diff --git a/benchmarks/ACC/Specifications.txt b/benchmarks/ACC/Specifications.txt new file mode 100644 index 0000000..fcc4091 --- /dev/null +++ b/benchmarks/ACC/Specifications.txt @@ -0,0 +1,21 @@ +Parameters: + +a_lead = -2 +T_gap = 1.4 +D_default = 10 + +Initial states: +x_lead = x(1) = [90, 110] +v_lead = x(2) = [32, 32.2] +γ_lead = x(3) = 0 +x_ego = x(4) = [10, 11] +v_ego = x(5) = [30, 30.2] +γ_ego = x(6) = 0 + +t = 5 seconds +control period = 0.1 s + +Safety Property: + +x_lead - x_ego >= D_safe, where D_safe = D_default + T_gap * v_ego; + diff --git a/benchmarks/ACC/controller_5_20.mat b/benchmarks/ACC/controller_5_20.mat new file mode 100644 index 0000000..d10a537 Binary files /dev/null and b/benchmarks/ACC/controller_5_20.mat differ diff --git a/benchmarks/ACC/controller_5_20.onnx b/benchmarks/ACC/controller_5_20.onnx new file mode 100644 index 0000000..f196f5b Binary files /dev/null and b/benchmarks/ACC/controller_5_20.onnx differ diff --git a/benchmarks/ACC/dynamicsACC.m b/benchmarks/ACC/dynamicsACC.m new file mode 100644 index 0000000..64998be --- /dev/null +++ b/benchmarks/ACC/dynamicsACC.m @@ -0,0 +1,21 @@ +function [dx]=dynamicsACC(x,a_ego) + +mu=0.0001; % friction parameter + +% x1 = lead_car position +% x2 = lead_car velocity +% x3 = lead_car internal state + +% x4 = ego_car position +% x5 = ego_car velocity +% x6 = ego_car internal state + +% lead car dynamics +a_lead = -2; +dx(1,1) = x(2); +dx(2,1) = x(3); +dx(3,1) = -2 * x(3) + 2 * a_lead - mu*x(2)^2; +% ego car dyanmics +dx(4,1) = x(5); +dx(5,1) = x(6); +dx(6,1) = -2 * x(6) + 2 * a_ego - mu*x(5)^2; diff --git a/benchmarks/Airplane/controller_airplane.h5 b/benchmarks/Airplane/controller_airplane.h5 new file mode 100644 index 0000000..3deb59f Binary files /dev/null and b/benchmarks/Airplane/controller_airplane.h5 differ diff --git a/benchmarks/Airplane/controller_airplane.mat b/benchmarks/Airplane/controller_airplane.mat new file mode 100644 index 0000000..aa794b7 Binary files /dev/null and b/benchmarks/Airplane/controller_airplane.mat differ diff --git a/benchmarks/Airplane/controller_airplane.nnet b/benchmarks/Airplane/controller_airplane.nnet new file mode 100644 index 0000000..f899443 --- /dev/null +++ b/benchmarks/Airplane/controller_airplane.nnet @@ -0,0 +1,462 @@ +// The contents of this file are licensed under the Creative Commons +// Attribution 4.0 International License: https://creativecommons.org/licenses/by/4.0/ +// Neural Network File Format by Kyle Julian, Stanford 2016 +4,12,6,100 +12, 100, 100, 20, 6,6 +0 +0 +0 +0 +0 +0.06176, -0.13528, 0.03224, 0.03403, 2.27238, -0.07701, 0.02120, 0.00414, 0.39033, -0.41377, 0.40396, -0.00370 +-0.23512, 0.00248, -0.24015, -0.06291, 0.05361, 0.48049, 0.55829, 0.78052, 0.39500, 0.76689, 0.52433, 0.41178 +-0.03913, 0.01792, 0.03595, -0.01365, 0.00149, -0.06474, -0.28602, -0.06582, -0.26603, 0.64560, -0.17156, -0.12383 +-0.05583, 0.04090, 0.01396, -0.04733, -0.05494, -0.17507, -0.14671, -0.12457, -0.37716, 0.11803, 0.24889, 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0.00007, 0.00127, 0.11290, 0.00311, 0.00675, 0.01132, -0.01336, 0.00592, 0.00707, 0.00876 +0.00969, -0.01806, -0.06176, 0.00938, 0.03959, 0.00068, 0.06596, 0.04934, -0.00085, 0.02936, 0.00634, 0.00506, -0.05458, -0.00651, -0.03135, 0.02358, -0.00477, -0.01645, -0.03023, 0.03472 +-0.00497, 0.05926, 0.01901, -0.01784, 0.28264, -0.00305, -0.00691, -0.02100, 0.00004, -0.01945, -0.00199, 0.00271, -0.06974, -0.00198, -0.00620, -0.00810, 0.00028, -0.00114, -0.00991, -0.00146 +3.35828 +0.38725 +4.51347 +-0.05482 +0.08746 +0.02868 diff --git a/benchmarks/Airplane/controller_airplane.onnx b/benchmarks/Airplane/controller_airplane.onnx new file mode 100644 index 0000000..ed07bab Binary files /dev/null and b/benchmarks/Airplane/controller_airplane.onnx differ diff --git a/benchmarks/Airplane/dynamics.m b/benchmarks/Airplane/dynamics.m new file mode 100644 index 0000000..e73b819 --- /dev/null +++ b/benchmarks/Airplane/dynamics.m @@ -0,0 +1,79 @@ +function [dstates] = dynamics(states,actions) +% Ex_airplane +% constants as per the documentation Ix=Iy=Iz = 1; Ixz = 0; m = 1; g= 1; +% description of the pararameters in these equations can be found here +% https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf + +x = states(1); +y = states(2); +z = states(3); +u = states(4); +v = states(5); +w = states(6); +phi = states(7); +theta = states(8); +psi = states(9); +r = states(10); +p = states(11); +q = states(12); + +Fx = actions(1); +Fy = actions(2); +Fz = actions(3); +Mx = actions(4); +My = actions(5); +Mz = actions(6); + +T_psi = [cos(psi), -sin(psi), 0.; + sin(psi), cos(psi), 0.; + 0., 0., 1.]; + +T_theta = [cos(theta), 0., sin(theta); + 0. , 1., 0. ; + -sin(theta), 0., cos(theta)]; + +T_phi = [1., 0., 0. ; + 0., cos(phi), -sin(phi); + 0., sin(phi), cos(phi)]; + +mat_1 = T_psi * T_theta * T_phi; + +mat_2 = [cos(theta), sin(theta) * sin(phi), sin(theta) * cos(phi); + 0., cos(theta) * cos(phi), -cos(theta) * sin(phi); + 0., sin(phi), cos(phi)]; +mat_2 = 1 / cos(theta) * mat_2; + +a1 = [u; v; w]; +a2 = mat_1 * a1; + +dx = a2(1); +dy = a2(2); +dz = a2(3); + +a3 = [p; q; r]; +a4 = mat_2 * a3; + +dphi = a4(1); +dtheta = a4(2); +dpsi = a4(3); + +du = -sin(theta) + Fx - q * w + r * v; +dv = cos(theta) * sin(phi) + Fy - r * u + p * w; +dw = cos(theta) * cos(phi) + Fz - p * v + q * u; + +dp = Mx; +dq = My; +dr = Mz; + +dstates(1,1) = dx; +dstates(2,1) = dy; +dstates(3,1) = dz; +dstates(4,1) = du; +dstates(5,1) = dv; +dstates(6,1) = dw; +dstates(7,1) = dphi; +dstates(8,1) = dtheta; +dstates(9,1) = dpsi; +dstates(10,1) = dr; +dstates(11,1) = dp; +dstates(12,1) = dq; diff --git a/benchmarks/Airplane/specifications.txt b/benchmarks/Airplane/specifications.txt new file mode 100644 index 0000000..a07d8cc --- /dev/null +++ b/benchmarks/Airplane/specifications.txt @@ -0,0 +1,23 @@ +Initial states: + +x1 = 0 +x2 = 0 +x3 = 0 +x4 = [0.0, 1.0] +x5 = [0.0, 1.0] +x6 = [0.0, 1.0] +x7 = [0.0, 1.0] +x8 = [0.0, 1.0] +x9 = [0.0, 1.0] +x10 = 0 +x11 = 0 +x12 = 0 + +t = 20 control steps = 2 seconds +control step = 0.1 + +Property: + +x2 should be in [-1, 1] and x7,x8,x9 should be in [-1.0,1.0] (modified from original specification) + +Refer to this for more details: https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf diff --git a/benchmarks/Attitude Control/Specifications.txt b/benchmarks/Attitude Control/Specifications.txt new file mode 100644 index 0000000..cbb7183 --- /dev/null +++ b/benchmarks/Attitude Control/Specifications.txt @@ -0,0 +1,17 @@ +Initial states: +x1 = [-0.45, -0.44] +x2 = [-0.55, -0.54] +x3 = [0.65, 0.66] +x4 = [-0.75, -0.74] +x5 = [0.85, 0.86] +x6 = [-0.65, -0.64] + +t = 3 seconds +control period = 0.1 s + +Safety Property: +We would like to verify whether the system will reach the following unsafe +set Xu in 3 seconds (30 time steps), where Xu is defined as a 6-dimensional region: + +x1 ∈ [-0.2,0], x2 ∈ [-0.5, -0.4], x3 ∈ [0, 0.2] +x4 ∈ [-0.7, -0.6] x5 ∈ [0.7, 0.8], x6 ∈ [-0.4, -0.2] \ No newline at end of file diff --git a/benchmarks/Attitude Control/attitude_control_3_64_torch.onnx b/benchmarks/Attitude Control/attitude_control_3_64_torch.onnx new file mode 100644 index 0000000..1360cd1 Binary files /dev/null and b/benchmarks/Attitude Control/attitude_control_3_64_torch.onnx differ diff --git a/benchmarks/Attitude Control/dynamics.m b/benchmarks/Attitude Control/dynamics.m new file mode 100644 index 0000000..ea34b04 --- /dev/null +++ b/benchmarks/Attitude Control/dynamics.m @@ -0,0 +1,9 @@ +function dx = dynamics(x,u) +% Attitude Control, rigid body with 6 states (x) and 3 inputs (u). +dx(1,1) = 0.25*(u(1)+x(2)*x(3)); +dx(2,1) = 0.5*(u(2)-3*x(1)*x(3)); +dx(3,1) = u(3) + 2*x(1)*x(2); +dx(4,1) = 0.5*(x(2)*(x(4)^2 + x(5)^2 + x(6)^2 - x(6)) + x(3)*(x(4)^2 + x(5)^2 + x(5) + x(6)^2) + x(1)*(x(4)^2 + x(5)^2 + x(6)^2 + 1)); +dx(5,1) = 0.5*(x(1)*(x(4)^2 + x(5)^2 + x(6)^2 + x(6)) + x(3)*(x(4)^2 - x(4) + x(5)^2 + x(6)^2) + x(2)*(x(4)^2 + x(5)^2 + x(6)^2 + 1)); +dx(6,1) = 0.5*(x(1)*(x(4)^2 + x(5)^2 - x(5) + x(6)^2) + x(2)*(x(4)^2 + x(4) + x(5)^2 + x(6)^2) + x(3)*(x(4)^2 + x(5)^2 + x(6)^2 + 1)); +end \ No newline at end of file diff --git a/benchmarks/Attitude Control/model.mat b/benchmarks/Attitude Control/model.mat new file mode 100644 index 0000000..4f94303 Binary files /dev/null and b/benchmarks/Attitude Control/model.mat differ diff --git a/benchmarks/Attitude Control/model.onnx b/benchmarks/Attitude Control/model.onnx new file mode 100644 index 0000000..1b695ef Binary files /dev/null and b/benchmarks/Attitude Control/model.onnx differ diff --git a/benchmarks/Benchmark10-Unicycle/Specifications.txt b/benchmarks/Benchmark10-Unicycle/Specifications.txt new file mode 100644 index 0000000..e569119 --- /dev/null +++ b/benchmarks/Benchmark10-Unicycle/Specifications.txt @@ -0,0 +1,17 @@ +Initial states: + +x1 = [9.5, 9.55] +x2 = [-4.5, -4.45] +x3 = [2.1, 2.11] +x4 = [1.5, 1.51] + +t = 10 seconds +control period = 0.2 s + +Property: + +Prove that the system reaches the states: +x1 = [-0.6, 0.6] +x2 = [-0.2, 0.2] +x3 = [-0.06, 0.06] +x4 = [-0.3, 0.3] diff --git a/benchmarks/Benchmark10-Unicycle/controllerB.onnx b/benchmarks/Benchmark10-Unicycle/controllerB.onnx new file mode 100644 index 0000000..c44f3b8 Binary files /dev/null and b/benchmarks/Benchmark10-Unicycle/controllerB.onnx differ diff --git a/benchmarks/Benchmark10-Unicycle/controllerB_nnv.h5 b/benchmarks/Benchmark10-Unicycle/controllerB_nnv.h5 new file mode 100644 index 0000000..295a631 Binary files /dev/null and b/benchmarks/Benchmark10-Unicycle/controllerB_nnv.h5 differ diff --git a/benchmarks/Benchmark10-Unicycle/controllerB_nnv.mat b/benchmarks/Benchmark10-Unicycle/controllerB_nnv.mat new file mode 100644 index 0000000..91174bf Binary files /dev/null and b/benchmarks/Benchmark10-Unicycle/controllerB_nnv.mat differ diff --git a/benchmarks/Benchmark10-Unicycle/dynamics10.m b/benchmarks/Benchmark10-Unicycle/dynamics10.m new file mode 100644 index 0000000..9b998c1 --- /dev/null +++ b/benchmarks/Benchmark10-Unicycle/dynamics10.m @@ -0,0 +1,24 @@ +function [dx] = dynamics10(x,u) +% Ex_car_model + %vehicleODE Bicycle model of a vehicle with + % states + % x(1), x(2): x,y positions + % x(3): Yaw angle (\psi) + % x(4): velocity + % control inputs + % u(1): acceleration m/s^2 + % u(2): steering angle of front wheel + % disturbance input + % w: disturbance with a range (-10^-4,10^4) + % Initial state range [9.5, 9.55] × [-4.5, -4.45] × [2.1, 2.11] × [1.5, 1.51] +% +% The output of the neural network f(x) needs to be normalized +% in order to obtain u(1) and u(2). +% Namely, u(i) = f(x)(i) - 20 +% +dx(1,1) = x(4) * cos(x(3)); +dx(2,1) = x(4) * sin(x(3)); +dx(3,1) = u(2)-20; +dx(4,1) = u(1)-20; + +end \ No newline at end of file diff --git a/benchmarks/Benchmark9-Tora/Specifications.txt b/benchmarks/Benchmark9-Tora/Specifications.txt new file mode 100644 index 0000000..c69f00f --- /dev/null +++ b/benchmarks/Benchmark9-Tora/Specifications.txt @@ -0,0 +1,15 @@ +Initial states: + +x1 = [0.6, 0.7] +x2 = [-0.7, -0.6] +x3 = [-0.4, -0.3] +x4 = [0.5, 0.6] + +t = 20 seconds +control period = 1s + +Property: + +The system states always stays within the box x ∈ [-2,2] + + diff --git a/benchmarks/Benchmark9-Tora/controllerTora.h5 b/benchmarks/Benchmark9-Tora/controllerTora.h5 new file mode 100644 index 0000000..2d7882e Binary files /dev/null and b/benchmarks/Benchmark9-Tora/controllerTora.h5 differ diff --git a/benchmarks/Benchmark9-Tora/controllerTora.mat b/benchmarks/Benchmark9-Tora/controllerTora.mat new file mode 100644 index 0000000..dee9d82 Binary files /dev/null and b/benchmarks/Benchmark9-Tora/controllerTora.mat differ diff --git a/benchmarks/Benchmark9-Tora/controllerTora.onnx b/benchmarks/Benchmark9-Tora/controllerTora.onnx new file mode 100644 index 0000000..f0fed8e Binary files /dev/null and b/benchmarks/Benchmark9-Tora/controllerTora.onnx differ diff --git a/benchmarks/Benchmark9-Tora/dynamics9.m b/benchmarks/Benchmark9-Tora/dynamics9.m new file mode 100644 index 0000000..496bd5e --- /dev/null +++ b/benchmarks/Benchmark9-Tora/dynamics9.m @@ -0,0 +1,15 @@ +function [dx] = dynamics9(x,u) +% Ex_tora +% Initial state range: +% [0.6, 0.7] � [-0.7, -0.6] � [-0.4, -0.3] � [0.5, 0.6] +% +% The output of the neural network f(x) needs to be normalized +% in order to obtain u. +% Namely, u = f(x) - 10 +% +dx(1,1) = x(2); +dx(2,1) = - x(1) + 0.1*sin(x(3)); +dx(3,1) = x(4); +dx(4,1) = u(1)-10; + +end \ No newline at end of file diff --git a/benchmarks/Docking/dynamics.m b/benchmarks/Docking/dynamics.m new file mode 100644 index 0000000..09a4a8e --- /dev/null +++ b/benchmarks/Docking/dynamics.m @@ -0,0 +1,17 @@ +function [dstates] = dynamics(states,actions) + m = 12; + n = 0.001027; + + x = states(1); + y = states(2); + x_dot = states(3); + y_dot = states(4); + + Fx = actions(1); + Fy = actions(2); + + dstates(1,1) = x_dot; + dstates(2,1) = y_dot; + dstates(3,1) = 2*n*y_dot + 3*(n^2)*x + Fx/m; + dstates(4,1) = -2*n*x_dot + Fy/m; +end \ No newline at end of file diff --git a/benchmarks/Docking/model.mat b/benchmarks/Docking/model.mat new file mode 100644 index 0000000..103b871 Binary files /dev/null and b/benchmarks/Docking/model.mat differ diff --git a/benchmarks/Docking/model.onnx b/benchmarks/Docking/model.onnx new file mode 100644 index 0000000..0ec9dfb Binary files /dev/null and b/benchmarks/Docking/model.onnx differ diff --git a/benchmarks/Docking/spacecraft_docking_benchmark_description.pdf b/benchmarks/Docking/spacecraft_docking_benchmark_description.pdf new file mode 100644 index 0000000..beb62c6 Binary files /dev/null and b/benchmarks/Docking/spacecraft_docking_benchmark_description.pdf differ diff --git a/benchmarks/Docking/specification.txt b/benchmarks/Docking/specification.txt new file mode 100644 index 0000000..e9bd446 --- /dev/null +++ b/benchmarks/Docking/specification.txt @@ -0,0 +1,10 @@ +Initial States: + x1 = [70, 106] + x2 = [70, 106] + x3 = [-0.28, 0.28] + x4 = [-0.28, 0.28] + +control step = 1 second + +Property: + sqrt(x3^2 + x4^2) <= 0.2 + 2*0.001027*sqrt(x1^2 + x2^2) \ No newline at end of file diff --git a/benchmarks/Double_Pendulum/Specifications.txt b/benchmarks/Double_Pendulum/Specifications.txt new file mode 100644 index 0000000..dcb5596 --- /dev/null +++ b/benchmarks/Double_Pendulum/Specifications.txt @@ -0,0 +1,20 @@ +Initial states: + +x1 = [1.0, 1.3] +x2 = [1.0, 1.3] +x3 = [1.0, 1.3] +x4 = [1.0, 1.3] + +t = 20 steps + +1) controller double pendulum less robust: + - control step = 0.05 + - Property: + - Each of the states should be in [−1.7, 2] + +2) controller double pendulum more robust + - control step = 0.02 + - Property: + - Each of the states should be in [-1.5, 1.5] + +Refer to this for more details: https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf diff --git a/benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.h5 b/benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.h5 new file mode 100644 index 0000000..0f30dc2 Binary files /dev/null and b/benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.h5 differ diff --git a/benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.mat b/benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.mat new file mode 100644 index 0000000..2dca0ce Binary files /dev/null and b/benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.mat differ diff --git a/benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.nnet b/benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.nnet new file mode 100644 index 0000000..8c22e5d --- /dev/null +++ b/benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.nnet @@ -0,0 +1,114 @@ +// The contents of this file are licensed under the Creative Commons +// Attribution 4.0 International License: https://creativecommons.org/licenses/by/4.0/ +// Neural Network File Format by Kyle Julian, Stanford 2016 +3, 4, 2, 25 +4, 25, 25,2, 2 +0 +0 +0 +0 +0 +-0.34314, 0.17609, -0.32021, 0.27763 +-0.07520, 0.13272, 0.02095, 0.69984 +0.16026, 0.46490, 0.01967, 0.33188 +-0.36239, -0.06820, -0.65771, -0.00895 +-0.39231, 0.32117, 0.30141, -0.06219 +-0.19429, -0.45929, -0.35781, -0.14636 +-0.85548, 0.08778, -0.13307, 0.00979 +0.01552, -0.20127, -0.16800, -0.04828 +-0.36456, 0.42668, -0.59721, 0.64106 +0.33870, 0.03072, -0.11430, 0.01992 +-0.31140, 0.53856, -0.06437, -0.24278 +-0.45872, -0.04649, -0.43990, -0.20006 +-0.31810, 0.18750, 0.52345, -0.41329 +0.31108, -0.42147, 0.37144, -0.51386 +0.18804, 0.27937, 0.54554, 0.09850 +0.37332, 0.12850, 0.40752, -0.12706 +-0.03250, -0.26784, 0.24607, -0.62424 +-0.72702, -0.37828, -0.64471, -0.33567 +-0.38239, -0.50789, -0.06443, -0.40373 +0.47486, -0.50209, -0.25595, -0.10999 +0.70837, -0.09001, 0.46370, 0.12592 +0.23127, -0.16521, 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+1.45261 +-0.46211 +-0.48293, 0.06047, 0.02364, 0.38088, -0.32111, -0.47931, 0.31789, -0.30592, -0.11011, 0.11669, -0.09016, 2.27401, 0.04796, -0.34591, -0.25153, 0.31471, 0.47863, 0.00886, -0.18144, -0.36906, 1.22824, 0.00766, 0.22091, 0.47157, 0.76725 +-0.15094, -0.03531, 0.01539, 0.27162, -0.27052, -0.58085, 0.28679, -0.03020, -0.52610, -0.21955, -0.34578, 1.06163, 0.24263, -0.23639, -0.68732, 0.17131, -0.17235, 0.49812, 0.37649, 0.28723, 1.14548, 0.17161, 0.32568, 0.11248, 0.14659 +-1.05854 +-1.33805 diff --git a/benchmarks/Double_Pendulum/controller_double_pendulum_more_robust.onnx b/benchmarks/Double_Pendulum/controller_double_pendulum_more_robust.onnx new file mode 100644 index 0000000..6fc3d4b Binary files /dev/null and b/benchmarks/Double_Pendulum/controller_double_pendulum_more_robust.onnx differ diff --git a/benchmarks/Double_Pendulum/double_pendulum_solver.m b/benchmarks/Double_Pendulum/double_pendulum_solver.m new file mode 100644 index 0000000..8c97aa8 --- /dev/null +++ b/benchmarks/Double_Pendulum/double_pendulum_solver.m @@ -0,0 +1,26 @@ +syms x1 x2 th1 th2 u1 u2 g mass l c T1 T2 'real' + +ex1 = 2 * x1 + x2 * cos(th2 - th1) - u2 ^ 2 * sin(th2 - th1) + ... + - 2 * g / l * sin(th1) + (c * u1 - T1) / (mass * l ^ 2); + +ex2 = x1 * cos(th2 - th1) + x2 + u1 ^ 2 * sin(th2 - th1) + ... + - g / l * sin(th2) + (c * u2 - T2) / (mass * l ^ 2); + +x1s = solve(ex1, x1); +ex2s = subs(ex2, x1, x1s); +x2ss = solve(ex2s, x2); +x1ss = subs(x1s, x2, x2ss); + +x1ss_sub = subs(x1ss, [mass, g, l, c], [0.5, 1, 0.5, 0]); +%x1ss_sub = subs(x1ss, [mass, g, l, c], [1, 1, 1, 0]); +disp(x1ss_sub); +disp(simplify(x1ss_sub)) + + +x2ss_sub = subs(x2ss, [mass, g, l, c], [0.5,1,0.5, 0]); +%x2ss_sub = subs(x2ss, [mass, g, l, c], [1,1,1, 0]); +disp(x2ss_sub); +disp(simplify(x2ss_sub)) + +% fprintMatPy('du1', {'th1', 'th2', 'u1', 'u2', 'g', 'mass', 'l', 'c', 'T1', 'T2'}, x1ss); +% fprintMatPy('du2', {'th1', 'th2', 'u1', 'u2', 'g', 'mass', 'l', 'c', 'T1', 'T2'}, x2ss); diff --git a/benchmarks/Double_Pendulum/dynamics_dp.m b/benchmarks/Double_Pendulum/dynamics_dp.m new file mode 100644 index 0000000..8d1aadf --- /dev/null +++ b/benchmarks/Double_Pendulum/dynamics_dp.m @@ -0,0 +1,23 @@ +function [dx] = dynamics_dp(x,T) +% Ex_double pendulum +% constants as per the documentation m=0.5, L=0.5, c= 0, g=1.0 +% description of the pararameters in these equations can be found here +% https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf +% Equations with different parameters of m, L, c,g, can be found in +% double_pendulum_solver + + + +th1 = x(1); +th2 = x(2); +u1 = x(3); +u2 = x(4); +T1 = T(1); +T2 = T(2); + +dx(1,1) = x(3); +dx(2,1) = x(4); +dx(3,1) = 4*T1 + 2*sin(th1) - (u2^2*sin(th1 - th2))/2 + (cos(th1 - th2)*(sin(th1 - th2)*u1^2 + 8*T2 + 2*sin(th2) - cos(th1 - th2)*(- (sin(th1 - th2)*u2^2)/2 + 4*T1 + 2*sin(th1))))/(2*(cos(th1 - th2)^2/2 - 1)); +dx(4,1) = -(sin(th1 - th2)*u1^2 + 8*T2 + 2*sin(th2) - cos(th1 - th2)*(- (sin(th1 - th2)*u2^2)/2 + 4*T1 + 2*sin(th1)))/(cos(th1 - th2)^2/2 - 1); + +end \ No newline at end of file diff --git a/benchmarks/QUAD/Specifications.txt b/benchmarks/QUAD/Specifications.txt new file mode 100644 index 0000000..4254175 --- /dev/null +++ b/benchmarks/QUAD/Specifications.txt @@ -0,0 +1,19 @@ +Initial states: +x1 = [-0.4, 0.4] +x2 = [-0.4, 0.4] +x3 = [-0.4, 0.4] +x4 = [-0.4, 0.4] +x5 = [-0.4, 0.4] +x6 = [-0.4, 0.4] +x7 = 0 +x8 = 0 +x9 = 0 +x10 = 0 +x11 = 0 +x12 = 0 + +t = 5 seconds +control period = 0.1 s + +Property: +The control goal is to stabilize the attitude x3 to a goal region [0.94, 1.06] in 5 seconds (50 time steps). \ No newline at end of file diff --git a/benchmarks/QUAD/dynamics.m b/benchmarks/QUAD/dynamics.m new file mode 100644 index 0000000..0dadf2d --- /dev/null +++ b/benchmarks/QUAD/dynamics.m @@ -0,0 +1,19 @@ +function dx = dynamics(x,u) +% Parameters +g = 9.81; m = 1.4; Jx = 0.054; +Jy = 0.054; Jz = 0.104; t = 0; +% Quadrotor with 12 states (x) and 3 inputs (u) +dx(1,1) = cos(x(8))*cos(x(9))*x(4) + (sin(x(7))*sin(x(8))*cos(x(9)) - cos(x(7))*sin(x(9)))*x(5) + (cos(x(7))*sin(x(8))*cos(x(9)) + sin(x(7))*sin(x(9)))*x(6) ; +dx(2,1) = cos(x(8))*sin(x(9))*x(4) + (sin(x(7))*sin(x(8))*sin(x(9)) - cos(x(7))*cos(x(9)))*x(5) + (cos(x(7))*sin(x(8))*sin(x(9)) + sin(x(7))*cos(x(9)))*x(6); +dx(3,1) = sin(x(8))*x(4) - sin(x(7))*cos(x(8))*x(5) - cos(x(7))*cos(x(8))*x(6); +dx(4,1) = x(12)*x(5) * x(11)*x(6) - g*sin(x(8)); +dx(5,1) = x(10)*x(6) - x(11)*x(6) - g*sin(x(8)); +dx(6,1) = x(11)*x(4) - x(10)*x(5) + g*cos(x(8))*cos(x(7)) - g - u(1)/m; +dx(7,1) = x(10) + sin(x(7))*tan(x(8))*x(11) + cos(x(7))*tan(x(8))*x(12); +dx(8,1) = cos(x(7))*x(11) - sin(x(7))*x(12); +dx(9,1) = sin(x(7))*x(11)/cos(x(8)) - cos(x(7))*x(12)/cos(x(8)); +dx(10,1) = x(11)*x(12)*(Jy-Jz)/Jx + u(2)/Jx; +dx(11,1) = (Jz - Jx)*x(10)*x(12)/Jy + u(3)/Jy; +dx(12,1) = (Jx - Jy)*x(10)*x(11)/Jz + t/Jz; +end + diff --git a/benchmarks/QUAD/load_controller.m b/benchmarks/QUAD/load_controller.m new file mode 100644 index 0000000..b838ccf --- /dev/null +++ b/benchmarks/QUAD/load_controller.m @@ -0,0 +1,47 @@ +function controller = load_controller(onnxfile) + model = importONNXLayers(onnxfile); + + % Only "layer" with parameters is #2 + mlp = model.Layers(2); + + % Weights and bias (looks like activation functions are linear, tanh, + % linear) + w1 = extractdata(mlp.layers_lin1_weight)'; + w2 = extractdata(mlp.layers_lin2_weight)'; + w3 = extractdata(mlp.layers_lin3_weight)'; + w4 = extractdata(mlp.layers_lin4_weight)'; + b1 = extractdata(mlp.layers_lin1_bias); + b2 = extractdata(mlp.layers_lin2_bias); + b3 = extractdata(mlp.layers_lin3_bias); + b4 = extractdata(mlp.layers_lin4_bias); + + %% Create Neural Network for NNV + if exist('LayerS','class') + % n = 4; % 3 hidden sigmoid layers + linear output + L1 = LayerS(w1,b1,'logisg'); + L2 = LayerS(w2,b2,'logsig'); + L3 = LayerS(w3,b3,'logsig'); + L4 = LayerS(w4,b4,'purelin'); + Layers = [L1,L2,L3,L4]; + controller = FFNNS(Layers); + else + controller = []; + warning('NNV is not installed or added to the MATLAB path. Controller cannot be loaded, it will only be converted to NNV and ONNX is these files do not exist.') + end + + %% Create file to match other NNV-saved NNs + if ~isfile('model.mat') + W = {}; b = {}; + % weights + W{1} = w1; W{2} = w2; W{3} = w3; W{4} = w4; + % bias + b{1} = b1; b{2} = b2; b{3} = b3; b{4} = b4; + % activation functions + act_fcns = ['logsig';'logsig';'logsig'; 'linear']; + % Save model + save('model.mat','W','b','act_fcns'); + end + if ~isfile('model.onnx') + ToONNX('model.mat','model.onnx'); + end +end \ No newline at end of file diff --git a/benchmarks/QUAD/model.mat b/benchmarks/QUAD/model.mat new file mode 100644 index 0000000..b0de895 Binary files /dev/null and b/benchmarks/QUAD/model.mat differ diff --git a/benchmarks/QUAD/model.onnx b/benchmarks/QUAD/model.onnx new file mode 100644 index 0000000..4bf225b Binary files /dev/null and b/benchmarks/QUAD/model.onnx differ diff --git a/benchmarks/QUAD/quad_controller_3_64_torch.onnx b/benchmarks/QUAD/quad_controller_3_64_torch.onnx new file mode 100644 index 0000000..7427e13 Binary files /dev/null and b/benchmarks/QUAD/quad_controller_3_64_torch.onnx differ diff --git a/benchmarks/Single_Pendulum/controller_single_pendulum.h5 b/benchmarks/Single_Pendulum/controller_single_pendulum.h5 new file mode 100644 index 0000000..6aa2425 Binary files /dev/null and b/benchmarks/Single_Pendulum/controller_single_pendulum.h5 differ diff --git a/benchmarks/Single_Pendulum/controller_single_pendulum.mat b/benchmarks/Single_Pendulum/controller_single_pendulum.mat new file mode 100644 index 0000000..1984b02 Binary files /dev/null and b/benchmarks/Single_Pendulum/controller_single_pendulum.mat differ diff --git a/benchmarks/Single_Pendulum/controller_single_pendulum.nnet b/benchmarks/Single_Pendulum/controller_single_pendulum.nnet new file mode 100644 index 0000000..5f9e900 --- /dev/null +++ b/benchmarks/Single_Pendulum/controller_single_pendulum.nnet @@ -0,0 +1,112 @@ +// The contents of this file are licensed under the Creative Commons +// Attribution 4.0 International License: https://creativecommons.org/licenses/by/4.0/ +// Neural Network File Format by Kyle Julian, Stanford 2016 +3, 2, 1, 25 +2, 25, 25,1, 1 +0 +0 +0 +0 +0 +-0.24301, -0.18771 +-0.26350, -0.30369 +0.14823, -0.35473 +-0.32726, 0.23397 +-0.03466, -0.19298 +0.37591, 0.46209 +0.72291, 0.69352 +0.03561, 0.26642 +-0.12026, 0.21470 +-0.16872, -0.30651 +-0.43472, -0.18382 +-0.13991, -0.16939 +-0.40639, 0.06983 +0.27941, -0.20360 +-0.40475, -0.43684 +-0.34817, -0.58015 +0.07824, -0.34545 +-0.36376, -0.39287 +0.65688, 0.18937 +-0.18365, 0.15440 +-0.31044, -0.13218 +-0.07592, -0.43100 +0.42164, -0.02560 +-0.51296, -0.67853 +-0.08458, 0.15043 +-0.00419 +-0.00546 +-0.00949 +-0.00565 +-0.00241 +-0.00529 +0.00291 +-0.00454 +-0.00197 +-0.00673 +-0.00373 +-0.00559 +-0.00445 +-0.00842 +-0.00319 +0.00551 +-0.00701 +-0.00560 +0.00371 +-0.00419 +0.00527 +-0.00635 +-0.00937 +0.00512 +-0.00610 +0.06736, 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documentation l=0.5, m=0.5; g= 1; c=0; +% description of the pararameters in these equations can be found here +% https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf + +l=0.5; m=0.5; g= 1; c= 0; + +dx(1,1) = x(2); +dx(2,1) = g/l * sin(x(1)) + (a - c*x(2))/(m*l^2); +% dx(3,1) = 20; +dx(3,1) = 1; \ No newline at end of file diff --git a/benchmarks/Single_Pendulum/specifications.txt b/benchmarks/Single_Pendulum/specifications.txt new file mode 100644 index 0000000..f98ce09 --- /dev/null +++ b/benchmarks/Single_Pendulum/specifications.txt @@ -0,0 +1,12 @@ +Initial states: + +x1 = [1.0, 1.175] +x2 = [0.0, 0.2] + +The controller timestep (control period) = 0.05 (seconds). + +Property: + +x1 in [0.0,1.0] for 0.5 <= t <=1 + +Refer to this for more details: https://github.com/amaleki2/benchmark_closedloop_verification/blob/master/AINNC_benchmark.pdf diff --git a/benchmarks/Tora_Heterogeneous/Specifications.txt b/benchmarks/Tora_Heterogeneous/Specifications.txt new file mode 100644 index 0000000..568cde4 --- /dev/null +++ b/benchmarks/Tora_Heterogeneous/Specifications.txt @@ -0,0 +1,47 @@ +Initial states: + +x1 = [-0.77, -0.75] +x2 = [-0.45, -0.43] +x3 = [0.51, 0.54] +x4 = [-0.3, -0.28] + +t = 5 seconds +steps = 10 (control period = 0.5s) + +Goal states: + +x1 = [-0.1, 0.2] +x2 = [-0.9, -0.6] + +Neural network specification: + +nn_tora_relu_tanh.txt: +4 # number of inputs +1 # number of outputs +3 # number of hidden layers +20 # number of neurons in the fisrt hidden layer +20 # number of neurons in the second hidden layer +20 # number of neurons in the third hidden layer +# weights and bias of the neural network +-0.12919427454471588 +... +0 # offset of the neural network +11 # scalar of the neural network + +The activation function used in the hidden layers is relu activation function. The output layer use tanh activation function. + +nn_tora_sigmoid.txt: +4 # number of inputs +1 # number of outputs +3 # number of hidden layers +20 # number of neurons in the fisrt hidden layer +20 # number of neurons in the second hidden layer +20 # number of neurons in the third hidden layer +# weights and bias of the neural network +-0.00012612085265573114 +... +0 # offset of the neural network +11 # scalar of the neural network + + +The activation function used in the neural network is sigmoid activation function. diff --git a/benchmarks/Tora_Heterogeneous/dynamicsTora.m b/benchmarks/Tora_Heterogeneous/dynamicsTora.m new file mode 100644 index 0000000..e91fb2c --- /dev/null +++ b/benchmarks/Tora_Heterogeneous/dynamicsTora.m @@ -0,0 +1,11 @@ +function [dx] = dynamicsTora(x,u) +% Ex_tora +% Initial state range: +% [0.6, 0.7] � [-0.7, -0.6] � [-0.4, -0.3] � [0.5, 0.6] + +dx(1,1) = x(2); +dx(2,1) = - x(1) + 0.1*sin(x(3)); +dx(3,1) = x(4); +dx(4,1) = u; + +end \ No newline at end of file diff --git a/benchmarks/Tora_Heterogeneous/nn_tora_relu_tanh.mat b/benchmarks/Tora_Heterogeneous/nn_tora_relu_tanh.mat new file mode 100644 index 0000000..8d55ec8 Binary files /dev/null and b/benchmarks/Tora_Heterogeneous/nn_tora_relu_tanh.mat differ diff --git a/benchmarks/Tora_Heterogeneous/nn_tora_relu_tanh.txt b/benchmarks/Tora_Heterogeneous/nn_tora_relu_tanh.txt new file mode 100644 index 0000000..3e2b54b --- /dev/null +++ b/benchmarks/Tora_Heterogeneous/nn_tora_relu_tanh.txt @@ -0,0 +1,969 @@ +4 +1 +3 +20 +20 +20 +-0.12919427454471588 +-0.036189381033182144 +0.103769451379776 +0.19228200614452362 +0.3101285398006439 +9.592880772202232e-20 +-4.098185399925569e-06 +3.562392687892829e-18 +7.072124052314274e-28 +-0.10250986367464066 +0.19176237285137177 +0.05357827618718147 +-0.1536911129951477 +-0.2856580913066864 +0.8686256408691406 +-0.04825373739004135 +-0.013494903221726418 +0.038710687309503555 +0.07188503444194794 +0.22778107225894928 +0.07209271192550659 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+0.15425202250480652 +0.2833417057991028 +-0.3784881830215454 +0.0008789632702246308 +0.5 +22 diff --git a/benchmarks/VCAS/Specifications.txt b/benchmarks/VCAS/Specifications.txt new file mode 100644 index 0000000..326fd20 --- /dev/null +++ b/benchmarks/VCAS/Specifications.txt @@ -0,0 +1,13 @@ +The set of initial states considered is as follows: +h(0)∈[−133,−129], h0_dot(0)∈{−19.5,−22.5,−25.5,−28.5}, τ(0) = 25 and adv(0) = COC + +Run for K = {1,...,10} steps. + +Safety property: |Vertical separation| > 100 ft at all times. + +NN normalization: + scale_mean = [0.0,0.0,20.0,-0.432599379632]; % Means + scale_range =[16000.0,5000.0,40.0,3.102300001]; % Ranges + Unn = Unn - scale_mean; + Unn = Unn/scale_range; + where Unn is the input to the neural networks diff --git a/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra01_v9_20HU_200.nnet.h5 