diff --git a/code/nnv/examples/Submission/WiP_3d/functions/add_voxels.m b/code/nnv/examples/Submission/WiP_3d/functions/add_voxels.m index 8b97e67dde..29b7fb2e4f 100644 --- a/code/nnv/examples/Submission/WiP_3d/functions/add_voxels.m +++ b/code/nnv/examples/Submission/WiP_3d/functions/add_voxels.m @@ -17,7 +17,7 @@ if vol(i,j,k) < threshold at_vol(i,j,k) = 255; ct = ct + 1; - if ct >= max_pixels + if ct >= voxels flag = 1; break; end diff --git a/code/nnv/examples/Submission/WiP_3d/functions/remove_voxels.m b/code/nnv/examples/Submission/WiP_3d/functions/remove_voxels.m index e69de29bb2..0550bf75ce 100644 --- a/code/nnv/examples/Submission/WiP_3d/functions/remove_voxels.m +++ b/code/nnv/examples/Submission/WiP_3d/functions/remove_voxels.m @@ -0,0 +1,45 @@ +function I = remove_voxels(vol, voxels, noise_disturbance) + % noise_disturnamce can be kept fixed here, more interesting on number + % of voxels changed + + % Return a VolumeStar of a brightening attack on a few pixels + + % Initialize vars + ct = 0; % keep track of pixels modified + flag = 0; % determine when to stop modifying pixels + vol = single(vol); + at_vol = vol; + + % Like darkening attack + for i=1:size(vol,1) + for j=1:size(vol,2) + for k=1:size(vol,3) + if vol(i,j,k) < threshold + at_vol(i,j,k) = 255; + ct = ct + 1; + if ct >= voxels + flag = 1; + break; + end + end + end + if flag == 1 + break + end + end + if flag == 1 + break; + end + end + + % Define input set as VolumeStar + dif_vol = -vol + at_vol; + noise = dif_vol; + V(:,:,:,:,1) = vol; % center of set + V(:,:,:,:,2) = noise; % basis vectors + C = [1; -1]; % constraints + d = [1; -1]; % constraints + I = VolumeStar(V, C, d, 1-noise_disturbance, 1); % input set + + +end \ No newline at end of file diff --git a/code/nnv/examples/Submission/WiP_3d/functions/summarize_results.m b/code/nnv/examples/Submission/WiP_3d/functions/summarize_results.m deleted file mode 100644 index 139597f9cb..0000000000 --- a/code/nnv/examples/Submission/WiP_3d/functions/summarize_results.m +++ /dev/null @@ -1,2 +0,0 @@ - - diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/README.md b/code/nnv/examples/Submission/WiP_3d/other/NAV/README.md new file mode 100644 index 0000000000..ce27712094 --- /dev/null +++ b/code/nnv/examples/Submission/WiP_3d/other/NAV/README.md @@ -0,0 +1,39 @@ + +# NAV Benchmark + +## Property: +The control goal is to navigate a robot to a goal region while avoiding an obstacle. +Time horizon: `t = 6s`. Control period: `0.2s`. + +Initial states: + + x1 = [2.9, 3.1] + x2 = [2.9, 3.1] + x3 = [0, 0] + x4 = [0, 0] + +Dynamic system: [dynamics.m](./dynamics.m) + +Goal region ( t=6 ): + + x1 = [-0.5, 0.5] + x2 = [-0.5, 0.5] + x3 = [-Inf, Inf] + x4 = [-Inf, Inf] + +Obstacle ( always ): + + x1 = [1, 2] + x2 = [1, 2] + x3 = [-Inf, Inf] + x4 = [-Inf, Inf] + +## Networks: + +We provide two networks: +- The first network is trained with standard (point-based) reinforcement learning: `nn-nav-point.onnx` +- The second network is trained set-based to improve its verifiable robustness by integrating reachability analysis into the training process: `nn-nav-set.onnx` + +Reference set-based training: https://arxiv.org/abs/2401.14961 + + diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/dynamics.m b/code/nnv/examples/Submission/WiP_3d/other/NAV/dynamics.m new file mode 100644 index 0000000000..632c28d9ff --- /dev/null +++ b/code/nnv/examples/Submission/WiP_3d/other/NAV/dynamics.m @@ -0,0 +1,11 @@ +function dx = dynamics(x,u) + +dx = [ + x(3)*cos(x(4)); + x(3)*sin(x(4)); + u(1); + u(2) +]; + +end + diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/figs/nav_point.png b/code/nnv/examples/Submission/WiP_3d/other/NAV/figs/nav_point.png new file mode 100644 index 0000000000..3aa4b19bfb Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/NAV/figs/nav_point.png differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/figs/nav_set.png b/code/nnv/examples/Submission/WiP_3d/other/NAV/figs/nav_set.png new file mode 100644 index 0000000000..623418b6c5 Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/NAV/figs/nav_set.png differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_point.mat b/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_point.mat new file mode 100644 index 0000000000..b33cbd44f2 Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_point.mat differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_point.png b/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_point.png new file mode 100644 index 0000000000..f7660557ae Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_point.png differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_point_21.png b/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_point_21.png new file mode 100644 index 0000000000..4f0543e91b Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_point_21.png differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_set.mat b/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_set.mat new file mode 100644 index 0000000000..da3ba0f19f Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/NAV/nav_set.mat differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/networks/nn-nav-point.onnx b/code/nnv/examples/Submission/WiP_3d/other/NAV/networks/nn-nav-point.onnx new file mode 100644 index 0000000000..3b4a1c4dbb Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/NAV/networks/nn-nav-point.onnx differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/networks/nn-nav-set.onnx b/code/nnv/examples/Submission/WiP_3d/other/NAV/networks/nn-nav-set.onnx new file mode 100644 index 0000000000..7ca29df9db Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/NAV/networks/nn-nav-set.onnx differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/reach_point.m b/code/nnv/examples/Submission/WiP_3d/other/NAV/reach_point.m new file mode 100644 index 0000000000..0abc4e3d0b --- /dev/null +++ b/code/nnv/examples/Submission/WiP_3d/other/NAV/reach_point.m @@ -0,0 +1,135 @@ +function rT = reach_point() + + %% Reachability analysis of NAV Benchmark + + %% Load Components + + % Load the controller + %netonnx = importNetworkFromONNX('networks/nn-nav-point.onnx', "InputDataFormats", "BC"); + netonnx = importONNXNetwork('networks/nn-nav-point.onnx', "InputDataFormats", "BC"); + + % Load plant + reachStep = 0.02; + controlPeriod = 0.2; + % plant = NonLinearODE(4, 2, @dynamics, reachStep, controlPeriod, eye(4)); + % plant.set_tensorOrder(2); + % plant.set_taylorTerms(3); + % plant.set_zonotopeOrder(100); + % plant.set_intermediateOrder(50); + + %% Reachability analysis + + % Initial set + lb = [2.9; 2.9; 0; 0]; + ub = [3.1; 3.1; 0; 0]; + init_set = Box(lb,ub); + init = init_set.partition([1 2],[50 50]); + + % Reachability options + num_steps = 20; + reachOptions.reachMethod = 'approx-star'; + + N = length(init); + disp("Verifying "+string(N)+" samples...") + + mkdir('tmp'); + parpool("Processes"); % initialize