Symbolic reactive synthesis

In this thesis, we develop symbolic algorithms for the synthesis of reactive systems. Synthesis, that is the task of deriving correct-by-construction implementations from formal specifications, has the potential to eliminate the need for the manual—and error-prone—programming task. The synthesis problem can be formulated as an infinite two-player game, where the system player has the objective to satisfy the specification against all possible actions of the environment player. The standard synthesis algorithms represent the underlying synthesis game explicitly and, thus, they scale poorly with respect to the size of the specification. We provide an algorithmic framework to solve the synthesis problem symbolically. In contrast to the standard approaches, we use a succinct representation of the synthesis game which leads to improved scalability in terms of the symbolically represented parameters. Our algorithm reduces the synthesis game to the satisfiability problem of quantified Boolean formulas (QBF) and dependency quantified Boolean formulas (DQBF). In the encodings, we use propositional quantification to succinctly represent different parts of the implementation, such as the state space and the transition function. We develop highly optimized satisfiability algorithms for QBF and DQBF. Based on a counterexample-guided abstraction refinement (CEGAR) loop, our algorithms avoid an exponential blow-up by using the structure of the underlying symbolic encodings. Further, we extend the solving algorithms to extract certificates in the form of Boolean functions, from which we construct implementations for the synthesis problem. Our empirical evaluation shows that our symbolic approach significantly outperforms previous explicit synthesis algorithms with respect to scalability and solution quality.In dieser Dissertation werden symbolische Algorithmen für die Synthese von reaktiven Systemen entwickelt. Synthese, d.h. die Aufgabe, aus formalen Spezifikationen korrekte Implementierungen abzuleiten, hat das Potenzial, die manuelle und fehleranfällige Programmierung überflüssig zu machen. Das Syntheseproblem kann als unendliches Zweispielerspiel verstanden werden, bei dem der Systemspieler das Ziel hat, die Spezifikation gegen alle möglichen Handlungen des Umgebungsspielers zu erfüllen. Die Standardsynthesealgorithmen stellen das zugrunde liegende Synthesespiel explizit dar und skalieren daher schlecht in Bezug auf die Größe der Spezifikation. Diese Arbeit präsentiert einen algorithmischen Ansatz, der das Syntheseproblem symbolisch löst. Im Gegensatz zu den Standardansätzen wird eine kompakte Darstellung des Synthesespiels verwendet, die zu einer verbesserten Skalierbarkeit der symbolisch dargestellten Parameter führt. Der Algorithmus reduziert das Synthesespiel auf das Erfüllbarkeitsproblem von quantifizierten booleschen Formeln (QBF) und abhängigkeitsquantifizierten booleschen Formeln (DQBF). In den Kodierungen verwenden wir propositionale Quantifizierung, um verschiedene Teile der Implementierung, wie den Zustandsraum und die Übergangsfunktion, kompakt darzustellen. Wir entwickeln hochoptimierte Erfüllbarkeitsalgorithmen für QBF und DQBF. Basierend auf einer gegenbeispielgeführten Abstraktionsverfeinerungsschleife (CEGAR) vermeiden diese Algorithmen ein exponentielles Blow-up, indem sie die Struktur der zugrunde liegenden symbolischen Kodierungen verwenden. Weiterhin werden die Lösungsalgorithmen um Zertifikate in Form von booleschen Funktionen erweitert, aus denen Implementierungen für das Syntheseproblem abgeleitet werden. Unsere empirische Auswertung zeigt, dass unser symbolischer Ansatz die bisherigen expliziten Synthesealgorithmen in Bezug auf Skalierbarkeit und Lösungsqualität deutlich übertrifft

Quantified Boolean Formulas: Proof Complexity and Models of Solving

Quantified Boolean formulas (QBF), which form the canonical PSPACE-complete decision problem, are a decidable fragment of first-order logic. Any problem that can be solved within a polynomial-size space can be encoded succinctly as a QBF, including many concrete problems in computer science from domains such as verification, synthesis and planning. Automated solvers for QBF are now reaching the point of industrial applicability. In this thesis, we focus on dependency awareness, a dedicated solving paradigm for QBF. We show that dependency schemes can be envisaged in terms of dependency quantified Boolean formulas (DQBF), exposing strong connections between these two previously disparate entities. By introducing new lower-bound techniques for QBF proof systems, we study the relative strengths of models of dependency-aware solving, including the proposal of new, stronger models. Proof Complexity: Using the strategy extraction paradigm, we introduce new lower-bound techniques that apply to resolution-based QBF proof systems. In particular, we use the technique to prove exponential lower bounds for a new family of QBFs called the equality formulas. Our technique also affords considerably simpler, more intuitive proofs of some existing QBF proof-size lower bounds. Models of Solving: We apply our lower bound techniques to show new separations for QBF proof systems parametrised by dependency schemes. We also propose new models of dynamic dependency-aware solving and prove that they are exponentially stronger than the existing static models. Finally, we introduce Merge Resolution, a proof system modelling CDCL-style solving for DQBF, which is the first of its kind