b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra01_v9_20HU_200.nnet.h5 new file mode 100644 index 0000000..324deb4 Binary files /dev/null and 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a/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra05_v9_20HU_200.nnet.h5 b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra05_v9_20HU_200.nnet.h5 new file mode 100644 index 0000000..74437fb Binary files /dev/null and b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra05_v9_20HU_200.nnet.h5 differ diff --git a/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra06_v9_20HU_200.nnet.h5 b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra06_v9_20HU_200.nnet.h5 new file mode 100644 index 0000000..dfc9222 Binary files /dev/null and b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra06_v9_20HU_200.nnet.h5 differ diff --git a/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra07_v9_20HU_200.nnet.h5 b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra07_v9_20HU_200.nnet.h5 new file mode 100644 index 0000000..ff87aee Binary files /dev/null and b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra07_v9_20HU_200.nnet.h5 differ diff --git a/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra08_v9_20HU_200.nnet.h5 b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra08_v9_20HU_200.nnet.h5 new file mode 100644 index 0000000..f55bcae Binary files /dev/null and b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra08_v9_20HU_200.nnet.h5 differ diff --git a/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra09_v9_20HU_200.nnet.h5 b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra09_v9_20HU_200.nnet.h5 new file mode 100644 index 0000000..82d4250 Binary files /dev/null and b/benchmarks/VCAS/h5_networks/VertCAS_noResp_pra09_v9_20HU_200.nnet.h5 differ diff --git a/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra01_v9_20HU_200.nnet b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra01_v9_20HU_200.nnet new file mode 100644 index 0000000..defd87b --- /dev/null +++ b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra01_v9_20HU_200.nnet @@ -0,0 +1,226 @@ +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,9,20, +3,20,20,20,20,20,9, +0, +-8000.0,-100.0,0.0, +8000.0,100.0,40.0, +0.0,0.0,20.0,-0.7194709316423972, 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b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra02_v9_20HU_200.nnet new file mode 100644 index 0000000..c2fde67 --- /dev/null +++ b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra02_v9_20HU_200.nnet @@ -0,0 +1,226 @@ +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,9,20, +3,20,20,20,20,20,9, +0, +-8000.0,-100.0,0.0, +8000.0,100.0,40.0, +0.0,0.0,20.0,-0.7194709316423972, +16000.0,200.0,40.0,26.24923585890485, +1.25809e+00,6.89761e-02,-2.72701e-01, +1.51965e-01,-2.08923e-01,-2.04511e-01, +-1.07274e-01,4.18343e-01,-2.28562e-01, +-1.42234e+00,-1.26879e-01,-2.20430e-01, +8.10223e-01,-3.26521e-01,-9.83673e-02, +-7.28898e-01,7.32054e-02,-2.53481e-01, +-8.50225e-01,1.22228e-01,-3.46459e-01, +1.40976e+00,-2.79285e-04,-3.04243e-01, +-1.16017e+00,-1.31499e-01,-1.46556e-01, +-9.13608e-01,1.78753e-02,-1.85500e-01, +-1.84431e-02,1.18461e-03,-3.88807e-03, +2.14460e+00,1.38358e-01,-1.64569e-01, +9.73140e-01,7.17452e-01,3.01279e-02, +1.55195e+00,1.75836e-01,-2.53292e-01, 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b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra03_v9_20HU_200.nnet new file mode 100644 index 0000000..8841740 --- /dev/null +++ b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra03_v9_20HU_200.nnet @@ -0,0 +1,226 @@ +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,9,20, +3,20,20,20,20,20,9, +0, +-8000.0,-100.0,0.0, +8000.0,100.0,40.0, +0.0,0.0,20.0,-0.7194709316423972, +16000.0,200.0,40.0,26.24923585890485, +9.02994e-01,-1.77890e-01,-9.49714e-02, +-3.88878e-01,-2.57745e-01,-2.49191e-01, +4.60252e-02,-2.08496e-01,-7.34139e-03, +-8.36584e-01,5.10995e-02,-2.14115e-01, +6.76203e-01,-1.17985e-01,-2.22334e-01, +7.18283e-01,-5.91745e-02,-2.00494e-01, +7.86016e-01,-4.66607e-02,-1.84859e-01, +1.39178e+00,-2.28034e-02,-1.07130e-01, +1.69301e+00,-6.12573e-02,-3.94224e-02, +-2.31213e-01,-2.29296e-01,-3.28251e-02, +8.40045e-01,-1.61760e-02,-1.92188e-01, +1.20274e+00,7.80898e-04,-1.42599e-01, +2.09700e+00,-1.24278e-01,3.48088e-02, +1.18586e+00,-2.49471e-01,-6.60865e-02, 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b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra06_v9_20HU_200.nnet new file mode 100644 index 0000000..5120ab2 --- /dev/null +++ b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra06_v9_20HU_200.nnet @@ -0,0 +1,226 @@ +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,9,20, +3,20,20,20,20,20,9, +0, +-8000.0,-100.0,0.0, +8000.0,100.0,40.0, +0.0,0.0,20.0,-0.7194709316423972, +16000.0,200.0,40.0,26.24923585890485, +8.07146e-01,-1.91632e-01,-1.89904e-01, +1.16717e+00,-9.10135e-02,1.29475e-01, +-4.02254e-01,-2.17833e-01,-2.90140e-01, +-4.96641e-01,1.97881e-01,-2.74971e-01, +1.46080e+00,4.56752e-01,-1.05735e-01, +1.65135e-01,-8.68337e-02,-2.22703e-01, +-1.45628e-01,1.59298e-01,-1.70415e-01, +-2.45257e-01,4.88581e-02,-2.24420e-01, +1.07829e+00,-2.31055e-01,-1.27813e-01, +6.10072e-01,-2.91325e-01,-1.90298e-01, +8.03907e-01,-1.82801e-01,-2.35295e-01, +-8.66703e-02,1.09693e-01,-1.69359e-01, +-1.14035e+00,-2.58786e-01,-1.29302e-01, +2.02075e+00,4.74719e-02,-1.89013e-01, 