diff --git a/CHANGELOG.md b/CHANGELOG.md index d3c220fea..d31149d30 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,12 +1,13 @@ # Changelog ## Next Release -* Added support for onnx networks with tanh nodes to command-line interface. +* Added support for onnx networks with tanh nodes to command-line interface * Added proof producing versions of Sign, Max, Absolute Value and Disjunction constraints -* Added support for properties provided in VNN-LIB format for ONNX networks via the Python API. +* Added support for properties provided in VNN-LIB format for ONNX networks via the Python API * Supported additional non-linear constraints Softmax and Bilinear * Removed dependency on torch and drop support for Python3.7 -* Bump ONNX version to >= 1.15.0 +* Bumped ONNX version to >= 1.15.0 +* Added support for Leaky ReLU ## Version 1.0.0 * Initial versioned release diff --git a/CMakeLists.txt b/CMakeLists.txt index f6d07d6c1..b0e4ee984 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -85,7 +85,7 @@ if (NOT ${Boost_FOUND}) # bash file that downloads and install boost 1_80_0, the name need to match # BOOST_DIR variable execute_process(COMMAND ${TOOLS_DIR}/download_boost.${SCRIPT_EXTENSION}) - find_package(Boost REQUIRED COMPONENTS program_options timer chrono thread) + find_package(Boost 1.80.0 REQUIRED COMPONENTS program_options timer chrono thread) endif() set(LIBS_INCLUDES ${Boost_INCLUDE_DIRS}) list(APPEND LIBS ${Boost_LIBRARIES}) diff --git a/maraboupy/Marabou.py b/maraboupy/Marabou.py index 1cf6f3196..0d62ace63 100644 --- a/maraboupy/Marabou.py +++ b/maraboupy/Marabou.py @@ -28,7 +28,7 @@ try: from maraboupy.MarabouNetworkONNX import * except ImportError: - warnings.warn("ONNX parser is unavailable because onnx or onnxruntime packages are not installed") + warnings.warn("ONNX parser is unavailable because onnx or onnxruntime or torch packages are not installed") def read_nnet(filename, normalize=False): """Constructs a MarabouNetworkNnet object from a .nnet file diff --git a/maraboupy/MarabouCore.cpp b/maraboupy/MarabouCore.cpp index d4ed70653..307863b0c 100644 --- a/maraboupy/MarabouCore.cpp +++ b/maraboupy/MarabouCore.cpp @@ -33,6 +33,7 @@ #include "Engine.h" #include "FloatUtils.h" #include "InputQuery.h" +#include "LeakyReluConstraint.h" #include "MarabouError.h" #include "InputParserError.h" #include "MString.h" @@ -104,6 +105,11 @@ void restoreOutputStream(int outputStream) close(outputStream); } +void addLeakyReluConstraint(InputQuery& ipq, unsigned var1, unsigned var2, double slope){ + PiecewiseLinearConstraint* r = new LeakyReluConstraint(var1, var2, slope); + ipq.addPiecewiseLinearConstraint(r); +} + void addReluConstraint(InputQuery& ipq, unsigned var1, unsigned var2){ PiecewiseLinearConstraint* r = new ReluConstraint(var1, var2); ipq.addPiecewiseLinearConstraint(r); @@ -601,6 +607,16 @@ PYBIND11_MODULE(MarabouCore, m) { :class:`~maraboupy.MarabouCore.InputQuery` )pbdoc", py::arg("filename")); + m.def("addLeakyReluConstraint", &addLeakyReluConstraint, R"pbdoc( + Add a Relu constraint to the InputQuery + + Args: + inputQuery (:class:`~maraboupy.MarabouCore.InputQuery`): Marabou input query to be solved + var1 (int): Input variable to Leaky ReLU constraint + var2 (int): Output variable to Leaky ReLU constraint + slope (float): Slope of the Leaky ReLU constraint + )pbdoc", + py::arg("inputQuery"), py::arg("var1"), py::arg("var2"), py::arg("slope")); m.def("addReluConstraint", &addReluConstraint, R"pbdoc( Add a Relu constraint to the InputQuery diff --git a/maraboupy/MarabouNetwork.py b/maraboupy/MarabouNetwork.py index 0e77e1ec3..3419f9f3b 100644 --- a/maraboupy/MarabouNetwork.py +++ b/maraboupy/MarabouNetwork.py @@ -5,7 +5,7 @@ - Andrew Wu - Kyle Julian - Teruhiro Tagomori - + This file is part of the Marabou project. Copyright (c) 2017-2019 by the authors listed in the file AUTHORS in the top-level source directory) and their institutional affiliations. @@ -23,11 +23,12 @@ class MarabouNetwork: """Abstract class representing general Marabou network - + Attributes: numVars (int): Total number of variables to represent network equList (list of :class:`~maraboupy.MarabouUtils.Equation`): Network equations reluList (list of tuples): List of relu constraint tuples, where each tuple contains the backward and forward variables + leakyReluList (list of tuples): List of leaky relu constraint tuples, where each tuple contains the backward and forward variables, and the slope sigmoidList (list of tuples): List of sigmoid constraint tuples, where each tuple contains the backward and forward variables maxList (list of tuples): List of max constraint tuples, where each tuple conatins the set of input variables and output variable absList (list of tuples): List of abs constraint tuples, where each tuple conatins the input variable and the output variable @@ -49,6 +50,7 @@ def clear(self): self.equList = [] self.additionalEquList = [] # used to store user defined equations self.reluList = [] + self.leakyReluList = [] self.sigmoidList = [] self.maxList = [] self.softmaxList = [] @@ -118,6 +120,16 @@ def addRelu(self, v1, v2): """ self.reluList += [(v1, v2)] + def addLeakyRelu(self, v1, v2, slope): + """Function to add a new Leaky Relu constraint + + Args: + v1 (int): Variable representing input of Leaky Relu + v2 (int): Variable representing output of Leaky Relu + slope (float): Shope of the Leaky ReLU + """ + self.leakyReluList += [(v1, v2, slope)] + def addBilinear(self, v1, v2, v3): """Function to add a bilinear constraint to the network Args: @@ -275,6 +287,11 @@ def getMarabouQuery(self): assert r[1] < self.numVars and r[0] < self.numVars MarabouCore.addReluConstraint(ipq, r[0], r[1]) + for r in self.leakyReluList: + assert r[1] < self.numVars and r[0] < self.numVars + assert(r[2] > 0 and r[2] < 1) + MarabouCore.addLeakyReluConstraint(ipq, r[0], r[1], r[2]) + for r in self.bilinearList: assert r[2] < self.numVars and r[1] < self.numVars and r[0] < self.numVars MarabouCore.addBilinearConstraint(ipq, r[0], r[1], r[2]) @@ -323,7 +340,7 @@ def getMarabouQuery(self): for u in self.upperBounds: assert u < self.numVars ipq.setUpperBound(u, self.upperBounds[u]) - + return ipq def solve(self, filename="", verbose=True, options=None, propertyFilename=""): diff --git a/maraboupy/MarabouNetworkONNX.py b/maraboupy/MarabouNetworkONNX.py index 0fa437cde..3570b17e9 100644 --- a/maraboupy/MarabouNetworkONNX.py +++ b/maraboupy/MarabouNetworkONNX.py @@ -278,6 +278,8 @@ def makeMarabouEquations(self, nodeName, makeEquations): self.resizeEquations(node, makeEquations) elif node.op_type == 'Tanh': self.tanhEquations(node, makeEquations) + elif node.op_type == 'LeakyRelu': + self.leakyReluEquations(node, makeEquations) elif node.op_type == 'Softmax': self.softmaxEquations(node, makeEquations) elif node.op_type == 'Sub': @@ -1259,6 +1261,28 @@ def reluEquations(self, node, makeEquations): for f in outputVars: self.setLowerBound(f, 0.0) + def leakyReluEquations(self, node, makeEquations): + """Function to generate equations corresponding to pointwise LeakyRelu + Args: + node (node): ONNX node representing the LeakyRelu operation + makeEquations (bool): True if we need to create new variables and add new LeakyRelus + :meta private: + """ + nodeName = node.output[0] + inputName = node.input[0] + self.shapeMap[nodeName] = self.shapeMap[inputName] + if not makeEquations: + return + + # Get variables + inputVars = self.varMap[inputName].reshape(-1) + outputVars = self.makeNewVariables(nodeName).reshape(-1) + assert len(inputVars) == len(outputVars) + + # Generate equations + for i in range(len(inputVars)): + self.addLeakyRelu(inputVars[i], outputVars[i], 0.1) + def subEquations(self, node, makeEquations): """Function to generate equations corresponding to subtraction @@ -1417,6 +1441,10 @@ def reassignOutputVariables(self): for i, variables in enumerate(self.reluList): self.reluList[i] = tuple([self.reassignVariable(var, numInVars, outVars, newOutVars) for var in variables]) + # Adjust relu list + for i, variables in enumerate(self.leakyReluList): + self.leakyReluList[i] = tuple([self.reassignVariable(var, numInVars, outVars, newOutVars) for var in variables]) + # Adjust sigmoid list for i, variables in enumerate(self.sigmoidList): self.sigmoidList[i] = tuple([self.reassignVariable(var, numInVars, outVars, newOutVars) for var in variables]) diff --git a/maraboupy/test/test_onnx.py b/maraboupy/test/test_onnx.py index 0a5c3e80c..750c15e11 100644 --- a/maraboupy/test/test_onnx.py +++ b/maraboupy/test/test_onnx.py @@ -254,6 +254,13 @@ def test_resize(): filename = "resize/resize_4dims.onnx" evaluateFile(filename, inputNames = ['X'], outputNames = 'Y') +def test_leaky_relu(): + """ + Test a network with Leaky ReLUs + """ + filename = "mnist5x20_leaky_relu.onnx" + evaluateFile(filename) + def test_errors(): """ This function tests that the ONNX parser catches errors. diff --git a/regress/regress1/input_queries/mnist5x20_leaky_relu_eps.0.018_index0_target6_unsat.ipq b/regress/regress1/input_queries/mnist5x20_leaky_relu_eps.0.018_index0_target6_unsat.ipq new file mode 100644 index 000000000..57b8f7895 --- /dev/null +++ b/regress/regress1/input_queries/mnist5x20_leaky_relu_eps.0.018_index0_target6_unsat.ipq @@ -0,0 +1,2628 @@ +1034 +784 +784 +139 +120 +784 +0,0 +1,1 +2,2 +3,3 +4,4 +5,5 +6,6 +7,7 +8,8 +9,9 +10,10 +11,11 +12,12 +13,13 +14,14 +15,15 +16,16 +17,17 +18,18 +19,19 +20,20 +21,21 +22,22 +23,23 +24,24 +25,25 +26,26 +27,27 +28,28 +29,29 +30,30 +31,31 +32,32 +33,33 +34,34 +35,35 +36,36 +37,37 +38,38 +39,39 +40,40 +41,41 +42,42 +43,43 +44,44 +45,45 +46,46 +47,47 +48,48 +49,49 +50,50 +51,51 +52,52 +53,53 +54,54 +55,55 +56,56 +57,57 +58,58 +59,59 +60,60 +61,61 +62,62 +63,63 +64,64 +65,65 +66,66 +67,67 +68,68 +69,69 +70,70 +71,71 +72,72 +73,73 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[1, -1], 0) return diff --git a/src/common/GurobiWrapper.cpp b/src/common/GurobiWrapper.cpp index 60eaa0b40..f6a767ceb 100644 --- a/src/common/GurobiWrapper.cpp +++ b/src/common/GurobiWrapper.cpp @@ -197,6 +197,29 @@ void GurobiWrapper::addConstraint( const List &terms, double scalar, char } } +void GurobiWrapper::addPiecewiseLinearConstraint( String sourceVariable, + String targetVariable, + unsigned numPoints, + const double *xPoints, + const double *yPoints ) +{ + try + { + _model->addGenConstrPWL( *_nameToVariable[sourceVariable], + *_nameToVariable[targetVariable], + numPoints, + xPoints, + yPoints ); + } + catch (GRBException e ) + { + throw CommonError( CommonError::GUROBI_EXCEPTION, + Stringf( "Gurobi exception. Gurobi Code: %u, message: %s\n", + e.getErrorCode(), + e.getMessage().c_str() ).ascii() ); + } +} + void GurobiWrapper::addLeqIndicatorConstraint( const String binVarName, const int binVal, const List &terms, double scalar ) { addIndicatorConstraint( binVarName, binVal, terms, scalar, GRB_LESS_EQUAL ); diff --git a/src/common/GurobiWrapper.h b/src/common/GurobiWrapper.h index 2e8c12d96..5484c995b 100644 --- a/src/common/GurobiWrapper.h +++ b/src/common/GurobiWrapper.h @@ -81,6 +81,12 @@ class GurobiWrapper // Add a new EQ constraint, e.g. 3x + 4y = -5 void addEqConstraint( const List &terms, double scalar ); + // Add a piece-wise linear constraint + void addPiecewiseLinearConstraint( String sourceVariable, + String targetVariable, + unsigned numPoints, + const double *xPoints, const double *yPoints ); + // Add a new LEQ indicator constraint void addLeqIndicatorConstraint( const String binVarName, const int binVal, const List &terms, double scalar ); @@ -242,6 +248,10 @@ class GurobiWrapper void addLeqConstraint( const List &, double ) {} void addGeqConstraint( const List &, double ) {} void addEqConstraint( const List &, double ) {} + void addPiecewiseLinearConstraint( String, + String, + unsigned, + const double *, const double * ) {} void addLeqIndicatorConstraint( const String, const int, const List &, double ) {} void addGeqIndicatorConstraint( const String, const int, const List &, double ) {} void addEqIndicatorConstraint( const String, const int, const List &, double ) {} diff --git a/src/configuration/GlobalConfiguration.cpp b/src/configuration/GlobalConfiguration.cpp index c752e897d..9ede075a6 100644 --- a/src/configuration/GlobalConfiguration.cpp +++ b/src/configuration/GlobalConfiguration.cpp @@ -18,6 +18,7 @@ #include "MString.h" #include + // The exponential moving average is calculated as // ema = current * alpha + previous * (1 - alpha) const double GlobalConfiguration::EXPONENTIAL_MOVING_AVERAGE_ALPHA = 0.5; diff --git a/src/configuration/Options.cpp b/src/configuration/Options.cpp index a8c316514..f976cfef8 100644 --- a/src/configuration/Options.cpp +++ b/src/configuration/Options.cpp @@ -246,6 +246,11 @@ LPSolverType Options::getLPSolverType() const ( Options::LP_SOLVER ) ); if ( solverString == "native" ) return LPSolverType::NATIVE; + else if ( _boolOptions.get( Options::PRODUCE_PROOFS ) ) + { + printf( "Proof-producing mode on, using native LP engine..." ); + return LPSolverType::NATIVE; + } else if ( solverString == "gurobi" ) return LPSolverType::GUROBI; else diff --git a/src/engine/CMakeLists.txt b/src/engine/CMakeLists.txt index db3642804..6e5b1ffa7 100644 --- a/src/engine/CMakeLists.txt +++ b/src/engine/CMakeLists.txt @@ -28,6 +28,7 @@ engine_add_unit_test(DnCWorker) engine_add_unit_test(Engine) engine_add_unit_test(InputQuery) engine_add_unit_test(LargestIntervalDivider) +engine_add_unit_test(LeakyReluConstraint) engine_add_unit_test(MaxConstraint) engine_add_unit_test(MILPEncoder) engine_add_unit_test(PolarityBasedDivider) diff --git a/src/engine/InputQuery.cpp b/src/engine/InputQuery.cpp index fe3e352d0..02a36e6fd 100644 --- a/src/engine/InputQuery.cpp +++ b/src/engine/InputQuery.cpp @@ -17,6 +17,7 @@ #include "Debug.h" #include "FloatUtils.h" #include "InputQuery.h" +#include "LeakyReluConstraint.h" #include "MStringf.h" #include "MarabouError.h" #include "MaxConstraint.h" @@ -294,7 +295,7 @@ InputQuery &InputQuery::operator=( const InputQuery &other ) _plConstraints.append( newPlc ); ++numberOfMaxs; } - + } ASSERT( other._networkLevelReasoner->getConstraintsInTopologicalOrder().size() + @@ -690,6 +691,7 @@ bool InputQuery::constructNetworkLevelReasoner() // Now, repeatedly attempt to construct additional layers while ( constructWeighedSumLayer( nlr, handledVariableToLayer, newLayerIndex ) || constructReluLayer( nlr, handledVariableToLayer, newLayerIndex ) || + constructLeakyReluLayer( nlr, handledVariableToLayer, newLayerIndex ) || constructAbsoluteValueLayer( nlr, handledVariableToLayer, newLayerIndex ) || constructSignLayer( nlr, handledVariableToLayer, newLayerIndex ) || constructSigmoidLayer( nlr, handledVariableToLayer, newLayerIndex ) || @@ -928,6 +930,102 @@ bool InputQuery::constructReluLayer( NLR::NetworkLevelReasoner *nlr, return true; } +bool InputQuery::constructLeakyReluLayer( NLR::NetworkLevelReasoner *nlr, + Map &handledVariableToLayer, + unsigned newLayerIndex ) +{ + INPUT_QUERY_LOG( "Attempting to construct LeakyReLULayer..." ); + struct NeuronInformation + { + public: + + NeuronInformation( unsigned variable, unsigned neuron, unsigned sourceVariable ) + : _variable( variable ) + , _neuron( neuron ) + , _sourceVariable( sourceVariable ) + { + } + + unsigned _variable; + unsigned _neuron; + unsigned _sourceVariable; + }; + + List newNeurons; + + // Look for LeakyReLUs where all b variables have already been handled + const List &plConstraints = + getPiecewiseLinearConstraints(); + + double alpha = 0; + for ( const auto &plc : plConstraints ) + { + // Only consider Leaky ReLUs + if ( plc->getType() != LEAKY_RELU ) + continue; + + const LeakyReluConstraint *leakyRelu = (const LeakyReluConstraint *)plc; + + // Has the b variable been handled? + unsigned b = leakyRelu->getB(); + if ( !handledVariableToLayer.exists( b ) ) + continue; + + // If the f variable has also been handled, ignore this constraint + unsigned f = leakyRelu->getF(); + if ( handledVariableToLayer.exists( f ) ) + continue; + // B has been handled, f hasn't. Add f + newNeurons.append( NeuronInformation( f, newNeurons.size(), b ) ); + nlr->addConstraintInTopologicalOrder( plc ); + double alphaTemp = leakyRelu->getSlope(); + ASSERT( alphaTemp > 0 ); + if ( alpha != 0 && alpha != alphaTemp ) { + throw NLRError( NLRError::LEAKY_RELU_SLOPES_NOT_UNIFORM ); + } + alpha = alphaTemp; + } + + // No neurons found for the new layer + if ( newNeurons.empty() ) + { + INPUT_QUERY_LOG( "\tFailed!" ); + return false; + } + + nlr->addLayer( newLayerIndex, NLR::Layer::LEAKY_RELU, newNeurons.size() ); + + NLR::Layer *layer = nlr->getLayer( newLayerIndex ); + layer->setAlpha( alpha ); + for ( const auto &newNeuron : newNeurons ) + { + handledVariableToLayer[newNeuron._variable] = newLayerIndex; + + layer->setLb( newNeuron._neuron, _lowerBounds.exists( newNeuron._variable ) ? + _lowerBounds[newNeuron._variable] : FloatUtils::negativeInfinity() ); + layer->setUb( newNeuron._neuron, _upperBounds.exists( newNeuron._variable ) ? + _upperBounds[newNeuron._variable] : FloatUtils::infinity() ); + + unsigned sourceLayer = handledVariableToLayer[newNeuron._sourceVariable]; + unsigned sourceNeuron = nlr->getLayer( sourceLayer )->variableToNeuron( newNeuron._sourceVariable ); + + // Mark the layer dependency + nlr->addLayerDependency( sourceLayer, newLayerIndex ); + + // Add the new neuron + nlr->setNeuronVariable( NLR::NeuronIndex( newLayerIndex, newNeuron._neuron ), newNeuron._variable ); + + // Mark the activation connection + nlr->addActivationSource( sourceLayer, + sourceNeuron, + newLayerIndex, + newNeuron._neuron ); + } + + INPUT_QUERY_LOG( "\tSuccessful!" ); + return true; +} + bool InputQuery::constructSigmoidLayer( NLR::NetworkLevelReasoner *nlr, Map &handledVariableToLayer, unsigned newLayerIndex ) diff --git a/src/engine/InputQuery.h b/src/engine/InputQuery.h index c6c2b1d69..e77b508e1 100644 --- a/src/engine/InputQuery.h +++ b/src/engine/InputQuery.h @@ -167,9 +167,12 @@ class InputQuery bool constructReluLayer( NLR::NetworkLevelReasoner *nlr, Map &handledVariableToLayer, unsigned newLayerIndex ); + bool constructLeakyReluLayer( NLR::NetworkLevelReasoner *nlr, + Map &handledVariableToLayer, + unsigned newLayerIndex ); bool constructSigmoidLayer( NLR::NetworkLevelReasoner *nlr, - Map &handledVariableToLayer, - unsigned newLayerIndex ); + Map &handledVariableToLayer, + unsigned newLayerIndex ); bool constructAbsoluteValueLayer( NLR::NetworkLevelReasoner *nlr, Map &handledVariableToLayer, unsigned newLayerIndex ); diff --git a/src/engine/LeakyReluConstraint.cpp b/src/engine/LeakyReluConstraint.cpp new file mode 100644 index 000000000..f901ac7fa --- /dev/null +++ b/src/engine/LeakyReluConstraint.cpp @@ -0,0 +1,895 @@ +/********************* */ +/*! \file LeakyReluConstraint.cpp + ** \verbatim + ** Top contributors (to current version): + ** Andrew Wu + ** This file is part of the Marabou project. + ** Copyright (c) 2017-2019 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 "LeakyReluConstraint.h" + +#include "PiecewiseLinearConstraint.h" +#include "Debug.h" +#include "DivideStrategy.h" +#include "FloatUtils.h" +#include "GlobalConfiguration.h" +#include "InfeasibleQueryException.h" +#include "InputQuery.h" +#include "ITableau.h" +#include "MStringf.h" +#include "MarabouError.h" +#include "PiecewiseLinearCaseSplit.h" +#include "Statistics.h" +#include "TableauRow.h" + +#ifdef _WIN32 +#define __attribute__(x) +#endif + +LeakyReluConstraint::LeakyReluConstraint( unsigned b, unsigned f, double slope ) + : PiecewiseLinearConstraint( TWO_PHASE_PIECEWISE_LINEAR_CONSTRAINT ) + , _b( b ) + , _f( f ) + , _slope( slope ) + , _auxVarsInUse( false ) + , _direction( PHASE_NOT_FIXED ) + , _haveEliminatedVariables( false ) +{ + if ( _slope <= 0 ) + throw MarabouError( MarabouError::INVALID_LEAKY_RELU_SLOPE ); +} + +LeakyReluConstraint::LeakyReluConstraint( const String &serializedLeakyRelu ) + : _haveEliminatedVariables( false ) +{ + String constraintType = serializedLeakyRelu.substring( 0, 10 ); + ASSERT( constraintType == String( "leaky_relu" ) ); + + // Remove the constraint type in serialized form + String serializedValues = serializedLeakyRelu.substring( 11, serializedLeakyRelu.length() - 11 ); + List values = serializedValues.tokenize( "," ); + + ASSERT( values.size() == 3 || values.size() == 5 ); + + auto var = values.begin(); + _f = atoi( var->ascii() ); + ++var; + _b = atoi( var->ascii() ); + ++var; + _slope = atof( var->ascii() ); + if ( _slope <= 0 || _slope > 1 ) + throw MarabouError( MarabouError::INVALID_LEAKY_RELU_SLOPE, + Stringf( "Currently supporting slope between 0 and 1" ).ascii() ); + + _direction = PHASE_NOT_FIXED; + + if ( values.size() == 5 ) + { + ++var; + _activeAux = atoi( var->ascii() ); + ++var; + _inactiveAux = atoi( var->ascii() ); + _auxVarsInUse = true; + } + else + _auxVarsInUse = false; +} + +PiecewiseLinearFunctionType LeakyReluConstraint::getType() const +{ + return PiecewiseLinearFunctionType::LEAKY_RELU; +} + +PiecewiseLinearConstraint *LeakyReluConstraint::duplicateConstraint() const +{ + LeakyReluConstraint *clone = new LeakyReluConstraint( _b, _f, _slope ); + *clone = *this; + this->initializeDuplicateCDOs( clone ); + return clone; +} + +void LeakyReluConstraint::restoreState( const PiecewiseLinearConstraint *state ) +{ + const LeakyReluConstraint *leakyRelu = dynamic_cast( state ); + + CVC4::context::CDO *activeStatus = _cdConstraintActive; + CVC4::context::CDO *phaseStatus = _cdPhaseStatus; + CVC4::context::CDList *infeasibleCases = _cdInfeasibleCases; + *this = *leakyRelu; + _cdConstraintActive = activeStatus; + _cdPhaseStatus = phaseStatus; + _cdInfeasibleCases = infeasibleCases; +} + +void LeakyReluConstraint::registerAsWatcher( ITableau *tableau ) +{ + tableau->registerToWatchVariable( this, _b ); + tableau->registerToWatchVariable( this, _f ); + + if ( _auxVarsInUse ) { + tableau->registerToWatchVariable( this, _activeAux ); + tableau->registerToWatchVariable( this, _inactiveAux ); + } +} + +void LeakyReluConstraint::unregisterAsWatcher( ITableau *tableau ) +{ + tableau->unregisterToWatchVariable( this, _b ); + tableau->unregisterToWatchVariable( this, _f ); + + if ( _auxVarsInUse ) { + tableau->unregisterToWatchVariable( this, _activeAux ); + tableau->unregisterToWatchVariable( this, _inactiveAux ); + } +} + +void LeakyReluConstraint::checkIfLowerBoundUpdateFixesPhase( unsigned variable, double bound ) +{ + if ( variable == _f && !FloatUtils::isNegative( bound ) ) + setPhaseStatus( RELU_PHASE_ACTIVE ); + else if ( variable == _b && !FloatUtils::isNegative( bound ) ) + setPhaseStatus( RELU_PHASE_ACTIVE ); + else if ( _auxVarsInUse ) + { + if ( variable == _activeAux && FloatUtils::isPositive( bound ) ) + setPhaseStatus( RELU_PHASE_INACTIVE ); + else if ( variable == _inactiveAux && FloatUtils::isPositive( bound ) ) + setPhaseStatus( RELU_PHASE_ACTIVE ); + } +} + +void LeakyReluConstraint::checkIfUpperBoundUpdateFixesPhase( unsigned variable, double bound ) +{ + if ( variable == _f && FloatUtils::isNegative( bound ) ) + setPhaseStatus( RELU_PHASE_INACTIVE ); + else if ( variable == _b && FloatUtils::isNegative( bound ) ) + setPhaseStatus( RELU_PHASE_INACTIVE ); + else if ( _auxVarsInUse ) + { + if ( variable == _activeAux && FloatUtils::isZero( bound ) ) + setPhaseStatus( RELU_PHASE_ACTIVE ); + else if ( variable == _inactiveAux && FloatUtils::isZero( bound ) ) + setPhaseStatus( RELU_PHASE_INACTIVE ); + } +} + +void LeakyReluConstraint::notifyLowerBound( unsigned variable, double bound ) +{ + if ( _statistics ) + _statistics->incLongAttribute( Statistics::NUM_BOUND_NOTIFICATIONS_TO_PL_CONSTRAINTS ); + + if ( _boundManager == nullptr && existsLowerBound( variable ) + && !FloatUtils::gt( bound, getLowerBound( variable ) ) ) + return; + setLowerBound( variable, bound ); + checkIfLowerBoundUpdateFixesPhase( variable, bound ); + + if ( isActive() && _boundManager && !phaseFixed() ) + { + // A positive lower bound is always propagated between f and b + if ( variable == _f || variable == _b ) + { + if ( FloatUtils::gte( bound, 0 ) ) + { + // If we're in the active phase, aux should be 0 + if ( _auxVarsInUse ) + _boundManager->tightenUpperBound( _activeAux, 0 ); + + // After updating to active phase + unsigned partner = ( variable == _f ) ? _b : _f; + _boundManager->tightenLowerBound( partner, bound ); + } + else if ( variable == _b ) + { + _boundManager->tightenLowerBound( _f, _slope * bound ); + } + else if ( variable == _f ) + { + _boundManager->tightenLowerBound( _b, bound / _slope ); + } + } + + // A positive lower bound for activeAux means we're inactive: _inactiveAux <= 0 + else if ( _auxVarsInUse && variable == _activeAux && bound > 0 ) + { + _boundManager->tightenUpperBound( _inactiveAux, 0 ); + } + + // A positive lower bound for inactiveAux means we're active: _activeAux <= 0 + else if ( _auxVarsInUse && variable == _inactiveAux && bound > 0 ) + { + _boundManager->tightenUpperBound( _activeAux, 0 ); + } + + // Also, if for some reason we only know a negative lower bound for + // f, we attempt to tighten it to 0 + else if ( bound < 0 && variable == _f ) + { + _boundManager->tightenLowerBound( _f, 0 ); + } + } +} + +void LeakyReluConstraint::notifyUpperBound( unsigned variable, double bound ) +{ + if ( _statistics ) + _statistics->incLongAttribute( Statistics::NUM_BOUND_NOTIFICATIONS_TO_PL_CONSTRAINTS ); + + if ( _boundManager == nullptr && existsUpperBound( + variable ) && !FloatUtils::lt( bound, getUpperBound( variable ) ) ) + return; + + setUpperBound( variable, bound ); + checkIfUpperBoundUpdateFixesPhase( variable, bound ); + + if ( isActive() && _boundManager && !phaseFixed() ) + { + // A positive lower bound is always propagated between f and b + if ( variable == _f || variable == _b ) + { + if ( !FloatUtils::isNegative( bound ) ) + { + unsigned partner = ( variable == _f ) ? _b : _f; + _boundManager->tightenUpperBound( partner, bound ); + } + else if ( variable == _b ) + { + _boundManager->tightenUpperBound( _f, _slope * bound ); + } + else if ( variable == _f ) + { + _boundManager->tightenUpperBound( _b, bound / _slope ); + } + } + } +} + +bool LeakyReluConstraint::participatingVariable( unsigned variable ) const +{ + return ( variable == _b ) || ( variable == _f ) || + ( _auxVarsInUse && ( variable == _activeAux || variable == _inactiveAux ) ); +} + +List LeakyReluConstraint::getParticipatingVariables() const +{ + return _auxVarsInUse ? + List( { _b, _f, _activeAux, _inactiveAux } ) : + List( { _b, _f } ); +} + +bool LeakyReluConstraint::satisfied() const +{ + if ( !( existsAssignment( _b ) && existsAssignment( _f ) ) ) + throw MarabouError( MarabouError::PARTICIPATING_VARIABLE_MISSING_ASSIGNMENT ); + + double bValue = getAssignment( _b ); + double fValue = getAssignment( _f ); + + if ( FloatUtils::isPositive( fValue ) ) + return FloatUtils::areEqual( bValue, fValue, GlobalConfiguration::CONSTRAINT_COMPARISON_TOLERANCE ); + else + return FloatUtils::areEqual( _slope * bValue, fValue, GlobalConfiguration::CONSTRAINT_COMPARISON_TOLERANCE ); +} + +List LeakyReluConstraint::getPossibleFixes() const +{ + // Reluplex does not currently work with Gurobi. + ASSERT( _gurobi == NULL ); + + ASSERT( !satisfied() ); + ASSERT( existsAssignment( _b ) ); + ASSERT( existsAssignment( _f ) ); + + double bValue = getAssignment( _b ); + double fValue = getAssignment( _f ); + + List fixes; + + // Possible violations: + // Case 1. f is positive, b is positive, b and f are disequal + // Case 2. f is positive, b is non-positive + // Case 3. f is non-positive, b is non-positive, f is not equal to slope * b + // Case 4. f is non-positive, b is positive + if ( FloatUtils::isPositive( fValue ) ) + { + if ( FloatUtils::isPositive( bValue ) ) + { + // Case 1 + fixes.append( PiecewiseLinearConstraint::Fix( _b, fValue ) ); + fixes.append( PiecewiseLinearConstraint::Fix( _f, bValue ) ); + } + else + { + // Case 2 + if ( _direction == RELU_PHASE_INACTIVE ) + { + fixes.append( PiecewiseLinearConstraint::Fix( _f, _slope * bValue ) ); + fixes.append( PiecewiseLinearConstraint::Fix( _b, fValue ) ); + } + else + { + fixes.append( PiecewiseLinearConstraint::Fix( _b, fValue ) ); + fixes.append( PiecewiseLinearConstraint::Fix( _f, _slope * bValue ) ); + } + } + } + else + { + if ( !FloatUtils::isPositive( bValue ) ) + { + // Case 3 + fixes.append( PiecewiseLinearConstraint::Fix( _f, _slope * bValue ) ); + fixes.append( PiecewiseLinearConstraint::Fix( _b, fValue / _slope ) ); + } + else + { + // Case 4 + if ( _direction == RELU_PHASE_ACTIVE ) + { + fixes.append( PiecewiseLinearConstraint::Fix( _f, bValue ) ); + fixes.append( PiecewiseLinearConstraint::Fix( _b, fValue / _slope ) ); + } + else + { + fixes.append( PiecewiseLinearConstraint::Fix( _b, fValue / _slope ) ); + fixes.append( PiecewiseLinearConstraint::Fix( _f, bValue ) ); + } + } + } + + return fixes; +} + +List LeakyReluConstraint::getSmartFixes( ITableau * ) const +{ + return getPossibleFixes(); +} + +List