Analysing the Performance of GPU Hash Tables for State Space Exploration

In the past few years, General Purpose Graphics Processors (GPUs) have been used to significantly speed up numerous applications. One of the areas in which GPUs have recently led to a significant speed-up is model checking. In model checking, state spaces, i.e., large directed graphs, are explored to verify whether models satisfy desirable properties. GPUexplore is a GPU-based model checker that uses a hash table to efficiently keep track of already explored states. As a large number of states is discovered and stored during such an exploration, the hash table should be able to quickly handle many inserts and queries concurrently. In this paper, we experimentally compare two different hash tables optimised for the GPU, one being the GPUexplore hash table, and the other using Cuckoo hashing. We compare the performance of both hash tables using random and non-random data obtained from model checking experiments, to analyse the applicability of the two hash tables for state space exploration. We conclude that Cuckoo hashing is three times faster than GPUexplore hashing for random data, and that Cuckoo hashing is five to nine times faster for non-random data. This suggests great potential to further speed up GPUexplore in the near future.Comment: In Proceedings GaM 2017, arXiv:1712.0834

Multi-core Symbolic Bisimulation Minimisation

Bisimulation minimisation alleviates the exponential growth of transition systems in model checking by computing the smallest system that has the same behavior as the original system according to some notion of equivalence. One popular strategy to compute a bisimulation minimisation is signature-based partition refinement. This can be performed symbolically using binary decision diagrams to allow models with larger state spaces to be minimised. This paper studies strong and branching symbolic bisimulation for labeled transition systems, continuous-time markov chains, and interactive markov chains. We introduce the notion of partition refinement with partial signatures. We extend the parallel BDD library Sylvan to parallelize the signature refinement algorithm, and develop a new parallel BDD algorithm to refine a partition, which conserves previous block numbers and uses a parallel data structure to store block assignments. We also present a specialized BDD algorithm for the computation of inert transitions. The experimental evaluation, based on benchmarks from the literature, demonstrates a speedup of up to 95x sequentially. In addition, we find parallel speedups of up to 17x due to parallelisation with 48 cores. Finally, we present the implementation of these algorithms as a versatile tool that can be customized for bisimulation minimisation in various contexts

On the Scalability of the GPUexplore Explicit-State Model Checker

The use of graphics processors (GPUs) is a promising approach to speed up model checking to such an extent that it becomes feasible to instantly verify software systems during development. GPUexplore is an explicit-state model checker that runs all its computations on the GPU. Over the years it has been extended with various techniques, and the possibilities to further improve its performance have been continuously investigated. In this paper, we discuss how the hash table of the tool works, which is at the heart of its functionality. We propose an alteration of the hash table that in isolated experiments seems promising, and analyse its effect when integrated in the tool. Furthermore, we investigate the current scalability of GPUexplore, by experimenting both with input models of varying sizes and running the tool on one of the latest GPUs of NVIDIA.Comment: In Proceedings GaM 2017, arXiv:1712.0834

Coalgebra Encoding for Efficient Minimization

Recently, we have developed an efficient generic partition refinement algorithm, which computes behavioural equivalence on a state-based system given as an encoded coalgebra, and implemented it in the tool CoPaR. Here we extend this to a fully fledged minimization algorithm and tool by integrating two new aspects: (1) the computation of the transition structure on the minimized state set, and (2) the computation of the reachable part of the given system. In our generic coalgebraic setting these two aspects turn out to be surprisingly non-trivial requiring us to extend the previous theory. In particular, we identify a sufficient condition on encodings of coalgebras, and we show how to augment the existing interface, which encapsulates computations that are specific for the coalgebraic type functor, to make the above extensions possible. Both extensions have linear run time

An O(mlog n) algorithm for computing stuttering equivalence and branching bisimulation

We provide a new algorithm to determine stuttering equivalence with time complexity O(mlog n), where n is the number of states and mis the number of transitions of a Kripke structure. This algorithm can also be used to determine branching bisimulation in O(m(log |Act| + log n)) time, where Act is the set of actions in a labeled transition system. Theoretically, our algorithm substantially improves upon existing algorithms, which all have time complexity of the form O(mn) at best. Moreover, it has better or equal space complexity. Practical results confirm these findings: they show that our algorithm can outperform existing algorithms by several orders of magnitude, especially when the Kripke structures are large. The importance of our algorithm stretches far beyond stuttering equivalence and branching bisimulation. The known O(mn) algorithms were already far more efficient (both in space and time) than most other algorithms to determine behavioral equivalences (including weak bisimulation), and therefore they were often used as an essential preprocessing step. This new algorithm makes this use of stuttering equivalence and branching bisimulation even more attractive.</p

Coalgebra Encoding for Efficient Minimization

Recently, we have developed an efficient generic partition refinement algorithm, which computes behavioural equivalence on a state-based system given as an encoded coalgebra, and implemented it in the tool CoPaR. Here we extend this to a fully fledged minimization algorithm and tool by integrating two new aspects: (1) the computation of the transition structure on the minimized state set, and (2) the computation of the reachable part of the given system. In our generic coalgebraic setting these two aspects turn out to be surprisingly non-trivial requiring us to extend the previous theory. In particular, we identify a sufficient condition on encodings of coalgebras, and we show how to augment the existing interface, which encapsulates computations that are specific for the coalgebraic type functor, to make the above extensions possible. Both extensions have linear run time

Lowerbounds for Bisimulation by Partition Refinement

We provide time lower bounds for sequential and parallel algorithms deciding bisimulation on labeled transition systems that use partition refinement. For sequential algorithms this is $\Omega((m \mkern1mu {+} \mkern1mu n ) \mkern-1mu \log \mkern-1mu n)$ and for parallel algorithms this is $\Omega(n)$, where $n$ is the number of states and $m$ is the number of transitions. The lowerbounds are obtained by analysing families of deterministic transition systems, ultimately with two actions in the sequential case, and one action for parallel algorithms. For deterministic transition systems with one action, bisimilarity can be decided sequentially with fundamentally different techniques than partition refinement. In particular, Paige, Tarjan, and Bonic give a linear algorithm for this specific situation. We show, exploiting the concept of an oracle, that this approach is not of help to develop a faster generic algorithm for deciding bisimilarity. For parallel algorithms there is a similar situation where these techniques may be applied, too

GPU accelerated strong and branching bisimilarity checking

Bisimilarity checking is an important operation to perform explicit-state model checking when the state space of a model under verification has already been generated. It can be applied in various ways: reduction of a state space w.r.t. a particular flavour of bisimilarity, or checking that two given state spaces are bisimilar. Bisimilarity checking is a computationally intensive task, and over the years, several algorithms have been presented, both sequential, i.e. single-threaded, and parallel, the latter either relying on shared memory or message-passing. In this work, we first present a novel way to check strong bisimilarity on general-purpose graphics processing units (GPUs), and show experimentally that an implementation of it for CUDA-enabled GPUs is competitive with other parallel techniques that run either on a GPU or use message-passing on a multi-core system. Building on this, we propose, to the best of our knowledge, the first many-core branching bisimilarity checking algorithm, an implementation of which shows speedups comparable to our strong bisimilarity checking approach