxVarInUse; @@ -270,6 +270,11 @@ class ReluConstraint : public PiecewiseLinearConstraint Stored in _tighteningRow */ void createTighteningRow(); + + /* + Assign a variable as an aux variable by the tableau, related to some existing aux variable. + */ + void addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) override; }; #endif // __ReluConstraint_h__ diff --git a/src/engine/SignConstraint.cpp b/src/engine/SignConstraint.cpp index bf3d3492f1..47b2481635 100644 --- a/src/engine/SignConstraint.cpp +++ b/src/engine/SignConstraint.cpp @@ -17,6 +17,7 @@ #include "Debug.h" #include "FloatUtils.h" #include "GlobalConfiguration.h" +#include "InfeasibleQueryException.h" #include "InputQuery.h" #include "ITableau.h" #include "MStringf.h" @@ -393,17 +394,38 @@ void SignConstraint::notifyLowerBound( unsigned variable, double bound ) if ( variable == _f && FloatUtils::gt( bound, -1 ) ) { setPhaseStatus( PhaseStatus::SIGN_PHASE_POSITIVE ); + if ( _boundManager != nullptr ) { - _boundManager->tightenLowerBound( _f, 1 ); - _boundManager->tightenLowerBound( _b, 0 ); + if ( _boundManager->shouldProduceProofs() ) + { + // If lb of f is > 1, we have a contradiction + if ( FloatUtils::gt( bound, 1 ) ) + throw InfeasibleQueryException(); + + _boundManager->addLemmaExplanationAndTightenBound( _f, 1, BoundType::LOWER, { variable }, + BoundType::LOWER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _b, 0, BoundType::LOWER, { variable }, + BoundType::LOWER, getType() ); + } + else + { + _boundManager->tightenLowerBound( _f, 1 ); + _boundManager->tightenLowerBound( _b, 0 ); + } } } else if ( variable == _b && !FloatUtils::isNegative( bound ) ) { setPhaseStatus( PhaseStatus::SIGN_PHASE_POSITIVE ); if ( _boundManager != nullptr ) - _boundManager->tightenLowerBound( _f, 1 ); + { + if ( _boundManager->shouldProduceProofs() ) + _boundManager->addLemmaExplanationAndTightenBound( _f, 1, BoundType::LOWER, { variable }, + BoundType::LOWER, getType() ); + else + _boundManager->tightenLowerBound( _f, 1 ); + } } } @@ -422,11 +444,27 @@ void SignConstraint::notifyUpperBound( unsigned variable, double bound ) if ( variable == _f && FloatUtils::lt( bound, 1 ) ) { + + setPhaseStatus( PhaseStatus::SIGN_PHASE_NEGATIVE ); if ( _boundManager != nullptr ) { - _boundManager->tightenUpperBound( _f, -1 ); - _boundManager->tightenUpperBound( _b, 0 ); + if ( _boundManager->shouldProduceProofs() ) + { + // If ub of f is < -1, we have a contradiction + if ( FloatUtils::lt( bound, -1 ) ) + throw InfeasibleQueryException(); + + _boundManager->addLemmaExplanationAndTightenBound( _f, -1, BoundType::UPPER, { variable }, + BoundType::UPPER, getType() ); + _boundManager->addLemmaExplanationAndTightenBound( _b, 0, BoundType::UPPER, { variable }, + BoundType::UPPER, getType() ); + } + else + { + _boundManager->tightenUpperBound( _f, -1 ); + _boundManager->tightenUpperBound( _b, 0 ); + } } } else if ( variable == _b && FloatUtils::isNegative( bound ) ) @@ -434,7 +472,11 @@ void SignConstraint::notifyUpperBound( unsigned variable, double bound ) setPhaseStatus( PhaseStatus::SIGN_PHASE_NEGATIVE ); if ( _boundManager != nullptr ) { - _boundManager->tightenUpperBound( _f, -1 ); + if ( _boundManager->shouldProduceProofs() ) + _boundManager->addLemmaExplanationAndTightenBound( _f, -1, BoundType::UPPER, { variable }, + BoundType::UPPER, getType() ); + else + _boundManager->tightenUpperBound( _f, -1 ); } } } @@ -618,3 +660,8 @@ bool SignConstraint::supportPolarity() const { return true; } + +// No aux vars in Sign constraint, so the function is suppressed +void SignConstraint::addTableauAuxVar( unsigned /* tableauAuxVar */, unsigned /* constraintAuxVar */ ) +{ +} diff --git a/src/engine/SignConstraint.h b/src/engine/SignConstraint.h index d2d19121bb..e1e7478366 100644 --- a/src/engine/SignConstraint.h +++ b/src/engine/SignConstraint.h @@ -227,6 +227,7 @@ class SignConstraint : public PiecewiseLinearConstraint void updateScoreBasedOnPolarity() override; + private: unsigned _b, _f; @@ -247,6 +248,11 @@ class SignConstraint : public PiecewiseLinearConstraint Return true iff b or f are out of bounds. */ bool haveOutOfBoundVariables() const; + + /* + Assign a variable as an aux variable by the tableau, related to the existing aux variable. + */ + void addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) override; }; #endif // __SignConstraint_h__ diff --git a/src/engine/SmtCore.cpp b/src/engine/SmtCore.cpp index d8601f9e99..0bfdd8e02e 100644 --- a/src/engine/SmtCore.cpp +++ b/src/engine/SmtCore.cpp @@ -295,6 +295,11 @@ bool SmtCore::popSplit() _stack.popBack(); popContext(); + if ( _engine->shouldProduceProofs() && _engine->getUNSATCertificateCurrentPointer() ) + { + UnsatCertificateNode *certificateNode = _engine->getUNSATCertificateCurrentPointer(); + _engine->setUNSATCertificateCurrentPointer( certificateNode->getParent() ); + } if ( _stack.empty() ) return false; @@ -329,6 +334,12 @@ bool SmtCore::popSplit() UnsatCertificateNode *certificateNode = _engine->getUNSATCertificateCurrentPointer(); ASSERT( certificateNode ); UnsatCertificateNode *splitChild = certificateNode->getChildBySplit( *split ); + while ( !splitChild ) + { + certificateNode = certificateNode->getParent(); + ASSERT( certificateNode ); + splitChild = certificateNode->getChildBySplit( *split ); + } ASSERT( splitChild ); _engine->setUNSATCertificateCurrentPointer( splitChild ); ASSERT( _engine->getUNSATCertificateCurrentPointer()->getSplit() == *split ); diff --git a/src/engine/T/RowBoundTightenerFactory.h b/src/engine/T/RowBoundTightenerFactory.h index d51f5c493f..1e8b02aa67 100644 --- a/src/engine/T/RowBoundTightenerFactory.h +++ b/src/engine/T/RowBoundTightenerFactory.h @@ -21,6 +21,7 @@ class IRowBoundTightener; class ITableau; + namespace T { IRowBoundTightener *createRowBoundTightener( const ITableau &tableau ); diff --git a/src/engine/T/TableauFactory.h b/src/engine/T/TableauFactory.h index bb5e353e76..ef3d8e017f 100644 --- a/src/engine/T/TableauFactory.h +++ b/src/engine/T/TableauFactory.h @@ -16,11 +16,10 @@ #ifndef __T__TableauFactory_h__ #define __T__TableauFactory_h__ -#include "IBoundManager.h" - #include "cxxtest/Mock.h" class ITableau; +class IBoundManager; class ISelector; namespace T diff --git a/src/engine/tests/MockBoundManager.h b/src/engine/tests/MockBoundManager.h index a470283371..9cb115b1f0 100644 --- a/src/engine/tests/MockBoundManager.h +++ b/src/engine/tests/MockBoundManager.h @@ -265,9 +265,9 @@ class MockBoundManager : public IBoundManager return tightenUpperBound( variable, value ); } - bool addLemmaExplanation( unsigned /* var */, double /* value */, BoundType /* affectedVarBound */, - unsigned /* causingVar */, BoundType /* causingVarBound */, - PiecewiseLinearFunctionType /* constraintType */ ) + bool addLemmaExplanationAndTightenBound(unsigned /* var */, double /* value */, BoundType /* affectedVarBound */, + const List &/* causingVar */, BoundType /* causingVarBound */, + PiecewiseLinearFunctionType /* constraintType */ ) { return true; } @@ -283,7 +283,7 @@ class MockBoundManager : public IBoundManager bool shouldProduceProofs() const { - return true; + return false; } }; diff --git a/src/engine/tests/Test_SmtCore.h b/src/engine/tests/Test_SmtCore.h index 51a9f4404e..f910c9220a 100644 --- a/src/engine/tests/Test_SmtCore.h +++ b/src/engine/tests/Test_SmtCore.h @@ -168,6 +168,14 @@ class SmtCoreTestSuite : public CxxTest::TestSuite String serializeToString() const { return ""; + } + + void initTighteningRow( const unsigned /*counterpart*/ ) + { + } + + void addTableauAuxVar( unsigned /*tableauAuxVar*/, unsigned /*constraintAuxVar*/ ) + { } }; diff --git a/src/proofs/Checker.cpp b/src/proofs/Checker.cpp index fb0262b0ee..4c136aacad 100644 --- a/src/proofs/Checker.cpp +++ b/src/proofs/Checker.cpp @@ -87,25 +87,15 @@ bool Checker::checkNode( const UnsatCertificateNode *node ) for ( const auto &child : node->getChildren() ) childrenSplits.append( child->getSplit() ); - auto *childrenSplitConstraint = getCorrespondingReLUConstraint( childrenSplits ); - - ASSERT( !childrenSplitConstraint || childrenSplitConstraint->getType() == RELU ); + PiecewiseLinearConstraint *childrenSplitConstraint = getCorrespondingConstraint( childrenSplits ); if ( !checkSingleVarSplits( childrenSplits ) && !childrenSplitConstraint ) return false; + // Fix the constraints phase according to the child, and check each child for ( const auto &child : node->getChildren() ) { - // Fix the phase of the constraint corresponding to the children - if ( childrenSplitConstraint && childrenSplitConstraint->getType() == PiecewiseLinearFunctionType::RELU ) - { - auto tightenings = child->getSplit().getBoundTightenings(); - if ( tightenings.front()._type == Tightening::LB || tightenings.back()._type == Tightening::LB ) - childrenSplitConstraint->setPhaseStatus( RELU_PHASE_ACTIVE ); - else - childrenSplitConstraint->setPhaseStatus( RELU_PHASE_INACTIVE ); - } - + fixChildSplitPhase( child, childrenSplitConstraint ); if ( !checkNode( child ) ) answer = false; } @@ -114,11 +104,17 @@ bool Checker::checkNode( const UnsatCertificateNode *node ) if ( childrenSplitConstraint ) childrenSplitConstraint->setPhaseStatus( PHASE_NOT_FIXED ); + if ( childrenSplitConstraint && childrenSplitConstraint->getType() == PiecewiseLinearFunctionType::DISJUNCTION ) + { + for ( const auto &child : node->getChildren() ) + ( ( DisjunctionConstraint * )childrenSplitConstraint )->addFeasibleDisjunct( child->getSplit() ); + } + // Revert only bounds that where changed during checking the current node - for ( unsigned i : _upperBoundChanges.top() ) + for ( const auto &i : _upperBoundChanges.top() ) _groundUpperBounds[i] = groundUpperBoundsBackup[i]; - for ( unsigned i : _lowerBoundChanges.top() ) + for ( const auto &i : _lowerBoundChanges.top() ) _groundLowerBounds[i] = groundLowerBoundsBackup[i]; _upperBoundChanges.pop(); @@ -127,18 +123,59 @@ bool Checker::checkNode( const UnsatCertificateNode *node ) return answer; } +void Checker::fixChildSplitPhase( UnsatCertificateNode *child, PiecewiseLinearConstraint *childrenSplitConstraint ) +{ + if ( childrenSplitConstraint && childrenSplitConstraint->getType() == PiecewiseLinearFunctionType::RELU ) + { + List tightenings = child->getSplit().getBoundTightenings(); + if ( tightenings.front()._type == Tightening::LB || tightenings.back()._type == Tightening::LB ) + childrenSplitConstraint->setPhaseStatus( RELU_PHASE_ACTIVE ); + else + childrenSplitConstraint->setPhaseStatus( RELU_PHASE_INACTIVE ); + } + else if ( childrenSplitConstraint && childrenSplitConstraint->getType() == PiecewiseLinearFunctionType::SIGN ) + { + List tightenings = child->getSplit().getBoundTightenings(); + if ( tightenings.front()._type == Tightening::LB ) + childrenSplitConstraint->setPhaseStatus( SIGN_PHASE_POSITIVE ); + else + childrenSplitConstraint->setPhaseStatus( SIGN_PHASE_NEGATIVE ); + } + else if ( childrenSplitConstraint && childrenSplitConstraint->getType() == PiecewiseLinearFunctionType::ABSOLUTE_VALUE ) + { + List tightenings = child->getSplit().getBoundTightenings(); + if ( tightenings.front()._type == Tightening::LB ) + childrenSplitConstraint->setPhaseStatus( ABS_PHASE_POSITIVE ); + else + childrenSplitConstraint->setPhaseStatus( ABS_PHASE_NEGATIVE ); + } + else if ( childrenSplitConstraint && childrenSplitConstraint->getType() == PiecewiseLinearFunctionType::MAX ) + { + List tightenings = child->getSplit().getBoundTightenings(); + if ( tightenings.size() == 2 ) + childrenSplitConstraint->setPhaseStatus( MAX_PHASE_ELIMINATED ); + else + { + PhaseStatus phase = ( ( MaxConstraint * )childrenSplitConstraint )->variableToPhase( tightenings.back()._variable ); + childrenSplitConstraint->setPhaseStatus( phase ); + } + } + else if ( childrenSplitConstraint && childrenSplitConstraint->getType() == PiecewiseLinearFunctionType::DISJUNCTION ) + ( ( DisjunctionConstraint * )childrenSplitConstraint )->removeFeasibleDisjunct( child->getSplit() ); +} + bool Checker::checkContradiction( const UnsatCertificateNode *node ) const { ASSERT( node->isValidLeaf() && !node->getSATSolutionFlag() ); - const double *contradiction = node->getContradiction()->getContradiction(); + const SparseUnsortedList &contradiction = node->getContradiction()->getContradiction(); - if ( contradiction == NULL ) + if ( contradiction.empty() ) { unsigned infeasibleVar = node->getContradiction()->getVar(); return FloatUtils::isNegative( _groundUpperBounds[infeasibleVar] - _groundLowerBounds[infeasibleVar] ); } - double contradictionUpperBound = UNSATCertificateUtils::computeCombinationUpperBound( contradiction, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _proofSize, _groundUpperBounds.size() ); + double contradictionUpperBound = UNSATCertificateUtils::computeCombinationUpperBound( contradiction, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); return FloatUtils::isNegative( contradictionUpperBound ); } @@ -147,151 +184,87 @@ bool Checker::checkAllPLCExplanations( const UnsatCertificateNode *node, double { // Create copies of the gb, check for their validity, and pass these changes to all the children // Assuming the splits of the children are ok. - // NOTE, this will change as PLCExplanation will - for ( const auto &plcExplanation : node->getPLCExplanations() ) + // NOTE, this will change as PLCLemma will + for ( const auto &plcLemma : node->getPLCLemmas() ) { - bool constraintMatched = false; - bool tighteningMatched = false; - auto explanationVector = Vector( 0, 0 ); - List constraintVars; - - unsigned causingVar = plcExplanation->getCausingVar(); - unsigned affectedVar = plcExplanation->getAffectedVar(); - double bound = plcExplanation->getBound(); - const double *explanation = plcExplanation->getExplanation(); - BoundType causingVarBound = plcExplanation->getCausingVarBound(); - BoundType affectedVarBound = plcExplanation->getAffectedVarBound(); - PiecewiseLinearFunctionType constraintType = plcExplanation->getConstraintType(); - - double explainedBound = UNSATCertificateUtils::computeBound( causingVar, causingVarBound == UPPER, explanation, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _proofSize, _groundUpperBounds.size() ); - unsigned b = 0; - unsigned f = 0; - unsigned aux = 0; + PiecewiseLinearConstraint *matchedConstraint = NULL; + BoundType affectedVarBound = plcLemma->getAffectedVarBound(); + double explainedBound = affectedVarBound == BoundType::UPPER ? FloatUtils::infinity() : FloatUtils::negativeInfinity(); + const List causingVars = plcLemma->getCausingVars(); + unsigned affectedVar = plcLemma->getAffectedVar(); + List participatingVars; // Make sure propagation was made by a problem constraint for ( const auto &constraint : _problemConstraints ) { - constraintVars = constraint->getParticipatingVariables(); - if ( constraintType == PiecewiseLinearFunctionType::RELU && constraintVars.exists( affectedVar ) && constraintVars.exists( causingVar ) ) + if ( constraint->getType() != plcLemma->getConstraintType() ) + continue; + + participatingVars = constraint->getParticipatingVariables(); + + // If the constraint is max, then lemma variables might have been eliminated + if ( constraint->getType() == MAX ) { - Vector conVec( constraintVars.begin(), constraintVars.end() ); - b = conVec[0]; - f = conVec[1]; - aux = conVec[2]; - constraintMatched = true; - - // If explanation is phase fixing, mark it - if ( ( affectedVarBound == LOWER && affectedVar == f && FloatUtils::isPositive( bound ) ) || ( affectedVarBound == UPPER && affectedVar == aux && FloatUtils::isZero( bound ) ) ) - constraint->setPhaseStatus( RELU_PHASE_ACTIVE ); - else if ( ( affectedVarBound == LOWER && affectedVar == aux && FloatUtils::isPositive( bound ) ) || ( affectedVarBound == UPPER && affectedVar == f && FloatUtils::isZero( bound ) ) ) - constraint->setPhaseStatus( RELU_PHASE_INACTIVE ); + MaxConstraint *maxConstraint = ( MaxConstraint * ) constraint; + for ( auto const &element : maxConstraint->getEliminatedElements() ) + { + participatingVars.append( element ); + participatingVars.append( maxConstraint->getAuxToElement( element ) ); + } } + + if ( participatingVars.exists( affectedVar ) ) + matchedConstraint = constraint; } - if ( !constraintMatched ) + if ( !matchedConstraint ) return false; - if ( causingVar != b && causingVar != f && causingVar != aux ) - return false; - - // Make sure the explanation is explained using a ReLU bound tightening. Cases are matching each rule in ReluConstraint.cpp - // We allow explained bound to be tighter than the ones recorded (since an explanation can explain tighter bounds), and an epsilon sized error is tolerated. - - // If lb of b is non negative, then ub of aux is 0 - if ( causingVar == b && causingVarBound == LOWER && affectedVar == aux && affectedVarBound == UPPER && FloatUtils::isZero( bound ) && !FloatUtils::isNegative( explainedBound + epsilon ) ) - tighteningMatched = true; - - // If lb of f is positive, then ub if aux is 0 - else if ( causingVar == f && causingVarBound == LOWER && affectedVar == aux && affectedVarBound == UPPER && FloatUtils::isZero( bound ) && FloatUtils::isPositive( explainedBound + epsilon ) ) - tighteningMatched = true; - - // If lb of b is positive x, then ub of aux is -x - else if ( causingVar == b && causingVarBound == LOWER && affectedVar == aux &&affectedVarBound == UPPER && FloatUtils::gte(explainedBound, - bound - epsilon ) && bound > 0 ) - tighteningMatched = true; - - // If lb of aux is positive, then ub of f is 0 - else if ( causingVar == aux && causingVarBound ==LOWER && affectedVar == f && affectedVarBound == UPPER && FloatUtils::isZero( bound ) && FloatUtils::isPositive( explainedBound + epsilon ) ) - tighteningMatched = true; - - // If lb of f is negative, then it is 0 - else if ( causingVar == f && causingVarBound == LOWER && affectedVar == f && affectedVarBound == LOWER && FloatUtils::isZero( bound ) && FloatUtils::isNegative( explainedBound - epsilon ) ) - tighteningMatched = true; - - // Propagate ub from f to b - else if ( causingVar == f && causingVarBound == UPPER && affectedVar == b && affectedVarBound == UPPER && FloatUtils::lte( explainedBound, bound + epsilon ) ) - tighteningMatched = true; - - // If ub of b is non positive, then ub of f is 0 - else if ( causingVar == b && causingVarBound == UPPER && affectedVar == f && affectedVarBound == UPPER && FloatUtils::isZero( bound ) && !FloatUtils::isPositive( explainedBound - epsilon ) ) - tighteningMatched = true; - - // If ub of b is non positive x, then lb of aux is -x - else if ( causingVar == b && causingVarBound == UPPER && affectedVar == aux && affectedVarBound == LOWER && bound > 0 && !FloatUtils::isPositive( explainedBound - epsilon ) && FloatUtils::lte( explainedBound, -bound + epsilon) ) - tighteningMatched = true; - - // If ub of b is positive, then propagate to f ( positivity of explained bound is not checked since negative explained ub can always explain positive bound ) - else if ( causingVar == b && causingVarBound == UPPER && affectedVar == f && affectedVarBound == UPPER && FloatUtils::isPositive( bound ) && FloatUtils::lte( explainedBound, bound + epsilon ) ) - tighteningMatched = true; - - // If ub of aux is x, then lb of b is -x - else if ( causingVar == aux && causingVarBound == UPPER && affectedVar == b && affectedVarBound == LOWER && FloatUtils::lte( explainedBound, -bound + epsilon ) ) - tighteningMatched = true; - - if ( !tighteningMatched ) + PiecewiseLinearFunctionType constraintType = matchedConstraint->getType(); + + if ( constraintType == RELU ) + explainedBound = checkReluLemma( *plcLemma, *matchedConstraint, epsilon ); + else if ( constraintType == SIGN ) + explainedBound = checkSignLemma( *plcLemma, *matchedConstraint, epsilon ); + else if ( constraintType == ABSOLUTE_VALUE ) + explainedBound = checkAbsLemma( *plcLemma, *matchedConstraint, epsilon ); + else if ( constraintType == MAX ) + explainedBound = checkMaxLemma( *plcLemma, *matchedConstraint ); + else return false; // If so, update the ground bounds and continue - auto &temp = affectedVarBound == UPPER ? _groundUpperBounds : _groundLowerBounds; - bool isTighter = affectedVarBound ? FloatUtils::lt( bound, temp[affectedVar] ) : FloatUtils::gt( bound, temp[affectedVar] ); + + auto &temp = affectedVarBound == BoundType::UPPER ? _groundUpperBounds : _groundLowerBounds; + bool isTighter = affectedVarBound == BoundType::UPPER ? FloatUtils::lt( explainedBound, temp[affectedVar] ) : FloatUtils::gt( explainedBound, temp[affectedVar] ); if ( isTighter ) { - temp[affectedVar] = bound; + temp[affectedVar] = explainedBound; ASSERT( !_upperBoundChanges.empty() && !