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

Approximating the Spectrum of a Graph

The spectrum of a network or graph $G=(V,E)$ with adjacency matrix $A$, consists of the eigenvalues of the normalized Laplacian $L= I - D^{-1/2} A D^{-1/2}$. This set of eigenvalues encapsulates many aspects of the structure of the graph, including the extent to which the graph posses community structures at multiple scales. We study the problem of approximating the spectrum $\lambda = (\lambda_1,\dots,\lambda_{|V|})$, $0 \le \lambda_1,\le \dots, \le \lambda_{|V|}\le 2$ of $G$ in the regime where the graph is too large to explicitly calculate the spectrum. We present a sublinear time algorithm that, given the ability to query a random node in the graph and select a random neighbor of a given node, computes a succinct representation of an approximation $\widetilde \lambda = (\widetilde \lambda_1,\dots,\widetilde \lambda_{|V|})$, $0 \le \widetilde \lambda_1,\le \dots, \le \widetilde \lambda_{|V|}\le 2$ such that $\|\widetilde \lambda - \lambda\|_1 \le \epsilon |V|$. Our algorithm has query complexity and running time $exp(O(1/\epsilon))$, independent of the size of the graph, $|V|$. We demonstrate the practical viability of our algorithm on 15 different real-world graphs from the Stanford Large Network Dataset Collection, including social networks, academic collaboration graphs, and road networks. For the smallest of these graphs, we are able to validate the accuracy of our algorithm by explicitly calculating the true spectrum; for the larger graphs, such a calculation is computationally prohibitive. In addition we study the implications of our algorithm to property testing in the bounded degree graph model

Sparse Representation of Astronomical Images

Sparse representation of astronomical images is discussed. It is shown that a significant gain in sparsity is achieved when particular mixed dictionaries are used for approximating these types of images with greedy selection strategies. Experiments are conducted to confirm: i)Effectiveness at producing sparse representations. ii)Competitiveness, with respect to the time required to process large images.The latter is a consequence of the suitability of the proposed dictionaries for approximating images in partitions of small blocks.This feature makes it possible to apply the effective greedy selection technique Orthogonal Matching Pursuit, up to some block size. For blocks exceeding that size a refinement of the original Matching Pursuit approach is considered. The resulting method is termed Self Projected Matching Pursuit, because is shown to be effective for implementing, via Matching Pursuit itself, the optional back-projection intermediate steps in that approach.Comment: Software to implement the approach is available on http://www.nonlinear-approx.info/examples/node1.htm

The curvelet transform for image denoising

We describe approximate digital implementations of two new mathematical transforms, namely, the ridgelet transform and the curvelet transform. Our implementations offer exact reconstruction, stability against perturbations, ease of implementation, and low computational complexity. A central tool is Fourier-domain computation of an approximate digital Radon transform. We introduce a very simple interpolation in the Fourier space which takes Cartesian samples and yields samples on a rectopolar grid, which is a pseudo-polar sampling set based on a concentric squares geometry. Despite the crudeness of our interpolation, the visual performance is surprisingly good. Our ridgelet transform applies to the Radon transform a special overcomplete wavelet pyramid whose wavelets have compact support in the frequency domain. Our curvelet transform uses our ridgelet transform as a component step, and implements curvelet subbands using a filter bank of a` trous wavelet filters. Our philosophy throughout is that transforms should be overcomplete, rather than critically sampled. We apply these digital transforms to the denoising of some standard images embedded in white noise. In the tests reported here, simple thresholding of the curvelet coefficients is very competitive with "state of the art" techniques based on wavelets, including thresholding of decimated or undecimated wavelet transforms and also including tree-based Bayesian posterior mean methods. Moreover, the curvelet reconstructions exhibit higher perceptual quality than wavelet-based reconstructions, offering visually sharper images and, in particular, higher quality recovery of edges and of faint linear and curvilinear features. Existing theory for curvelet and ridgelet transforms suggests that these new approaches can outperform wavelet methods in certain image reconstruction problems. The empirical results reported here are in encouraging agreement

Family of 2-simplex cognitive tools and their application for decision-making and its justifications

Urgency of application and development of cognitive graphic tools for usage in intelligent systems of data analysis, decision making and its justifications is given. Cognitive graphic tool "2-simplex prism" and examples of its usage are presented. Specificity of program realization of cognitive graphics tools invariant to problem areas is described. Most significant results are given and discussed. Future investigations are connected with usage of new approach to rendering, cross-platform realization, cognitive features improving and expanding of n-simplex family.Comment: 14 pages, 6 figures, conferenc

Multiclass Data Segmentation using Diffuse Interface Methods on Graphs

We present two graph-based algorithms for multiclass segmentation of high-dimensional data. The algorithms use a diffuse interface model based on the Ginzburg-Landau functional, related to total variation compressed sensing and image processing. A multiclass extension is introduced using the Gibbs simplex, with the functional's double-well potential modified to handle the multiclass case. The first algorithm minimizes the functional using a convex splitting numerical scheme. The second algorithm is a uses a graph adaptation of the classical numerical Merriman-Bence-Osher (MBO) scheme, which alternates between diffusion and thresholding. We demonstrate the performance of both algorithms experimentally on synthetic data, grayscale and color images, and several benchmark data sets such as MNIST, COIL and WebKB. We also make use of fast numerical solvers for finding the eigenvectors and eigenvalues of the graph Laplacian, and take advantage of the sparsity of the matrix. Experiments indicate that the results are competitive with or better than the current state-of-the-art multiclass segmentation algorithms.Comment: 14 page

Formal Verification of Input-Output Mappings of Tree Ensembles

Recent advances in machine learning and artificial intelligence are now being considered in safety-critical autonomous systems where software defects may cause severe harm to humans and the environment. Design organizations in these domains are currently unable to provide convincing arguments that their systems are safe to operate when machine learning algorithms are used to implement their software. In this paper, we present an efficient method to extract equivalence classes from decision trees and tree ensembles, and to formally verify that their input-output mappings comply with requirements. The idea is that, given that safety requirements can be traced to desirable properties on system input-output patterns, we can use positive verification outcomes in safety arguments. This paper presents the implementation of the method in the tool VoTE (Verifier of Tree Ensembles), and evaluates its scalability on two case studies presented in current literature. We demonstrate that our method is practical for tree ensembles trained on low-dimensional data with up to 25 decision trees and tree depths of up to 20. Our work also studies the limitations of the method with high-dimensional data and preliminarily investigates the trade-off between large number of trees and time taken for verification