parallel process + + % Execute reachabilty analysis + t = tic; + parfor j = 1:length(init) + % Get NNV network + net = matlab2nnv(netonnx); + % Create plant + plant = NonLinearODE(4, 2, @dynamics, reachStep, controlPeriod, eye(4)); + plant.set_tensorOrder(2); + plant.set_taylorTerms(3); + plant.set_zonotopeOrder(100); + plant.set_intermediateOrder(50); + % Get initial conditions + init_set = init(j).toStar; + %reachSub = init_set; + for i = 1:num_steps + % Compute controller output set + input_set = net.reach(init_set,reachOptions); + + % Compute plant reachable set + init_set = plantReach(plant, init_set, input_set,'lin'); + end + toc(t); + parsave("tmp/reachSet"+string(j)+".mat",plant); + end + rT = toc(t); % get reach time + disp("Finished reachability...") + + % Shut Down Current Parallel Pool + poolobj = gcp('nocreate'); + delete(poolobj); + + % Save results + if is_codeocean + save('/results/logs/nav_point.mat', 'rT','-v7.3'); + else + save('nav_point.mat', 'rT','-v7.3'); + end + + + %% Visualize results + setFiles = dir('tmp/*.mat'); + + t = tic; + + f = figure; + rectangle('Position',[-0.5,-0.5,1,1],'FaceColor',[0 0.5 0 0.5],'EdgeColor','y', 'LineWidth', 0.1); % goal region + hold on; + rectangle('Position',[1,1,1,1],'FaceColor',[0.7 0 0 0.8], 'EdgeColor','r', 'LineWidth', 0.1); % obstacle + grid; + for K = 1 : length(setFiles) + if ~mod(K,50) + disp("Plotting partition "+string(K)+" ..."); + toc(t) + pause(0.01); % to ensure it prints + end + res = load("tmp/"+setFiles(K).name); + plant = res.plant; + for k=1:length(plant.cora_set) + plot(plant.cora_set{k}, [1,2], 'b', 'Unify', true); + end + end + hold on; + xlabel('x1'); + ylabel('x2'); + + disp("Finished plotting all reach sets"); + + %% Save figure + if is_codeocean + saveas(f,'/results/logs/nav_point.png'); + % exportgraphics(f,'/results/logs/nav-set.pdf', 'ContentType', 'vector'); + else + saveas(f,'nav_point_21.png'); + % exportgraphics(f,'nav-set.pdf','ContentType', 'vector'); + end + + % Save results + if is_codeocean + save('/results/logs/nav_point.mat','rT','-v7.3'); + else + save('nav_point.mat', 'rT','-v7.3'); + end + +end + +%% Helper function +function init_set = plantReach(plant,init_set,input_set,algoC) + nS = length(init_set); % based on approx-star, number of sets should be equal + ss = []; + for k=1:nS + ss =[ss plant.stepReachStar(init_set(k), input_set(k),algoC)]; + end + init_set = ss; +end + +function parsave(fname, plant) % trick to save while on parpool + save(fname, 'plant') +end \ No newline at end of file diff --git a/code/nnv/examples/Submission/WiP_3d/other/NAV/reach_set.m b/code/nnv/examples/Submission/WiP_3d/other/NAV/reach_set.m new file mode 100644 index 0000000000..0bc987ae97 --- /dev/null +++ b/code/nnv/examples/Submission/WiP_3d/other/NAV/reach_set.m @@ -0,0 +1,129 @@ +function rT = reach_set() + + %% Reachability analysis of NAV Benchmark + + %% Load Components + + % Load the controller + % net = importNetworkFromONNX('networks/nn-nav-set.onnx', "InputDataFormats", "BC"); + netonnx = importONNXNetwork('networks/nn-nav-set.onnx', "InputDataFormats", "BC"); + % Load plant + reachStep = 0.02; + controlPeriod = 0.2; + % plant = NonLinearODE(4, 2, @dynamics, reachStep, controlPeriod, eye(4)); + % plant.set_tensorOrder(2); + % plant.set_taylorTerms(3); + % plant.set_zonotopeOrder(100); + % plant.set_intermediateOrder(50); + + + %% Reachability analysis + + % Initial set + lb = [2.9; 2.9; 0; 0]; + ub = [3.1; 3.1; 0; 0]; + init_set = Box(lb,ub); + init = init_set.partition([1 2],[50 50]); + + % Reachability options + num_steps = 21; + reachOptions.reachMethod = 'approx-star'; + + N = length(init); + disp("Verifying "+string(N)+" samples...") + + mkdir('temp'); + parpool("Processes"); % initialize parallel process + + % Execute reachabilty analysis + t = tic; + parfor j = 1:length(init) + % Get NNV network + net = matlab2nnv(netonnx); + % Create plant + plant = NonLinearODE(4, 2, @dynamics, reachStep, controlPeriod, eye(4)); + plant.set_tensorOrder(2); + plant.set_taylorTerms(3); + plant.set_zonotopeOrder(100); + plant.set_intermediateOrder(50); + % Get initial conditions + init_set = init(j).toStar; + %reachSub = init_set; + for i = 1:num_steps + % Compute controller output set + input_set = net.reach(init_set,reachOptions); + + % Compute plant reachable set + init_set = plantReach(plant, init_set, input_set,'lin'); + end + toc(t); + parsave("temp/reachSet"+string(j)+".mat",plant); + end + rT = toc(t); % get reach time + disp("Finished reachability...") + + % Shut Down Current Parallel Pool + poolobj = gcp('nocreate'); + delete(poolobj); + + %% Visualize results + setFiles = dir('temp/*.mat'); + + f = figure; + rectangle('Position',[-0.5,-0.5,1,1],'FaceColor',[0 0.5 0 0.5],'EdgeColor','y', 'LineWidth', 0.1); % goal region + hold on; + rectangle('Position',[1,1,1,1],'FaceColor',[0.7 0 0 0.8], 'EdgeColor','r', 'LineWidth', 0.1); % obstacle + grid; + t = tic; + for K = 1 : length(setFiles) + if ~mod(K,50) + disp("Plotting partition "+string(K)+" ..."); + toc(t) + pause(0.01); % to ensure it prints + end + res = load("temp/"+setFiles(K).name); + plant = res.plant; + % plant.get_interval_sets; + % Star.plotBoxes_2D_noFill(plant.intermediate_reachSet, 1,2,'b'); + for k=1:(length(plant.cora_set)) + plot(plant.cora_set{k}, [1,2], 'b', 'Unify', true); + end + end + hold on; + xlabel('x1'); + ylabel('x2'); + + disp("Finished plotting all reach sets"); + + + %% Save figure + if is_codeocean + saveas(f,'/results/logs/nav_set.png'); + % exportgraphics(f,'/results/logs/nav-set.pdf', 'ContentType', 'vector'); + else + saveas(f,'nav_set.png'); + % exportgraphics(f,'nav-set.pdf','ContentType', 'vector'); + end + + % Save results + if is_codeocean + save('/results/logs/nav_set.mat','rT','-v7.3'); + else + save('nav_set.mat', 'rT','-v7.3'); + end + +end + +%% Helper function +function init_set = plantReach(plant,init_set,input_set,algoC) + nS = length(init_set); % based on approx-star, number of sets should be equal + ss = []; + for k=1:nS + ss =[ss plant.stepReachStar(init_set(k), input_set(k),algoC)]; + end + init_set = ss; +end + +function parsave(fname, plant) % trick to save while on parpool + save(fname, 'plant') +end diff --git 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a/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/dynamics_sp.m b/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/dynamics_sp.m new file mode 100644 index 0000000000..073d2b6749 --- /dev/null +++ b/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/dynamics_sp.m @@ -0,0 +1,12 @@ +function [dx] = dynamics_sp(x,a) +% Ex_single_pendulum +% constants as per the 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/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/figs/singlePendulum.png b/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/figs/singlePendulum.png new file mode 100644 