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b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra07_v9_20HU_200.nnet new file mode 100644 index 0000000..e0b3f96 --- /dev/null +++ b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra07_v9_20HU_200.nnet @@ -0,0 +1,226 @@ +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,9,20, +3,20,20,20,20,20,9, +0, +-8000.0,-100.0,0.0, +8000.0,100.0,40.0, +0.0,0.0,20.0,-0.7194709316423972, +16000.0,200.0,40.0,26.24923585890485, +7.03578e-01,1.27719e-01,-2.47174e-01, +-1.05062e+00,3.78458e-02,-2.62726e-01, +-7.76297e-01,2.62379e-01,-1.94312e-01, +-7.04472e-02,-3.99664e-01,7.70142e-02, +1.17385e+00,1.06380e-01,-2.02471e-01, +8.19885e-01,1.96111e-01,-3.06330e-01, +8.31537e-01,1.32773e-01,-2.17240e-01, +1.32223e+00,2.23004e-01,-2.43235e-01, +-2.10671e+00,-1.43160e-01,-1.41084e-01, +1.13177e+00,-5.84526e-01,-1.78717e-01, +1.95486e+00,-8.17533e-03,-1.65930e-01, +1.15697e+00,-8.83119e-02,-1.84361e-01, +-8.09996e-01,2.36149e-01,-2.43703e-01, +-1.70510e+00,-3.94004e-01,-8.85169e-03, 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b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra08_v9_20HU_200.nnet new file mode 100644 index 0000000..a2acdbe --- /dev/null +++ b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra08_v9_20HU_200.nnet @@ -0,0 +1,226 @@ +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,9,20, +3,20,20,20,20,20,9, +0, +-8000.0,-100.0,0.0, +8000.0,100.0,40.0, +0.0,0.0,20.0,-0.7194709316423972, +16000.0,200.0,40.0,26.24923585890485, +6.83758e-01,-9.12135e-02,-2.11199e-01, +4.83379e-01,-2.17285e-01,-2.11898e-01, +5.39140e-01,-2.68673e-01,-3.07396e-01, +6.43490e-01,-1.37919e-01,-1.63890e-01, +-2.70861e-01,-2.91400e-04,-2.01227e-01, +5.68075e-03,2.47371e-03,3.01581e-04, +1.07496e+00,-1.35056e-02,-3.80807e-04, +6.48717e-01,4.62359e-01,-1.07305e-01, +-3.55041e-03,-4.20100e-03,7.14398e-03, +1.02407e+00,-1.40007e-01,8.54935e-02, +4.95448e-03,1.08822e-02,2.46671e-04, +7.67349e-01,-1.22313e-01,-1.01873e-01, +1.36903e+00,2.82580e-03,-2.64403e-01, +1.00143e+00,3.49621e-02,-4.51545e-02, 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b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra09_v9_20HU_200.nnet new file mode 100644 index 0000000..b24c46c --- /dev/null +++ b/benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra09_v9_20HU_200.nnet @@ -0,0 +1,226 @@ +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,9,20, +3,20,20,20,20,20,9, +0, +-8000.0,-100.0,0.0, +8000.0,100.0,40.0, +0.0,0.0,20.0,-0.7194709316423972, +16000.0,200.0,40.0,26.24923585890485, +-1.36025e-02,7.35674e-03,-5.33029e-04, +1.81880e-02,1.16161e-02,-1.59498e-01, +3.07705e-02,1.51325e-02,-1.74685e-01, +1.85987e-02,1.19909e-02,-1.72098e-01, +1.70251e+00,-1.69920e-01,-8.52303e-03, +5.38841e-01,-2.44956e-01,-1.64666e-01, +1.52560e+00,1.44821e-01,-7.76367e-02, +-5.40136e-03,-5.36830e-03,-1.57801e-04, +4.85101e-01,-2.98201e-01,-2.29722e-01, +1.66662e-01,-1.84720e-01,-2.62116e-01, +4.09975e-02,1.23648e-02,-1.31035e-01, +1.06056e+00,1.77896e-01,-6.02002e-02, +1.19345e+00,-6.19697e-02,-1.24782e-01, +5.11732e-01,-1.20437e-01,-1.37133e-01, 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0000000..6b44e3c Binary files /dev/null and b/benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra09_v9_20HU_200.onnx differ diff --git a/benchmarks/VCAS/planeDynamics.m b/benchmarks/VCAS/planeDynamics.m new file mode 100644 index 0000000..13b8764 --- /dev/null +++ b/benchmarks/VCAS/planeDynamics.m @@ -0,0 +1,40 @@ +function dx = planeDynamics(x,u,T) +%PLANEDYNAMICS +% These are the equations used to describe the VCAS airplane dynamics +% +% Dynamics: (T = 1) +% +% h(t+1) = h - h0_dot * T - 0.5* h0_dot_dot*T^2; +% h0_dot(t+1) = h0_dot + h0_dot_dot*T; +% tao(t+1) = tao - T; +% adv(t+1) = adv; +% +% adv = u(1); New advisory, the output of the neural network controllers +% h0_dot_dot = u(2); % Acceleration chosen on the basis of the new advisory +% +% Originally there are up to 3 possible acceleration values to choose from for each advisory. +% When proving safety, all possible values should be accounted for. +% +% The tools that cannot handle efficiently quantification over all possible +% acceleration can follow the following two strategies for picking up +% next acceleration: +% +% -- a worst-case scenario selection, where we choose the acceleration +% that will take the ownship closer to or less far apart from the intruder. +% +% -- always select the acceleration in the middle. + +% dx(1,1) = x(1) - x(2)*T - 0.5*u(2)*T^2; +% dx(2,1) = x(2) + u(2)*T; +% dx(3,1) = x(3) - T; +% dx(4,1) = u(1); + +% update every second (T = 1) + +dx(1,1) = x(1) - x(2) - 0.5*u(2); +dx(2,1) = x(2) + u(2); +dx(3,1) = x(3) - 1; +dx(4,1) = u(1); + +end +