Formal Verification of Neural Network Controlled Autonomous Systems

In this paper, we consider the problem of formally verifying the safety of an autonomous robot equipped with a Neural Network (NN) controller that processes LiDAR images to produce control actions. Given a workspace that is characterized by a set of polytopic obstacles, our objective is to compute the set of safe initial conditions such that a robot trajectory starting from these initial conditions is guaranteed to avoid the obstacles. Our approach is to construct a finite state abstraction of the system and use standard reachability analysis over the finite state abstraction to compute the set of the safe initial states. The first technical problem in computing the finite state abstraction is to mathematically model the imaging function that maps the robot position to the LiDAR image. To that end, we introduce the notion of imaging-adapted sets as partitions of the workspace in which the imaging function is guaranteed to be affine. We develop a polynomial-time algorithm to partition the workspace into imaging-adapted sets along with computing the corresponding affine imaging functions. Given this workspace partitioning, a discrete-time linear dynamics of the robot, and a pre-trained NN controller with Rectified Linear Unit (ReLU) nonlinearity, the second technical challenge is to analyze the behavior of the neural network. To that end, we utilize a Satisfiability Modulo Convex (SMC) encoding to enumerate all the possible segments of different ReLUs. SMC solvers then use a Boolean satisfiability solver and a convex programming solver and decompose the problem into smaller subproblems. To accelerate this process, we develop a pre-processing algorithm that could rapidly prune the space feasible ReLU segments. Finally, we demonstrate the efficiency of the proposed algorithms using numerical simulations with increasing complexity of the neural network controller

Classification and Geometry of General Perceptual Manifolds

Perceptual manifolds arise when a neural population responds to an ensemble of sensory signals associated with different physical features (e.g., orientation, pose, scale, location, and intensity) of the same perceptual object. Object recognition and discrimination requires classifying the manifolds in a manner that is insensitive to variability within a manifold. How neuronal systems give rise to invariant object classification and recognition is a fundamental problem in brain theory as well as in machine learning. Here we study the ability of a readout network to classify objects from their perceptual manifold representations. We develop a statistical mechanical theory for the linear classification of manifolds with arbitrary geometry revealing a remarkable relation to the mathematics of conic decomposition. Novel geometrical measures of manifold radius and manifold dimension are introduced which can explain the classification capacity for manifolds of various geometries. The general theory is demonstrated on a number of representative manifolds, including L2 ellipsoids prototypical of strictly convex manifolds, L1 balls representing polytopes consisting of finite sample points, and orientation manifolds which arise from neurons tuned to respond to a continuous angle variable, such as object orientation. The effects of label sparsity on the classification capacity of manifolds are elucidated, revealing a scaling relation between label sparsity and manifold radius. Theoretical predictions are corroborated by numerical simulations using recently developed algorithms to compute maximum margin solutions for manifold dichotomies. Our theory and its extensions provide a powerful and rich framework for applying statistical mechanics of linear classification to data arising from neuronal responses to object stimuli, as well as to artificial deep networks trained for object recognition tasks.Comment: 24 pages, 12 figures, Supplementary Material

The Augmented Synthetic Control Method

The synthetic control method (SCM) is a popular approach for estimating the impact of a treatment on a single unit in panel data settings. The "synthetic control" is a weighted average of control units that balances the treated unit's pre-treatment outcomes as closely as possible. A critical feature of the original proposal is to use SCM only when the fit on pre-treatment outcomes is excellent. We propose Augmented SCM as an extension of SCM to settings where such pre-treatment fit is infeasible. Analogous to bias correction for inexact matching, Augmented SCM uses an outcome model to estimate the bias due to imperfect pre-treatment fit and then de-biases the original SCM estimate. Our main proposal, which uses ridge regression as the outcome model, directly controls pre-treatment fit while minimizing extrapolation from the convex hull. This estimator can also be expressed as a solution to a modified synthetic controls problem that allows negative weights on some donor units. We bound the estimation error of this approach under different data generating processes, including a linear factor model, and show how regularization helps to avoid over-fitting to noise. We demonstrate gains from Augmented SCM with extensive simulation studies and apply this framework to estimate the impact of the 2012 Kansas tax cuts on economic growth. We implement the proposed method in the new augsynth R package