Compositional Learning and Verification of Neural Network Controllers

Recent advances in deep learning have enabled data-driven controller design for autonomous systems. However, verifying safety of such controllers, which are often hard-to-analyze neural networks, remains a challenge. Inspired by compositional strategies for program verification, we propose a framework for compositional learning and verification of neural network controllers. Our approach is to decompose the task (e.g., car navigation) into a sequence of subtasks (e.g., segments of the track), each corresponding to a different mode of the system (e.g., go straight or turn). Then, we learn a separate controller for each mode, and verify correctness by proving that (i) each controller is correct within its mode, and (ii) transitions between modes are correct. This compositional strategy not only improves scalability of both learning and verification, but also enables our approach to verify correctness for arbitrary compositions of the subtasks. To handle partial observability (e.g., LiDAR), we additionally learn and verify a mode predictor that predicts which controller to use. Finally, our framework also incorporates an algorithm that, given a set of controllers, automatically synthesizes the pre- and postconditions required by our verification procedure. We validate our approach in a case study on a simulation model of the F1/10 autonomous car, a system that poses challenges for existing verification tools due to both its reliance on LiDAR observations, as well as the need to prove safety for complex track geometries. We leverage our framework to learn and verify a controller that safely completes any track consisting of an arbitrary sequence of five kinds of track segments.

Compositional learning of mutually recursive procedural systems

This paper presents a compositional approach to active automata learning of Systems of Procedural Automata (SPAs), an extension of Deterministic Finite Automata (DFAs) to systems of DFAs that can mutually call each other. SPAs are of high practical relevance, as they allow one to efficiently learn intuitive recursive models of recursive programs after an easy instrumentation that makes calls and returns observable. Key to our approach is the simultaneous inference of individual DFAs for each of the involved procedures via expansion and projection: membership queries for the individual DFAs are expanded to membership queries of the entire SPA, and global counterexample traces are transformed into counterexamples for the DFAs of concerned procedures. This reduces the inference of SPAs to a simultaneous inference of the DFAs for the involved procedures for which we can utilize various existing regular learning algorithms. The inferred models are easy to understand and allow for an intuitive display of the procedural system under learning that reveals its recursive structure. We implemented the algorithm within the LearnLib framework in order to provide a ready-to-use tool for practical application which is publicly available on GitHub for experimentation.