_lowerBoundChanges.empty() ); - affectedVarBound == UPPER ? _upperBoundChanges.top().insert( affectedVar ) : _lowerBoundChanges.top().insert( affectedVar ); + affectedVarBound == BoundType::UPPER ? _upperBoundChanges.top().insert( affectedVar ) : _lowerBoundChanges.top().insert( affectedVar ); } } return true; } -double Checker::explainBound( unsigned var, bool isUpper, const double *explanation ) const +double Checker::explainBound( unsigned var, bool isUpper, const SparseUnsortedList &explanation ) const { - return UNSATCertificateUtils::computeBound( var, isUpper, explanation, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _proofSize, _groundUpperBounds.size() ); + return UNSATCertificateUtils::computeBound( var, isUpper, explanation, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); } -PiecewiseLinearConstraint *Checker::getCorrespondingReLUConstraint( const List &splits ) +PiecewiseLinearConstraint *Checker::getCorrespondingConstraint( const List &splits ) { - if ( splits.size() != 2 ) - return NULL; - - auto firstSplitTightenings = splits.front().getBoundTightenings(); - auto secondSplitTightenings = splits.back().getBoundTightenings(); - - // Find the LB tightening, its var is b - auto &activeSplit = firstSplitTightenings.front()._type == Tightening::LB ? firstSplitTightenings : secondSplitTightenings; - auto &inactiveSplit = firstSplitTightenings.front()._type == Tightening::LB ? secondSplitTightenings : firstSplitTightenings; - - unsigned b = activeSplit.front()._variable; - unsigned aux = activeSplit.back()._variable; - unsigned f = inactiveSplit.back()._variable; - - // Aux var may or may not be used - if ( ( activeSplit.size() != 2 && activeSplit.size() != 1 ) || inactiveSplit.size() != 2 ) - return NULL; - - if ( FloatUtils::areDisequal( inactiveSplit.back()._value, 0.0 ) || FloatUtils::areDisequal( inactiveSplit.front()._value, 0.0 ) || FloatUtils::areDisequal( activeSplit.back()._value, 0.0 ) || FloatUtils::areDisequal( activeSplit.front()._value, 0.0 ) ) - return NULL; - - // Check that f = b + aux corresponds to a problem constraints - PiecewiseLinearConstraint *correspondingConstraint = NULL; - for ( auto &constraint : _problemConstraints ) - { - auto constraintVars = constraint->getParticipatingVariables(); - if ( constraint->getType() == PiecewiseLinearFunctionType::RELU && constraintVars.front() == b && constraintVars.exists( f ) && ( activeSplit.size() == 1 || constraintVars.back() == aux ) ) - correspondingConstraint = constraint; - } - - // Return the constraint for which f=relu(b) - return correspondingConstraint; + PiecewiseLinearConstraint *constraint = getCorrespondingReluConstraint( splits ); + if ( !constraint ) + constraint = getCorrespondingSignConstraint( splits ); + if ( !constraint ) + constraint = getCorrespondingAbsConstraint( splits ); + if ( !constraint ) + constraint = getCorrespondingMaxConstraint( splits ); + if ( !constraint ) + constraint = getCorrespondingDisjunctionConstraint( splits ); + + return constraint; } void Checker::writeToFile() @@ -311,19 +284,59 @@ void Checker::writeToFile() for ( unsigned i = 0; i < m; ++i ) { + tableauRow = SparseUnsortedList(); _initialTableau->getRow( i, &tableauRow ); - SmtLibWriter::addTableauRow( tableauRow , leafInstance ); + + // Fix correct size + if ( !tableauRow.getSize() && !tableauRow.empty() ) + for ( auto it = tableauRow.begin(); it != tableauRow.end(); ++it ) + tableauRow.incrementSize(); + + SmtLibWriter::addTableauRow( tableauRow , leafInstance ); } for ( auto &constraint : _problemConstraints ) - if ( constraint->getType() == PiecewiseLinearFunctionType::RELU ) + { + auto vars = constraint->getParticipatingVariables(); + if ( constraint->getType() == RELU ) { - auto vars = constraint->getParticipatingVariables(); b = vars.front(); vars.popBack(); f = vars.back(); SmtLibWriter::addReLUConstraint( b, f, constraint->getPhaseStatus(), leafInstance ); } + else if ( constraint->getType() == SIGN ) + { + b = vars.front(); + f = vars.back(); + SmtLibWriter::addSignConstraint( b, f, constraint->getPhaseStatus(), leafInstance ); + } + else if ( constraint->getType() == ABSOLUTE_VALUE ) + { + b = vars.front(); + f = vars.back(); + SmtLibWriter::addAbsConstraint( b, f, constraint->getPhaseStatus(), leafInstance ); + } + else if ( constraint->getType() == MAX ) + { + MaxConstraint *maxConstraint = ( MaxConstraint * ) constraint; + + Set elements = maxConstraint->getParticipatingElements(); + double info = 0; + + if ( constraint->getPhaseStatus() == MAX_PHASE_ELIMINATED ) + info = maxConstraint->getMaxValueOfEliminatedPhases(); + else if ( constraint->phaseFixed() ) + info = maxConstraint->phaseToVariable( constraint->getPhaseStatus() ); + else + for ( const auto &element : maxConstraint->getParticipatingVariables() ) + elements.erase( element ); + + SmtLibWriter::addMaxConstraint( constraint->getParticipatingVariables().back(), elements, constraint->getPhaseStatus(), info ,leafInstance ); + } + else if ( constraint->getType() == DISJUNCTION ) + SmtLibWriter::addDisjunctionConstraint( ( ( DisjunctionConstraint * )constraint )->getFeasibleDisjuncts(), leafInstance ); + } SmtLibWriter::addFooter( leafInstance ); File file ( "delegated" + std::to_string( _delegationCounter ) + ".smtlib" ); @@ -360,3 +373,435 @@ bool Checker::checkSingleVarSplits( const List &splits return true; } + +PiecewiseLinearConstraint *Checker::getCorrespondingReluConstraint( const List &splits ) +{ + if ( splits.size() != 2 ) + return NULL; + + auto firstSplitTightenings = splits.front().getBoundTightenings(); + auto secondSplitTightenings = splits.back().getBoundTightenings(); + + // Find the LB tightening, its var is b + auto &activeSplit = firstSplitTightenings.front()._type == Tightening::LB ? firstSplitTightenings : secondSplitTightenings; + auto &inactiveSplit = firstSplitTightenings.front()._type == Tightening::LB ? secondSplitTightenings : firstSplitTightenings; + + unsigned b = activeSplit.front()._variable; + unsigned aux = activeSplit.back()._variable; + unsigned f = inactiveSplit.back()._variable; + + // Aux var may or may not be used + if ( ( activeSplit.size() != 2 && activeSplit.size() != 1 ) || inactiveSplit.size() != 2 ) + return NULL; + + if ( FloatUtils::areDisequal( inactiveSplit.back()._value, 0.0 ) || FloatUtils::areDisequal( inactiveSplit.front()._value, 0.0 ) || FloatUtils::areDisequal( activeSplit.back()._value, 0.0 ) || FloatUtils::areDisequal( activeSplit.front()._value, 0.0 ) ) + return NULL; + + // Check that f = b + aux corresponds to a problem constraints + PiecewiseLinearConstraint *correspondingConstraint = NULL; + for ( auto &constraint : _problemConstraints ) + { + auto constraintVars = constraint->getParticipatingVariables(); + if ( constraint->getType() == PiecewiseLinearFunctionType::RELU && constraintVars.front() == b && constraintVars.exists( f ) && ( activeSplit.size() == 1 || constraintVars.back() == aux ) ) + correspondingConstraint = constraint; + } + + // Return the constraint for which f=relu(b) + return correspondingConstraint; +} + +PiecewiseLinearConstraint *Checker::getCorrespondingSignConstraint( const List &splits ) +{ + if ( splits.size() != 2 ) + return NULL; + + auto firstSplitTightenings = splits.front().getBoundTightenings(); + auto secondSplitTightenings = splits.back().getBoundTightenings(); + + // Find an LB tightening, it marks the positive split + auto &positiveSplit = firstSplitTightenings.front()._type == Tightening::LB ? firstSplitTightenings : secondSplitTightenings; + auto &negativeSplit = firstSplitTightenings.front()._type == Tightening::LB ? secondSplitTightenings : firstSplitTightenings; + + unsigned b = positiveSplit.back()._variable; + unsigned f = positiveSplit.front()._variable; + + // Check details of both constraints - value and types + if ( positiveSplit.size() != 2 || negativeSplit.size() != 2 || positiveSplit.back()._type != Tightening::LB || positiveSplit.front()._type != Tightening::LB || negativeSplit.back()._type != Tightening::UB || negativeSplit.front()._type != Tightening::UB ) + return NULL; + + if ( FloatUtils::areDisequal( negativeSplit.back()._value, -1.0 ) || FloatUtils::areDisequal( negativeSplit.front()._value, 0.0 ) || FloatUtils::areDisequal(positiveSplit.back()._value, 1.0 ) || FloatUtils::areDisequal( positiveSplit.front()._value, 0.0 )) + return NULL; + + // Check that f=sign(b) corresponds to a problem constraints + PiecewiseLinearConstraint *correspondingConstraint = NULL; + for ( auto &constraint : _problemConstraints ) + { + auto constraintVars = constraint->getParticipatingVariables(); + if ( constraint->getType() == PiecewiseLinearFunctionType::SIGN && constraintVars.back() == b && constraintVars.front() == f ) + correspondingConstraint = constraint; + } + + // Return the constraint for which f=sign(b) + return correspondingConstraint; +} + +PiecewiseLinearConstraint *Checker::getCorrespondingAbsConstraint( const List &splits ) +{ + if ( splits.size() != 2 ) + return NULL; + + auto firstSplitTightenings = splits.front().getBoundTightenings(); + auto secondSplitTightenings = splits.back().getBoundTightenings(); + + // Find an LB tightening, it marks the positive split + auto &positiveSplit = firstSplitTightenings.front()._type == Tightening::LB ? firstSplitTightenings : secondSplitTightenings; + auto &negativeSplit = firstSplitTightenings.front()._type == Tightening::LB ? secondSplitTightenings : firstSplitTightenings; + + unsigned b = positiveSplit.front()._variable; + unsigned posAux = positiveSplit.back()._variable; + + unsigned negAux = negativeSplit.back()._variable; + // Check details of both constraints - value and types + if ( positiveSplit.size() != 2 || negativeSplit.size() != 2 || positiveSplit.back()._type != Tightening::UB || positiveSplit.front()._type != Tightening::LB || negativeSplit.back()._type != Tightening::UB || negativeSplit.front()._type != Tightening::UB ) + return NULL; + + if ( FloatUtils::areDisequal( negativeSplit.back()._value, 0.0 ) || FloatUtils::areDisequal( negativeSplit.front()._value, 0.0 ) || FloatUtils::areDisequal(positiveSplit.back()._value, 0.0 ) || FloatUtils::areDisequal( positiveSplit.front()._value, 0.0 ) ) + return NULL; + + // Check that f=sign(b) corresponds to a problem constraints + PiecewiseLinearConstraint *correspondingConstraint = NULL; + for ( auto &constraint : _problemConstraints ) + { + auto constraintVars = constraint->getParticipatingVariables(); + if ( constraint->getType() == PiecewiseLinearFunctionType::ABSOLUTE_VALUE && constraintVars.front() == b && constraintVars.back() == negAux && constraintVars.exists( posAux ) ) + correspondingConstraint = constraint; + } + + // Return the constraint for which f=abs(b) + return correspondingConstraint; +} + +PiecewiseLinearConstraint *Checker::getCorrespondingMaxConstraint( const List &splits ) +{ + for ( auto &constraint : _problemConstraints ) + { + if ( constraint->getType() != MAX ) + continue; + + bool constraintMatched = true; + + // When checking, it is possible that the problem constraints already eliminated elements that appear in the proof + List constraintSplits = constraint->getCaseSplits(); + MaxConstraint *maxConstraint = ( MaxConstraint * ) constraint; + for ( auto const &element : maxConstraint->getEliminatedElements() ) + { + PiecewiseLinearCaseSplit eliminatedElementCaseSplit; + eliminatedElementCaseSplit.storeBoundTightening( Tightening( element, 0, Tightening::UB ) ); + constraintSplits.append( eliminatedElementCaseSplit ); + } + + for ( const auto &split : splits ) + if ( !constraintSplits.exists( split ) ) + constraintMatched = false; + + // Case corresponding to MAX_PHASE_ELIMINATED + if ( splits.size() == 2 && splits.back().getBoundTightenings().size() == 1 && splits.front().getBoundTightenings().size() == 1 && + splits.back().getBoundTightenings().back()._variable == splits.front().getBoundTightenings().back()._variable && + splits.back().getBoundTightenings().back()._variable == maxConstraint->getF() && + splits.back().getBoundTightenings().back()._type != splits.front().getBoundTightenings().back()._type ) + return constraint; + + if ( constraintMatched ) + return constraint; + } + return NULL; +} + +PiecewiseLinearConstraint *Checker::getCorrespondingDisjunctionConstraint( const List & splits ) +{ + for ( auto &constraint : _problemConstraints ) + { + if ( constraint->getType() != DISJUNCTION ) + continue; + + bool constraintMatched = true; + + // constraintMatched will remain true iff the splits list is the same as the list of disjuncts (up to order) + for ( const auto &split : constraint->getCaseSplits() ) + if ( !splits.exists( split ) ) + constraintMatched = false; + + for ( const auto &split : splits ) + if ( !constraint->getCaseSplits().exists( split ) ) + constraintMatched = false; + + if ( constraintMatched ) + return constraint; + } + return NULL; +} + +double Checker::checkReluLemma( const PLCLemma &expl, PiecewiseLinearConstraint &constraint, double epsilon ) +{ + ASSERT( constraint.getType() == RELU && expl.getConstraintType() == RELU && epsilon > 0 ); + ASSERT( expl.getCausingVars().size() == 1 ); + + unsigned causingVar = expl.getCausingVars().front(); + unsigned affectedVar = expl.getAffectedVar(); + double bound = expl.getBound(); + const List &explanations = expl.getExplanations(); + BoundType causingVarBound = expl.getCausingVarBound(); + BoundType affectedVarBound = expl.getAffectedVarBound(); + ASSERT( explanations.size() == 1 ); + + double explainedBound = UNSATCertificateUtils::computeBound( causingVar, causingVarBound == BoundType::UPPER, explanations.back(), _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); + + List constraintVars = constraint.getParticipatingVariables(); + ASSERT( constraintVars.size() == 3 ); + + Vector conVec( constraintVars.begin(), constraintVars.end() ); + unsigned b = conVec[0]; + unsigned f = conVec[1]; + unsigned aux = conVec[2]; + + // If explanation is phase fixing, mark it + if ( ( affectedVarBound == BoundType::LOWER && affectedVar == f && FloatUtils::isPositive( bound ) ) || ( affectedVarBound == BoundType::UPPER && affectedVar == aux && FloatUtils::isZero( bound ) ) ) + constraint.setPhaseStatus( RELU_PHASE_ACTIVE ); + else if ( ( affectedVarBound == BoundType::LOWER && affectedVar == aux && FloatUtils::isPositive( bound ) ) || ( affectedVarBound == BoundType::UPPER && affectedVar == f && FloatUtils::isZero( bound ) ) ) + constraint.setPhaseStatus( RELU_PHASE_INACTIVE ); + + // Make sure the explanation is explained using a ReLU bound tightening. Cases are matching each rule in ReluConstraint.cpp + // We allow explained bound to be tighter than the ones recorded (since an explanation can explain tighter bounds), and an epsilon sized error is tolerated. + + // If lb of b is non negative, then ub of aux is 0 + if ( causingVar == b && causingVarBound == BoundType::LOWER && affectedVar == aux && affectedVarBound == BoundType::UPPER && !FloatUtils::isNegative( explainedBound + epsilon ) ) + return 0; + + // If lb of f is positive, then ub if aux is 0 + else if ( causingVar == f && causingVarBound == BoundType::LOWER && affectedVar == aux && affectedVarBound == BoundType::UPPER && FloatUtils::isPositive( explainedBound + epsilon ) ) + return 0; + + // If lb of b is negative x, then ub of aux is -x + else if ( causingVar == b && causingVarBound == BoundType::LOWER && affectedVar == aux && affectedVarBound == BoundType::UPPER && FloatUtils::isNegative( explainedBound - epsilon ) ) + return -explainedBound; + + // If lb of aux is positive, then ub of f is 0 + else if ( causingVar == aux && causingVarBound == BoundType::LOWER && affectedVar == f && affectedVarBound == BoundType::UPPER && FloatUtils::isPositive( explainedBound + epsilon ) ) + return 0; + + // If lb of f is negative, then it is 0 + else if ( causingVar == f && causingVarBound == BoundType::LOWER && affectedVar == f && affectedVarBound == BoundType::LOWER && FloatUtils::isNegative( explainedBound - epsilon ) ) + return 0; + + // Propagate ub from f to b + else if ( causingVar == f && causingVarBound == BoundType::UPPER && affectedVar == b && affectedVarBound ==BoundType::UPPER ) + return explainedBound; + + // If ub of b is non positive, then ub of f is 0 + else if ( causingVar == b && causingVarBound == BoundType::UPPER && affectedVar == f && affectedVarBound == BoundType::UPPER && !FloatUtils::isPositive( explainedBound - epsilon ) ) + return 0; + + // If ub of b is non positive x, then lb of aux is -x + else if ( causingVar == b && causingVarBound == BoundType::UPPER && affectedVar == aux && affectedVarBound == BoundType::LOWER && !FloatUtils::isPositive( explainedBound - epsilon ) ) + return -explainedBound; + + // If ub of b is positive, then propagate to f ( positivity of explained bound is not checked since negative explained ub can always explain positive bound ) + else if ( causingVar == b && causingVarBound == BoundType::UPPER && affectedVar == f && affectedVarBound == BoundType::UPPER && FloatUtils::isPositive( explainedBound + epsilon ) ) + return explainedBound; + + // If ub of aux is x, then lb of b is -x + else if ( causingVar == aux && causingVarBound == BoundType::UPPER && affectedVar == b && affectedVarBound == BoundType::LOWER ) + return -explainedBound; + + return affectedVarBound == BoundType::UPPER ? FloatUtils::infinity() : FloatUtils::negativeInfinity(); +} + +double Checker::checkSignLemma( const PLCLemma &expl, PiecewiseLinearConstraint &constraint, double epsilon ) +{ + ASSERT( constraint.getType() == SIGN && expl.getConstraintType() == SIGN && epsilon > 0 ); + ASSERT( expl.getCausingVars().size() == 1 ); + + unsigned causingVar = expl.getCausingVars().front(); + unsigned affectedVar = expl.getAffectedVar(); + double bound = expl.getBound(); + const List &explanations = expl.getExplanations(); + BoundType causingVarBound = expl.getCausingVarBound(); + BoundType affectedVarBound = expl.getAffectedVarBound(); + ASSERT( explanations.size() == 1 ); + + double explainedBound = UNSATCertificateUtils::computeBound( causingVar, causingVarBound == BoundType::UPPER, explanations.front(), _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); + List constraintVars = constraint.getParticipatingVariables(); + ASSERT(constraintVars.size() == 2 ); + + unsigned b = constraintVars.front(); + unsigned f = constraintVars.back(); + + // Any explanation is phase fixing + if ( ( affectedVarBound == BoundType::LOWER && affectedVar == f && FloatUtils::gt( bound, -1 ) ) || ( affectedVarBound == BoundType::LOWER && affectedVar == b && !FloatUtils::isNegative( bound ) ) ) + constraint.setPhaseStatus( SIGN_PHASE_POSITIVE ); + else if ( ( affectedVarBound == BoundType::UPPER && affectedVar == f && FloatUtils::gt( bound, 1 ) ) || ( affectedVarBound == BoundType::UPPER && affectedVar == b && FloatUtils::isNegative( bound ) ) ) + constraint.setPhaseStatus( SIGN_PHASE_NEGATIVE ); + + // Make sure the explanation is explained using a sign bound tightening. Cases are matching each rule in SignConstraint.cpp + // We allow explained bound to be tighter than the ones recorded (since an explanation can explain tighter bounds), and an epsilon sized error is tolerated. + + // If lb of f is > -1, then lb of f is 1 + if ( causingVar == f && causingVarBound == BoundType::LOWER && affectedVar == f && affectedVarBound == BoundType::LOWER && FloatUtils::areEqual( bound, 1 ) && FloatUtils::gte( explainedBound + epsilon, -1 ) ) + return 1; + + // If lb of f is > -1, then lb of b is 0 + else if ( causingVar == f && causingVarBound == BoundType::LOWER && affectedVar == b && affectedVarBound == BoundType::LOWER && FloatUtils::isZero( bound ) && FloatUtils::gte( explainedBound + epsilon, -1 ) ) + return 0; + + // If lb of b is non negative, then lb of f is 1 + else if ( causingVar == b && causingVarBound == BoundType::LOWER && affectedVar == f && affectedVarBound == BoundType::LOWER && FloatUtils::areEqual( bound, 1 ) && !FloatUtils::isNegative( explainedBound + epsilon ) ) + return 1; + + // If ub of f is < 1, then ub of f is -1 + else if ( causingVar == f && causingVarBound == BoundType::UPPER && affectedVar == f && affectedVarBound == BoundType::UPPER && FloatUtils::areEqual( bound, -1 ) && FloatUtils::lte( explainedBound - epsilon, 1 ) ) + return -1; + + // If ub of f is < 1, then ub of b is 0 + else if ( causingVar == f && causingVarBound == BoundType::UPPER && affectedVar == b && affectedVarBound == BoundType::UPPER && FloatUtils::isZero( bound ) && FloatUtils::lte( explainedBound - epsilon, 1 ) ) + return 0; + + // If ub of b is negative, then ub of f is -1 + else if ( causingVar == b && causingVarBound == BoundType::UPPER && affectedVar == f && affectedVarBound == BoundType::UPPER && FloatUtils::areEqual( bound, -1 ) && FloatUtils::isNegative( explainedBound - epsilon ) ) + return -1; + + return affectedVarBound == BoundType::UPPER ? FloatUtils::infinity() : FloatUtils::negativeInfinity(); +} + +double Checker::checkAbsLemma( const PLCLemma &expl, PiecewiseLinearConstraint &constraint, double epsilon ) +{ + ASSERT( constraint.getType() == ABSOLUTE_VALUE && expl.getConstraintType() == ABSOLUTE_VALUE ); + ASSERT( expl.getCausingVars().size() == 2 || expl.getCausingVars().size() == 1 ); + + BoundType causingVarBound = expl.getCausingVarBound(); + BoundType affectedVarBound = expl.getAffectedVarBound(); + unsigned affectedVar = expl.getAffectedVar(); + double bound = expl.getBound(); + List constraintVars = constraint.getParticipatingVariables(); + ASSERT(constraintVars.size() == 4 ); + + Vector conVec( constraintVars.begin(), constraintVars.end() ); + unsigned b = conVec[0]; + unsigned f = conVec[1]; + unsigned pos = conVec[2]; + unsigned neg = conVec[3]; + + // Make sure the explanation is explained using an absolute value bound tightening. Cases are matching each rule in AbsolutValueConstraint.cpp + // We allow explained bound to be tighter than the ones recorded (since an explanation can explain tighter bounds) + + if ( expl.getCausingVars().size() == 2 ) + { + unsigned firstCausingVar = expl.getCausingVars().front(); + unsigned secondCausingVar = expl.getCausingVars().back(); + + const SparseUnsortedList &firstExplanation = expl.getExplanations().front(); + const SparseUnsortedList &secondExplanation = expl.getExplanations().back(); + + // Case of a non phase-fixing lemma + if ( firstCausingVar == secondCausingVar ) + { + double explainedUpperBound = UNSATCertificateUtils::computeBound( firstCausingVar, BoundType::UPPER, firstExplanation, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); + double explainedLowerBound = UNSATCertificateUtils::computeBound( secondCausingVar, BoundType::LOWER, secondExplanation, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); + + // b is always the causing var, affecting the ub of f + if ( affectedVar == f && firstCausingVar == b && affectedVarBound == BoundType::UPPER && bound > 0 ) + return FloatUtils::max( explainedUpperBound, -explainedLowerBound ); + + return affectedVarBound == BoundType::UPPER ? FloatUtils::infinity() : FloatUtils::negativeInfinity(); + } + // Cases of a phase-fixing lemma + else + { + ASSERT( firstCausingVar == b && secondCausingVar == f ); + double explainedBBound = UNSATCertificateUtils::computeBound( firstCausingVar, causingVarBound == BoundType::UPPER, firstExplanation, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); + double explainedFBound = UNSATCertificateUtils::computeBound( secondCausingVar, BoundType::LOWER, secondExplanation, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); + + if ( affectedVar == neg && causingVarBound == BoundType::UPPER && explainedFBound > explainedBBound - epsilon && bound == 0 ) + { + constraint.setPhaseStatus( ABS_PHASE_NEGATIVE ); + return 0; + } + else if ( affectedVar == pos && causingVarBound == BoundType::LOWER && explainedFBound > -explainedBBound - epsilon && bound == 0 ) + { + constraint.setPhaseStatus( ABS_PHASE_POSITIVE ); + return 0; + } + + return affectedVarBound == BoundType::UPPER ? FloatUtils::infinity() : FloatUtils::negativeInfinity(); + } + } + + // Cases of a phase-fixing lemma + const List &explanation = expl.getExplanations(); + unsigned causingVar = expl.getCausingVars().front(); + + double explainedBound = UNSATCertificateUtils::computeBound( causingVar, causingVarBound == BoundType::UPPER, explanation.front(), _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); + + if ( affectedVar == pos && causingVar == b && causingVarBound == BoundType::LOWER && !FloatUtils::isNegative( explainedBound + epsilon ) && bound == 0 ) + { + constraint.setPhaseStatus( ABS_PHASE_POSITIVE ); + return 0; + } + else if ( affectedVar == neg && causingVar == b && causingVarBound == BoundType::UPPER && !FloatUtils::isPositive( explainedBound - epsilon ) && bound == 0 ) + { + constraint.setPhaseStatus( ABS_PHASE_NEGATIVE ); + return 0; + } + else if ( affectedVar == neg && causingVar == pos && causingVarBound == BoundType::LOWER && FloatUtils::isPositive( explainedBound + epsilon ) && bound == 0 ) + { + constraint.setPhaseStatus( ABS_PHASE_NEGATIVE ); + return 0; + } + else if ( affectedVar == pos && causingVar == neg && causingVarBound == BoundType::LOWER && FloatUtils::isPositive( explainedBound + epsilon ) && bound == 0 ) + { + constraint.setPhaseStatus( ABS_PHASE_POSITIVE ); + return 0; + } + + return affectedVarBound == BoundType::UPPER ? FloatUtils::infinity() : FloatUtils::negativeInfinity(); +} + +double Checker::checkMaxLemma( const PLCLemma &expl, PiecewiseLinearConstraint &constraint ) +{ + ASSERT( constraint.getType() == MAX && expl.getConstraintType() == MAX ); + MaxConstraint *maxConstraint = ( MaxConstraint * ) &constraint; + + double maxBound = maxConstraint->getMaxValueOfEliminatedPhases(); + const List causingVars = expl.getCausingVars(); + unsigned affectedVar = expl.getAffectedVar(); + const List &allExplanations = expl.getExplanations(); + BoundType causingVarBound = expl.getCausingVarBound(); + BoundType affectedVarBound = expl.getAffectedVarBound(); + double explainedBound = affectedVarBound == BoundType::UPPER ? FloatUtils::infinity() : FloatUtils::negativeInfinity(); + + unsigned f = maxConstraint->getF(); + + Set constraintElements = maxConstraint->getParticipatingElements(); + for( const auto &var : causingVars ) + if ( !constraintElements.exists( var ) ) + return explainedBound; + + + // Only tightening type is of the form f = element, for some element with the maximal upper bound + unsigned counter = 0; + + Vector causingVarsVec = Vector( 0 ); + for( const auto &var : causingVars ) + causingVarsVec.append( var ); + + for( const auto &explanation : allExplanations ) + { + explainedBound = UNSATCertificateUtils::computeBound( causingVarsVec[counter], BoundType::UPPER, explanation, _initialTableau, _groundUpperBounds.data(), _groundLowerBounds.data(), _groundUpperBounds.size() ); + maxBound = FloatUtils::max( maxBound, explainedBound ); + ++counter; + } + + if ( causingVarBound == BoundType::UPPER && affectedVar == f && affectedVarBound == BoundType::UPPER ) + return maxBound; + + return affectedVarBound == BoundType::UPPER ? FloatUtils::infinity() : FloatUtils::negativeInfinity(); +} \ No newline at end of file diff --git a/src/proofs/Checker.h b/src/proofs/Checker.h index 530b2ac574..abfd704593 100644 --- a/src/proofs/Checker.h +++ b/src/proofs/Checker.h @@ -15,6 +15,9 @@ #ifndef __Checker_h__ #define __Checker_h__ +#include "AbsoluteValueConstraint.h" +#include "DisjunctionConstraint.h" +#include "MaxConstraint.h" #include "Set.h" #include "Stack.h" #include "UnsatCertificateNode.h" @@ -53,21 +56,40 @@ class Checker unsigned _delegationCounter; - // Keeps track of bounds changes, so only stored bounds will be reverted when traveling the tree + // Keeps track of bounds changes, so only stored bounds will be reverted when traversing the tree Stack> _upperBoundChanges; Stack> _lowerBoundChanges; - /* Checks a node in the certificate tree */ bool checkNode( const UnsatCertificateNode *node ); /* - Return true iff the changes in the ground bounds are certified, with tolerance to errors with at most size epsilon + Return true iff all changes in the ground bounds are certified, with tolerance to errors with at most size epsilon */ bool checkAllPLCExplanations( const UnsatCertificateNode *node, double epsilon ); + /* + Return a change in the ground bounds caused by a ReLU constraint. + */ + double checkReluLemma( const PLCLemma &expl, PiecewiseLinearConstraint &constraint, double epsilon ); + + /* + Return a change in the ground bounds caused by a Sign constraint. + */ + double checkSignLemma( const PLCLemma &expl, PiecewiseLinearConstraint &constraint, double epsilon ); + + /* + Return a change in the ground bounds caused by a Absolute Value constraint. + */ + double checkAbsLemma( const PLCLemma &expl, PiecewiseLinearConstraint &constraint, double epsilon ); + + /* + Return a change in the ground bounds caused by a Max constraint. + */ + double checkMaxLemma( const PLCLemma &expl, PiecewiseLinearConstraint &constraint ); + /* Checks a contradiction */ @@ -76,7 +98,7 @@ class Checker /* Computes a bound according to an explanation */ - double explainBound( unsigned var, bool isUpper, const double *explanation ) const; + double explainBound( unsigned var, bool isUpper, const SparseUnsortedList &explanation ) const; /* Write the data marked to delegate to a smtlib file format @@ -86,12 +108,42 @@ class Checker /* Return a pointer to the problem constraint representing the split */ - PiecewiseLinearConstraint *getCorrespondingReLUConstraint( const List &splits ); + PiecewiseLinearConstraint *getCorrespondingConstraint( const List &splits ); + + /* + Return a pointer to a ReLU problem constraint representing the split + */ + PiecewiseLinearConstraint *getCorrespondingReluConstraint( const List &splits ); + + /* + Return a pointer to a sign problem constraint representing the split + */ + PiecewiseLinearConstraint *getCorrespondingSignConstraint( const List &splits ); + + /* + Return a pointer to a absolute value problem constraint representing the split + */ + PiecewiseLinearConstraint *getCorrespondingAbsConstraint( const List &splits ); + + /* + Return a pointer to a max problem constraint representing the split + */ + PiecewiseLinearConstraint *getCorrespondingMaxConstraint( const List &splits ); + + /* + Return a pointer to a disjunction problem constraint representing the split + */ + PiecewiseLinearConstraint *getCorrespondingDisjunctionConstraint( const List &splits ); /* Return true iff a list of splits represents a splits over a single variable */ bool checkSingleVarSplits( const List &splits ); + + /* + Fix phase of the child split + */ + void fixChildSplitPhase( UnsatCertificateNode *child, PiecewiseLinearConstraint *childrenSplitConstraint ); }; #endif //__Checker_h__ \ No newline at end of file diff --git a/src/proofs/Contradiction.cpp b/src/proofs/Contradiction.cpp index 609291c416..dee6b1f029 100644 --- a/src/proofs/Contradiction.cpp +++ b/src/proofs/Contradiction.cpp @@ -17,27 +17,21 @@ Contradiction::Contradiction( const Vector &contradiction ) { if ( contradiction.empty() ) - _contradiction = NULL; + _contradiction.initializeToEmpty(); else - { - _contradiction = new double[contradiction.size()]; - std::copy( contradiction.begin(), contradiction.end(), _contradiction ); - } + _contradiction.initialize( contradiction.data(), contradiction.size() ); } Contradiction::Contradiction( unsigned var ) : _var( var ) - , _contradiction( NULL ) + , _contradiction( ) { } Contradiction::~Contradiction() { - if ( _contradiction ) - { - delete [] _contradiction; - _contradiction = NULL; - } + if ( !_contradiction.empty() ) + _contradiction.clear(); } unsigned Contradiction::getVar() const @@ -45,7 +39,7 @@ unsigned Contradiction::getVar() const return _var; } -const double *Contradiction::getContradiction() const +const SparseUnsortedList &Contradiction::getContradiction() const { return _contradiction; } diff --git a/src/proofs/Contradiction.h b/src/proofs/Contradiction.h index 209cffa82e..462b059fed 100644 --- a/src/proofs/Contradiction.h +++ b/src/proofs/Contradiction.h @@ -15,6 +15,7 @@ #ifndef __Contradiction_h__ #define __Contradiction_h__ +#include "SparseUnsortedList.h" #include "Vector.h" /* @@ -32,11 +33,11 @@ class Contradiction Getters for all fields */ unsigned getVar() const; - const double *getContradiction() const; + const SparseUnsortedList &getContradiction() const; private: unsigned _var; - double *_contradiction; + SparseUnsortedList _contradiction; }; #endif //__Contradiction_h__ diff --git a/src/proofs/PlcExplanation.cpp b/src/proofs/PlcExplanation.cpp deleted file mode 100644 index 69a46f3dd2..0000000000 --- a/src/proofs/PlcExplanation.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/********************* */ -/*! \file PlcExplanation.cpp - ** \verbatim - ** Top contributors (to current version): - ** Omri Isac, Guy Katz - ** This file is part of the Marabou project. - ** Copyright (c) 2017-2022 by the authors listed in the file AUTHORS - ** in the top-level source directory) and their institutional affiliations. - ** All rights reserved. See the file COPYING in the top-level source - ** directory for licensing information.\endverbatim - ** - ** [[ Add lengthier description here ]] - **/ - -#include "PlcExplanation.h" - -PLCExplanation::PLCExplanation( unsigned causingVar, - unsigned affectedVar, - double bound, - BoundType causingVarBound, - BoundType affectedVarBound, - const Vector &explanation, - PiecewiseLinearFunctionType constraintType ) - : _causingVar( causingVar ) - , _affectedVar( affectedVar ) - , _bound( bound ) - , _causingVarBound( causingVarBound ) - , _affectedVarBound( affectedVarBound ) - , _constraintType( constraintType ) -{ - if ( explanation.empty() ) - _explanation = NULL; - else - { - _explanation = new double[explanation.size()]; - std::copy( explanation.begin(), explanation.end(), _explanation ); - } -} - -PLCExplanation::~PLCExplanation() -{ - if ( _explanation ) - { - delete [] _explanation; - _explanation = NULL; - } -} - -unsigned PLCExplanation::getCausingVar() const -{ - return _causingVar; -} - -unsigned PLCExplanation::getAffectedVar() const -{ - return _affectedVar; -} - -double PLCExplanation::getBound() const -{ - return _bound; -} - -BoundType PLCExplanation::getCausingVarBound() const -{ - return _causingVarBound; -} - -BoundType PLCExplanation::getAffectedVarBound() const -{ - return _affectedVarBound; -} - -const double *PLCExplanation::getExplanation() const -{ - return _explanation; -} - -PiecewiseLinearFunctionType PLCExplanation::getConstraintType() const -{ - return _constraintType; -} diff --git a/src/proofs/PlcLemma.cpp b/src/proofs/PlcLemma.cpp new file mode 100644 index 0000000000..2ec300fbdd --- /dev/null +++ b/src/proofs/PlcLemma.cpp @@ -0,0 +1,114 @@ +/********************* */ +/*! \file PlcExplanation.cpp + ** \verbatim + ** Top contributors (to current version): + ** Omri Isac, Guy Katz + ** This file is part of the Marabou project. + ** Copyright (c) 2017-2022 by the authors listed in the file AUTHORS + ** in the top-level source directory) and their institutional affiliations. + ** All rights reserved. See the file COPYING in the top-level source + ** directory for licensing information.