From 92a32d711a136bebc8f7d796140ef80323ce8272 Mon Sep 17 00:00:00 2001 From: Diego Manzanas Date: Wed, 20 Mar 2024 17:06:26 -0500 Subject: [PATCH] Benchmarks for 2024, changes n falsified specifications from 2023 --- benchmarks/ACC/Specifications.txt | 21 + benchmarks/ACC/controller_5_20.mat | Bin 0 -> 15568 bytes benchmarks/ACC/controller_5_20.onnx | Bin 0 -> 9359 bytes benchmarks/ACC/dynamicsACC.m | 21 + benchmarks/Airplane/controller_airplane.h5 | Bin 0 -> 196056 bytes benchmarks/Airplane/controller_airplane.mat | Bin 0 -> 109128 bytes benchmarks/Airplane/controller_airplane.nnet | 462 +++++++++ benchmarks/Airplane/controller_airplane.onnx | Bin 0 -> 55199 bytes benchmarks/Airplane/dynamics.m | 79 ++ benchmarks/Airplane/specifications.txt | 23 + .../Attitude Control/Specifications.txt | 17 + .../attitude_control_3_64_torch.onnx | Bin 0 -> 54656 bytes benchmarks/Attitude Control/dynamics.m | 9 + benchmarks/Attitude Control/model.mat | Bin 0 -> 41714 bytes benchmarks/Attitude Control/model.onnx | Bin 0 -> 37226 bytes .../Benchmark10-Unicycle/Specifications.txt | 17 + .../Benchmark10-Unicycle/controllerB.onnx | Bin 0 -> 15026 bytes .../Benchmark10-Unicycle/controllerB_nnv.h5 | Bin 0 -> 27488 bytes .../Benchmark10-Unicycle/controllerB_nnv.mat | Bin 0 -> 27236 bytes benchmarks/Benchmark10-Unicycle/dynamics10.m | 24 + benchmarks/Benchmark9-Tora/Specifications.txt | 15 + benchmarks/Benchmark9-Tora/controllerTora.h5 | Bin 0 -> 102032 bytes benchmarks/Benchmark9-Tora/controllerTora.mat | Bin 0 -> 96164 bytes .../Benchmark9-Tora/controllerTora.onnx | Bin 0 -> 84881 bytes benchmarks/Benchmark9-Tora/dynamics9.m | 15 + benchmarks/Docking/dynamics.m | 17 + benchmarks/Docking/model.mat | Bin 0 -> 314706 bytes benchmarks/Docking/model.onnx | Bin 0 -> 274562 bytes ...acecraft_docking_benchmark_description.pdf | Bin 0 -> 475175 bytes benchmarks/Docking/specification.txt | 10 + benchmarks/Double_Pendulum/Specifications.txt | 20 + .../controller_double_pendulum_less_robust.h5 | Bin 0 -> 38116 bytes ...controller_double_pendulum_less_robust.mat | Bin 0 -> 7264 bytes ...ontroller_double_pendulum_less_robust.nnet | 114 +++ ...ontroller_double_pendulum_less_robust.onnx | Bin 0 -> 4081 bytes .../controller_double_pendulum_more_robust.h5 | Bin 0 -> 38116 bytes ...controller_double_pendulum_more_robust.mat | Bin 0 -> 7264 bytes ...ontroller_double_pendulum_more_robust.nnet | 114 +++ ...ontroller_double_pendulum_more_robust.onnx | Bin 0 -> 4081 bytes .../Double_Pendulum/double_pendulum_solver.m | 26 + benchmarks/Double_Pendulum/dynamics_dp.m | 23 + benchmarks/QUAD/Specifications.txt | 19 + benchmarks/QUAD/dynamics.m | 19 + benchmarks/QUAD/load_controller.m | 47 + benchmarks/QUAD/model.mat | Bin 0 -> 43382 bytes benchmarks/QUAD/model.onnx | Bin 0 -> 38786 bytes .../QUAD/quad_controller_3_64_torch.onnx | Bin 0 -> 56192 bytes .../controller_single_pendulum.h5 | Bin 0 -> 36188 bytes .../controller_single_pendulum.mat | Bin 0 -> 6656 bytes .../controller_single_pendulum.nnet | 112 ++ .../controller_single_pendulum.onnx | Bin 0 -> 3775 bytes benchmarks/Single_Pendulum/dynamics_sp.m | 12 + benchmarks/Single_Pendulum/specifications.txt | 12 + .../Tora_Heterogeneous/Specifications.txt | 47 + benchmarks/Tora_Heterogeneous/dynamicsTora.m | 11 + .../Tora_Heterogeneous/nn_tora_relu_tanh.mat | Bin 