There has been substantial progress in the inference of formal behavioural specifications from sample trajectories, for example using Linear Temporal Logic (LTL). However, these techniques cannot handle specifications that correctly characterise systems with stochastic behaviour, which occur commonly in reinforcement learning and formal verification. We consider the passive learning problem of inferring a Boolean combination of probabilistic LTL (PLTL) formulas from a set of Markov chains, classified as either positive or negative. We propose a novel learning algorithm that infers concise PLTL specifications, leveraging grammar-based enumeration, search heuristics, probabilistic model checking and Boolean set-cover procedures. We demonstrate the effectiveness of our algorithm in two use cases: learning from policies induced by RL algorithms and learning from variants of a probabilistic model. In both cases, our method automatically and efficiently extracts PLTL specifications that succinctly characterize the temporal differences between the policies or model variants.

We consider the problem of learning temporal logic formulas from examples of system behavior. Learning temporal properties has crystallized as an effective means to explain complex temporal behaviors. Several efficient algorithms have been designed for learning temporal formulas. However, the theoretical understanding of the complexity of the learning decision problems remains largely unexplored. To address this, we study the complexity of the passive learning problems of three prominent temporal logics, Linear Temporal Logic (LTL), Computation Tree Logic (CTL) and Alternating-time Temporal Logic (ATL) and several of their fragments. We show that learning formulas with unbounded occurrences of binary operators is NP-complete for all of these logics. On the other hand, when investigating the complexity of learning formulas with bounded occurrences of binary operators, we exhibit discrepancies between the complexity of learning LTL, CTL and ATL formulas (with a varying number of agents).

Abstract We address the problem of learning temporal properties from the branching-time behavior of systems. Existing research in this field has mostly focused on learning linear temporal properties specified using popular logics, such as Linear Temporal Logic (LTL) and Signal Temporal Logic (STL). Branching-time logics such as Computation Tree Logic (CTL) and Alternating-time Temporal Logic (ATL), despite being extensively used in specifying and verifying distributed and multi-agent systems, have not received adequate attention. Thus, in this paper, we investigate the problem of learning CTL and ATL formulas from examples of system behavior. As input to the learning problems, we rely on the typical representations of branching behavior as Kripke structures and concurrent game structures, respectively. Given a sample of structures, we learn concise formulas by encoding the learning problem into a satisfiability problem, most notably by symbolically encoding both the search for prospective formulas and their fixed-point based model checking algorithms. We also study the decision problem of checking the existence of prospective ATL formulas for a given sample. We implement our algorithms in a Python prototype and have evaluated them to extract several common CTL and ATL formulas used in practical applications.

Angluin's L$^*$ algorithm learns the minimal deterministic finite automaton (DFA) of a regular language using membership and equivalence queries. Its probabilistic approximatively correct (PAC) version substitutes an equivalence query by numerous random membership queries to get a high level confidence to the answer. Thus it can be applied to any kind of device and may be viewed as an algorithm for synthesizing an automaton abstracting the behavior of the device based on observations. Here we are interested on how Angluin's PAC learning algorithm behaves for devices which are obtained from a DFA by introducing some noise. More precisely we study whether Angluin's algorithm reduces the noise and produces a DFA closer to the original one than the noisy device. We propose several ways to introduce the noise: (1) the noisy device inverts the classification of words w.r.t. the DFA with a small probability, (2) the noisy device modifies with a small probability the letters of the word before asking its classification w.r.t. the DFA, (3) the noisy device combines the classification of a word w.r.t. the DFA and its classification w.r.t. a counter automaton, and (4) the noisy DFA is obtained by a random process from two DFA such that the language of the first one is included in the second one. Then when a word is accepted (resp. rejected) by the first (resp. second) one, it is also accepted (resp. rejected) and in the remaining cases, it is accepted with probability 0.5. Our main experimental contributions consist in showing that: (1) Angluin's algorithm behaves well whenever the noisy device is produced by a random process, (2) but poorly with a structured noise, and, that (3) is able to eliminate pathological behaviours specified in a regular way. Theoretically, we show that randomness almost surely yields systems with non-recursively enumerable languages.

We consider the problem of explaining the temporal behavior of black-box systems using human-interpretable models. Following recent research trends, we rely on the fundamental yet interpretable models of deterministic finite automata (DFAs) and linear temporal logic (LTL_f) formulas. In contrast to most existing works for learning DFAs and LTL_f formulas, we consider learning from only positive examples. Our motivation is that negative examples are generally difficult to observe, in particular, from black-box systems. To learn meaningful models from positive examples only, we design algorithms that rely on conciseness and language minimality of models as regularizers. Our learning algorithms are based on two approaches: a symbolic and a counterexample-guided one. The symbolic approach exploits an efficient encoding of language minimality as a constraint satisfaction problem, whereas the counterexample-guided one relies on generating suitable negative examples to guide the learning. Both approaches provide us with effective algorithms with minimality guarantees on the learned models. To assess the effectiveness of our algorithms, we evaluate them on a few practical case studies.

Abstract This paper presents a property-directed approach to verifying recurrent neural networks (RNNs). To this end, we learn a deterministic finite automaton as a surrogate model from a given RNN using active automata learning. This model may then be analyzed using model checking as a verification technique. The term property-directed reflects the idea that our procedure is guided and controlled by the given property rather than performing the two steps separately. We show that this not only allows us to discover small counterexamples fast, but also to generalize them by pumping toward faulty flows hinting at the underlying error in the RNN. We also show that our method can be efficiently used for adversarial robustness certification of RNNs.

Abstract Linear temporal logic (LTL) is a specification language for finite sequences (called traces) widely used in program verification, motion planning in robotics, process mining, and many other areas. We consider the problem of learning formulas in fragments of LTL without the $$\mathbf {U}$$ U -operator for classifying traces; despite a growing interest of the research community, existing solutions suffer from two limitations: they do not scale beyond small formulas, and they may exhaust computational resources without returning any result. We introduce a new algorithm addressing both issues: our algorithm is able to construct formulas an order of magnitude larger than previous methods, and it is anytime, meaning that it in most cases successfully outputs a formula, albeit possibly not of minimal size. We evaluate the performances of our algorithm using an open source implementation against publicly available benchmarks.

We address the problem of learning human-interpretable descriptions of a complex system from a finite set of positive and negative examples of its behavior. In contrast to most of the recent work in this area, which focuses on descriptions expressed in Linear Temporal Logic (LTL), we develop a learning algorithm for formulas in the IEEE standard temporal logic PSL (Property Specification Language). Our work is motivated by the fact that many natural properties, such as an event happening at every n-th point in time, cannot be expressed in LTL, whereas it is easy to express such properties in PSL. Moreover, formulas in PSL can be more succinct and easier to interpret (due to the use of regular expressions in PSL formulas) than formulas in LTL. The learning algorithm we designed, builds on top of an existing algorithm for learning LTL formulas. Roughly speaking, our algorithm reduces the learning task to a constraint satisfaction problem in propositional logic and then uses a SAT solver to search for a solution in an incremental fashion. We have implemented our algorithm and performed a comparative study between the proposed method and the existing LTL learning algorithm. Our results illustrate the effectiveness of the proposed approach to provide succinct human-interpretable descriptions from examples.