Planning as Quantified Boolean Formulae

This work explores the idea of classical Planning as Quantified Boolean Formulae. Planning as Satisfiability (SAT) is a popular approach to Planning and has been explored in detail producing many compact and efficient encodings, Planning-specific solver implementations and innovative new constraints. However, Planning as Quantified Boolean Formulae (QBF) has been relegated to conformant Planning approaches, with the exception of one encoding that has not yet been investigated in detail. QBF is a promising setting for Planning given that the problems have the same complexity. This work introduces two approaches for translating bounded propositional reachability problems into QBF. Both exploit the expressivity of the binarytree structure of the QBF problem to produce encodings that are as small as logarithmic in the size of the instance and thus exponentially smaller than the corresponding SAT encoding with the same bound. The first approach builds on the iterative squaring formulation of Rintanen; the intuition behind the idea is to recursively fold the plan around the midpoint, reducing the number of time-steps that need to be described from n to log₂n. The second approach exploits domain-level lifting to achieve significant improvements in efficiency. Experimentation was performed to compare our formulation of the first approach with the previous formulation, and to compare both approaches with comparative and state-of-the-art SAT approaches. Results presented in this work show that our formulation of the first approach is an improvement over the previous, and that both approaches produce encodings that are indeed much smaller than corresponding SAT encodings, in both terms of encoding size and memory used during solving. Evidence is also provided to show that the first approach is feasible, if not yet competitive with the state-of-the-art, and that the second approach produces superior encodings to the SAT encodings when the domain is suited to domain-level lifting.This work explores the idea of classical Planning as Quantified Boolean Formulae. Planning as Satisfiability (SAT) is a popular approach to Planning and has been explored in detail producing many compact and efficient encodings, Planning-specific solver implementations and innovative new constraints. However, Planning as Quantified Boolean Formulae (QBF) has been relegated to conformant Planning approaches, with the exception of one encoding that has not yet been investigated in detail. QBF is a promising setting for Planning given that the problems have the same complexity. This work introduces two approaches for translating bounded propositional reachability problems into QBF. Both exploit the expressivity of the binarytree structure of the QBF problem to produce encodings that are as small as logarithmic in the size of the instance and thus exponentially smaller than the corresponding SAT encoding with the same bound. The first approach builds on the iterative squaring formulation of Rintanen; the intuition behind the idea is to recursively fold the plan around the midpoint, reducing the number of time-steps that need to be described from n to log₂n. The second approach exploits domain-level lifting to achieve significant improvements in efficiency. Experimentation was performed to compare our formulation of the first approach with the previous formulation, and to compare both approaches with comparative and state-of-the-art SAT approaches. Results presented in this work show that our formulation of the first approach is an improvement over the previous, and that both approaches produce encodings that are indeed much smaller than corresponding SAT encodings, in both terms of encoding size and memory used during solving. Evidence is also provided to show that the first approach is feasible, if not yet competitive with the state-of-the-art, and that the second approach produces superior encodings to the SAT encodings when the domain is suited to domain-level lifting

Reasons for Hardness in QBF Proof Complexity

Quantified Boolean Formulas (QBF) extend the canonical NP-complete satisfiability problem by including Boolean quantifiers. Determining the truth of a QBF is PSPACE-complete; this is expected to be a harder problem than satisfiability, and hence QBF solving has much wider applications in practice. QBF proof complexity forms the theoretical basis for understanding QBF solving, as well as providing insights into more general complexity theory, but is less well understood than propositional proof complexity. We begin this thesis by looking at the reasons underlying QBF hardness, and in particular when the hardness is propositional in nature, rather than arising due to the quantifiers. We introduce relaxing QU-Res, a previous model for identifying such propositional hardness, and construct an example where relaxing QU-Res is unsuccessful in this regard. We then provide a new model for identifying such hardness which we prove captures this concept. Now equipped with a means of identifying ‘genuine’ QBF hardness, we prove a new lower bound technique for tree-like QBF proof systems. Lower bounds using this technique allows us to show a new separation between tree-like and dag-like systems. We give a characterisation of lower bounds for a large class of tree-like proof systems, in which such lower bounds play a prominent role. Further to the tree-like bound, we provide a new lower bound technique for QBF proof systems in general. This technique has some similarities to the above technique for tree-like systems, but requires some refinement to provide bounds for dag-like systems. We give applications of this new technique by proving lower bounds across several systems. The first such lower bounds are for a very simple family of QBFs. We then provide a construction to combine false QBFs to give formulas for which we can show lower bounds in this way, allowing the generation of the first random QBF proof complexity lower bounds

Are Short Proofs Narrow? QBF Resolution is not so Simple

The ground-breaking paper “Short Proofs Are Narrow -- Resolution Made Simple” by Ben-Sasson and Wigderson (J. ACM 2001) introduces what is today arguably the main technique to obtain resolution lower bounds: to show a lower bound for the width of proofs. Another important measure for resolution is space, and in their fundamental work, Atserias and Dalmau (J. Comput. Syst. Sci. 2008) show that lower bounds for space again can be obtained via lower bounds for width. In this article, we assess whether similar techniques are effective for resolution calculi for quantified Boolean formulas (QBFs). There are a number of different QBF resolution calculi like Q-resolution (the classical extension of propositional resolution to QBF) and the more recent calculi ∀Exp+Res and IR-calc. For these systems, a mixed picture emerges. Our main results show that the relations both between size and width and between space and width drastically fail in Q-resolution, even in its weaker tree-like version. On the other hand, we obtain positive results for the expansion-based resolution systems ∀Exp+Res and IR-calc, however, only in the weak tree-like models. Technically, our negative results rely on showing width lower bounds together with simultaneous upper bounds for size and space. For our positive results, we exhibit space and width-preserving simulations between QBF resolution calculi