0 -> 3948 bytes .../Tora_Heterogeneous/nn_tora_relu_tanh.txt | 969 ++++++++++++++++++ .../Tora_Heterogeneous/nn_tora_sigmoid.mat | Bin 0 -> 4715 bytes .../Tora_Heterogeneous/nn_tora_sigmoid.txt | 969 ++++++++++++++++++ benchmarks/VCAS/Specifications.txt | 13 + .../VertCAS_noResp_pra01_v9_20HU_200.nnet.h5 | Bin 0 -> 38312 bytes .../VertCAS_noResp_pra02_v9_20HU_200.nnet.h5 | Bin 0 -> 38336 bytes .../VertCAS_noResp_pra03_v9_20HU_200.nnet.h5 | Bin 0 -> 38544 bytes .../VertCAS_noResp_pra04_v9_20HU_200.nnet.h5 | Bin 0 -> 38544 bytes .../VertCAS_noResp_pra05_v9_20HU_200.nnet.h5 | Bin 0 -> 38544 bytes .../VertCAS_noResp_pra06_v9_20HU_200.nnet.h5 | Bin 0 -> 38544 bytes .../VertCAS_noResp_pra07_v9_20HU_200.nnet.h5 | Bin 0 -> 38544 bytes .../VertCAS_noResp_pra08_v9_20HU_200.nnet.h5 | Bin 0 -> 38544 bytes .../VertCAS_noResp_pra09_v9_20HU_200.nnet.h5 | Bin 0 -> 38544 bytes .../VertCAS_noResp_pra01_v9_20HU_200.nnet | 226 ++++ .../VertCAS_noResp_pra02_v9_20HU_200.nnet | 226 ++++ .../VertCAS_noResp_pra03_v9_20HU_200.nnet | 226 ++++ .../VertCAS_noResp_pra04_v9_20HU_200.nnet | 226 ++++ .../VertCAS_noResp_pra05_v9_20HU_200.nnet | 226 ++++ .../VertCAS_noResp_pra06_v9_20HU_200.nnet | 226 ++++ .../VertCAS_noResp_pra07_v9_20HU_200.nnet | 226 ++++ .../VertCAS_noResp_pra08_v9_20HU_200.nnet | 226 ++++ .../VertCAS_noResp_pra09_v9_20HU_200.nnet | 226 ++++ .../VertCAS_noResp_pra01_v9_20HU_200.mat | Bin 0 -> 16592 bytes .../VertCAS_noResp_pra02_v9_20HU_200.mat | Bin 0 -> 16592 bytes .../VertCAS_noResp_pra03_v9_20HU_200.mat | Bin 0 -> 16592 bytes .../VertCAS_noResp_pra04_v9_20HU_200.mat | Bin 0 -> 16592 bytes .../VertCAS_noResp_pra05_v9_20HU_200.mat | Bin 0 -> 16592 bytes .../VertCAS_noResp_pra06_v9_20HU_200.mat | Bin 0 -> 16592 bytes .../VertCAS_noResp_pra07_v9_20HU_200.mat | Bin 0 -> 16592 bytes .../VertCAS_noResp_pra08_v9_20HU_200.mat | Bin 0 -> 16592 bytes .../VertCAS_noResp_pra09_v9_20HU_200.mat | Bin 0 -> 16592 bytes .../VertCAS_noResp_pra01_v9_20HU_200.onnx | Bin 0 -> 10061 bytes .../VertCAS_noResp_pra02_v9_20HU_200.onnx | Bin 0 -> 10061 bytes .../VertCAS_noResp_pra03_v9_20HU_200.onnx | Bin 0 -> 10061 bytes .../VertCAS_noResp_pra04_v9_20HU_200.onnx | Bin 0 -> 10061 bytes .../VertCAS_noResp_pra05_v9_20HU_200.onnx | Bin 0 -> 10061 bytes .../VertCAS_noResp_pra06_v9_20HU_200.onnx | Bin 0 -> 10061 bytes .../VertCAS_noResp_pra07_v9_20HU_200.onnx | Bin 0 -> 10061 bytes .../VertCAS_noResp_pra08_v9_20HU_200.onnx | Bin 0 -> 10061 bytes .../VertCAS_noResp_pra09_v9_20HU_200.onnx | Bin 0 -> 10061 bytes benchmarks/VCAS/planeDynamics.m | 40 + 97 files changed, 5331 insertions(+) create mode 100644 benchmarks/ACC/Specifications.txt create mode 100644 benchmarks/ACC/controller_5_20.mat create mode 100644 benchmarks/ACC/controller_5_20.onnx create mode 100644 benchmarks/ACC/dynamicsACC.m create mode 100644 benchmarks/Airplane/controller_airplane.h5 create mode 100644 benchmarks/Airplane/controller_airplane.mat create mode 100644 benchmarks/Airplane/controller_airplane.nnet create mode 100644 benchmarks/Airplane/controller_airplane.onnx create mode 100644 benchmarks/Airplane/dynamics.m create mode 100644 benchmarks/Airplane/specifications.txt create mode 100644 benchmarks/Attitude Control/Specifications.txt create mode 100644 benchmarks/Attitude Control/attitude_control_3_64_torch.onnx create mode 