index 0000000000..a20c8467f5 Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/figs/singlePendulum.png differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/reach.m b/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/reach.m new file mode 100644 index 0000000000..5380da5ed1 --- /dev/null +++ b/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/reach.m @@ -0,0 +1,117 @@ +% function rT = reach() + + %% Reachability analysis of Single Pendulum Benchmark + + %% Load Components + + % Load the controller + % net = load_NN_from_mat('controller_single_pendulum.mat'); + % Load plant + reachStep = 0.01; + controlPeriod = 0.05; + % plant = NonLinearODE(3,1,@dynamics_sp, reachStep, controlPeriod, eye(3)); + % plant.set_tensorOrder(2); + + + %% Reachability analysis + + % Initial set + lb = [1.0; 0.0; 0]; + ub = [1.175; 0.2; 0]; % original bounds + init_set = Box(lb,ub); + init = init_set.partition([1 2],[35 40]); + % init_set = Star(lb,ub); + + num_steps = 13; + reachOptions.reachMethod = 'approx-star'; + + N = length(init); + disp("Verifying "+string(N)+" samples...") + + mkdir('temp'); + parpool("Processes"); % initialize parallel process + + % Execute reachabilty analysis + t = tic; + parfor j = 1:length(init) + % Create NNCS for each process + net = load_NN_from_mat('controller_single_pendulum.mat'); + plant = NonLinearODE(3,1,@dynamics_sp, reachStep, controlPeriod, eye(3)); + plant.set_tensorOrder(2); + % Get initial conditions + init_set = init(j).toStar; + for i = 1:num_steps + % Compute controller output set + init_set_s = init_set.affineMap([1 0 0;0 1 0],[]); + input_set = net.reach(init_set_s,reachOptions); + + % Compute plant reachable set + init_set = plantReach(plant, init_set, input_set,'lin'); + end + toc(t); + parsave("temp/reachSet"+string(j)+".mat",plant); + end + rT = toc(t); % get reach time + disp("Finished reachability...") + + % Shut Down Current Parallel Pool + poolobj = gcp('nocreate'); + delete(poolobj); + + %% Visualize results + setFiles = dir('temp/*.mat'); + + t = tic; + f = figure; + hold on; + rectangle('Position',[0.5,1,1,1],'FaceColor',[1 0 0 0.5],'EdgeColor','r', 'LineWidth',0.1) + grid; + for K = 1 : length(setFiles) + if ~mod(K,50) + disp("Plotting partition "+string(K)+" ..."); + end + res = load("temp/"+setFiles(K).name); + plant = res.plant; + for k=1:length(plant.cora_set) + plot(plant.cora_set{k}, [3,1], 'b', 'Unify', true); % this seems to be faster + end + end + xlim([0.1 0.6]) + ylim([0.85 1.25]) + xlabel('Time (s)'); + ylabel('\theta'); + toc(t); + + disp("Finished plotting all reach sets"); + + %% Save figure + if is_codeocean + % exportgraphics(f,'/results/logs/singlePendulum.pdf', 'ContentType', 'vector'); % takes too long + saveas(f,'/results/logs/singlePendulum.png'); + else + saveas(f,'singlePendulum.png'); + % exportgraphics(f,'singlePendulum.pdf','ContentType', 'vector'); + end + + % Save results + if is_codeocean + save('/results/logs/single_pendulum.mat', 'rT','-v7.3'); + else + save('single_pendulum.mat', 'rT', '-v7.3'); + end + +% end + +%% Helper function +function init_set = plantReach(plant,init_set,input_set,algoC) + nS = length(init_set); % based on approx-star, number of sets should be equal + ss = []; + for k=1:nS + ss =[ss plant.stepReachStar(init_set(k), input_set(k),algoC)]; + end + init_set = ss; +end + +function parsave(fname, plant) % trick to save while on parpool + save(fname, 'plant') +end diff --git