LeakyReluConstraint::getCaseSplits() const +{ + if ( _phaseStatus != PHASE_NOT_FIXED ) + throw MarabouError( MarabouError::REQUESTED_CASE_SPLITS_FROM_FIXED_CONSTRAINT ); + + List splits; + + if ( _direction == RELU_PHASE_INACTIVE ) + { + splits.append( getInactiveSplit() ); + splits.append( getActiveSplit() ); + return splits; + } + if ( _direction == RELU_PHASE_ACTIVE ) + { + splits.append( getActiveSplit() ); + splits.append( getInactiveSplit() ); + return splits; + } + + // If we have existing knowledge about the assignment, use it to + // influence the order of splits + if ( existsAssignment( _f ) ) + { + if ( FloatUtils::isPositive( getAssignment( _f ) ) ) + { + splits.append( getActiveSplit() ); + splits.append( getInactiveSplit() ); + } + else + { + splits.append( getInactiveSplit() ); + splits.append( getActiveSplit() ); + } + } + else + { + splits.append( getInactiveSplit() ); + splits.append( getActiveSplit() ); + } + + return splits; +} + +List LeakyReluConstraint::getAllCases() const +{ + if ( _direction == RELU_PHASE_INACTIVE ) + return { RELU_PHASE_INACTIVE, RELU_PHASE_ACTIVE }; + + if ( _direction == RELU_PHASE_ACTIVE ) + return { RELU_PHASE_ACTIVE, RELU_PHASE_INACTIVE }; + + // If we have existing knowledge about the assignment, use it to + // influence the order of splits + if ( existsAssignment( _f ) ) + { + if ( FloatUtils::isPositive( getAssignment( _f ) ) ) + return { RELU_PHASE_ACTIVE, RELU_PHASE_INACTIVE }; + else + return { RELU_PHASE_INACTIVE, RELU_PHASE_ACTIVE }; + } + else + return { RELU_PHASE_INACTIVE, RELU_PHASE_ACTIVE }; +} + +PiecewiseLinearCaseSplit LeakyReluConstraint::getCaseSplit( PhaseStatus phase ) const +{ + if ( phase == RELU_PHASE_INACTIVE ) + return getInactiveSplit(); + else if ( phase == RELU_PHASE_ACTIVE ) + return getActiveSplit(); + else + throw MarabouError( MarabouError::REQUESTED_NONEXISTENT_CASE_SPLIT ); +} + +PiecewiseLinearCaseSplit LeakyReluConstraint::getInactiveSplit() const +{ + // Inactive phase: b <= 0, f <= 0, f = slope * b + PiecewiseLinearCaseSplit inactivePhase; + inactivePhase.storeBoundTightening( Tightening( _b, 0.0, Tightening::UB ) ); + inactivePhase.storeBoundTightening( Tightening( _f, 0.0, Tightening::UB ) ); + + if ( _auxVarsInUse ) + { + // We added inactiveAux = f - slope * b and inactiveAux >= 0 + inactivePhase.storeBoundTightening( Tightening( _inactiveAux, 0.0, Tightening::UB ) ); + } + else + { + Equation inactiveEquation( Equation::EQ ); + inactiveEquation.addAddend( _slope, _b ); + inactiveEquation.addAddend( -1, _f ); + inactiveEquation.setScalar( 0 ); + inactivePhase.addEquation( inactiveEquation ); + } + return inactivePhase; +} + +PiecewiseLinearCaseSplit LeakyReluConstraint::getActiveSplit() const +{ + // Active phase: b >= 0, f = b + PiecewiseLinearCaseSplit activePhase; + activePhase.storeBoundTightening( Tightening( _b, 0.0, Tightening::LB ) ); + activePhase.storeBoundTightening( Tightening( _f, 0.0, Tightening::LB ) ); + + if ( _auxVarsInUse ) + { + // We added inactiveAux = f - b and auxActive >= 0 + activePhase.storeBoundTightening( Tightening( _activeAux, 0.0, Tightening::UB ) ); + } + else + { + Equation activeEquation( Equation::EQ ); + activeEquation.addAddend( 1, _b ); + activeEquation.addAddend( -1, _f ); + activeEquation.setScalar( 0 ); + activePhase.addEquation( activeEquation ); + } + + return activePhase; +} + +bool LeakyReluConstraint::phaseFixed() const +{ + return _phaseStatus != PHASE_NOT_FIXED; +} + +PiecewiseLinearCaseSplit LeakyReluConstraint::getImpliedCaseSplit() const +{ + ASSERT( _phaseStatus != PHASE_NOT_FIXED ); + + if ( _phaseStatus == RELU_PHASE_ACTIVE ) + return getActiveSplit(); + + return getInactiveSplit(); +} + +PiecewiseLinearCaseSplit LeakyReluConstraint::getValidCaseSplit() const +{ + return getImpliedCaseSplit(); +} + +void LeakyReluConstraint::dump( String &output ) const +{ + output = Stringf( "LeakyReluConstraint: x%u = LeakyReLU( x%u ), slope = %lf. Active? %s. PhaseStatus = %u (%s).\n", + _f, _b, _slope, + _constraintActive ? "Yes" : "No", + _phaseStatus, phaseToString( _phaseStatus ).ascii() + ); + + output += Stringf( "b in [%s, %s], ", + existsLowerBound( _b ) ? Stringf( "%lf", getLowerBound( _b ) ).ascii() : "-inf", + existsUpperBound( _b ) ? Stringf( "%lf", getUpperBound( _b ) ).ascii() : "inf" ); + + output += Stringf( "f in [%s, %s]", + existsLowerBound( _f ) ? Stringf( "%lf", getLowerBound( _f ) ).ascii() : "-inf", + existsUpperBound( _f ) ? Stringf( "%lf", getUpperBound( _f ) ).ascii() : "inf" ); + + if ( _auxVarsInUse ) + { + output += Stringf( ". Active aux var: %u. Range: [%s, %s]\n", + _activeAux, + existsLowerBound( _activeAux ) ? Stringf( "%lf", getLowerBound( _activeAux ) ).ascii() : "-inf", + existsUpperBound( _activeAux ) ? Stringf( "%lf", getUpperBound( _activeAux ) ).ascii() : "inf" ); + output += Stringf( ". Inactive aux var: %u. Range: [%s, %s]\n", + _inactiveAux, + existsLowerBound( _inactiveAux ) ? Stringf( "%lf", getLowerBound( _inactiveAux ) ).ascii() : "-inf", + existsUpperBound( _inactiveAux ) ? Stringf( "%lf", getUpperBound( _inactiveAux ) ).ascii() : "inf" ); + } + +} + +void LeakyReluConstraint::updateVariableIndex( unsigned oldIndex, unsigned newIndex ) +{ + // Variable reindexing can only occur in preprocessing before Gurobi is + // registered. + ASSERT( _gurobi == NULL ); + + ASSERT( participatingVariable( oldIndex ) ); + ASSERT( !_lowerBounds.exists( newIndex ) && + !_upperBounds.exists( newIndex ) && + !participatingVariable( newIndex ) ); + + if ( _lowerBounds.exists( oldIndex ) ) + { + _lowerBounds[newIndex] = _lowerBounds.get( oldIndex ); + _lowerBounds.erase( oldIndex ); + } + + if ( _upperBounds.exists( oldIndex ) ) + { + _upperBounds[newIndex] = _upperBounds.get( oldIndex ); + _upperBounds.erase( oldIndex ); + } + + if ( oldIndex == _b ) + _b = newIndex; + else if ( oldIndex == _f ) + _f = newIndex; + else if ( oldIndex == _activeAux ) + _activeAux = newIndex; + else + _inactiveAux = newIndex; +} + +void LeakyReluConstraint::eliminateVariable( __attribute__((unused)) unsigned variable, + __attribute__((unused)) double fixedValue ) +{ + ASSERT( participatingVariable( variable ) ); + DEBUG({ + if ( variable == _f || variable == _b ) + { + if ( FloatUtils::gt( fixedValue, 0 ) ) + { + ASSERT( _phaseStatus != RELU_PHASE_INACTIVE ); + } + else if ( FloatUtils::lt( fixedValue, 0 ) ) + { + ASSERT( _phaseStatus != RELU_PHASE_ACTIVE ); + } + } + else if ( variable == _activeAux ) + { + if ( FloatUtils::isPositive( fixedValue ) ) + { + ASSERT( _phaseStatus != RELU_PHASE_ACTIVE ); + } + } + else + { + // This is the inactive aux variable + if ( FloatUtils::isPositive( fixedValue ) ) + { + ASSERT( _phaseStatus != RELU_PHASE_INACTIVE ); + } + } + }); + + // In a Leaky ReLU constraint, if a variable is removed the entire constraint can be discarded. + _haveEliminatedVariables = true; +} + +bool LeakyReluConstraint::constraintObsolete() const +{ + return _haveEliminatedVariables; +} + +void LeakyReluConstraint::getEntailedTightenings( List &tightenings ) const +{ + ASSERT( existsLowerBound( _b ) && existsLowerBound( _f ) && + existsUpperBound( _b ) && existsUpperBound( _f ) ); + + ASSERT( !_auxVarsInUse || + ( existsLowerBound( _activeAux ) && existsUpperBound( _activeAux ) && + existsLowerBound( _inactiveAux ) && existsUpperBound( _inactiveAux ) ) ); + + double bLowerBound = getLowerBound( _b ); + double fLowerBound = getLowerBound( _f ); + + double bUpperBound = getUpperBound( _b ); + double fUpperBound = getUpperBound( _f ); + + double activeAuxLowerBound = 0; + double activeAuxUpperBound = 0; + double inactiveAuxLowerBound = 0; + double inactiveAuxUpperBound = 0; + + if ( _auxVarsInUse ) + { + activeAuxLowerBound = getLowerBound( _activeAux ); + activeAuxUpperBound = getUpperBound( _activeAux ); + inactiveAuxLowerBound = getLowerBound( _inactiveAux ); + inactiveAuxUpperBound = getUpperBound( _inactiveAux ); + } + + // Determine if we are in the active phase, inactive phase or unknown phase + if ( FloatUtils::isPositive( bLowerBound ) || + FloatUtils::isPositive( fLowerBound ) || + ( _auxVarsInUse && + ( FloatUtils::isZero( activeAuxUpperBound ) || + FloatUtils::isPositive( inactiveAuxLowerBound ) ) ) ) + { + // Active case; + if ( FloatUtils::isPositive( fLowerBound ) ) + tightenings.append( Tightening( _b, fLowerBound, Tightening::LB ) ); + if ( FloatUtils::isPositive( bLowerBound ) ) + tightenings.append( Tightening( _f, bLowerBound, Tightening::LB ) ); + + tightenings.append( Tightening( _b, fUpperBound, Tightening::UB ) ); + tightenings.append( Tightening( _f, bUpperBound, Tightening::UB ) ); + + // Aux is zero + if ( _auxVarsInUse ) + { + tightenings.append( Tightening( _activeAux, 0, Tightening::LB ) ); + tightenings.append( Tightening( _activeAux, 0, Tightening::UB ) ); + } + + tightenings.append( Tightening( _b, 0, Tightening::LB ) ); + tightenings.append( Tightening( _f, 0, Tightening::LB ) ); + } + else if ( !FloatUtils::isPositive( bUpperBound ) || + !FloatUtils::isPositive( fUpperBound ) || + ( _auxVarsInUse && + ( FloatUtils::isZero( inactiveAuxUpperBound ) || + FloatUtils::isPositive( activeAuxLowerBound ) ) ) ) + { + // Inactive case + if ( FloatUtils::isFinite( fLowerBound ) ) + tightenings.append( Tightening( _b, fLowerBound / _slope, Tightening::LB ) ); + if ( FloatUtils::isFinite( bLowerBound ) ) + tightenings.append( Tightening( _f, _slope * bLowerBound, Tightening::LB ) ); + + if ( FloatUtils::isFinite( fUpperBound ) && !FloatUtils::isPositive( fUpperBound ) ) + tightenings.append( Tightening( _b, fUpperBound / _slope, Tightening::UB ) ); + if ( FloatUtils::isFinite( bUpperBound ) && !FloatUtils::isPositive( bUpperBound ) ) + tightenings.append( Tightening( _f, _slope * bUpperBound, Tightening::UB ) ); + + // Aux is zero + if ( _auxVarsInUse ) + { + tightenings.append( Tightening( _inactiveAux, 0, Tightening::LB ) ); + tightenings.append( Tightening( _inactiveAux, 0, Tightening::UB ) ); + } + + tightenings.append( Tightening( _f, 0, Tightening::UB ) ); + tightenings.append( Tightening( _b, 0, Tightening::UB ) ); + } + else + { + // Unknown case + + // b and f share upper bounds + tightenings.append( Tightening( _b, fUpperBound, Tightening::UB ) ); + tightenings.append( Tightening( _f, bUpperBound, Tightening::UB ) ); + + if ( FloatUtils::isFinite( fLowerBound ) ) + tightenings.append( Tightening( _b, fLowerBound / _slope, Tightening::LB ) ); + if ( FloatUtils::isFinite( bLowerBound ) ) + tightenings.append( Tightening( _f, _slope * bLowerBound, Tightening::LB ) ); + } +} + +String LeakyReluConstraint::phaseToString( PhaseStatus phase ) +{ + switch ( phase ) + { + case PHASE_NOT_FIXED: + return "PHASE_NOT_FIXED"; + + case RELU_PHASE_ACTIVE: + return "RELU_PHASE_ACTIVE"; + + case RELU_PHASE_INACTIVE: + return "RELU_PHASE_INACTIVE"; + + default: + return "UNKNOWN"; + } +}; + +void LeakyReluConstraint::transformToUseAuxVariables( InputQuery &inputQuery ) +{ + /* + We want to add the equations + + f >= b + f >= slope * b + + Which actually becomes + + f - b - activeAux = 0 + f - slope * b - inactiveAux = 0 + + Lower bounds: always non-negative + */ + if ( _auxVarsInUse ) + return; + + // Create the aux variables + _activeAux = inputQuery.getNumberOfVariables(); + _inactiveAux = _activeAux + 1; + inputQuery.setNumberOfVariables( _activeAux + 2 ); + + // Create and add the equations + Equation equationActive( Equation::EQ ); + equationActive.addAddend( 1.0, _f ); + equationActive.addAddend( -1.0, _b ); + equationActive.addAddend( -1.0, _activeAux ); + equationActive.setScalar( 0 ); + inputQuery.addEquation( equationActive ); + + Equation equationInactive( Equation::EQ ); + equationInactive.addAddend( 1.0, _f ); + equationInactive.addAddend( -_slope, _b ); + equationInactive.addAddend( -1.0, _inactiveAux ); + equationInactive.setScalar( 0 ); + inputQuery.addEquation( equationInactive ); + + // Adjust the bounds for the new variables + inputQuery.setLowerBound( _activeAux, 0 ); + inputQuery.setLowerBound( _inactiveAux, 0 ); + + // We now care about the auxiliary variable, as well + _auxVarsInUse = true; +} + +void LeakyReluConstraint::getCostFunctionComponent( LinearExpression &cost, + PhaseStatus phase ) const +{ + // If the constraint is not active or is fixed, it contributes nothing + if( !isActive() || phaseFixed() ) + return; + + // This should not be called when the linear constraints have + // not been satisfied + ASSERT( !haveOutOfBoundVariables() ); + + ASSERT( phase == RELU_PHASE_ACTIVE || phase == RELU_PHASE_INACTIVE ); + + if ( phase == RELU_PHASE_INACTIVE ) + { + // The cost term corresponding to the inactive phase is f - slope * b, + // since the LeakyReLU is inactive and satisfied iff f is 0 and minimal. + // This is true only when we added the constraint that f >= slope * b. + if ( !cost._addends.exists( _f ) ) + cost._addends[_f] = 0; + if ( !cost._addends.exists( _b ) ) + cost._addends[_b] = 0; + cost._addends[_f] = cost._addends[_f] + 1; + cost._addends[_b] = cost._addends[_b] - _slope; + } + else + { + // The cost term corresponding to the inactive phase is f - b, + // since the LeakyReLU is active and satisfied iff f - b is 0 and minimal. + // Note that this is true only when we added the constraint that f >= b. + if ( !cost._addends.exists( _f ) ) + cost._addends[_f] = 0; + if ( !cost._addends.exists( _b ) ) + cost._addends[_b] = 0; + cost._addends[_f] = cost._addends[_f] + 1; + cost._addends[_b] = cost._addends[_b] - 1; + } +} + +PhaseStatus LeakyReluConstraint::getPhaseStatusInAssignment( const Map + &assignment ) const +{ + ASSERT( assignment.exists( _b ) ); + return FloatUtils::isNegative( assignment[_b] ) ? + RELU_PHASE_INACTIVE : RELU_PHASE_ACTIVE; +} + +bool LeakyReluConstraint::haveOutOfBoundVariables() const +{ + double bValue = getAssignment( _b ); + double fValue = getAssignment( _f ); + + if ( FloatUtils::gt( getLowerBound( _b ), bValue, GlobalConfiguration::CONSTRAINT_COMPARISON_TOLERANCE ) + || FloatUtils::lt( getUpperBound( _b ), bValue, GlobalConfiguration::CONSTRAINT_COMPARISON_TOLERANCE ) ) + return true; + + if ( FloatUtils::gt( getLowerBound( _f ), fValue, GlobalConfiguration::CONSTRAINT_COMPARISON_TOLERANCE ) + || FloatUtils::lt( getUpperBound( _f ), fValue, GlobalConfiguration::CONSTRAINT_COMPARISON_TOLERANCE ) ) + return true; + + return false; +} + +String LeakyReluConstraint::serializeToString() const +{ + // Output format is: relu,f,b,slope,activeAux,inactiveAux + if ( _auxVarsInUse ) + return