\endverbatim + ** + ** [[ Add lengthier description here ]] + **/ + +#include "PlcLemma.h" + +PLCLemma::PLCLemma( const List &causingVars, + unsigned affectedVar, + double bound, + BoundType causingVarBound, + BoundType affectedVarBound, + const Vector> &explanations, + PiecewiseLinearFunctionType constraintType ) + : _causingVars( causingVars ) + , _affectedVar( affectedVar ) + , _bound( bound ) + , _causingVarBound( causingVarBound ) + , _affectedVarBound( affectedVarBound ) + , _constraintType( constraintType ) +{ + if ( explanations.empty() ) + _explanations = List(); + else + { + ASSERT( causingVars.size() == explanations.size() ); + + bool allEmpty = true; + unsigned proofSize = 0; + + for ( const auto &expl : explanations ) + if ( !expl.empty() ) + { + proofSize = expl.size(); + allEmpty = false; + break; + } + + if ( allEmpty ) + _explanations = List(); + else + { + unsigned numOfExplanations = explanations.size(); + + ASSERT( numOfExplanations == causingVars.size() && proofSize ); + + if ( _constraintType == RELU || _constraintType == SIGN ) + ASSERT( numOfExplanations == 1 ); + + if ( _constraintType == ABSOLUTE_VALUE ) + ASSERT( numOfExplanations == 2 || numOfExplanations == 1 ); + + _explanations = List(); + + for ( unsigned i = 0; i < numOfExplanations; ++i ) + { + SparseUnsortedList expl = SparseUnsortedList(); + expl.initialize( explanations[i].data(), proofSize ); + _explanations.append( expl ); + } + } + } +} + +PLCLemma::~PLCLemma() +{ + if ( !_explanations.empty() ) + for ( auto &expl : _explanations ) + expl.clear(); +} + +const List &PLCLemma::getCausingVars() const +{ + return _causingVars; +} + +unsigned PLCLemma::getAffectedVar() const +{ + return _affectedVar; +} + +double PLCLemma::getBound() const +{ + return _bound; +} + +BoundType PLCLemma::getCausingVarBound() const +{ + return _causingVarBound; +} + +BoundType PLCLemma::getAffectedVarBound() const +{ + return _affectedVarBound; +} + +const List &PLCLemma::getExplanations() const +{ + return _explanations; +} + +PiecewiseLinearFunctionType PLCLemma::getConstraintType() const +{ + return _constraintType; +} diff --git a/src/proofs/PlcExplanation.h b/src/proofs/PlcLemma.h similarity index 69% rename from src/proofs/PlcExplanation.h rename to src/proofs/PlcLemma.h index c68c6fa7d2..1e2567eeb5 100644 --- a/src/proofs/PlcExplanation.h +++ b/src/proofs/PlcLemma.h @@ -17,43 +17,43 @@ #include "PiecewiseLinearConstraint.h" #include "PiecewiseLinearFunctionType.h" +#include "SparseUnsortedList.h" #include "Vector.h" /* Contains all necessary info of a ground bound update during a run (i.e from ReLU phase-fixing) */ -class PLCExplanation +class PLCLemma { public: - PLCExplanation( unsigned causingVar, - unsigned affectedVar, - double bound, - BoundType causingVarBound, - BoundType affectedVarBound, - const Vector &explanation, - PiecewiseLinearFunctionType constraintType ); - - ~PLCExplanation(); + PLCLemma( const List &causingVars, + unsigned affectedVar, + double bound, + BoundType causingVarBound, + BoundType affectedVarBound, + const Vector> &explanation, + PiecewiseLinearFunctionType constraintType ); + ~PLCLemma(); /* Getters for all fields */ - unsigned getCausingVar() const; + const List &getCausingVars() const; unsigned getAffectedVar() const; double getBound() const; BoundType getCausingVarBound() const; BoundType getAffectedVarBound() const; - const double *getExplanation() const; + const List &getExplanations() const; PiecewiseLinearFunctionType getConstraintType() const; private: - unsigned _causingVar; + const List _causingVars; unsigned _affectedVar; double _bound; BoundType _causingVarBound; BoundType _affectedVarBound; - double *_explanation; + List _explanations; PiecewiseLinearFunctionType _constraintType; }; diff --git a/src/proofs/SmtLibWriter.cpp b/src/proofs/SmtLibWriter.cpp index 0977563995..2a40786fe2 100644 --- a/src/proofs/SmtLibWriter.cpp +++ b/src/proofs/SmtLibWriter.cpp @@ -15,6 +15,8 @@ #include #include "SmtLibWriter.h" +const unsigned SmtLibWriter::SMTLIBWRITER_PRECISION = ( unsigned ) std::log10( 1 / GlobalConfiguration::DEFAULT_EPSILON_FOR_COMPARISONS ); + void SmtLibWriter::addHeader( unsigned numberOfVariables, List &instance ) { instance.append( "( set-logic QF_LRA )\n" ); @@ -31,16 +33,144 @@ void SmtLibWriter::addFooter( List &instance ) void SmtLibWriter::addReLUConstraint( unsigned b, unsigned f, const PhaseStatus status, List &instance ) { if ( status == PHASE_NOT_FIXED ) - instance.append( "( assert ( = x" + std::to_string( f ) + " ( ite ( >= x" + std::to_string( b ) + " 0 ) x" + std::to_string( b )+ " 0 ) ) )\n" ); + instance.append( "( assert ( = x" + std::to_string( f ) + " ( ite ( >= x" + std::to_string( b ) + " 0 ) x" + std::to_string( b ) + " 0 ) ) )\n" ); else if ( status == RELU_PHASE_ACTIVE ) instance.append( "( assert ( = x" + std::to_string( f ) + " x" + std::to_string( b ) + " ) )\n" ); else if ( status == RELU_PHASE_INACTIVE ) instance.append( "( assert ( = x" + std::to_string( f ) + " 0 ) )\n" ); } +void SmtLibWriter::addSignConstraint( unsigned b, unsigned f, const PhaseStatus status, List &instance ) +{ + if ( status == PHASE_NOT_FIXED ) + instance.append( "( assert ( = x" + std::to_string( f ) + " ( ite ( >= x" + std::to_string( b ) + " 0 ) 1 ( - 1 ) ) ) )\n" ); + else if ( status == SIGN_PHASE_POSITIVE ) + instance.append( "( assert ( = x" + std::to_string( f ) + " 1 ) )\n" ); + else if ( status == SIGN_PHASE_NEGATIVE ) + instance.append( "( assert ( = x" + std::to_string( f ) + " ( - 1 ) ) )\n" ); +} + +void SmtLibWriter::addAbsConstraint( unsigned b, unsigned f, const PhaseStatus status, List &instance ) +{ + if ( status == PHASE_NOT_FIXED ) + instance.append( "( assert ( = x" + std::to_string( f ) + " ( ite ( >= x" + std::to_string( b ) + " 0 ) x" + std::to_string( b ) + " ( - x" + std::to_string( b ) + " ) ) ) )\n" ); + else if ( status == ABS_PHASE_POSITIVE ) + instance.append( "( assert ( = x" + std::to_string( f ) + " x" + std::to_string( b ) + " ) )\n" ); + else if ( status == ABS_PHASE_NEGATIVE ) + instance.append( "( assert ( = x" + std::to_string( f ) + " ( - x" + std::to_string( b ) + " ) ) )\n" ); +} + +void SmtLibWriter::addMaxConstraint( unsigned f, const Set &elements, const PhaseStatus status, double maxVal ,List &instance ) +{ + String assertRowLine; + unsigned counter; + unsigned size = elements.size(); + + // f equals to some value (the value of maxVal) + if ( status == MAX_PHASE_ELIMINATED ) + instance.append( String ( "( assert ( = x" + std::to_string( f ) + " " ) + signedValue( maxVal ) + " ) )\n" ); + + // f equals to some element (maxVal is an index) + else if ( status != PHASE_NOT_FIXED ) + instance.append( "( assert ( = x" + std::to_string( f ) + " x" + std::to_string( ( unsigned ) maxVal ) + " ) )\n" ); + + else + { + // For all elements (including eliminated), if an element is larger than all others, then f = element + for ( const auto &element : elements ) + { + counter = 0; + assertRowLine = "( assert ( =>"; + for ( auto const &otherElement : elements ) + { + if ( otherElement == element ) + continue; + + if ( counter < size - 2 ) + { + assertRowLine += " ( and"; + ++counter; + } + + assertRowLine += " ( >= x" + std::to_string( element ) + " x" + std::to_string( otherElement ) + " )"; + } + + for ( unsigned i = 0; i < size - 2 ; ++i ) + assertRowLine += String( " )" ); + + assertRowLine += " ( = x" + std::to_string( f ) + " x" + std::to_string( element ) + " )"; + + instance.append( assertRowLine + " ) )\n" ); + } + } +} + +void SmtLibWriter::addDisjunctionConstraint( const List &disjuncts, List &instance ) +{ + ASSERT( !disjuncts.empty() ); + + unsigned size; + instance.append( "( assert\n"); + + for ( const auto &disjunct : disjuncts ) + { + if ( !( disjunct == disjuncts.back() ) ) + instance.append("( or\n"); + + size = disjunct.getEquations().size() + disjunct.getBoundTightenings().size(); + ASSERT( size ) + // If disjucnt is a single equation or a single tightening, simply add them + if ( size == 1 && disjunct.getEquations().size() == 1 ) + SmtLibWriter::addEquation( disjunct.getEquations().back(), instance ); + else if ( size == 1 && disjunct.getBoundTightenings().size() == 1 ) + SmtLibWriter::addTightening( disjunct.getBoundTightenings().back(), instance ); + else + { + // Otherwise, add the conjunction of the equations and\or tightenings + unsigned counter = 0; + + for ( const auto &eq : disjunct.getEquations() ) + { + if ( counter < size - 1 ) + instance.append( "( and "); + ++counter; + SmtLibWriter::addEquation( eq, instance ); + } + + for ( const auto &bound : disjunct.getBoundTightenings() ) + { + if ( counter < size - 1 ) + instance.append( "( and "); + ++counter; + + SmtLibWriter::addTightening( bound, instance ); + } + } + + for ( unsigned i = 0; i < size - 1; ++i ) + instance.append( " )" ); + instance.append("\n" ); + } + + size = disjuncts.size(); + for ( unsigned i = 0; i < size; ++i ) + instance.append( String( " )" ) ); + + instance.append("\n" ); + +} void SmtLibWriter::addTableauRow( const SparseUnsortedList &row, List &instance ) { unsigned size = row.getSize(); + + // Avoid adding a redundant last element + auto it = --row.end(); + if ( std::isnan( it->_value ) || FloatUtils::isZero( it->_value ) ) + --size; + + if ( !size ) + return; + unsigned counter = 0; String assertRowLine = "( assert ( = 0"; auto entry = row.begin(); @@ -50,17 +180,23 @@ void SmtLibWriter::addTableauRow( const SparseUnsortedList &row, List &i if ( FloatUtils::isZero( entry->_value ) ) continue; - if ( counter == size - 1 ) - break; + if ( counter != size - 1 ) + assertRowLine += String( " ( + " ); + else + assertRowLine += String( " " ); + + // Coefficients +-1 can be dropped + if ( entry->_value == 1 ) + assertRowLine += String( "x" ) + std::to_string( entry->_index ); + else if (entry->_value == -1 ) + assertRowLine += String( "( - x" ) + std::to_string( entry->_index ) + " )"; + else + assertRowLine += String( "( * " ) + signedValue( entry->_value ) + " x" + std::to_string( entry->_index ) + " )"; - assertRowLine += String( " ( + ( * " ) + signedValue( entry->_value ) + " x" + std::to_string( entry->_index ) + " )"; ++counter; } - // Add last element - assertRowLine += String( " ( * " ) + signedValue( entry->_value ) + " x" + std::to_string( entry->_index ) + " )"; - - for ( unsigned i = 0; i < counter + 2 ; ++i ) + for ( unsigned i = 0; i < counter + 1 ; ++i ) assertRowLine += String( " )" ); instance.append( assertRowLine + "\n" ); @@ -92,8 +228,65 @@ void SmtLibWriter::writeInstanceToFile( IFile &file, const List &instanc String SmtLibWriter::signedValue( double val ) { - unsigned precision = ( unsigned ) std::log10( 1 / GlobalConfiguration::DEFAULT_EPSILON_FOR_COMPARISONS ); std::stringstream s; - s << std::fixed << std::setprecision( precision ) << abs( val ); + s << std::fixed << std::setprecision( SMTLIBWRITER_PRECISION ) << abs( val ); return val >= 0 ? String( s.str() ).trimZerosFromRight() : String( "( - " + s.str() ).trimZerosFromRight() + " )"; +} + +void SmtLibWriter::addEquation( const Equation &eq, List &instance ) +{ + unsigned size = eq._addends.size(); + + if ( !size ) + return; + + unsigned counter = 0; + + String assertRowLine = ""; + + if ( eq._type == Equation::EQ ) + assertRowLine += "( = "; + else if ( eq._type == Equation::LE ) + // Scalar should be >= than sum of addends + assertRowLine += "( >= "; + else + // Scalar should be <= than sum of addends + assertRowLine += "( <= "; + + assertRowLine += signedValue( eq._scalar ); + + for ( const auto &addend : eq._addends ) + { + if ( FloatUtils::isZero( addend._coefficient ) ) + continue; + + if ( !