a/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/singlePendulum.png b/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/singlePendulum.png new file mode 100644 index 0000000000..0d60b0ca40 Binary files /dev/null and b/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/singlePendulum.png differ diff --git a/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/single_pendulum.mat b/code/nnv/examples/Submission/WiP_3d/other/Single_Pendulum/single_pendulum.mat new file mode 100644 index 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b/code/nnv/examples/Submission/WiP_3d/results/verification_synapse_dark_5_500.mat differ diff --git a/code/nnv/examples/Submission/WiP_3d/run_all.m b/code/nnv/examples/Submission/WiP_3d/run_all.m index e87c0011fa..7b543c93bc 100644 --- a/code/nnv/examples/Submission/WiP_3d/run_all.m +++ b/code/nnv/examples/Submission/WiP_3d/run_all.m @@ -1,8 +1,8 @@ %% Shape only data (3d) -verify_adrenal; +% verify_adrenal; -verify_vessel; +% verify_vessel; %% Volume data (general 3D) @@ -21,3 +21,7 @@ disp("... synapse ...") verify_synapse; + + +disp("... Creating plots..."); +visualize_results; diff --git a/code/nnv/examples/Submission/WiP_3d/verify_adrenal.m b/code/nnv/examples/Submission/WiP_3d/verify_adrenal.m index f5061dd62c..bee2d52224 100644 --- a/code/nnv/examples/Submission/WiP_3d/verify_adrenal.m +++ b/code/nnv/examples/Submission/WiP_3d/verify_adrenal.m @@ -20,7 +20,8 @@ net = matlab2nnv(net); % select volumes to verify -N = 24; % even for numCores +% N = 24; % even for numCores +N = 50; inputs = single(test_images(:,:,:,:,1:N)); targets = single(test_labels(1:N)); @@ -32,34 +33,3 @@ %% Verification analysis -for a=advType - for mp=maxpixels - for ep=epsilon - - % 1) Initialize results var - results = zeros(N,2); - - % 2) Create adversarial attack - adv_attack = struct; - adv_attack.Name = a; % bright or dark - if strcmp(a, "bright") - adv_attack.threshold = threshold(1); % perturb pixels below this value - else - adv_attack.threshold = threshold(2); % perturb pixels below this value - end - adv_attack.max_pixels = mp; % Max number of pixels to modify from input image - adv_attack.noise_de = ep/255; % disturbance (noise) on pixels - - % 3) Begin verification analysis - for i=1:N - img = squeeze(inputs(:,:,:,:,i)); - target = targets(i); - results(i,:) = verify_instance_3d(net, img, target, adv_attack, reachOptions); - end - - % 4) % save results - save("results/verification_adrenal_"+ a +"_" + ep +"_" + mp + ".mat", "results"); - - end - end -end \ No newline at end of file diff --git a/code/nnv/examples/Submission/WiP_3d/verify_fracture.m b/code/nnv/examples/Submission/WiP_3d/verify_fracture.m index c66a8c60f3..d629615012 100644 --- a/code/nnv/examples/Submission/WiP_3d/verify_fracture.m +++ b/code/nnv/examples/Submission/WiP_3d/verify_fracture.m @@ -20,7 +20,7 @@ net = matlab2nnv(net); % select volumes to verify -N = 24; % even for numCores +N = 50; % even for numCores inputs = single(test_images(:,:,:,:,1:N)); targets = single(test_labels(1:N)); @@ -33,7 +33,7 @@ % Study variables advType = ["bright", "dark"]; maxpixels = [50, 100, 500, 1000]; %out of 28x28x28 pixels -epsilon = [2, 4, 10]; % ep / 255 +epsilon = [2, 5, 10, 25]; % ep / 255 threshold = [100; 150]; % bright ; dark %% Verification analysis diff --git a/code/nnv/examples/Submission/WiP_3d/verify_nodule.m b/code/nnv/examples/Submission/WiP_3d/verify_nodule.m index d2b09d0778..0e6e7f6af0 100644 --- a/code/nnv/examples/Submission/WiP_3d/verify_nodule.m +++ b/code/nnv/examples/Submission/WiP_3d/verify_nodule.m @@ -20,7 +20,7 @@ net = matlab2nnv(net); % select volumes to verify -N = 24; % even for numCores +N = 50; % even for numCores inputs = single(test_images(:,:,:,:,1:N)); targets = single(test_labels(1:N)); @@ -34,7 +34,7 @@ % Study variables advType = ["bright", "dark"]; maxpixels = [50, 100, 500, 1000]; %out of 28x28x28 pixels -epsilon = [2, 4, 10]; % ep / 255 +epsilon = [2, 5, 10, 25]; % ep / 255 threshold = [100; 150]; % bright ; dark %% Verification analysis diff --git a/code/nnv/examples/Submission/WiP_3d/verify_organ.m b/code/nnv/examples/Submission/WiP_3d/verify_organ.m index c05164bf48..563f5ca2c4 100644 --- a/code/nnv/examples/Submission/WiP_3d/verify_organ.m +++ b/code/nnv/examples/Submission/WiP_3d/verify_organ.m @@ -20,7 +20,7 @@ net = matlab2nnv(net); % select volumes to verify -N = 24; +N = 50; inputs = single(test_images(:,:,:,:,1:N)); targets = single(test_labels(1:N)); @@ -33,7 +33,7 @@ % Study variables advType = ["bright", "dark"]; maxpixels = [50, 100, 500, 1000]; %out of 28x28x28 pixels -epsilon = [2, 4, 10]; % ep / 255 +epsilon = [2, 5, 10, 25]; % ep / 255 threshold = [100; 150]; % bright ; dark %% Verification analysis diff --git a/code/nnv/examples/Submission/WiP_3d/verify_synapse.m b/code/nnv/examples/Submission/WiP_3d/verify_synapse.m index 76d0160cdd..e09474ffb5 100644 --- a/code/nnv/examples/Submission/WiP_3d/verify_synapse.m +++ b/code/nnv/examples/Submission/WiP_3d/verify_synapse.m @@ -20,7 +20,7 @@ net = matlab2nnv(net); % select volumes to verify -N = 24; % even for numCores +N = 50; % even for numCores inputs = single(test_images(:,:,:,:,1:N)); targets = single(test_labels(1:N)); @@ -33,7 +33,7 @@ % Study variables advType = ["bright", "dark"]; maxpixels = [50, 100, 500, 1000]; %out of 28x28x28 pixels -epsilon = [2, 4, 10]; % ep / 255 +epsilon = [2, 5, 10, 25]; % ep / 255 threshold = [100; 150]; % bright ; dark %% Verification analysis diff --git a/code/nnv/examples/Submission/WiP_3d/verify_vessel.m b/code/nnv/examples/Submission/WiP_3d/verify_vessel.m index d8775e01e2..69f4a31a42 100644 --- a/code/nnv/examples/Submission/WiP_3d/verify_vessel.m +++ b/code/nnv/examples/Submission/WiP_3d/verify_vessel.m @@ -37,132 +37,3 @@ % results = zeros(N,2); % verification result, time -% verify volumes -% parfor i=1:N -% img = squeeze(inputs(:,:,:,:,i)); -% target = targets(i); -% results(i,:) = verify_instance_3d(net, img, target, adv_attack, reachOptions); -% end - -% save results -% save("results/verification_vessel_"+adv_attack.Name+"_" +adv_attack.noise_de +"_" +adv_attack.max_pixels + ".mat", "results"); - - -%% Attack 2 - -adv_attack = struct; - -% results = zeros(N,2); % verification result, time -% -% % verify volumes -% parfor i=1:N -% img = squeeze(inputs(:,:,:,:,i)); -% target = targets(i); -% results(i,:) = verify_instance_3d(net, img, target, adv_attack, reachOptions); -% end -% -% % save results -% save("results/verification_vessel_"+adv_attack.Name+"_" +adv_attack.noise_de +"_" +adv_attack.max_pixels + ".mat", "results"); - - -%% Attack 3 - -% adv_attack = struct; -% -% results = zeros(N,2); % verification result, time -% -% % verify volumes -% parfor i=1:N -% img = squeeze(inputs(:,:,:,:,i)); -% target = targets(i); -% results(i,:) = verify_instance_3d(net, img, target, adv_attack, reachOptions); -% end -% -% % save results -% save("results/verification_vessel_"+adv_attack.Name+"_" +adv_attack.noise_de +"_" +adv_attack.max_pixels + ".mat", "results"); - - -%% Attack 4 - -% adv_attack = struct; -% -% results = zeros(N,2); % verification result, time -% -% % verify volumes -% parfor i=1:N -% img = squeeze(inputs(:,:,:,:,i)); -% target = targets(i); -% results(i,:) = verify_instance_3d(net, img, target, adv_attack, reachOptions); -% end -% -% % save results -% save("results/verification_vessel_"+adv_attack.Name+"_" +adv_attack.noise_de +"_" +adv_attack.max_pixels + ".mat", "results"); - - -%% Attack 5 - -% adv_attack = struct; -% -% results = zeros(N,2); % verification result, time -% -% % verify volumes -% parfor i=1:N -% img = squeeze(inputs(:,:,:,:,i)); -% target = targets(i); -% results(i,:) = verify_instance_3d(net, img, target, adv_attack, reachOptions); -% end -% -% % save results -% save("results/verification_vessel_"+adv_attack.Name+"_" +adv_attack.noise_de +"_" +adv_attack.max_pixels + ".mat", "results"); - - -%% Attack 6 - -% adv_attack = struct; -% -% results = zeros(N,2); % verification result, time -% -% % verify volumes -% parfor i=1:N -% img = squeeze(inputs(:,:,:,:,i)); -% target = targets(i); -% results(i,:) = verify_instance_3d(net, img, target, adv_attack, reachOptions); -% end -% -% % save results -% save("results/verification_vessel_"+adv_attack.Name+"_" +adv_attack.noise_de +"_" +adv_attack.max_pixels + ".mat", "results"); - - -%% Attack 7 - -% adv_attack = struct; -% -% results = zeros(N,2); % verification result, time -% -% % verify volumes -% parfor i=1:N -% img = squeeze(inputs(:,:,:,:,i)); -% target = targets(i); -% results(i,:) = verify_instance_3d(net, img, target, adv_attack, reachOptions); -% end -% -% % save results -% save("results/verification_vessel_"+adv_attack.Name+"_" +adv_attack.noise_de +"_" +adv_attack.max_pixels + ".mat", "results"); - - -%% Attack 8 - -% adv_attack = struct; -% -% results = zeros(N,2); % verification result, time -% -% % verify volumes -% parfor i=1:N -% img = squeeze(inputs(:,:,:,:,i)); -% target = targets(i); -% results(i,:) = verify_instance_3d(net, img, target, adv_attack, reachOptions); -% end -% -% % save results -% save("results/verification_vessel_"+adv_attack.Name+"_" +adv_attack.noise_de +"_" +adv_attack.max_pixels + ".mat", "results"); - diff --git a/code/nnv/examples/Submission/WiP_3d/visualize_results.m b/code/nnv/examples/Submission/WiP_3d/visualize_results.m index 4b273482d1..95fcb4ffd6 100644 --- a/code/nnv/examples/Submission/WiP_3d/visualize_results.m +++ b/code/nnv/examples/Submission/WiP_3d/visualize_results.m @@ -7,7 +7,7 @@ datasets = ["fracture", "nodule", "organ", "synapse"]; attackType = ["bright", "dark"]; maxpixels = ["50", "100", "500", "1000"]; -epsilon = ["2", "4", "10"]; % epsilon/255 +epsilon = ["2", "5", "10", "25"]; % epsilon/255 % Initialize directories mkdir('plots'); @@ -46,7 +46,7 @@ % Get data for mp = maxpixels - resFile = "verification_" + ds + "_" + adv + "_" + ep + "_" + mp +".mat"; + resFile = "results/verification_" + ds + "_" + adv + "_" + ep + "_" + mp +".mat"; res = summarize_results(resFile); sat = [sat, res.sat]; unsat = [unsat, res.unsat]; @@ -111,7 +111,7 @@ % Get data for ep = epsilon - resFile = "verification_" + ds + "_" + adv + "_" + ep + "_" + mp +".mat"; + resFile = "results/verification_" + ds + "_" + adv + "_" + ep + "_" + mp +".mat"; res = summarize_results(resFile); sat = [sat, res.sat]; unsat = [unsat, res.unsat];