100644 benchmarks/Attitude Control/dynamics.m create mode 100644 benchmarks/Attitude Control/model.mat create mode 100644 benchmarks/Attitude Control/model.onnx create mode 100644 benchmarks/Benchmark10-Unicycle/Specifications.txt create mode 100644 benchmarks/Benchmark10-Unicycle/controllerB.onnx create mode 100644 benchmarks/Benchmark10-Unicycle/controllerB_nnv.h5 create mode 100644 benchmarks/Benchmark10-Unicycle/controllerB_nnv.mat create mode 100644 benchmarks/Benchmark10-Unicycle/dynamics10.m create mode 100644 benchmarks/Benchmark9-Tora/Specifications.txt create mode 100644 benchmarks/Benchmark9-Tora/controllerTora.h5 create mode 100644 benchmarks/Benchmark9-Tora/controllerTora.mat create mode 100644 benchmarks/Benchmark9-Tora/controllerTora.onnx create mode 100644 benchmarks/Benchmark9-Tora/dynamics9.m create mode 100644 benchmarks/Docking/dynamics.m create mode 100644 benchmarks/Docking/model.mat create mode 100644 benchmarks/Docking/model.onnx create mode 100644 benchmarks/Docking/spacecraft_docking_benchmark_description.pdf create mode 100644 benchmarks/Docking/specification.txt create mode 100644 benchmarks/Double_Pendulum/Specifications.txt create mode 100644 benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.h5 create mode 100644 benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.mat create mode 100644 benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.nnet create mode 100644 benchmarks/Double_Pendulum/controller_double_pendulum_less_robust.onnx create mode 100644 benchmarks/Double_Pendulum/controller_double_pendulum_more_robust.h5 create mode 100644 benchmarks/Double_Pendulum/controller_double_pendulum_more_robust.mat create mode 100644 benchmarks/Double_Pendulum/controller_double_pendulum_more_robust.nnet create mode 100644 benchmarks/Double_Pendulum/controller_double_pendulum_more_robust.onnx create mode 100644 benchmarks/Double_Pendulum/double_pendulum_solver.m create mode 100644 benchmarks/Double_Pendulum/dynamics_dp.m create mode 100644 benchmarks/QUAD/Specifications.txt create mode 100644 benchmarks/QUAD/dynamics.m create mode 100644 benchmarks/QUAD/load_controller.m create mode 100644 benchmarks/QUAD/model.mat create mode 100644 benchmarks/QUAD/model.onnx create mode 100644 benchmarks/QUAD/quad_controller_3_64_torch.onnx create mode 100644 benchmarks/Single_Pendulum/controller_single_pendulum.h5 create mode 100644 benchmarks/Single_Pendulum/controller_single_pendulum.mat create mode 100644 benchmarks/Single_Pendulum/controller_single_pendulum.nnet create mode 100644 benchmarks/Single_Pendulum/controller_single_pendulum.onnx create mode 100644 benchmarks/Single_Pendulum/dynamics_sp.m create mode 100644 benchmarks/Single_Pendulum/specifications.txt create mode 100644 benchmarks/Tora_Heterogeneous/Specifications.txt create mode 100644 benchmarks/Tora_Heterogeneous/dynamicsTora.m create mode 100644 benchmarks/Tora_Heterogeneous/nn_tora_relu_tanh.mat create mode 100644 benchmarks/Tora_Heterogeneous/nn_tora_relu_tanh.txt create mode 100644 benchmarks/Tora_Heterogeneous/nn_tora_sigmoid.mat create mode 100644 benchmarks/Tora_Heterogeneous/nn_tora_sigmoid.txt create mode 100644 benchmarks/VCAS/Specifications.txt create mode 100644 benchmarks/VCAS/h5_networks/VertCAS_noResp_pra01_v9_20HU_200.nnet.h5 create mode 100644 