( addend == eq._addends.back() ) ) + assertRowLine += String( " ( + " ); + else + assertRowLine += String( " " ); + + + // Coefficients +-1 can be dropped + if ( addend._coefficient == 1 ) + assertRowLine += String( "x" ) + std::to_string( addend._variable ); + else if (addend._coefficient == -1 ) + assertRowLine += String( "( - x" ) + std::to_string( addend._variable ) + " )"; + else + assertRowLine += String( "( * " ) + signedValue( addend._coefficient ) + " x" + std::to_string( addend._variable ) + " )"; + + ++counter; + } + + for ( unsigned i = 0; i < counter ; ++i ) + assertRowLine += String( " )" ); + + instance.append( assertRowLine + " "); +} + +void SmtLibWriter::addTightening( Tightening bound, List &instance ) +{ + if ( bound._type == Tightening::LB ) + instance.append( String( "( >= x" ) + std::to_string( bound._variable ) + " " + signedValue( bound._value ) + " )" ); + else + instance.append( String( "( <= x" + std::to_string( bound._variable ) ) + String( " " ) + signedValue( bound._value ) + " )" ); } \ No newline at end of file diff --git a/src/proofs/SmtLibWriter.h b/src/proofs/SmtLibWriter.h index c9800296fe..cb37bf559e 100644 --- a/src/proofs/SmtLibWriter.h +++ b/src/proofs/SmtLibWriter.h @@ -28,6 +28,11 @@ class SmtLibWriter { public: + /* + Precision used for writing floating point numbers + */ + static const unsigned SMTLIBWRITER_PRECISION; + /* Adds a SMTLIB header to the SMTLIB instance with numberOfVariables variables */ @@ -39,15 +44,40 @@ class SmtLibWriter static void addFooter( List &instance ); /* - Adds a line representing ReLU constraint, in SMTLIB format, to the SMTLIB instance + Adds a line representing a ReLU constraint, in SMTLIB format, to the SMTLIB instance */ static void addReLUConstraint( unsigned b, unsigned f, const PhaseStatus status, List &instance ); + /* + Adds a line representing a sign constraint, in SMTLIB format, to the SMTLIB instance + */ + static void addSignConstraint( unsigned b, unsigned f, const PhaseStatus status, List &instance ); + + /* + Adds a line representing an absolute value constraint, in SMTLIB format, to the SMTLIB instance + */ + static void addAbsConstraint( unsigned b, unsigned f, const PhaseStatus status, List &instance ); + + /* + Adds a line representing a max constraint, in SMTLIB format, to the SMTLIB instance + */ + static void addMaxConstraint( unsigned f, const Set &elements, const PhaseStatus status, double maxVal, List &instance ); + + /* + Adds a line representing a disjunction constraint, in SMTLIB format, to the SMTLIB instance + */ + static void addDisjunctionConstraint( const List &disjuncts, List &instance ); + /* Adds a line representing a Tableau Row, in SMTLIB format, to the SMTLIB instance */ static void addTableauRow( const SparseUnsortedList &row, List &instance ); + /* + Adds a line representing an equation , in SMTLIB format, to the SMTLIB instance + */ + static void addEquation( const Equation &eq, List &instance ); + /* Adds lines representing the ground upper bounds, in SMTLIB format, to the SMTLIB instance */ @@ -58,6 +88,11 @@ class SmtLibWriter */ static void addGroundLowerBounds( Vector &bounds, List &instance ); + /* + Adds lines representing a tightening, in SMTLIB format, to the SMTLIB instance + */ + static void addTightening( Tightening t, List &instance ); + /* Writes an instances to a file */ diff --git a/src/proofs/UnsatCertificateNode.cpp b/src/proofs/UnsatCertificateNode.cpp index bcd64045b7..9f47a7524e 100644 --- a/src/proofs/UnsatCertificateNode.cpp +++ b/src/proofs/UnsatCertificateNode.cpp @@ -75,12 +75,12 @@ const List &UnsatCertificateNode::getChildren() const return _children; } -const List> &UnsatCertificateNode::getPLCExplanations() const +const List> &UnsatCertificateNode::getPLCLemmas() const { return _PLCExplanations; } -void UnsatCertificateNode::addPLCExplanation( std::shared_ptr &explanation ) +void UnsatCertificateNode::addPLCLemma( std::shared_ptr &explanation ) { _PLCExplanations.append( explanation ); } diff --git a/src/proofs/UnsatCertificateNode.h b/src/proofs/UnsatCertificateNode.h index d4aeb8a301..aad65c81a2 100644 --- a/src/proofs/UnsatCertificateNode.h +++ b/src/proofs/UnsatCertificateNode.h @@ -17,10 +17,10 @@ #include "BoundExplainer.h" #include "Contradiction.h" -#include "SmtLibWriter.h" #include "PiecewiseLinearFunctionType.h" -#include "PlcExplanation.h" +#include "PlcLemma.h" #include "ReluConstraint.h" +#include "SmtLibWriter.h" #include "UnsatCertificateUtils.h" enum DelegationStatus : unsigned @@ -65,14 +65,14 @@ class UnsatCertificateNode const List &getChildren() const; /* - Returns the list of PLC explanations of the node + Returns the list of PLC lemmas of the node */ - const List> &getPLCExplanations() const; + const List> &getPLCLemmas() const; /* Adds an PLC explanation to the list */ - void addPLCExplanation( std::shared_ptr &explanation ); + void addPLCLemma( std::shared_ptr &explanation ); /* Returns a pointer to a child by a head split, or NULL if not found @@ -132,7 +132,7 @@ class UnsatCertificateNode private: List _children; UnsatCertificateNode *_parent; - List> _PLCExplanations; + List> _PLCExplanations; Contradiction *_contradiction; PiecewiseLinearCaseSplit _headSplit; diff --git a/src/proofs/UnsatCertificateUtils.cpp b/src/proofs/UnsatCertificateUtils.cpp index fb70187279..6b43469afe 100644 --- a/src/proofs/UnsatCertificateUtils.cpp +++ b/src/proofs/UnsatCertificateUtils.cpp @@ -16,11 +16,10 @@ double UNSATCertificateUtils::computeBound( unsigned var, bool isUpper, - const double *explanation, + const SparseUnsortedList &explanation, const SparseMatrix *initialTableau, const double *groundUpperBounds, const double *groundLowerBounds, - unsigned numberOfRows, unsigned numberOfVariables ) { ASSERT( var < numberOfVariables ); @@ -28,12 +27,24 @@ double UNSATCertificateUtils::computeBound( unsigned var, double derivedBound = 0; double temp; - if ( !explanation ) - return isUpper ? groundUpperBounds[var] : groundLowerBounds[var]; + if ( explanation.empty() ) + return isUpper ? groundUpperBounds[var] : groundLowerBounds[var]; + + bool allZeros = true; + + for ( const auto &entry : explanation ) + if ( !FloatUtils::isZero( entry._value ) ) + { + allZeros = false; + break; + } + + if ( allZeros ) + return isUpper ? groundUpperBounds[var] : groundLowerBounds[var]; Vector explanationRowCombination( numberOfVariables, 0 ); // Create linear combination of original rows implied from explanation - UNSATCertificateUtils::getExplanationRowCombination( var, explanation, explanationRowCombination, initialTableau, numberOfRows, numberOfVariables ); + UNSATCertificateUtils::getExplanationRowCombination( var, explanation, explanationRowCombination, initialTableau, numberOfVariables ); // Set the bound derived from the linear combination, using original bounds. for ( unsigned i = 0; i < numberOfVariables; ++i ) @@ -55,27 +66,26 @@ double UNSATCertificateUtils::computeBound( unsigned var, } void UNSATCertificateUtils::getExplanationRowCombination( unsigned var, - const double *explanation, + const SparseUnsortedList &explanation, Vector &explanationRowCombination, const SparseMatrix *initialTableau, - unsigned numberOfRows, unsigned numberOfVariables ) { - ASSERT( explanation != NULL ); + ASSERT( !explanation.empty() ); SparseUnsortedList tableauRow( numberOfVariables ); explanationRowCombination = Vector ( numberOfVariables, 0 ); - for ( unsigned i = 0; i < numberOfRows; ++i ) + for ( const auto &entry : explanation ) { - if ( FloatUtils::isZero( explanation[i] ) ) + if ( FloatUtils::isZero( entry._value ) ) continue; - initialTableau->getRow( i, &tableauRow ); - for ( auto entry : tableauRow ) + initialTableau->getRow( entry._index, &tableauRow ); + for ( const auto &tableauEntry : tableauRow ) { - if ( !FloatUtils::isZero( entry._value ) ) - explanationRowCombination[entry._index] += entry._value * explanation[i]; + if ( !FloatUtils::isZero( tableauEntry._value ) ) + explanationRowCombination[tableauEntry._index] += entry._value * tableauEntry._value; } } @@ -90,28 +100,27 @@ void UNSATCertificateUtils::getExplanationRowCombination( unsigned var, ++explanationRowCombination[var]; } -double UNSATCertificateUtils::computeCombinationUpperBound( const double *explanation, +double UNSATCertificateUtils::computeCombinationUpperBound( const SparseUnsortedList &explanation, const SparseMatrix *initialTableau, const double *groundUpperBounds, const double *groundLowerBounds, - unsigned numberOfRows, unsigned numberOfVariables ) { - ASSERT( explanation != NULL ); + ASSERT( !explanation.empty() ); SparseUnsortedList tableauRow( numberOfVariables ); Vector explanationRowCombination( numberOfVariables, 0 ); - for ( unsigned row = 0; row < numberOfRows; ++row ) + for ( const auto &entry : explanation ) { - if ( FloatUtils::isZero( explanation[row] ) ) + if ( FloatUtils::isZero( entry._value ) ) continue; - initialTableau->getRow( row, &tableauRow ); - for ( auto entry : tableauRow ) + initialTableau->getRow( entry._index, &tableauRow ); + for ( const auto &tableauEntry : tableauRow ) { - if ( !FloatUtils::isZero( entry._value ) ) - explanationRowCombination[entry._index] += entry._value * explanation[row]; + if ( !FloatUtils::isZero( tableauEntry._value ) ) + explanationRowCombination[tableauEntry._index] += tableauEntry._value * entry._value; } } @@ -133,3 +142,9 @@ double UNSATCertificateUtils::computeCombinationUpperBound( const double *explan return derivedBound; } + +const Set UNSATCertificateUtils::getSupportedActivations() +{ + return { RELU, SIGN, ABSOLUTE_VALUE, MAX, DISJUNCTION }; +} + diff --git a/src/proofs/UnsatCertificateUtils.h b/src/proofs/UnsatCertificateUtils.h index 77dc1913f5..f016df3a20 100644 --- a/src/proofs/UnsatCertificateUtils.h +++ b/src/proofs/UnsatCertificateUtils.h @@ -16,6 +16,7 @@ #define __UnsatCertificateUtils_h__ #include "FloatUtils.h" +#include "PiecewiseLinearFunctionType.h" #include "SparseMatrix.h" #include "SparseUnsortedList.h" #include "Vector.h" @@ -29,29 +30,28 @@ class UNSATCertificateUtils */ static double computeBound( unsigned var, bool isUpper, - const double *explanation, + const SparseUnsortedList &explanation, const SparseMatrix *initialTableau, const double *groundUpperBounds, const