Stringf( "leaky_relu,%u,%u,%f,%u,%u", _f, _b, _slope, _activeAux, _inactiveAux ); + else + return Stringf( "leaky_relu,%u,%u,%f", _f, _b, _slope ); +} + +unsigned LeakyReluConstraint::getB() const +{ + return _b; +} + +unsigned LeakyReluConstraint::getF() const +{ + return _f; +} + +double LeakyReluConstraint::getSlope() const +{ + return _slope; +} + +bool LeakyReluConstraint::auxVariablesInUse() const +{ + return _auxVarsInUse; +} +unsigned LeakyReluConstraint::getActiveAux() const +{ + return _activeAux; +} +unsigned LeakyReluConstraint::getInactiveAux() const +{ + return _inactiveAux; +} + +bool LeakyReluConstraint::supportPolarity() const +{ + return true; +} + +double LeakyReluConstraint::computePolarity() const +{ + double currentLb = _lowerBounds[_b]; + double currentUb = _upperBounds[_b]; + if ( currentLb >= 0 ) return 1; + if ( currentUb <= 0 ) return -1; + double width = currentUb - currentLb; + double sum = currentUb + currentLb; + return sum / width; +} + +void LeakyReluConstraint::updateDirection() +{ + _direction = ( computePolarity() > 0 ) ? RELU_PHASE_ACTIVE : RELU_PHASE_INACTIVE; +} + +PhaseStatus LeakyReluConstraint::getDirection() const +{ + return _direction; +} + +void LeakyReluConstraint::updateScoreBasedOnPolarity() +{ + _score = std::abs( computePolarity() ); +} + +// Not supporting proof production yet +void LeakyReluConstraint::addTableauAuxVar( unsigned /* tableauAuxVar */, unsigned /* constraintAuxVar */ ) +{ +} diff --git a/src/engine/LeakyReluConstraint.h b/src/engine/LeakyReluConstraint.h new file mode 100644 index 000000000..959299fbf --- /dev/null +++ b/src/engine/LeakyReluConstraint.h @@ -0,0 +1,270 @@ +/********************* */ +/*! \file LeakyReluConstraint.h + ** \verbatim + ** Top contributors (to current version): + ** Andrew Wu + ** This file is part of the Marabou project. + ** Copyright (c) 2017-2019 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 + ** + ** LeakyReluConstraint implements the following constraint: + ** f = b if b > 0 else slope * b + ** + ** It distinguishes two relevant phases for search: + ** RELU_PHASE_ACTIVE : b > 0 and f > 0 + ** RELU_PHASE_INACTIVE : b <=0 and f = 0 + ** + ** The constraint is implemented as PiecewiseLinearConstraint + ** and operates in two modes: + ** * pre-processing mode, which stores bounds locally, and + ** * context dependent mode, used during the search. + ** + ** Invoking initializeCDOs method activates the context dependent mode, and the + ** LeakyReluConstraint object synchronizes its state automatically with the central + ** Context object. + **/ + +#ifndef __LeakyReluConstraint_h__ +#define __LeakyReluConstraint_h__ + +#include "LinearExpression.h" +#include "List.h" +#include "Map.h" +#include "PiecewiseLinearConstraint.h" + +#include + +class LeakyReluConstraint : public PiecewiseLinearConstraint +{ +public: + /* + The f variable is the LeakyRelu output on the b variable: + f = leakyRelu( b ) + */ + LeakyReluConstraint( unsigned b, unsigned f, double slope ); + LeakyReluConstraint( const String &serializedLeakyRelu ); + + /* + Get the type of this constraint. + */ + PiecewiseLinearFunctionType getType() const override; + + /* + Return a clone of the constraint. + */ + PiecewiseLinearConstraint *duplicateConstraint() const override; + + /* + Restore the state of this constraint from the given one. + */ + void restoreState( const PiecewiseLinearConstraint *state ) override; + + /* + Register/unregister the constraint with a talbeau. + */ + void registerAsWatcher( ITableau *tableau ) override; + void unregisterAsWatcher( ITableau *tableau ) override; + + /* + These callbacks are invoked when a watched variable's value + changes, or when its bounds change. + */ + void notifyLowerBound( unsigned variable, double bound ) override; + void notifyUpperBound( unsigned variable, double bound ) override; + + /* + Check conditions that fix Phase and met update phase status + */ + void checkIfLowerBoundUpdateFixesPhase( unsigned variable, double bound ); + void checkIfUpperBoundUpdateFixesPhase( unsigned variable, double bound ); + + /* + Returns true iff the variable participates in this piecewise + linear constraint + */ + bool participatingVariable( unsigned variable ) const override; + + /* + Get the list of variables participating in this constraint. + */ + List getParticipatingVariables() const override; + + /* + Returns true iff the assignment satisfies the constraint + */ + bool satisfied() const override; + + /* + Returns a list of possible fixes for the violated constraint. + */ + List getPossibleFixes() const override; + + /* + Return a list of smart fixes for violated constraint. + */ + List getSmartFixes( ITableau *tableau ) const override; + + /* + Returns the list of case splits that this piecewise linear + constraint breaks into. These splits need to complementary, + i.e. if the list is {l1, l2, ..., ln-1, ln}, + then ~l1 /\ ~l2 /\ ... /\ ~ln-1 --> ln. + */ + List getCaseSplits() const override; + + /* + If the constraint's phase has been fixed, get the (valid) case split. + */ + PiecewiseLinearCaseSplit getValidCaseSplit() const override; + + /* + Returns a list of all cases - { RELU_ACTIVE, RELU_INACTIVE} + The order of returned cases affects the search, and this method is where related + heuristics should be implemented. + */ + List getAllCases() const override; + + /* + Returns case split corresponding to the given phase/id + */ + PiecewiseLinearCaseSplit getCaseSplit( PhaseStatus phase ) const override; + + /* + If the constraint's phase has been fixed, get the (valid) case split. + */ + PiecewiseLinearCaseSplit getImpliedCaseSplit() const override; + + /* + Check if the constraint's phase has been fixed. + */ + bool phaseFixed() const override; + + /* + Preprocessing related functions, to inform that a variable has + been eliminated completely because it was fixed to some value, + or that a variable's index has changed (e.g., x4 is now called + x2). constraintObsolete() returns true iff and the constraint + has become obsolote as a result of variable eliminations. + */ + void eliminateVariable( unsigned variable, double fixedValue ) override; + void updateVariableIndex( unsigned oldIndex, unsigned newIndex ) override; + bool constraintObsolete() const override; + + /* + Get the tightenings entailed by the constraint. + */ + void getEntailedTightenings( List &tightenings ) const override; + + /* + Dump the current state of the constraint. + */ + void dump( String &output ) const override; + + /* + For preprocessing: get any auxiliary equations that this + constraint would like to add to the equation pool. In the Leaky ReLU + case, there are two equations: + aux_active = f - b, where aux is non-negative. + aux_inactive = f - slope * b, where aux is non-negative + */ + void transformToUseAuxVariables( InputQuery &inputQuery ) override; + + /* + Whether the constraint can contribute the SoI cost function. + */ + virtual inline bool supportSoI() const override + { + return true; + } + + /* + Ask the piecewise linear constraint to add its cost term corresponding to + the given phase to the cost function. The cost term for Leaky ReLU is: + _f - _b for the active phase + _f - slope * b for the inactive phase + */ + virtual void getCostFunctionComponent( LinearExpression &cost, + PhaseStatus phase ) const override; + + /* + Return the phase status corresponding to the values of the *input* + variables in the given assignment. + */ + virtual PhaseStatus getPhaseStatusInAssignment( const Map + &assignment ) const override; + + /* + Returns string with shape: relu, _f, _b + */ + String serializeToString() const override; + + /* + Get the index of the B and F variables. + */ + unsigned getB() const; + unsigned getF() const; + double getSlope() const; + + /* + Check if the aux variable is in use and retrieve it + */ + bool auxVariablesInUse() const; + unsigned getInactiveAux() const; + unsigned getActiveAux() const; + + bool supportPolarity() const override; + + /* + Return the polarity of this LeakyReLU, which computes how symmetric + the bound of the input to this LeakyReLU is with respect to 0. + Let LB be the lowerbound, and UB be the upperbound. + If LB >= 0, polarity is 1. + If UB <= 0, polarity is -1. + If LB < 0, and UB > 0, polarity is ( LB + UB ) / (UB - LB). + + We divide the sum by the width of the interval so that the polarity is + always between -1 and 1. The closer it is to 0, the more symmetric the + bound is. + */ + double computePolarity() const; + + /* + Update the preferred direction for fixing and handling case split + */ + void updateDirection() override; + + PhaseStatus getDirection() const; + + void updateScoreBasedOnPolarity() override; + +private: + unsigned _b, _f; + double _slope; + bool _auxVarsInUse; + unsigned _activeAux; + unsigned _inactiveAux; + + /* + Denotes which case split to handle first. + And which phase status to repair a LeakyRelu into. + */ + PhaseStatus _direction; + + PiecewiseLinearCaseSplit getInactiveSplit() const; + PiecewiseLinearCaseSplit getActiveSplit() const; + + bool _haveEliminatedVariables; + + static String phaseToString( PhaseStatus phase ); + + /* + Return true iff b or f are out of bounds. + */ + bool haveOutOfBoundVariables() const; + + void addTableauAuxVar( unsigned tableauAuxVar, unsigned constraintAuxVar ) override; +}; + +#endif // __LeakyReluConstraint_h__ diff --git a/src/engine/MILPEncoder.cpp b/src/engine/MILPEncoder.cpp index 25684fb4b..adfe4a352 100644 --- a/src/engine/MILPEncoder.cpp +++ b/src/engine/MILPEncoder.cpp @@ -61,6 +61,10 @@ void MILPEncoder::encodeInputQuery( GurobiWrapper &gurobi, encodeReLUConstraint( gurobi, (ReluConstraint *)plConstraint, relax ); break; + case PiecewiseLinearFunctionType::LEAKY_RELU: + encodeLeakyReLUConstraint( gurobi, (LeakyReluConstraint *)plConstraint, + relax ); + break; case PiecewiseLinearFunctionType::MAX: encodeMaxConstraint( gurobi, (MaxConstraint *)plConstraint, relax ); @@ -196,6 +200,66 @@ void MILPEncoder::encodeReLUConstraint( GurobiWrapper &gurobi, gurobi.addLeqConstraint( terms, 0 ); } +void MILPEncoder::encodeLeakyReLUConstraint( GurobiWrapper &gurobi, LeakyReluConstraint *lRelu, + bool relax ) +{ + + if ( !lRelu->isActive() || lRelu->phaseFixed() ) + { + return; + } + unsigned sourceVariable = lRelu->getB(); + unsigned targetVariable = lRelu->getF(); + double slope = lRelu->getSlope(); + double sourceLb = _tableau.getLowerBound( sourceVariable ); + double sourceUb = _tableau.getUpperBound( sourceVariable ); + + if ( sourceLb >= 0 ) + { + List terms; + terms.append( GurobiWrapper::Term( 1, Stringf( "x%u", targetVariable ) ) ); + terms.append( GurobiWrapper::Term( -1, Stringf( "x%u", sourceVariable ) ) ); + gurobi.addEqConstraint( terms, 0 ); + } + else if ( sourceUb <= 0 ) + { + List terms; + terms.append( GurobiWrapper::Term( 1, Stringf( "x%u", targetVariable ) ) ); + terms.append( GurobiWrapper::Term( -slope, Stringf( "x%u", sourceVariable ) ) ); + gurobi.addEqConstraint( terms, 0 ); + } + else + { + if ( relax ) + { + /* + We have added f - b >= 0 and f >= 0. Additionally, we add + (ub - slope * lb) / (ub - lb) * (b - ub) >= (f - ub) + which is the upper bound in the triangular relaxation + */ + + double lambda = ( sourceUb - slope * sourceLb ) / (sourceUb - sourceLb ); + List terms; + terms.append( GurobiWrapper::Term( lambda, Stringf( "x%u", sourceVariable ) ) ); + terms.append( GurobiWrapper::Term( -1, Stringf( "x%u", targetVariable ) ) ); + gurobi.addGeqConstraint( terms, ( lambda - 1 ) * sourceUb ); + } else + { + double xPoints[3]; + double yPoints[3]; + xPoints[0] = sourceLb; + yPoints[0] = slope * sourceLb; + xPoints[1] = 0; + yPoints[1] = 0; + xPoints[2] = sourceUb; + yPoints[2] = sourceUb; + gurobi.addPiecewiseLinearConstraint( Stringf( "x%u", sourceVariable ), + Stringf( "x%u", targetVariable ), + 3, xPoints, yPoints ); + } + } +} + void MILPEncoder::encodeMaxConstraint( GurobiWrapper &gurobi, MaxConstraint *max, bool relax ) { diff --git a/src/engine/MILPEncoder.h b/src/engine/MILPEncoder.h index 673fcbce6..03528c962 100644 --- a/src/engine/MILPEncoder.h +++ b/src/engine/MILPEncoder.h @@ -21,6 +21,7 @@ #include "GurobiWrapper.h" #include "InputQuery.h" #include "ITableau.h" +#include "LeakyReluConstraint.h" #include "LinearExpression.h" #include "MStringf.h" #include "SoftmaxConstraint.h" @@ -99,6 +100,12 @@ class MILPEncoder void encodeReLUConstraint( GurobiWrapper &gurobi, ReluConstraint *relu, bool relax ); + /* + Encode a LeakyReLU constraint f = LeakyReLU(b) into Gurobi as a Piecewise Linear Constraint + */ + void encodeLeakyReLUConstraint( GurobiWrapper &gurobi, LeakyReluConstraint *lRelu, + bool relax ); + /* Encode a MAX constraint y = max(x_1, x_2, ... ,x_m) into Gurobi using the same encoding in https://arxiv.org/pdf/1711.07356.pdf diff --git a/src/engine/MarabouError.h b/src/engine/MarabouError.h index ad49194e0..0ecd7a478 100644 --- a/src/engine/MarabouError.h +++ b/src/engine/MarabouError.h @@ -47,11 +47,12 @@ class MarabouError : public Error INVALID_WEIGHTED_SUM_INDEX = 22, UNSUCCESSFUL_QUEUE_PUSH = 23, NETWORK_LEVEL_REASONER_ACTIVATION_NOT_SUPPORTED = 24, - NETWORK_LEVEL_REASONER_NOT_AVAILABLE = 24, - REQUESTED_NONEXISTENT_CASE_SPLIT = 25, - UNABLE_TO_INITIALIZATION_PHASE_PATTERN = 26, - BOUNDS_NOT_UP_TO_DATE_IN_LP_SOLVER = 27, - PARTICIPATING_VARIABLE_MISSING_BOUND = 28, + NETWORK_LEVEL_REASONER_NOT_AVAILABLE = 25, + REQUESTED_NONEXISTENT_CASE_SPLIT = 26, + UNABLE_TO_INITIALIZATION_PHASE_PATTERN = 27, + BOUNDS_NOT_UP_TO_DATE_IN_LP_SOLVER = 28, + PARTICIPATING_VARIABLE_MISSING_BOUND = 29, + INVALID_LEAKY_RELU_SLOPE= 30, // Error codes for Query Loader FILE_DOES_NOT_EXIST = 100, diff --git a/src/engine/PiecewiseLinearFunctionType.h b/src/engine/PiecewiseLinearFunctionType.h index 0ce8e548b..b7e0ffc28 100644 --- a/src/engine/PiecewiseLinearFunctionType.h +++ b/src/engine/PiecewiseLinearFunctionType.h @@ -22,6 +22,7 @@ enum PiecewiseLinearFunctionType { MAX = 2, DISJUNCTION = 3, SIGN = 4, + LEAKY_RELU = 5, }; #endif // __PiecewiseLinearFunctionType_h__ diff --git a/src/engine/tests/Test_InputQuery.h b/src/engine/tests/Test_InputQuery.h index 59504b47f..a2b06fb8a 100644 --- a/src/engine/tests/Test_InputQuery.h +++ b/src/engine/tests/Test_InputQuery.h @@ -20,8 +20,10 @@ #include "InputQuery.h" #include "MockErrno.h" #include "MockFileFactory.h" +#include "LeakyReluConstraint.h" #include "ReluConstraint.h" #include "MarabouError.h" +#include "NetworkLevelReasoner.h" #include @@ -237,12 +239,55 @@ class InputQueryTestSuite : public CxxTest::TestSuite delete inputQuery; } -}; -// -// Local Variables: -// compile-command: "make -C ../../.. " -// tags-file-name: "../../../TAGS" -// c-basic-offset: 4 -// End: -// + void test_construct_leaky_relu_nlr() + { + // x2 = x0 + x1 + // x3 = x0 - x1 + // x4 = lRelu(x2) + // x5 = lRelu(x3) + // x6 = x2 + x3 + x4 + InputQuery *inputQuery = new InputQuery; + inputQuery->setNumberOfVariables( 7 ); + Equation eq1; + eq1.addAddend(1, 0); + eq1.addAddend(1, 1); + eq1.addAddend(-1, 2); + inputQuery->addEquation(eq1); + Equation eq2; + eq2.addAddend(1, 0); + eq2.addAddend(-1, 1); + eq2.addAddend(-1, 3); + inputQuery->addEquation(eq2); + LeakyReluConstraint *r1 = new LeakyReluConstraint(2,4, 0.1); + LeakyReluConstraint *r2 = new LeakyReluConstraint(3,5, 0.1); + inputQuery->addPiecewiseLinearConstraint(r1); + inputQuery->addPiecewiseLinearConstraint(r2); + Equation eq3; + eq3.addAddend(1, 2); + eq3.addAddend(1, 3); + eq3.addAddend(1, 4); + eq3.addAddend(-1, 6); + inputQuery->addEquation(eq3); + inputQuery->markInputVariable(0, 0); + inputQuery->markInputVariable(1, 1); + TS_ASSERT( inputQuery->constructNetworkLevelReasoner() ); + NLR::NetworkLevelReasoner *nlr = inputQuery->getNetworkLevelReasoner(); + TS_ASSERT( nlr->getNumberOfLayers() == 4 ); + NLR::Layer *layer = nlr->getLayer( 2 ); + TS_ASSERT( layer->getLayerType() == NLR::Layer::LEAKY_RELU ); + layer = nlr->getLayer( 3 ); + TS_ASSERT( layer->getLayerType() == NLR::Layer::WEIGHTED_SUM ); + TS_ASSERT( layer->getSourceLayers().size() == 2 ); + + double input[2]; + double output[1]; + + input[0] = 2; + input[1] = -3; + double result = 2 - 3 + 2 + 3 - 0.1; + nlr->evaluate(input, output); + TS_ASSERT_EQUALS( output[0], result ); + delete inputQuery; + } +}; diff --git a/src/engine/tests/Test_LeakyReluConstraint.h b/src/engine/tests/Test_LeakyReluConstraint.h new file mode 100644 index 000000000..c58538030 --- /dev/null +++ b/src/engine/tests/Test_LeakyReluConstraint.h @@ -0,0 +1,978 @@ +/********************* */ +/*! \file Test_LeakyReluConstraint.h + ** \verbatim + ** Top contributors (to current version): + ** Guy Katz, Parth Shah, Duligur Ibeling + ** This file is part of the Marabou project. + ** Copyright (c) 2017-2019 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 + +#include "InputQuery.h" +#include "LeakyReluConstraint.h" +#include "LinearExpression.h" +#include "MarabouError.h" +#include "MockErrno.h" +#include "MockTableau.h" +#include "PiecewiseLinearCaseSplit.h" +#include "context/context.h" + +#include + +class MockForLeakyReluConstraint + : public MockErrno +{ +public: +}; + +/* + Exposes protected members of LeakyReluConstraint for testing. + */ +class TestLeakyReluConstraint : public LeakyReluConstraint +{ +public: + TestLeakyReluConstraint( unsigned b, unsigned f, double slope ) + : LeakyReluConstraint( b, f, slope ) + {} + + using LeakyReluConstraint::getPhaseStatus; +}; + +using namespace CVC4::context; + +class LeakyReluConstraintTestSuite : public CxxTest::TestSuite +{ +public: + MockForLeakyReluConstraint *mock; + const double slope = 0.2; + + void setUp() + { + TS_ASSERT( mock = new MockForLeakyReluConstraint ); + } + + void tearDown() + { + TS_ASSERT_THROWS_NOTHING( delete mock ); + } + + void test_leaky_relu_constraint() + { + unsigned b = 1; + unsigned f = 4; + + LeakyReluConstraint lrelu( b, f, slope ); + MockTableau tableau; + lrelu.registerTableau( &tableau ); + + List participatingVariables; + TS_ASSERT_THROWS_NOTHING( participatingVariables = lrelu.getParticipatingVariables() ); + TS_ASSERT_EQUALS( participatingVariables.size(), 2U ); + auto it = participatingVariables.begin(); + TS_ASSERT_EQUALS( *it, b ); + ++it; + TS_ASSERT_EQUALS( *it, f ); + + TS_ASSERT( lrelu.participatingVariable( b ) ); + TS_ASSERT( lrelu.participatingVariable( f ) ); + TS_ASSERT( !lrelu.participatingVariable( 2 ) ); + TS_ASSERT( !lrelu.participatingVariable( 0 ) ); + TS_ASSERT( !lrelu.participatingVariable( 5 ) ); + + TS_ASSERT_THROWS_EQUALS( lrelu.satisfied(), + const MarabouError &e, + e.getCode(), + MarabouError::PARTICIPATING_VARIABLE_MISSING_ASSIGNMENT ); + + tableau.setValue( b, 1 ); + tableau.setValue( f, 1 ); + + TS_ASSERT( lrelu.satisfied() ); + + tableau.setValue( f, 2 ); + + TS_ASSERT( !lrelu.satisfied() ); + + tableau.setValue( b, 2 ); + + TS_ASSERT( lrelu.satisfied() ); + + tableau.setValue( b, -2 ); + + TS_ASSERT( !lrelu.satisfied() ); + + tableau.setValue( f, -2 * slope ); + + TS_ASSERT( lrelu.satisfied() ); + + tableau.setValue( b, -3 ); + + TS_ASSERT( !lrelu.satisfied() ); + + tableau.setValue( b, 0 ); + + TS_ASSERT( !lrelu.satisfied() ); + + tableau.setValue( f, 0 ); + + TS_ASSERT( lrelu.satisfied() ); + + tableau.setValue( f, 0 ); + tableau.setValue( b, 11 ); + + TS_ASSERT( !lrelu.satisfied() ); + + // Changing variable indices + tableau.setValue( b, 1 ); + tableau.setValue( f, 1 ); + TS_ASSERT( lrelu.satisfied() ); + + unsigned newB = 12; + unsigned newF = 14; + + TS_ASSERT_THROWS_NOTHING( lrelu.updateVariableIndex( b, newB ) ); + TS_ASSERT_THROWS_NOTHING( lrelu.updateVariableIndex( f, newF ) ); + tableau.setValue( newB, 1 ); + tableau.setValue( newF, 1 ); + + TS_ASSERT( lrelu.satisfied() ); + + tableau.setValue( newF, 2 ); + + TS_ASSERT( !lrelu.satisfied() ); + + tableau.setValue( newB, 2 ); + + TS_ASSERT( lrelu.satisfied() ); + } + + void test_leaky_relu_fixes() + { + unsigned b = 1; + unsigned f = 4; + + LeakyReluConstraint relu( b, f, slope ); + MockTableau tableau; + relu.registerTableau( &tableau ); + + List fixes; + List::iterator it; + + tableau.setValue( b, -1 ); + tableau.setValue( f, 1 ); + + fixes = relu.getPossibleFixes(); + it = fixes.begin(); + TS_ASSERT_EQUALS( it->_variable, b ); + TS_ASSERT_EQUALS( it->_value, 1 ); + ++it; + TS_ASSERT_EQUALS( it->_variable, f ); + TS_ASSERT_EQUALS( it->_value, slope * -1 ); + + tableau.setValue( b, 2 ); + tableau.setValue( f, 1 ); + + fixes = relu.getPossibleFixes(); + it = fixes.begin(); + TS_ASSERT_EQUALS( it->_variable, b ); + TS_ASSERT_EQUALS( it->_value, 1 ); + ++it; + TS_ASSERT_EQUALS( it->_variable, f ); + TS_ASSERT_EQUALS( it->_value, 2 ); + + tableau.setValue( b, -2 ); + tableau.setValue( f, -1 ); + + fixes = relu.getPossibleFixes(); + it = fixes.begin(); + TS_ASSERT_EQUALS( it->_variable, f ); + TS_ASSERT_EQUALS( it->_value, slope * -2 ); + ++it; + TS_ASSERT_EQUALS( it->_variable, b ); + TS_ASSERT_EQUALS( it->_value, -1 / slope ); + + tableau.setValue( b, 11 ); + tableau.setValue( f, -1 ); + + fixes = relu.getPossibleFixes(); + it = fixes.begin(); + TS_ASSERT_EQUALS( it->_variable, b ); + TS_ASSERT_EQUALS( it->_value, -1 / slope ); + ++it; + TS_ASSERT_EQUALS( it->_variable, f ); + TS_ASSERT_EQUALS( it->_value, 11 ); + } + + void test_leaky_relu_case_splits() + { + unsigned b = 1; + unsigned f = 4; + + LeakyReluConstraint lrelu( b, f, slope ); + + List splits = lrelu.getCaseSplits(); + + Equation activeEquation, inactiveEquation; + + TS_ASSERT_EQUALS( splits.size(), 2U ); + + List::iterator split1 = splits.begin(); + List::iterator split2 = split1; + ++split2; + + TS_ASSERT( isActiveSplit( b, f, split1 ) || isActiveSplit( b, f, split2 ) ); + TS_ASSERT( isInactiveSplit( b, f, split1 ) || isInactiveSplit( b, f, split2 ) ); + } + + bool isActiveSplit( unsigned b, unsigned f, List::iterator &split ) + { + List bounds = split->getBoundTightenings(); + + auto bound = bounds.begin(); + Tightening bound1 = *bound; + + TS_ASSERT_EQUALS( bound1._variable, b ); + TS_ASSERT_EQUALS( bound1._value, 0.0 ); + + if ( bound1._type != Tightening::LB ) + return false; + + TS_ASSERT_EQUALS( bounds.size(), 2U ); + + ++bound; + Tightening bound2 = *bound; + + TS_ASSERT_EQUALS( bound2._variable, f ); + TS_ASSERT_EQUALS( bound2._value, 0.0 ); + TS_ASSERT_EQUALS( bound2._type, Tightening::LB ); + + Equation activeEquation; + auto equations = split->getEquations(); + TS_ASSERT_EQUALS( equations.size(), 1U ); + activeEquation = split->getEquations().front(); + TS_ASSERT_EQUALS( activeEquation._addends.size(), 2U ); + TS_ASSERT_EQUALS( activeEquation._scalar, 0.0 ); + + auto addend = activeEquation._addends.begin(); + TS_ASSERT_EQUALS( addend->_coefficient, 1.0 ); + TS_ASSERT_EQUALS( addend->_variable, b ); + + ++addend; + TS_ASSERT_EQUALS( addend->_coefficient, -1.0 ); + TS_ASSERT_EQUALS( addend->_variable, f ); + + TS_ASSERT_EQUALS( activeEquation._type, Equation::EQ ); + + return true; + } + + bool isInactiveSplit( unsigned b, unsigned f, List::iterator &split ) + { + List bounds = split->getBoundTightenings(); + + auto bound = bounds.begin(); + Tightening bound1 = *bound; + + TS_ASSERT_EQUALS( bound1._variable, b ); + TS_ASSERT_EQUALS( bound1._value, 0.0 ); + + if ( bound1._type != Tightening::UB ) + return false; + + TS_ASSERT_EQUALS( bounds.size(), 2U ); + + ++bound; + Tightening bound2 = *bound; + + TS_ASSERT_EQUALS( bound2._variable, f ); + TS_ASSERT_EQUALS( bound2._value, 0.0 ); + TS_ASSERT_EQUALS( bound2._type, Tightening::UB ); + + Equation inactiveEquation; + auto equations = split->getEquations(); + TS_ASSERT_EQUALS( equations.size(), 1U ); + inactiveEquation = split->getEquations().front(); + TS_ASSERT_EQUALS( inactiveEquation._addends.size(), 2U ); + TS_ASSERT_EQUALS( inactiveEquation._scalar, 0.0 ); + + auto addend = inactiveEquation._addends.begin(); + TS_ASSERT_EQUALS( addend->_coefficient, slope ); + TS_ASSERT_EQUALS( addend->_variable, b ); + + ++addend; + TS_ASSERT_EQUALS( addend->_coefficient, -1.0 ); + TS_ASSERT_EQUALS( addend->_variable, f ); + + TS_ASSERT_EQUALS( inactiveEquation._type, Equation::EQ ); + + return true; + } + + void test_leaky_relu_case_splits_with_aux_var() + { + unsigned b = 1; + unsigned f = 4; + + LeakyReluConstraint lrelu( b, f, slope ); + + lrelu.notifyLowerBound( b, -10 ); + lrelu.notifyUpperBound( b, 5 ); + lrelu.notifyUpperBound( f, 5 ); + + unsigned auxVarActive = 10; + unsigned auxVarInactive = 11; + InputQuery inputQuery; + inputQuery.setNumberOfVariables( auxVarActive ); + + lrelu.transformToUseAuxVariables( inputQuery ); + + TS_ASSERT( lrelu.auxVariablesInUse() ); + TS_ASSERT_EQUALS( lrelu.getActiveAux(), auxVarActive ); + TS_ASSERT_EQUALS( lrelu.getInactiveAux(), auxVarInactive ); + + List splits = lrelu.getCaseSplits(); + + Equation activeEquation, inactiveEquation; + + TS_ASSERT_EQUALS( splits.size(), 2U ); + + List::iterator split1 = splits.begin(); + List::iterator split2 = split1; + ++split2; + + TS_ASSERT( isActiveSplitWithAux( b, f, auxVarActive, split1 ) || + isActiveSplitWithAux( b, f, auxVarActive, split2 ) ); + TS_ASSERT( isInactiveSplitWithAux( b, f, auxVarInactive, split1 ) || + isInactiveSplitWithAux( b, f, auxVarInactive, split2 ) ); + } + + bool isActiveSplitWithAux( unsigned b, unsigned f, + unsigned activeAux, List::iterator &split ) + { + List bounds = split->getBoundTightenings(); + + TS_ASSERT_EQUALS( bounds.size(), 3U ); + + auto bound = bounds.begin(); + Tightening bound1 = *bound; + + TS_ASSERT_EQUALS( bound1._variable, b ); + TS_ASSERT_EQUALS( bound1._value, 0.0 ); + + if ( bound1._type != Tightening::LB ) + return false; + + ++bound; + + Tightening bound2 = *bound; + + TS_ASSERT_EQUALS( bound2._variable, f ); + TS_ASSERT_EQUALS( bound2._value, 0.0 ); + + if ( bound2._type != Tightening::LB ) + return false; + + ++bound; + + Tightening bound3 = *bound; + + TS_ASSERT_EQUALS( bound3._variable, activeAux ); + TS_ASSERT_EQUALS( bound3._value, 0.0 ); + + if ( bound3._type != Tightening::UB ) + return false; + + TS_ASSERT( split->getEquations().empty() ); + + return true; + } + + bool isInactiveSplitWithAux( unsigned b, unsigned f, + unsigned inactiveAux, List::iterator &split ) + { + List bounds = split->getBoundTightenings(); + + TS_ASSERT_EQUALS( bounds.size(), 3U ); + + auto bound = bounds.begin(); + Tightening bound1 = *bound; + + TS_ASSERT_EQUALS( bound1._variable, b ); + TS_ASSERT_EQUALS( bound1._value, 0.0 ); + + if ( bound1._type != Tightening::UB ) + return false; + + ++bound; + + Tightening bound2 = *bound; + + TS_ASSERT_EQUALS( bound2._variable, f ); + TS_ASSERT_EQUALS( bound2._value, 0.0 ); + + if ( bound2._type != Tightening::UB ) + return false; + + ++bound; + + Tightening bound3 = *bound; + + TS_ASSERT_EQUALS( bound3._variable, inactiveAux ); + TS_ASSERT_EQUALS( bound3._value, 0.0 ); + + if ( bound3._type != Tightening::UB ) + return false; + + TS_ASSERT( split->getEquations().empty() ); + + return true; + } + + void test_register_as_watcher() + { + unsigned b = 1; + unsigned f = 4; + + MockTableau tableau; + + LeakyReluConstraint lrelu( b, f, slope ); + + TS_ASSERT_THROWS_NOTHING( lrelu.registerAsWatcher( &tableau ) ); + + TS_ASSERT_EQUALS( tableau.lastRegisteredVariableToWatcher.size(), 2U ); + TS_ASSERT( tableau.lastUnregisteredVariableToWatcher.empty() ); + TS_ASSERT_EQUALS( tableau.lastRegisteredVariableToWatcher[b].size(), 1U ); + TS_ASSERT( tableau.lastRegisteredVariableToWatcher[b].exists( &lrelu ) ); + TS_ASSERT_EQUALS( tableau.lastRegisteredVariableToWatcher[f].size(), 1U ); + TS_ASSERT( tableau.lastRegisteredVariableToWatcher[f].exists( &lrelu ) ); + + tableau.lastRegisteredVariableToWatcher.clear(); + + TS_ASSERT_THROWS_NOTHING( lrelu.unregisterAsWatcher( &tableau ) ); + + TS_ASSERT( tableau.lastRegisteredVariableToWatcher.empty() ); + TS_ASSERT_EQUALS( tableau.lastUnregisteredVariableToWatcher.size(), 2U ); + TS_ASSERT_EQUALS( tableau.lastUnregisteredVariableToWatcher[b].size(), 1U ); + TS_ASSERT( tableau.lastUnregisteredVariableToWatcher[b].exists( &lrelu ) ); + TS_ASSERT_EQUALS( tableau.lastUnregisteredVariableToWatcher[f].size(), 1U ); + TS_ASSERT( tableau.lastUnregisteredVariableToWatcher[f].exists( &lrelu ) ); + } + + void test_valid_split_relu_phase_fixed_to_active() + { + unsigned b = 1; + unsigned f = 4; + + LeakyReluConstraint lrelu( b, f, slope ); + + TS_ASSERT( !lrelu.phaseFixed() ); + TS_ASSERT_THROWS_NOTHING( lrelu.notifyLowerBound( b, 5 ) ); + TS_ASSERT( lrelu.phaseFixed() ); + + PiecewiseLinearCaseSplit split; + TS_ASSERT_THROWS_NOTHING( split = lrelu.getValidCaseSplit() ); + + List dummy; + dummy.append( split ); + List::iterator split1 = dummy.begin(); + + TS_ASSERT( isActiveSplit( b, f, split1 ) ); + } + + void test_valid_split_relu_phase_fixed_to_inactive() + { + unsigned b = 1; + unsigned f = 4; + + LeakyReluConstraint lrelu( b, f, slope ); + + TS_ASSERT( !lrelu.phaseFixed() ); + TS_ASSERT_THROWS_NOTHING( lrelu.notifyUpperBound( b, -2 ) ); + TS_ASSERT( lrelu.phaseFixed() ); + + PiecewiseLinearCaseSplit split; + TS_ASSERT_THROWS_NOTHING( split = lrelu.getValidCaseSplit() ); + + List dummy; + dummy.append( split ); + List::iterator split1 = dummy.begin(); + + TS_ASSERT( isInactiveSplit( b, f, split1 ) ); + } + + void test_leaky_relu_entailed_tightenings() + { + unsigned b = 1; + unsigned f = 4; + + LeakyReluConstraint lrelu( b, f, slope ); + + lrelu.notifyUpperBound( b, 7 ); + lrelu.notifyUpperBound( f, 7 ); + + lrelu.notifyLowerBound( b, -1 ); + lrelu.notifyLowerBound( f, slope * -1 ); + + List entailedTightenings; + lrelu.getEntailedTightenings( entailedTightenings ); + + // The phase is not fixed: upper bounds propagated between b + // and f, f non-negative + TS_ASSERT_EQUALS( entailedTightenings.size(), 4U ); + TS_ASSERT( entailedTightenings.exists( Tightening( f, 7, Tightening::UB ) ) ); + TS_ASSERT( entailedTightenings.exists( Tightening( b, 7, Tightening::UB ) ) ); + TS_ASSERT( entailedTightenings.exists( Tightening( f, slope * -1, Tightening::LB ) ) ); + TS_ASSERT( entailedTightenings.exists( Tightening( b, -1, Tightening::LB ) ) ); + + entailedTightenings.clear(); + + // Positive lower bounds for b and f: active case. All bounds + // propagated between f and b. f and b are + // non-negative. + lrelu.notifyLowerBound( b, 1 ); + lrelu.notifyLowerBound( f, 2 ); + + lrelu.getEntailedTightenings( entailedTightenings ); + + TS_ASSERT_EQUALS( entailedTightenings.size(), 6U ); + TS_ASSERT( entailedTightenings.exists( Tightening( f, 1, Tightening::LB ) ) ); + TS_ASSERT( entailedTightenings.exists( Tightening( b, 2, Tightening::LB ) ) ); + TS_ASSERT( entailedTightenings.exists( Tightening( f, 7, Tightening::UB ) ) ); + TS_ASSERT( entailedTightenings.exists( Tightening( b, 7, Tightening::UB ) ) ); + + TS_ASSERT( entailedTightenings.exists( Tightening( b, 0, Tightening::LB ) ) ); + TS_ASSERT( entailedTightenings.exists( Tightening( f, 0, Tightening::LB ) ) ); + + entailedTightenings.clear(); + + // Negative upper bound for b: inactive case. f is 0. B is non-positive. + + LeakyReluConstraint lrelu2( b, f, slope ); + + lrelu2.notifyLowerBound( b, -3 ); + lrelu2.notifyLowerBound( f, -2 ); + + lrelu2.notifyUpperBound( b, -1 ); + lrelu2.notifyUpperBound( f, 7 ); + + lrelu2.getEntailedTightenings( entailedTightenings ); + + TS_ASSERT_EQUALS( entailedTightenings.size(), 5U ); + + TS_ASSERT( entailedTightenings.exists( Tightening( b, 0, Tightening::UB ) ) ); + TS_ASSERT( entailedTightenings.exists( Tightening( f, 0, Tightening::UB ) ) ); + + TS_ASSERT( entailedTightenings.exists( Tightening( b, -2 / slope, Tightening::LB ) ) ); + TS_ASSERT( entailedTightenings.exists( Tightening( f, -3 * slope, Tightening::LB ) ) ); + + TS_ASSERT( entailedTightenings.exists( Tightening( f, -1 * slope, Tightening::UB ) ) ); + } + + void test_leaky_relu_duplicate_and_restore() + { + LeakyReluConstraint *lrelu1 = new LeakyReluConstraint( 4, 6, slope ); + MockTableau tableau; + lrelu1->registerTableau( &tableau ); + lrelu1->setActiveConstraint( false ); + tableau.setValue( 4, 1.0 ); + tableau.setValue( 6, 1.0 ); + + lrelu1->notifyLowerBound( 4, -8.0 ); + lrelu1->notifyUpperBound( 4, 8.0 ); + + lrelu1->notifyLowerBound( 6, 0.0 ); + lrelu1->notifyUpperBound( 6, 8.0 ); + + PiecewiseLinearConstraint *lrelu2 = lrelu1->duplicateConstraint(); + TS_ASSERT( lrelu2->satisfied() ); + tableau.setValue( 4, -2 ); + TS_ASSERT( !lrelu1->satisfied() ); + + TS_ASSERT( !lrelu2->isActive() ); + TS_ASSERT( !lrelu2->satisfied() ); + + lrelu2->restoreState( lrelu1 ); + TS_ASSERT( !lrelu2->satisfied() ); + + TS_ASSERT_THROWS_NOTHING( delete lrelu1 ); + TS_ASSERT_THROWS_NOTHING( delete lrelu2 ); + } + + void test_eliminate_variable_active() + { + unsigned b = 1; + unsigned f = 4; + + MockTableau tableau; + + LeakyReluConstraint lrelu( b, f, slope ); + + lrelu.registerAsWatcher( &tableau ); + + TS_ASSERT( !lrelu.constraintObsolete() ); + TS_ASSERT_THROWS_NOTHING( lrelu.eliminateVariable( b, 5 ) ); + TS_ASSERT( lrelu.constraintObsolete() ); + } + + void test_serialize_and_unserialize() + { + unsigned b = 42; + unsigned f = 7; + + LeakyReluConstraint originalLRelu( b, f, slope ); + originalLRelu.notifyLowerBound( b, -10 ); + originalLRelu.notifyUpperBound( f, 5 ); + originalLRelu.notifyUpperBound( f, -1 ); + originalLRelu.notifyUpperBound( f, 5 ); + + String originalSerialized = originalLRelu.serializeToString(); + LeakyReluConstraint recoveredLRelu( originalSerialized ); + + TS_ASSERT_EQUALS( originalLRelu.serializeToString(), + recoveredLRelu.serializeToString() ); + + TS_ASSERT( !originalLRelu.auxVariablesInUse() ); + TS_ASSERT( !recoveredLRelu.auxVariablesInUse() ); + + InputQuery dontCare; + dontCare.setNumberOfVariables( 500 ); + + originalLRelu.transformToUseAuxVariables( dontCare ); + + TS_ASSERT( originalLRelu.auxVariablesInUse() ); + + originalSerialized = originalLRelu.serializeToString(); + LeakyReluConstraint recoveredLRelu2( originalSerialized ); + + TS_ASSERT_EQUALS( originalLRelu.serializeToString(), + recoveredLRelu2.serializeToString() ); + + TS_ASSERT( recoveredLRelu2.auxVariablesInUse() ); + TS_ASSERT_EQUALS( originalLRelu.getActiveAux(), recoveredLRelu2.getActiveAux() ); + TS_ASSERT_EQUALS( originalLRelu.getInactiveAux(), recoveredLRelu2.getInactiveAux() ); + } + + LeakyReluConstraint prepareLeakyRelu( unsigned b, unsigned f, unsigned activeAux, + BoundManager *boundManager ) + { + LeakyReluConstraint lrelu( b, f, slope ); + boundManager->initialize( activeAux + 2 ); + + InputQuery dontCare; + dontCare.setNumberOfVariables( activeAux ); + lrelu.registerBoundManager( boundManager ); + + lrelu.notifyLowerBound( b, -10 ); + lrelu.notifyLowerBound( f, slope * -10 ); + + lrelu.notifyUpperBound( b, 15 ); + lrelu.notifyUpperBound( f, 15 ); + + TS_ASSERT_THROWS_NOTHING( lrelu.transformToUseAuxVariables( dontCare ) ); + + lrelu.notifyLowerBound( activeAux, 0 ); + lrelu.notifyUpperBound( activeAux, 10 ); + + unsigned inactiveAux = activeAux + 1; + lrelu.notifyLowerBound( inactiveAux, 0 ); + lrelu.notifyUpperBound( inactiveAux, 15 ); + + + boundManager->clearTightenings(); + return lrelu; + } + + void test_notify_bounds() + { + unsigned b = 1; + unsigned f = 4; + unsigned activeAux = 10; + Context context; + + // Initial state: b in [-10, 15], f in [slope * -10, 15] + + { + BoundManager boundManager( context ); + List tightenings; + LeakyReluConstraint lrelu = prepareLeakyRelu( b, f, activeAux, &boundManager ); + lrelu.notifyLowerBound( b, -20 ); + boundManager.getTightenings( tightenings ); + TS_ASSERT( tightenings.empty() ); + + lrelu.notifyLowerBound( f, -20 * slope); + boundManager.getTightenings( tightenings ); + TS_ASSERT( tightenings.empty() ); + for ( const auto &t : tightenings ) + t.dump(); + + lrelu.notifyUpperBound( b, 20 ); + boundManager.getTightenings( tightenings ); + TS_ASSERT( tightenings.empty() ); + + lrelu.notifyUpperBound( f, 23 ); + boundManager.getTightenings( tightenings ); + TS_ASSERT( tightenings.empty() ); + } + + { + // Tighter lower bound for b that is negative + BoundManager boundManager( context ); + List tightenings; + LeakyReluConstraint lrelu = prepareLeakyRelu( b, f, activeAux, &boundManager ); + lrelu.notifyLowerBound( b, -8 ); + boundManager.getTightenings( tightenings ); + TS_ASSERT( tightenings.exists( Tightening( f, -8 * slope, Tightening::LB ) ) ); + } + + { + // Tighter upper bound for b/f that is positive + BoundManager boundManager( context ); + List tightenings; + LeakyReluConstraint lrelu = prepareLeakyRelu( b, f, activeAux, &boundManager ); + lrelu.notifyUpperBound( b, 13 ); + boundManager.getTightenings( tightenings ); + TS_ASSERT( tightenings.exists( Tightening( f, 13, Tightening::UB ) ) ); + + lrelu.notifyUpperBound( f, 12 ); + boundManager.getTightenings( tightenings ); + TS_ASSERT( tightenings.exists( Tightening( b, 12, Tightening::UB ) ) ); + } + + { + // Tighter upper bound 0 for f + BoundManager boundManager( context ); + List tightenings; + LeakyReluConstraint lrelu = prepareLeakyRelu( b, f, activeAux, &boundManager ); + lrelu.notifyUpperBound( f, 0 ); + boundManager.getTightenings( tightenings ); + + TS_ASSERT( tightenings.exists( Tightening( b, 0, Tightening::UB ) ) ); + } + } + + void test_polarity() + { + unsigned b = 1; + unsigned f = 4; + + PiecewiseLinearCaseSplit activePhase; + activePhase.storeBoundTightening( Tightening( b, 0.0, Tightening::LB ) ); + activePhase.storeBoundTightening( Tightening( f, 0.0, Tightening::LB ) ); + Equation activeEquation( Equation::EQ ); + activeEquation.addAddend( 1, b ); + activeEquation.addAddend( -1, f ); + activeEquation.setScalar( 0 ); + activePhase.addEquation( activeEquation ); + + PiecewiseLinearCaseSplit inactivePhase; + inactivePhase.storeBoundTightening( Tightening( b, 0.0, Tightening::UB ) ); + inactivePhase.storeBoundTightening( Tightening( f, 0.0, Tightening::UB ) ); + Equation inactiveEquation( Equation::EQ ); + inactiveEquation.addAddend( slope, b ); + inactiveEquation.addAddend( -1, f ); + inactiveEquation.setScalar( 0 ); + inactivePhase.addEquation( inactiveEquation ); + + // b in [1, 2], polarity should be 1, and direction should be RELU_PHASE_ACTIVE + { + LeakyReluConstraint lrelu( b, f, slope ); + lrelu.notifyLowerBound( b, 1 ); + lrelu.notifyUpperBound( b, 2 ); + TS_ASSERT( lrelu.computePolarity() == 1 ); + + lrelu.updateDirection(); + TS_ASSERT( lrelu.getDirection() == RELU_PHASE_ACTIVE ); + } + // b in [-2, 0], polarity should be -1, and direction should be RELU_PHASE_INACTIVE + { + LeakyReluConstraint lrelu( b, f, slope ); + lrelu.notifyLowerBound( b, -2 ); + lrelu.notifyUpperBound( b, 0 ); + TS_ASSERT( lrelu.computePolarity() == -1 ); + + lrelu.updateDirection(); + TS_ASSERT( lrelu.getDirection() == RELU_PHASE_INACTIVE ); + } + // b in [-2, 2], polarity should be 0, the direction should be RELU_PHASE_INACTIVE, + // the inactive case should be the first element of the returned list by + // the getCaseSplits(), and getPossibleFix should return the inactive fix first + { + LeakyReluConstraint lrelu( b, f, slope ); + lrelu.notifyLowerBound( b, -2 ); + lrelu.notifyUpperBound( b, 2 ); + TS_ASSERT( lrelu.computePolarity() == 0 ); + + lrelu.updateDirection(); + TS_ASSERT( lrelu.getDirection() == RELU_PHASE_INACTIVE ); + + auto splits = lrelu.getCaseSplits(); + auto it = splits.begin(); + TS_ASSERT( *it == inactivePhase ); + } + // b in [-2, 3], polarity should be 0.2, the direction should be RELU_PHASE_ACTIVE, + // the active case should be the first element of the returned list by + // the getCaseSplits(), and getPossibleFix should return the active fix first + { + LeakyReluConstraint lrelu( b, f, slope ); + lrelu.notifyLowerBound( b, -2 ); + lrelu.notifyUpperBound( b, 3 ); + TS_ASSERT( lrelu.computePolarity() == 0.2 ); + + lrelu.updateDirection(); + TS_ASSERT( lrelu.getDirection() == RELU_PHASE_ACTIVE ); + + auto splits = lrelu.getCaseSplits(); + auto it = splits.begin(); + TS_ASSERT( *it == activePhase ); + } + } + + /* + Test Case functionality of LeakyReluConstraint + 1. Check that all cases are returned by LeakyReluConstraint::getAllCases() + 2. Check that LeakyReluConstraint::getCaseSplit( case ) returns the correct case + */ + void test_leaky_relu_get_cases() + { + unsigned b = 1; + unsigned f = 4; + + LeakyReluConstraint lrelu( b, f, slope ); + + List cases = lrelu.getAllCases(); + + TS_ASSERT_EQUALS( cases.size(), 2u ); + TS_ASSERT_EQUALS( cases.front(), RELU_PHASE_INACTIVE ); + TS_ASSERT_EQUALS( cases.back(), RELU_PHASE_ACTIVE ); + + List splits = lrelu.getCaseSplits(); + TS_ASSERT_EQUALS( splits.size(), 2u ); + TS_ASSERT_EQUALS( splits.front(), lrelu.getCaseSplit( RELU_PHASE_INACTIVE ) ) ; + TS_ASSERT_EQUALS( splits.back(), lrelu.getCaseSplit( RELU_PHASE_ACTIVE ) ) ; + } + + /* + Test context-dependent lrelu state behavior. + */ + void test_leaky_relu_context_dependent_state() + { + Context context; + unsigned b = 1; + unsigned f = 4; + + TestLeakyReluConstraint lrelu( b, f, slope ); + + lrelu.initializeCDOs( &context ); + + + + TS_ASSERT_EQUALS( lrelu.getPhaseStatus(), PHASE_NOT_FIXED ); + + context.push(); + + lrelu.notifyLowerBound( f, 1 ); + TS_ASSERT_EQUALS( lrelu.getPhaseStatus(), RELU_PHASE_ACTIVE ); + + context.pop(); + TS_ASSERT_EQUALS( lrelu.getPhaseStatus(), PHASE_NOT_FIXED ); + + context.push(); + lrelu.notifyUpperBound( b, -1 ); + TS_ASSERT_EQUALS( lrelu.getPhaseStatus(), RELU_PHASE_INACTIVE ); + + context.pop(); + TS_ASSERT_EQUALS( lrelu.getPhaseStatus(), PHASE_NOT_FIXED ); + } + + /* + Test correct initialization of context-dependent data structures. + */ + void test_initialization_of_CDOs() + { + Context context; + LeakyReluConstraint *lrelu1 = new LeakyReluConstraint( 4, 6, slope ); + + TS_ASSERT_EQUALS( lrelu1->getContext(), static_cast( static_cast( nullptr ) ) ); + + TS_ASSERT_EQUALS( lrelu1->getActiveStatusCDO(), static_cast*>( nullptr ) ); + TS_ASSERT_EQUALS( lrelu1->getPhaseStatusCDO(), static_cast*>( nullptr ) ); + TS_ASSERT_EQUALS( lrelu1->getInfeasibleCasesCDList(), static_cast*>( nullptr ) ); + TS_ASSERT_THROWS_NOTHING( lrelu1->initializeCDOs( &context ) ); + TS_ASSERT_EQUALS( lrelu1->getContext(), &context ); + TS_ASSERT_DIFFERS( lrelu1->getActiveStatusCDO(), static_cast*>( nullptr ) ); + TS_ASSERT_DIFFERS( lrelu1->getPhaseStatusCDO(), static_cast*>( nullptr ) ); + TS_ASSERT_DIFFERS( lrelu1->getInfeasibleCasesCDList(), static_cast*>( nullptr ) ); + + bool active = false; + TS_ASSERT_THROWS_NOTHING( active = lrelu1->isActive() ); + TS_ASSERT_EQUALS( active, true ); + + bool phaseFixed = true; + TS_ASSERT_THROWS_NOTHING( phaseFixed = lrelu1->phaseFixed() ); + TS_ASSERT_EQUALS( phaseFixed, PHASE_NOT_FIXED ); + TS_ASSERT_EQUALS( lrelu1->numFeasibleCases(), 2u ); + TS_ASSERT( lrelu1->isFeasible() ); + TS_ASSERT( !lrelu1->isImplication() ); + + TS_ASSERT_THROWS_NOTHING( delete lrelu1 ); + } + + /* + Test context-dependent storage of search state information via + isFeasible/markInfeasible methods. + */ + void test_lazy_backtracking_of_CDOs() + { + Context context; + LeakyReluConstraint *lrelu1 = new LeakyReluConstraint( 4, 6, slope ); + TS_ASSERT_THROWS_NOTHING( lrelu1->initializeCDOs( &context ) ); + + // L0 - Feasible, not an implication + PhaseStatus phase1 = PHASE_NOT_FIXED; + TS_ASSERT_THROWS_NOTHING( phase1 = lrelu1->nextFeasibleCase() ); + TS_ASSERT_EQUALS( phase1, lrelu1->nextFeasibleCase() ); + TS_ASSERT( lrelu1->isFeasible() ); + TS_ASSERT( !lrelu1->isImplication() ); + + + // L1 - Feasible, an implication, nextFeasibleCase returns a new case + TS_ASSERT_THROWS_NOTHING( context.push() ); + TS_ASSERT_THROWS_NOTHING( lrelu1->markInfeasible( phase1 ) ); + TS_ASSERT( lrelu1->isFeasible() ); + TS_ASSERT( lrelu1->isImplication() ); + + PhaseStatus phase2 = PHASE_NOT_FIXED; + TS_ASSERT_THROWS_NOTHING( phase2 = lrelu1->nextFeasibleCase() ); + TS_ASSERT_EQUALS( phase2, lrelu1->nextFeasibleCase() ); + TS_ASSERT_DIFFERS( phase2, phase1 ); + + // L2 - Infeasible, not an implication, nextCase returns CONSTRAINT_INFEASIBLE + TS_ASSERT_THROWS_NOTHING( context.push() ); + TS_ASSERT_THROWS_NOTHING( lrelu1->markInfeasible( phase2 ) ); + TS_ASSERT( !lrelu1->isFeasible() ); + TS_ASSERT( !lrelu1->isImplication() ); + TS_ASSERT_EQUALS( lrelu1->nextFeasibleCase(), CONSTRAINT_INFEASIBLE ); + + // L1 again - Feasible, an implication, nextFeasibleCase returns same values as phase2 + TS_ASSERT_THROWS_NOTHING( context.pop() ); + TS_ASSERT( lrelu1->isFeasible() ); + TS_ASSERT( lrelu1->isImplication() ); + TS_ASSERT_EQUALS( phase2, lrelu1->nextFeasibleCase() ); + + // L0 again - Feasible, not an implication, nextFeasibleCase returns same value as phase1 + TS_ASSERT_THROWS_NOTHING( context.pop() ); + TS_ASSERT( lrelu1->isFeasible() ); + TS_ASSERT( !lrelu1->isImplication() ); + TS_ASSERT_EQUALS( phase1, lrelu1->nextFeasibleCase() ); + + TS_ASSERT_THROWS_NOTHING( delete lrelu1 ); + } + +}; diff --git a/src/engine/tests/Test_MILPEncoder.h b/src/engine/tests/Test_MILPEncoder.h index 40707d10e..460a34485 100644 --- a/src/engine/tests/Test_MILPEncoder.h +++ b/src/engine/tests/Test_MILPEncoder.h @@ -13,6 +13,7 @@ **/ +#include "GlobalConfiguration.h" #include "FloatUtils.h" #include "InputQuery.h" #include "MILPEncoder.h" @@ -364,7 +365,176 @@ class MILPEncoderTestSuite : public CxxTest::TestSuite #else TS_ASSERT( true ); #endif // ENABLE_GUROBI - } + } + + void test_eoncode_leaky_relu_constraint() + { +#ifdef ENABLE_GUROBI + + // + // x2 = leaky_relu(x0) + // x3 = leaky_relu(x1) + // x4 = x2 + x3 + // x4 = slope * -1 + 1 + + GurobiWrapper gurobi1; + + InputQuery inputQuery1 = InputQuery(); + inputQuery1.setNumberOfVariables( 5 ); + + MockTableau tableau1 = MockTableau(); + tableau1.setDimensions( 1, 5 ); + + // -1 <= x0 <= 1 + inputQuery1.setLowerBound( 0, -1 ); + inputQuery1.setUpperBound( 0, 1 ); + tableau1.setLowerBound( 0, -1 ); + tableau1.setUpperBound( 0, 1 ); + + // -2 <= x1 <= -1 + inputQuery1.setLowerBound( 1, -2 ); + inputQuery1.setUpperBound( 1, -1 ); + tableau1.setLowerBound( 1, -2 ); + tableau1.setUpperBound( 1, -1 ); + + //-1 <= x2 <= 1 + inputQuery1.setLowerBound( 2, -1 ); + inputQuery1.setUpperBound( 2, 1 ); + tableau1.setLowerBound( 2, -1 ); + tableau1.setUpperBound( 2, 1 ); + + // -2 <= x3 <= 0 + inputQuery1.setLowerBound( 3, -2 ); + inputQuery1.setUpperBound( 3, 0 ); + tableau1.setLowerBound( 3, -2 ); + tableau1.setUpperBound( 3, 0 ); + + // -3 <= x4 <= 1 + inputQuery1.setLowerBound( 4, -3 ); + inputQuery1.setUpperBound( 4, 1 ); + tableau1.setLowerBound( 4, -3 ); + tableau1.setUpperBound( 4, 1 ); + + Equation eq; + eq.addAddend(1, 2); + eq.addAddend(1, 3); + eq.addAddend(-1, 4); + inputQuery1.addEquation( eq ); + + double slope = 0.2; + LeakyReluConstraint *relu1 = new LeakyReluConstraint( 0, 2, slope ); + LeakyReluConstraint *relu2 = new LeakyReluConstraint( 1, 3, slope ); + inputQuery1.addPiecewiseLinearConstraint( relu1 ); + inputQuery1.addPiecewiseLinearConstraint( relu2 ); + + MILPEncoder milp1( tableau1 ); + TS_ASSERT_THROWS_NOTHING( milp1.encodeInputQuery( gurobi1, inputQuery1 ) ); + TS_ASSERT_THROWS_NOTHING( gurobi1.solve() ); + TS_ASSERT( gurobi1.haveFeasibleSolution() ); + + InputQuery inputQuery2 = inputQuery1; + + Equation eq1; + eq1.addAddend(1, 4); + eq1.setScalar(slope * -1 + 1); + inputQuery2.addEquation( eq1 ); + + GurobiWrapper gurobi2; + MILPEncoder milp2( tableau1 ); + TS_ASSERT_THROWS_NOTHING( milp2.encodeInputQuery( gurobi2, inputQuery2 ) ); + TS_ASSERT_THROWS_NOTHING( gurobi2.solve() ); + TS_ASSERT( gurobi2.haveFeasibleSolution() ); + Map values; + double dontcare; + TS_ASSERT_THROWS_NOTHING( gurobi2.extractSolution(values, dontcare ) ); + TS_ASSERT( FloatUtils::areEqual( values[Stringf("x%u", 0)], 1 ) ); + TS_ASSERT( FloatUtils::areEqual( values[Stringf("x%u", 1)], -1 ) ); +#else + TS_ASSERT( true ); +#endif // ENABLE_GUROBI + } + + void test_eoncode_leaky_relu_constraint_relax() + { +#ifdef ENABLE_GUROBI + + // + // x2 = leaky_relu(x0) + // x3 = leaky_relu(x1) + // x4 = x2 + x3 + // x4 = slope * -1 + 1 + + GurobiWrapper gurobi1; + + InputQuery inputQuery1 = InputQuery(); + inputQuery1.setNumberOfVariables( 5 ); + + MockTableau tableau1 = MockTableau(); + tableau1.setDimensions( 1, 5 ); + + // -1 <= x0 <= 1 + inputQuery1.setLowerBound( 0, -1 ); + inputQuery1.setUpperBound( 0, 1 ); + tableau1.setLowerBound( 0, -1 ); + tableau1.setUpperBound( 0, 1 ); + + // -2 <= x1 <= -1 + inputQuery1.setLowerBound( 1, -2 ); + inputQuery1.setUpperBound( 1, -1 ); + tableau1.setLowerBound( 1, -2 ); + tableau1.setUpperBound( 1, -1 ); + + //-1 <= x2 <= 1 + inputQuery1.setLowerBound( 2, -1 ); + inputQuery1.setUpperBound( 2, 1 ); + tableau1.setLowerBound( 2, -1 ); + tableau1.setUpperBound( 2, 1 ); + + // -2 <= x3 <= 0 + inputQuery1.setLowerBound( 3, -2 ); + inputQuery1.setUpperBound( 3, 0 ); + tableau1.setLowerBound( 3, -2 ); + tableau1.setUpperBound( 3, 0 ); + + // -3 <= x4 <= 1 + inputQuery1.setLowerBound( 4, -3 ); + inputQuery1.setUpperBound( 4, 1 ); + tableau1.setLowerBound( 4, -3 ); + tableau1.setUpperBound( 4, 1 ); + + Equation eq; + eq.addAddend(1, 2); + eq.addAddend(1, 3); + eq.addAddend(-1, 4); + inputQuery1.addEquation( eq ); + + double slope = 0.2; + LeakyReluConstraint *relu1 = new LeakyReluConstraint( 0, 2, slope ); + LeakyReluConstraint *relu2 = new LeakyReluConstraint( 1, 3, slope ); + inputQuery1.addPiecewiseLinearConstraint( relu1 ); + inputQuery1.addPiecewiseLinearConstraint( relu2 ); + + MILPEncoder milp1( tableau1 ); + TS_ASSERT_THROWS_NOTHING( milp1.encodeInputQuery( gurobi1, inputQuery1, true ) ); + TS_ASSERT_THROWS_NOTHING( gurobi1.solve() ); + TS_ASSERT( gurobi1.haveFeasibleSolution() ); + + InputQuery inputQuery2 = inputQuery1; + + Equation eq1; + eq1.addAddend(1, 4); + eq1.setScalar(slope * -1 + 1); + inputQuery2.addEquation( eq1 ); + + GurobiWrapper gurobi2; + MILPEncoder milp2( tableau1 ); + TS_ASSERT_THROWS_NOTHING( milp2.encodeInputQuery( gurobi2, inputQuery2, true ) ); + TS_ASSERT_THROWS_NOTHING( gurobi2.solve() ); + TS_ASSERT( gurobi2.haveFeasibleSolution() ); +#else + TS_ASSERT( true ); +#endif // ENABLE_GUROBI + } void test_encode_sigmoid_constraint_sat() { diff --git a/src/nlr/DeepPolyAnalysis.cpp b/src/nlr/DeepPolyAnalysis.cpp index 80919107a..3ce5704fa 100644 --- a/src/nlr/DeepPolyAnalysis.cpp +++ b/src/nlr/DeepPolyAnalysis.cpp @@ -18,6 +18,7 @@ #include "DeepPolyAbsoluteValueElement.h" #include "DeepPolyInputElement.h" #include "DeepPolyBilinearElement.h" +#include "DeepPolyLeakyReLUElement.h" #include "DeepPolyMaxPoolElement.h" #include "DeepPolyWeightedSumElement.h" #include "DeepPolyReLUElement.h" @@ -207,6 +208,8 @@ DeepPolyElement *DeepPolyAnalysis::createDeepPolyElement( Layer *layer ) } else if ( type == Layer::RELU ) deepPolyElement = new DeepPolyReLUElement( layer ); + else if ( type == Layer::LEAKY_RELU ) + deepPolyElement = new DeepPolyLeakyReLUElement( layer ); else if ( type == Layer::SIGN ) deepPolyElement = new DeepPolySignElement( layer ); else if ( type == Layer::ABSOLUTE_VALUE ) diff --git a/src/nlr/DeepPolyLeakyReLUElement.cpp b/src/nlr/DeepPolyLeakyReLUElement.cpp new file mode 100644 index 000000000..8f8de4764 --- /dev/null +++ b/src/nlr/DeepPolyLeakyReLUElement.cpp @@ -0,0 +1,273 @@ + /********************* */ +/*! \file DeepPolyLeakyReLUElement.cpp + ** \verbatim + ** Top contributors (to current version): + ** Haoze Andrew Wu + ** This file is part of the Marabou project. + ** Copyright (c) 2017-2019 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 "DeepPolyLeakyReLUElement.h" +#include "FloatUtils.h" + +namespace NLR { + +DeepPolyLeakyReLUElement::DeepPolyLeakyReLUElement( Layer *layer ) +{ + _layer = layer; + _size = layer->getSize(); + _layerIndex = layer->getLayerIndex(); + _slope = layer->getAlpha(); + ASSERT( _slope > 0 ); + log( Stringf( "Slope is %f", _slope ) ); +} + +DeepPolyLeakyReLUElement::~DeepPolyLeakyReLUElement() +{ + freeMemoryIfNeeded(); +} + +void DeepPolyLeakyReLUElement::execute( const Map + &deepPolyElementsBefore ) +{ + log( "Executing..." ); + ASSERT( hasPredecessor() ); + allocateMemory(); + + // Update the symbolic and concrete upper- and lower- bounds + // of each neuron + for ( unsigned i = 0; i < _size; ++i ) + { + NeuronIndex sourceIndex = *( _layer->getActivationSources( i ).begin() ); + DeepPolyElement *predecessor = + deepPolyElementsBefore[sourceIndex._layer]; + double sourceLb = predecessor->getLowerBound + ( sourceIndex._neuron ); + double sourceUb = predecessor->getUpperBound + ( sourceIndex._neuron ); + + if ( !FloatUtils::isNegative( sourceLb ) ) + { + // Phase active + // Symbolic bound: x_b <= x_f <= x_b + // Concrete bound: lb_b <= x_f <= ub_b + _symbolicUb[i] = 1; + _symbolicUpperBias[i] = 0; + _ub[i] = sourceUb; + + _symbolicLb[i] = 1; + _symbolicLowerBias[i] = 0; + _lb[i] = sourceLb; + } + else if ( !FloatUtils::isPositive( sourceUb ) ) + { + // Phase inactive + // Symbolic bound: slope * x_b <= x_f <= slope * x_b + // Concrete bound: slope * lb_b <= x_f <= slope * ub_b + _symbolicUb[i] = _slope; + _symbolicUpperBias[i] = 0; + _ub[i] = _slope * sourceUb; + + _symbolicLb[i] = _slope; + _symbolicLowerBias[i] = 0; + _lb[i] = _slope * sourceLb; + } + else + { + // LeakyReLU not fixed + // Symbolic upper bound: x_f <= (x_b - l) * u / ( u - l) + // Concrete upper bound: x_f <= ub_b + double width = sourceUb - sourceLb; + double coeff = (sourceUb - _slope * sourceLb) / width; + + if ( _slope <= 1 ) + { + _symbolicUb[i] = coeff; + _symbolicUpperBias[i] = ( ( _slope - 1 ) * sourceUb * sourceLb ) / width; + _ub[i] = sourceUb; + + // For the lower bound, in general, x_f >= lambda * x_b, where + // 0 <= lambda <= 1, would be a sound lower bound. We + // use the heuristic described in section 4.1 of + // https://files.sri.inf.ethz.ch/website/papers/DeepPoly.pdf + // to set the value of lambda (either 0 or 1 is considered). + if ( sourceUb > sourceLb ) + { + // lambda = 1 + // Symbolic lower bound: x_f >= x_b + // Concrete lower bound: x_f >= sourceLb + _symbolicLb[i] = 1; + _symbolicLowerBias[i] = 0; + _lb[i] = sourceLb; + } + else + { + // lambda = 1 + // Symbolic lower bound: x_f >= 0 + // Concrete lower bound: x_f >= 0 + _symbolicLb[i] = _slope; + _symbolicLowerBias[i] = 0; + _lb[i] = _slope * sourceLb; + } + } + else + { + _symbolicLb[i] = coeff; + _symbolicLowerBias[i] = ( ( _slope - 1 ) * sourceUb * sourceLb ) / width; + _lb[i] = _slope * sourceLb; + + if ( sourceUb > sourceLb ) + { + _symbolicUb[i] = 1; + _symbolicUpperBias[i] = 0; + _ub[i] = sourceUb; + } + else + { + _symbolicUb[i] = _slope; + _symbolicLowerBias[i] = 0; + _ub[i] = _slope * sourceUb; + } + } + } + log( Stringf( "Neuron%u LB: %f b + %f, UB: %f b + %f", + i, _symbolicLb[i], _symbolicLowerBias[i], + _symbolicUb[i], _symbolicUpperBias[i] ) ); + log( Stringf( "Neuron%u LB: %f, UB: %f", i, _lb[i], _ub[i] ) ); + } + log( "Executing - done" ); +} + +void DeepPolyLeakyReLUElement::symbolicBoundInTermsOfPredecessor +( const double *symbolicLb, const double*symbolicUb, double + *symbolicLowerBias, double *symbolicUpperBias, double + *symbolicLbInTermsOfPredecessor, double *symbolicUbInTermsOfPredecessor, + unsigned targetLayerSize, DeepPolyElement *predecessor ) +{ + log( Stringf( "Computing symbolic bounds with respect to layer %u...", + predecessor->getLayerIndex() ) ); + + /* + We have the symbolic bound of the target layer in terms of the + LeakyReLU outputs, the goal is to compute the symbolic bound of the target + layer in terms of the LeakyReLU inputs. + */ + for ( unsigned i = 0; i < _size; ++i ) + { + NeuronIndex sourceIndex = *( _layer-> + getActivationSources( i ).begin() ); + unsigned sourceNeuronIndex = sourceIndex._neuron; + DEBUG({ + ASSERT( predecessor->getLayerIndex() == sourceIndex._layer ); + }); + + /* + Take symbolic upper bound as an example. + Suppose the symbolic upper bound of the j-th neuron in the + target layer is ... + a_i * f_i + ..., + and the symbolic bounds of f_i in terms of b_i is + m * b_i + n <= f_i <= p * b_i + q. + If a_i >= 0, replace f_i with p * b_i + q, otherwise, + replace f_i with m * b_i + n + */ + + // Symbolic bounds of the LeakyReLU output in terms of the LeakyReLU input + // coeffLb * b_i + lowerBias <= f_i <= coeffUb * b_i + upperBias + double coeffLb = _symbolicLb[i]; + double coeffUb = _symbolicUb[i]; + double lowerBias = _symbolicLowerBias[i]; + double upperBias = _symbolicUpperBias[i]; + + // Substitute the LeakyReLU input for the LeakyReLU output + for ( unsigned j = 0; j < targetLayerSize; ++j ) + { + // The symbolic lower- and upper- bounds of the j-th neuron in the + // target layer are ... + weightLb * f_i + ... + // and ... + weightUb * f_i + ..., respectively. + unsigned newIndex = sourceNeuronIndex * targetLayerSize + j; + unsigned oldIndex = i * targetLayerSize + j; + + // Update the symbolic lower bound + double weightLb = symbolicLb[oldIndex]; + if ( weightLb >= 0 ) + { + symbolicLbInTermsOfPredecessor[newIndex] += weightLb * coeffLb; + symbolicLowerBias[j] += weightLb * lowerBias; + } else + { + symbolicLbInTermsOfPredecessor[newIndex] += weightLb * coeffUb; + symbolicLowerBias[j] += weightLb * upperBias; + } + + // Update the symbolic upper bound + double weightUb = symbolicUb[oldIndex]; + if ( weightUb >= 0 ) + { + symbolicUbInTermsOfPredecessor[newIndex] += weightUb * coeffUb; + symbolicUpperBias[j] += weightUb * upperBias; + } else + { + symbolicUbInTermsOfPredecessor[newIndex] += weightUb * coeffLb; + symbolicUpperBias[j] += weightUb * lowerBias; + } + } + } +} + +void DeepPolyLeakyReLUElement::allocateMemory() +{ + freeMemoryIfNeeded(); + + DeepPolyElement::allocateMemory(); + + _symbolicLb = new double[_size]; + _symbolicUb = new double[_size]; + + std::fill_n( _symbolicLb, _size, 0 ); + std::fill_n( _symbolicUb, _size, 0 ); + + _symbolicLowerBias = new double[_size]; + _symbolicUpperBias = new double[_size]; + + std::fill_n( _symbolicLowerBias, _size, 0 ); + std::fill_n( _symbolicUpperBias, _size, 0 ); +} + +void DeepPolyLeakyReLUElement::freeMemoryIfNeeded() +{ + DeepPolyElement::freeMemoryIfNeeded(); + if ( _symbolicLb ) + { + delete[] _symbolicLb; + _symbolicLb = NULL; + } + if ( _symbolicUb ) + { + delete[] _symbolicUb; + _symbolicUb = NULL; + } + if ( _symbolicLowerBias ) + { + delete[] _symbolicLowerBias; + _symbolicLowerBias = NULL; + } + if ( _symbolicUpperBias ) + { + delete[] _symbolicUpperBias; + _symbolicUpperBias = NULL; + } +} + +void DeepPolyLeakyReLUElement::log( const String &message ) +{ + if ( GlobalConfiguration::NETWORK_LEVEL_REASONER_LOGGING ) + printf( "DeepPolyLeakyReLUElement: %s\n", message.ascii() ); +} + +} // namespace NLR diff --git a/src/nlr/DeepPolyLeakyReLUElement.h b/src/nlr/DeepPolyLeakyReLUElement.h new file mode 100644 index 000000000..01c340743 --- /dev/null +++ b/src/nlr/DeepPolyLeakyReLUElement.h @@ -0,0 +1,52 @@ +/********************* */ +/*! \file DeepPolyLeakyReLUElement.h + ** \verbatim + ** Top contributors (to current version): + ** Haoze Andrew Wu + ** This file is part of the Marabou project. + ** Copyright (c) 2017-2019 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 ]] + +**/ + +#ifndef __DeepPolyLeakyReLUElement_h__ +#define __DeepPolyLeakyReLUElement_h__ + +#include "DeepPolyElement.h" +#include "Layer.h" +#include "MStringf.h" +#include "NLRError.h" +#include + +namespace NLR { + +class DeepPolyLeakyReLUElement : public DeepPolyElement +{ +public: + DeepPolyLeakyReLUElement( Layer *layer ); + ~DeepPolyLeakyReLUElement(); + + void execute( const Map + &deepPolyElementsBefore ); + + void symbolicBoundInTermsOfPredecessor + ( const double *symbolicLb, const double*symbolicUb, double + *symbolicLowerBias, double *symbolicUpperBias, double + *symbolicLbInTermsOfPredecessor, double *symbolicUbInTermsOfPredecessor, + unsigned targetLayerSize, DeepPolyElement *predecessor ); + +private: + double _slope; + + void allocateMemory(); + void freeMemoryIfNeeded(); + void log( const String &message ); +}; + +} // namespace NLR + +#endif // __DeepPolyElement_h__ diff --git a/src/nlr/Layer.cpp b/src/nlr/Layer.cpp index 4d46c89f9..5fe1da567 100644 --- a/src/nlr/Layer.cpp +++ b/src/nlr/Layer.cpp @@ -159,6 +159,17 @@ void Layer::computeAssignment() } } + else if ( _type == LEAKY_RELU ) + { + for ( unsigned i = 0; i < _size; ++i ) + { + NeuronIndex sourceIndex = *_neuronToActivationSources[i].begin(); + double inputValue = _layerOwner->getLayer( sourceIndex._layer )->getAssignment( sourceIndex._neuron ); + ASSERT( _alpha > 0 && _alpha < 1 ); + _assignment[i] = FloatUtils::max( inputValue, _alpha * inputValue ); + } + } + else if ( _type == ABSOLUTE_VALUE ) { for ( unsigned i = 0; i < _size; ++i ) @@ -295,6 +306,17 @@ void Layer::computeSimulations() _simulations[i][j] = FloatUtils::max( simulations.get( j ), 0 ); } } + else if ( _type == LEAKY_RELU ) + { + for ( unsigned i = 0; i < _size; ++i ) + { + NeuronIndex sourceIndex = *_neuronToActivationSources[i].begin(); + const Vector &simulations = ( *( _layerOwner->getLayer( sourceIndex._layer )->getSimulations() ) ).get( sourceIndex._neuron ); + ASSERT( _alpha > 0 && _alpha < 1); + for ( unsigned j = 0; j < simulationSize; ++j ) + _simulations[i][j] = FloatUtils::max( simulations.get( j ), _alpha * simulations.get( j ) ); + } + } else if ( _type == ABSOLUTE_VALUE ) { for ( unsigned i = 0; i < _size; ++i ) @@ -462,8 +484,8 @@ double *Layer::getBiases() const void Layer::addActivationSource( unsigned sourceLayer, unsigned sourceNeuron, unsigned targetNeuron ) { - ASSERT( _type == RELU || _type == ABSOLUTE_VALUE || _type == MAX || _type == SIGN - || _type == SIGMOID || _type == SOFTMAX || _type == BILINEAR ); + ASSERT( _type == RELU || _type == LEAKY_RELU || _type == ABSOLUTE_VALUE || _type == MAX || + _type == SIGN || _type == SIGMOID || _type == SOFTMAX || _type == BILINEAR ); if ( !_neuronToActivationSources.exists( targetNeuron ) ) _neuronToActivationSources[targetNeuron] = List(); @@ -471,7 +493,7 @@ void Layer::addActivationSource( unsigned sourceLayer, unsigned sourceNeuron, un _neuronToActivationSources[targetNeuron].append( NeuronIndex( sourceLayer, sourceNeuron ) ); DEBUG({ - if ( _type == RELU || _type == ABSOLUTE_VALUE || _type == SIGN ) + if ( _type == RELU || _type == LEAKY_RELU || _type == ABSOLUTE_VALUE || _type == SIGN ) ASSERT( _neuronToActivationSources[targetNeuron].size() == 1 ); }); } @@ -1600,6 +1622,7 @@ Layer::Layer( const Layer *other ) _type = other->_type; _size = other->_size; _layerOwner = other->_layerOwner; + _alpha = other->_alpha; allocateMemory(); @@ -1778,6 +1801,10 @@ String Layer::typeToString( Type type ) return "RELU"; break; + case LEAKY_RELU: + return "LEAKY_RELU"; + break; + case SIGMOID: return "SIGMOID"; break; @@ -1857,6 +1884,7 @@ void Layer::dump() const break; case RELU: + case LEAKY_RELU: case ABSOLUTE_VALUE: case MAX: case SIGN: diff --git a/src/nlr/Layer.h b/src/nlr/Layer.h index 9541e917d..0ca82d391 100644 --- a/src/nlr/Layer.h +++ b/src/nlr/Layer.h @@ -44,6 +44,7 @@ class Layer ABSOLUTE_VALUE, MAX, SIGN, + LEAKY_RELU, SIGMOID, SOFTMAX, BILINEAR, @@ -127,6 +128,9 @@ class Layer double *getLbs() const; double *getUbs() const; + void setAlpha( double alpha ) { _alpha = alpha; } + double getAlpha() const { return _alpha; } + void obtainCurrentBounds( const InputQuery &inputQuery ); void obtainCurrentBounds(); void computeSymbolicBounds(); @@ -191,6 +195,11 @@ class Layer double *_symbolicLbOfUb; double *_symbolicUbOfUb; + // A field variable to store parameter value. Right now it is only used to store the slope of + // leaky relus. Moving forward, we should keep a parameter map (e.g., Map) + // to store layer-specific information like "weights" and "alpha". + double _alpha = 0; + void allocateMemory(); void freeMemoryIfNeeded(); diff --git a/src/nlr/NLRError.h b/src/nlr/NLRError.h index 632d03a4f..e35732e80 100644 --- a/src/nlr/NLRError.h +++ b/src/nlr/NLRError.h @@ -25,6 +25,7 @@ class NLRError : public Error UNEXPECTED_RETURN_STATUS_FROM_GUROBI = 0, LAYER_TYPE_NOT_SUPPORTED = 1, INPUT_LAYER_NOT_THE_FIRST_LAYER = 2, + LEAKY_RELU_SLOPES_NOT_UNIFORM = 3, }; NLRError( NLRError::Code code ) : Error( "NLRError", (int)code ) diff --git a/src/nlr/tests/Test_DeepPolyAnalysis.h b/src/nlr/tests/Test_DeepPolyAnalysis.h index 0cbd9ebb0..2b895e8c9 100644 --- a/src/nlr/tests/Test_DeepPolyAnalysis.h +++ b/src/nlr/tests/Test_DeepPolyAnalysis.h @@ -1538,4 +1538,283 @@ class DeepPolyAnalysisTestSuite : public CxxTest::TestSuite for ( const auto &bound : expectedBounds ) TS_ASSERT( existsBound( bounds, bound ) ); } + + void populateLeakyReLUNetwork( NLR::NetworkLevelReasoner &nlr, MockTableau &tableau ) + { + /* + + 1 R 1 R 1 1 + x0 --- x2 ---> x4 --- x6 ---> x8 --- x10 + \ / \ / \ / + 1 \ / 1 \ / 0 \ / + \/ \/ \/ + /\ /\ /\ + 1 / \ 1 / \ 1 / \ + / \ R / \ R / 1 \ + x1 --- x3 ---> x5 --- x7 ---> x9 --- x11 + -1 -1 + + The example described in Fig. 3 of + https://files.sri.inf.ethz.ch/website/papers/DeepPoly.pdf + */ + + // Create the layers + nlr.addLayer( 0, NLR::Layer::INPUT, 2 ); + nlr.addLayer( 1, NLR::Layer::WEIGHTED_SUM, 2 ); + nlr.addLayer( 2, NLR::Layer::LEAKY_RELU, 2 ); + nlr.addLayer( 3, NLR::Layer::WEIGHTED_SUM, 2 ); + nlr.addLayer( 4, NLR::Layer::LEAKY_RELU, 2 ); + nlr.addLayer( 5, NLR::Layer::WEIGHTED_SUM, 2 ); + + nlr.getLayer(2)->setAlpha(0.2); + nlr.getLayer(4)->setAlpha(0.2); + + // Mark layer dependencies + for ( unsigned i = 1; i <= 5; ++i ) + nlr.addLayerDependency( i - 1, i ); + + // Set the weights and biases for the weighted sum layers + nlr.setWeight( 0, 0, 1, 0, 1 ); + nlr.setWeight( 0, 0, 1, 1, 1 ); + nlr.setWeight( 0, 1, 1, 0, 1 ); + nlr.setWeight( 0, 1, 1, 1, -1 ); + + nlr.setWeight( 2, 0, 3, 0, 1 ); + nlr.setWeight( 2, 0, 3, 1, 1 ); + nlr.setWeight( 2, 1, 3, 0, 1 ); + nlr.setWeight( 2, 1, 3, 1, -1 ); + + nlr.setWeight( 4, 0, 5, 0, 1 ); + nlr.setWeight( 4, 0, 5, 1, 0 ); + nlr.setWeight( 4, 1, 5, 0, 1 ); + nlr.setWeight( 4, 1, 5, 1, 1 ); + + nlr.setBias( 5, 0, 1 ); + + // Mark the ReLU sources + nlr.addActivationSource( 1, 0, 2, 0 ); + nlr.addActivationSource( 1, 1, 2, 1 ); + + nlr.addActivationSource( 3, 0, 4, 0 ); + nlr.addActivationSource( 3, 1, 4, 1 ); + + // Variable indexing + nlr.setNeuronVariable( NLR::NeuronIndex( 0, 0 ), 0 ); + nlr.setNeuronVariable( NLR::NeuronIndex( 0, 1 ), 1 ); + + nlr.setNeuronVariable( NLR::NeuronIndex( 1, 0 ), 2 ); + nlr.setNeuronVariable( NLR::NeuronIndex( 1, 1 ), 3 ); + + nlr.setNeuronVariable( NLR::NeuronIndex( 2, 0 ), 4 ); + nlr.setNeuronVariable( NLR::NeuronIndex( 2, 1 ), 5 ); + + nlr.setNeuronVariable( NLR::NeuronIndex( 3, 0 ), 6 ); + nlr.setNeuronVariable( NLR::NeuronIndex( 3, 1 ), 7 ); + + nlr.setNeuronVariable( NLR::NeuronIndex( 4, 0 ), 8 ); + nlr.setNeuronVariable( NLR::NeuronIndex( 4, 1 ), 9 ); + + nlr.setNeuronVariable( NLR::NeuronIndex( 5, 0 ), 10 ); + nlr.setNeuronVariable( NLR::NeuronIndex( 5, 1 ), 11 ); + + // Very loose bounds for neurons except inputs + double large = 1000000; + + tableau.getBoundManager().initialize( 12 ); + tableau.setLowerBound( 2, -large ); tableau.setUpperBound( 2, large ); + tableau.setLowerBound( 3, -large ); tableau.setUpperBound( 3, large ); + tableau.setLowerBound( 4, -large ); tableau.setUpperBound( 4, large ); + tableau.setLowerBound( 5, -large ); tableau.setUpperBound( 5, large ); + tableau.setLowerBound( 6, -large ); tableau.setUpperBound( 6, large ); + tableau.setLowerBound( 7, -large ); tableau.setUpperBound( 7, large ); + tableau.setLowerBound( 8, -large ); tableau.setUpperBound( 8, large ); + tableau.setLowerBound( 9, -large ); tableau.setUpperBound( 9, large ); + tableau.setLowerBound( 10, -large ); tableau.setUpperBound( 10, large ); + tableau.setLowerBound( 11, -large ); tableau.setUpperBound( 11, large ); + } + + void test_deeppoly_leaky_relus() + { + NLR::NetworkLevelReasoner nlr; + MockTableau tableau; + nlr.setTableau( &tableau ); + populateLeakyReLUNetwork( nlr, tableau ); + + tableau.setLowerBound( 0, -1 ); + tableau.setUpperBound( 0, 1 ); + tableau.setLowerBound( 1, -1 ); + tableau.setUpperBound( 1, 1 ); + + // Invoke Deeppoly + TS_ASSERT_THROWS_NOTHING( nlr.obtainCurrentBounds() ); + TS_ASSERT_THROWS_NOTHING( nlr.deepPolyPropagation() ); + + /* + Input ranges: + + x0: [-1, 1] + x1: [-1, 1] + + Layer 1: + + x2: [-2, 2] + x3: [-2, 2] + + Layer 2: + + x4: [-2, 2] + x5: [-2, 2] + + Layer 3: + + x6: [-2, 2.8] + x7: [-2.8, 2.8] + + Layer 4: + + x8: [0, 3] + x9: [0, 2] + + Layer 5: + + x10: [1, 5.5] + x11: [0, 2] + + */ + + List expectedBounds({ + Tightening( 2, -2, Tightening::LB ), + Tightening( 2, 2, Tightening::UB ), + Tightening( 3, -2, Tightening::LB ), + Tightening( 3, 2, Tightening::UB ), + + Tightening( 4, -2, Tightening::LB ), + Tightening( 4, 2, Tightening::UB ), + Tightening( 5, -2, Tightening::LB ), + Tightening( 5, 2, Tightening::UB ), + + Tightening( 6, -2, Tightening::LB ), + Tightening( 6, 2.8, Tightening::UB ), + Tightening( 7, -2.8, Tightening::LB ), + Tightening( 7, 2.8, Tightening::UB ), + + Tightening( 8, -2, Tightening::LB ), + Tightening( 8, 2.8, Tightening::UB ), + Tightening( 9, -2.8, Tightening::LB ), + Tightening( 9, 2.8, Tightening::UB ), + + Tightening( 10, -3, Tightening::LB ), + Tightening( 10, 5.64, Tightening::UB ), + Tightening( 11, -2.8, Tightening::LB ), + Tightening( 11, 2.8, Tightening::UB ) + + }); + + List bounds; + TS_ASSERT_THROWS_NOTHING( nlr.getConstraintTightenings( bounds ) ); + + TS_ASSERT_EQUALS( expectedBounds.size(), bounds.size() ); + for ( const auto &bound : expectedBounds ) + TS_ASSERT( existsBound( bounds, bound ) ); + } + + void test_deeppoly_leaky_relus_fixed_input1() + { + NLR::NetworkLevelReasoner nlr; + MockTableau tableau; + nlr.setTableau( &tableau ); + populateLeakyReLUNetwork( nlr, tableau ); + + tableau.setLowerBound( 0, -1 ); + tableau.setUpperBound( 0, -1 ); + tableau.setLowerBound( 1, 1 ); + tableau.setUpperBound( 1, 1 ); + + // Invoke Deeppoly + TS_ASSERT_THROWS_NOTHING( nlr.obtainCurrentBounds() ); + TS_ASSERT_THROWS_NOTHING( nlr.deepPolyPropagation() ); + + /* + Input ranges: + + x0: [-1, -1] + x1: [1, 1] + + Layer 1: + + x2: [0, 0] + x3: [-2, -2] + + Layer 2: + + x4: [0, 0] + x5: [-0.4, -0.4] + + Layer 3: + + x6: [-0.4, -0.4] + x7: [0.4, 0.4] + + Layer 4: + + x8: [-0.08, -0.08] + x9: [0.4, 0.4] + + Layer 5: + + x10: [1.32, 1.32] + x11: [0.4, 0.4] + + */ + + List expectedBounds({ + Tightening( 2, 0, Tightening::LB ), + Tightening( 2, 0, Tightening::UB ), + Tightening( 3, -2, Tightening::LB ), + Tightening( 3, -2, Tightening::UB ), + + Tightening( 4, 0, Tightening::LB ), + Tightening( 4, 0, Tightening::UB ), + Tightening( 5, -0.4, Tightening::LB ), + Tightening( 5, -0.4, Tightening::UB ), + + Tightening( 6, -0.4, Tightening::LB ), + Tightening( 6, -0.4, Tightening::UB ), + Tightening( 7, 0.4, Tightening::LB ), + Tightening( 7, 0.4, Tightening::UB ), + + Tightening( 8, -0.08, Tightening::LB ), + Tightening( 8, -0.08, Tightening::UB ), + Tightening( 9, 0.4, Tightening::LB ), + Tightening( 9, 0.4, Tightening::UB ), + + Tightening( 10, 1.32, Tightening::LB ), + Tightening( 10, 1.32, Tightening::UB ), + Tightening( 11, 0.4, Tightening::LB ), + Tightening( 11, 0.4, Tightening::UB ) + + }); + + List bounds; + TS_ASSERT_THROWS_NOTHING( nlr.getConstraintTightenings( bounds ) ); + + TS_ASSERT_EQUALS( expectedBounds.size(), bounds.size() ); + for ( const auto &bound : expectedBounds ) + { + TS_ASSERT( existsBounds( bounds, bound ) ); + } + } + + bool existsBounds( const List &bounds, Tightening bound ) + { + for ( const auto &b : bounds ) + { + if ( b._type == bound._type && b._variable == bound._variable ) + { + if ( FloatUtils::areEqual( b._value, bound._value ) ) + return true; + } + } + return false; + } }; diff --git a/src/query_loader/QueryLoader.cpp b/src/query_loader/QueryLoader.cpp index 4b6dc74ff..c0ee3b54c 100644 --- a/src/query_loader/QueryLoader.cpp +++ b/src/query_loader/QueryLoader.cpp @@ -20,6 +20,7 @@ #include "Equation.h" #include "GlobalConfiguration.h" #include "InputQuery.h" +#include "LeakyReluConstraint.h" #include "MStringf.h" #include "MarabouError.h" #include "MaxConstraint.h" @@ -208,6 +209,10 @@ InputQuery QueryLoader::loadQuery( const String &fileName ) { inputQuery.addPiecewiseLinearConstraint( new ReluConstraint( serializeConstraint ) ); } + else if ( coType == "leaky_relu" ) + { + inputQuery.addPiecewiseLinearConstraint( new LeakyReluConstraint( serializeConstraint ) ); + } else if ( coType == "max" ) { inputQuery.addPiecewiseLinearConstraint( new MaxConstraint( serializeConstraint ) ); @@ -252,12 +257,3 @@ InputQuery QueryLoader::loadQuery( const String &fileName ) inputQuery.constructNetworkLevelReasoner(); return inputQuery; } - - -// -// Local Variables: -// compile-command: "make -C ../.. " -// tags-file-name: "../../TAGS" -// c-basic-offset: 4 -// End: -//