benchmarks/VCAS/h5_networks/VertCAS_noResp_pra02_v9_20HU_200.nnet.h5 create mode 100644 benchmarks/VCAS/h5_networks/VertCAS_noResp_pra03_v9_20HU_200.nnet.h5 create mode 100644 benchmarks/VCAS/h5_networks/VertCAS_noResp_pra04_v9_20HU_200.nnet.h5 create mode 100644 benchmarks/VCAS/h5_networks/VertCAS_noResp_pra05_v9_20HU_200.nnet.h5 create mode 100644 benchmarks/VCAS/h5_networks/VertCAS_noResp_pra06_v9_20HU_200.nnet.h5 create mode 100644 benchmarks/VCAS/h5_networks/VertCAS_noResp_pra07_v9_20HU_200.nnet.h5 create mode 100644 benchmarks/VCAS/h5_networks/VertCAS_noResp_pra08_v9_20HU_200.nnet.h5 create mode 100644 benchmarks/VCAS/h5_networks/VertCAS_noResp_pra09_v9_20HU_200.nnet.h5 create mode 100644 benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra01_v9_20HU_200.nnet create mode 100644 benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra02_v9_20HU_200.nnet create mode 100644 benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra03_v9_20HU_200.nnet create mode 100644 benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra04_v9_20HU_200.nnet create mode 100644 benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra05_v9_20HU_200.nnet create mode 100644 benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra06_v9_20HU_200.nnet create mode 100644 benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra07_v9_20HU_200.nnet create mode 100644 benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra08_v9_20HU_200.nnet create mode 100644 benchmarks/VCAS/nnet_networks/VertCAS_noResp_pra09_v9_20HU_200.nnet create mode 100644 benchmarks/VCAS/nnv_networks/VertCAS_noResp_pra01_v9_20HU_200.mat create mode 100644 benchmarks/VCAS/nnv_networks/VertCAS_noResp_pra02_v9_20HU_200.mat create mode 100644 benchmarks/VCAS/nnv_networks/VertCAS_noResp_pra03_v9_20HU_200.mat create mode 100644 benchmarks/VCAS/nnv_networks/VertCAS_noResp_pra04_v9_20HU_200.mat create mode 100644 benchmarks/VCAS/nnv_networks/VertCAS_noResp_pra05_v9_20HU_200.mat create mode 100644 benchmarks/VCAS/nnv_networks/VertCAS_noResp_pra06_v9_20HU_200.mat create mode 100644 benchmarks/VCAS/nnv_networks/VertCAS_noResp_pra07_v9_20HU_200.mat create mode 100644 benchmarks/VCAS/nnv_networks/VertCAS_noResp_pra08_v9_20HU_200.mat create mode 100644 benchmarks/VCAS/nnv_networks/VertCAS_noResp_pra09_v9_20HU_200.mat create mode 100644 benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra01_v9_20HU_200.onnx create mode 100644 benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra02_v9_20HU_200.onnx create mode 100644 benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra03_v9_20HU_200.onnx create mode 100644 benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra04_v9_20HU_200.onnx create mode 100644 benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra05_v9_20HU_200.onnx create mode 100644 benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra06_v9_20HU_200.onnx create mode 100644 benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra07_v9_20HU_200.onnx create mode 100644 benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra08_v9_20HU_200.onnx create mode 100644 benchmarks/VCAS/onnx_networks/VertCAS_noResp_pra09_v9_20HU_200.onnx create mode 100644 benchmarks/VCAS/planeDynamics.m 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 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