double *groundLowerBounds, - unsigned numberOfRows, unsigned numberOfVariables ); /* Given a var, a tableau and a column vector, create a linear combination used to explain a bound */ static void getExplanationRowCombination( unsigned var, - const double *explanation, + const SparseUnsortedList &explanation, Vector &explanationRowCombination, const SparseMatrix *initialTableau, - unsigned numberOfVariables, - unsigned numberOfRows ); + unsigned numberOfVariables ); - static double computeCombinationUpperBound( const double *explanation, + static double computeCombinationUpperBound( const SparseUnsortedList &explanation, const SparseMatrix *initialTableau, const double *groundUpperBounds, const double *groundLowerBounds, - unsigned numberOfRows, unsigned numberOfVariables ); + + static const Set getSupportedActivations(); }; #endif //__UnsatCertificateUtils_h__ diff --git a/src/proofs/tests/Test_SmtLibWriter.h b/src/proofs/tests/Test_SmtLibWriter.h index 5262988294..7efd698e4f 100644 --- a/src/proofs/tests/Test_SmtLibWriter.h +++ b/src/proofs/tests/Test_SmtLibWriter.h @@ -29,7 +29,7 @@ class SmtLibWriterTestSuite : public CxxTest::TestSuite void test_smtlib_writing() { file = new MockFile(); - Vector row = { 1, 1 }; + Vector row = { 1, 2 }; SparseUnsortedList sparseRow( row.data(), 2 ); Vector groundUpperBounds = { 1, 1 }; Vector groundLowerBounds = { 1 , -1 }; @@ -40,6 +40,64 @@ class SmtLibWriterTestSuite : public CxxTest::TestSuite SmtLibWriter::addGroundLowerBounds( groundLowerBounds, instance ); SmtLibWriter::addTableauRow( sparseRow, instance ); SmtLibWriter::addReLUConstraint( 0, 1, PHASE_NOT_FIXED, instance ); + SmtLibWriter::addSignConstraint( 0, 1, PHASE_NOT_FIXED, instance ); + SmtLibWriter::addAbsConstraint( 0, 1, PHASE_NOT_FIXED, instance ); + + SmtLibWriter::addMaxConstraint( 1, { 2, 3, 4 }, PHASE_NOT_FIXED, 0, instance ); + + PiecewiseLinearCaseSplit disjunct1; + PiecewiseLinearCaseSplit disjunct2; + PiecewiseLinearCaseSplit disjunct3; + PiecewiseLinearCaseSplit disjunct4; + PiecewiseLinearCaseSplit disjunct5; + PiecewiseLinearCaseSplit disjunct6; + + Equation equation1 = Equation(); + equation1.addAddend(1, 0); + equation1.addAddend(-2, 1); + equation1._scalar = -4; + + disjunct1.addEquation( equation1 ); + disjunct1.storeBoundTightening( Tightening(1, -2, Tightening::UB ) ); + + disjunct2.storeBoundTightening(Tightening(1, 2, Tightening::LB ) ); + disjunct2.storeBoundTightening(Tightening(0, -1.5, Tightening::UB ) ); + + SmtLibWriter::addDisjunctionConstraint( {disjunct1, disjunct2} ,instance); + + Equation equation2 = Equation(); + equation2.addAddend(0, 0); + equation2.addAddend(-1, 1); + equation2._scalar = 1; + + Equation equation3 = Equation(); + equation3.addAddend(0, 0); + equation3.addAddend(-1, 2); + equation3._scalar = 1; + + Equation equation4 = Equation(); + equation4.addAddend(0, 0); + equation4.addAddend(-1, 3); + equation4._scalar = 1; + + disjunct3.addEquation( equation2 ); + disjunct5.addEquation( equation3 ); + disjunct6.addEquation( equation4 ); + + SmtLibWriter::addDisjunctionConstraint( {disjunct3, disjunct5, disjunct6 } ,instance); + + disjunct4.storeBoundTightening(Tightening(1, 2, Tightening::LB ) ); + SmtLibWriter::addDisjunctionConstraint( {disjunct4} ,instance); + SmtLibWriter::addDisjunctionConstraint( {disjunct3, disjunct4} ,instance); + + disjunct4.storeBoundTightening(Tightening(1, 2, Tightening::LB ) ); + disjunct4.storeBoundTightening(Tightening(0, -1.5, Tightening::UB ) ); + SmtLibWriter::addDisjunctionConstraint( {disjunct4} ,instance); + + disjunct3.addEquation( equation2 ); + disjunct3.addEquation( equation2 ); + SmtLibWriter::addDisjunctionConstraint( {disjunct3} ,instance); + SmtLibWriter::addFooter( instance ); SmtLibWriter::writeInstanceToFile( *file, instance ); @@ -59,6 +117,7 @@ class SmtLibWriterTestSuite : public CxxTest::TestSuite expectedLine = "( declare-fun x1 () Real )"; TS_ASSERT_EQUALS( line, expectedLine ); + // Bounds line = file->readLine( '\n' ); expectedLine = String("( assert ( <= x0 ") + SmtLibWriter::signedValue( 1 ) + " ) )"; TS_ASSERT_EQUALS( line, expectedLine ); @@ -75,14 +134,144 @@ class SmtLibWriterTestSuite : public CxxTest::TestSuite expectedLine = String("( assert ( >= x1 ") + SmtLibWriter::signedValue( -1 ) + " ) )"; TS_ASSERT_EQUALS( line, expectedLine ); + // Tableau line = file->readLine( '\n' ); - expectedLine = String("( assert ( = 0 ( + ( * ") + SmtLibWriter::signedValue( 1 ) + " x0 ) ( * " + SmtLibWriter::signedValue( 1 ) + " x1 ) ) ) )"; + expectedLine = String("( assert ( = 0 ( + x0 ( * " ) + SmtLibWriter::signedValue( 2 ) + " x1 ) ) ) )"; TS_ASSERT_EQUALS( line, expectedLine ); + // Relu line = file->readLine( '\n' ); expectedLine = "( assert ( = x1 ( ite ( >= x0 0 ) x0 0 ) ) )"; TS_ASSERT_EQUALS( line, expectedLine ); + // Sign + line = file->readLine( '\n' ); + expectedLine = "( assert ( = x1 ( ite ( >= x0 0 ) 1 ( - 1 ) ) ) )"; + TS_ASSERT_EQUALS( line, expectedLine ); + + // Absolute Value + line = file->readLine( '\n' ); + expectedLine = "( assert ( = x1 ( ite ( >= x0 0 ) x0 ( - x0 ) ) ) )"; + TS_ASSERT_EQUALS( line, expectedLine ); + + // Max + line = file->readLine( '\n' ); + expectedLine = String("( assert ( => ( and ( >= x2 x3 ) ( >= x2 x4 ) ) ( = x1 x2 ) ) )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( assert ( => ( and ( >= x3 x2 ) ( >= x3 x4 ) ) ( = x1 x3 ) ) )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( assert ( => ( and ( >= x4 x2 ) ( >= x4 x3 ) ) ( = x1 x4 ) ) )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + // Disjunctions (several cases) + line = file->readLine( '\n' ); + expectedLine = String("( assert"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( or"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( and ( = ( - 4 ) ( + x0 ( * ( - 2 ) x1 ) ) ) ( <= x1 ( - 2 ) ) )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( and ( >= x1 2 )( <= x0 ( - 1.5 ) ) )"); + TS_ASSERT_EQUALS( line, expectedLine); + + line = file->readLine( '\n' ); + expectedLine = String(" ) )"); + TS_ASSERT_EQUALS( line, expectedLine); + + line = file->readLine( '\n' ); + expectedLine = String("( assert"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( or"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( = 1 ( - x1 ) ) "); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( or"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( = 1 ( - x2 ) ) "); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( = 1 ( - x3 ) ) "); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String(" ) ) )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( assert"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( >= x1 2 )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String(" )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( assert"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( or"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( = 1 ( - x1 ) ) "); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( >= x1 2 )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String(" ) )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( assert"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( and ( >= x1 2 )( and ( >= x1 2 )( <= x0 ( - 1.5 ) ) ) )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String(" )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( assert"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String("( and ( = 1 ( - x1 ) ) ( and ( = 1 ( - x1 ) ) ( = 1 ( - x1 ) ) ) )"); + TS_ASSERT_EQUALS( line, expectedLine ); + + line = file->readLine( '\n' ); + expectedLine = String(" )"); + TS_ASSERT_EQUALS( line, expectedLine ); + line = file->readLine( '\n' ); expectedLine = "( check-sat )"; TS_ASSERT_EQUALS( line, expectedLine ); diff --git a/src/proofs/tests/Test_UnsatCertificateNode.h b/src/proofs/tests/Test_UnsatCertificateNode.h index d2e5eedc17..bbd4f4de75 100644 --- a/src/proofs/tests/Test_UnsatCertificateNode.h +++ b/src/proofs/tests/Test_UnsatCertificateNode.h @@ -79,20 +79,20 @@ class UnsatCertificateNodeTestSuite : public CxxTest::TestSuite void test_plc_explanation_changes() { UnsatCertificateNode root = UnsatCertificateNode( NULL, PiecewiseLinearCaseSplit() ); - Vector emptyVec; + Vector> emptyVec; - auto explanation1 = std::shared_ptr( new PLCExplanation( 1, 1, 0, UPPER, UPPER, emptyVec, RELU ) ); - auto explanation2 = std::shared_ptr( new PLCExplanation( 1, 1, -1, UPPER, UPPER, emptyVec, RELU ) ); - auto explanation3 = std::shared_ptr( new PLCExplanation( 1, 1, -4, UPPER, UPPER, emptyVec, RELU ) ); + auto explanation1 = std::shared_ptr( new PLCLemma( { 1 }, 1, 0, BoundType::UPPER, BoundType::UPPER, emptyVec, RELU ) ); + auto explanation2 = std::shared_ptr( new PLCLemma( { 1 }, 1, -1, BoundType::UPPER, BoundType::UPPER, emptyVec, RELU ) ); + auto explanation3 = std::shared_ptr( new PLCLemma( { 1 }, 1, -4, BoundType::UPPER, BoundType::UPPER, emptyVec, RELU ) ); - TS_ASSERT( root.getPLCExplanations().empty() ); + TS_ASSERT(root.getPLCLemmas().empty() ); - root.addPLCExplanation( explanation1 ); - root.addPLCExplanation( explanation2 ); - root.addPLCExplanation( explanation3 ); - TS_ASSERT_EQUALS( root.getPLCExplanations().size(), 3U ); + root.addPLCLemma( explanation1 ); + root.addPLCLemma( explanation2 ); + root.addPLCLemma( explanation3 ); + TS_ASSERT_EQUALS( root.getPLCLemmas().size(), 3U ); root.deletePLCExplanations(); - TS_ASSERT( root.getPLCExplanations().empty() ); + TS_ASSERT( root.getPLCLemmas().empty() ); } }; diff --git a/src/proofs/tests/Test_UnsatCertificateUtils.h b/src/proofs/tests/Test_UnsatCertificateUtils.h index a376b57d77..213e4d8d22 100644 --- a/src/proofs/tests/Test_UnsatCertificateUtils.h +++ b/src/proofs/tests/Test_UnsatCertificateUtils.h @@ -28,14 +28,15 @@ class UnsatCertificateUtilsTestSuite : public CxxTest::TestSuite Vector groundUpperBounds = { 1, 1 ,1 ,1 ,1 ,1 }; Vector groundLowerBounds = { 0, 0, 0, 0, 0, 0 }; Vector rowCombination; - - double explanation[3] = { 1, 1, 0 }; + const double expl[3] = {1, 1, 0}; + SparseUnsortedList explanation = SparseUnsortedList(); + explanation.initialize( expl, 3); // Linear combination is x0 = 2x0 - x1 + x2 + x3 + x4, thus explanation combination is only lhs // Checks computation method only, since no actual bound will be explained this way unsigned var = 0; - UNSATCertificateUtils::getExplanationRowCombination( var, explanation, rowCombination, &initialTableau, m, n ); + UNSATCertificateUtils::getExplanationRowCombination( var, explanation, rowCombination, &initialTableau, n ); auto it = rowCombination.begin(); TS_ASSERT_EQUALS( *it, 2 ); @@ -52,7 +53,7 @@ class UnsatCertificateUtilsTestSuite : public CxxTest::TestSuite ++it; TS_ASSERT_EQUALS( it, rowCombination.end() ); - double explainedBound = UNSATCertificateUtils::computeBound( var, true, explanation, &initialTableau, groundUpperBounds.data(), groundLowerBounds.data(), 3, groundUpperBounds.size() ); + double explainedBound = UNSATCertificateUtils::computeBound( var, true, explanation, &initialTableau, groundUpperBounds.data(), groundLowerBounds.data(), groundUpperBounds.size() ); TS_ASSERT_EQUALS( explainedBound, 5 ); }