Graded modal types systems and coeffects are becoming a standard formalism to deal with context-dependent computations where code usage plays a central role. The theory of program equivalence for modal and coeffectful languages, however, is considerably underdeveloped if compared to the denotational and operational semantics of such languages. This raises the question of how much of the theory of ordinary program equivalence can be given in a modal scenario. In this work, we show that coinductive equivalences can be extended to a modal setting, and we do so by generalising Abramsky's applicative bisimilarity to coeffectful behaviours. To achieve this goal, we develop a general theory of ternary program relations based on the novel notion of a comonadic lax extension, on top of which we define a modal extension of Abramsky's applicative bisimilarity (which we dub modal applicative bisimilarity). We prove such a relation to be a congruence, this way obtaining a compositional technique for reasoning about modal and coeffectful behaviours. But this is not the end of the story: we also establish a correspondence between modal program relations and program distances. This correspondence shows that modal applicative bisimilarity and (a properly extended) applicative bisimilarity distance coincide, this way revealing that modal program equivalences and program distances are just two sides of the same coin.

Quantitative logic reasons about the degree to which formulas are satisfied. This paper studies the fundamental reasoning principles of higher-order quantitative logic and their application to reasoning about probabilistic programs and processes. We construct an affine calculus for $1$-bounded complete metric spaces and the monad for probability measures equipped with the Kantorovich distance. The calculus includes a form of guarded recursion interpreted via Banach's fixed point theorem, useful, e.g., for recursive programming with processes. We then define an affine higher-order quantitative logic for reasoning about terms of our calculus. The logic includes novel principles for guarded recursion, and induction over probability measures and natural numbers. We illustrate the expressivity of the logic by a sequence of case studies: Proving upper limits on bisimilarity distances of Markov processes, showing convergence of a temporal learning algorithm and of a random walk using a coupling argument.

Inspired by the seminal work of Hyland, Plotkin, and Power on the combination of algebraic computational effects via sum and tensor, we develop an analogous theory for the combination of quantitative algebraic effects. Quantitative algebraic effects are monadic computational effects on categories of metric spaces, which, moreover, have an algebraic presentation in the form of quantitative equational theories, a logical framework introduced by Mardare, Panangaden, and Plotkin that generalises equational logic to account for a concept of approximate equality. As our main result, we show that the sum and tensor of two quantitative equational theories correspond to the categorical sum (i.e., coproduct) and tensor, respectively, of their effects qua monads. We further give a theory of quantitative effect transformers based on these two operations, essentially providing quantitative analogues to the following monad transformers due to Moggi: exception, resumption, reader, and writer transformers. Finally, as an application, we provide the first quantitative algebraic axiomatizations to the following coalgebraic structures: Markov processes, labelled Markov processes, Mealy machines, and Markov decision processes, each endowed with their respective bisimilarity metrics. Apart from the intrinsic interest in these axiomatizations, it is pleasing they have been obtained as the composition, via sum and tensor, of simpler quantitative equational theories.

We develop a theory for the commutative combination of quantitative effects, their tensor, given as a combination of quantitative equational theories that imposes mutual commutation of the operations from each theory. As such, it extends the sum of two theories, which is just their unrestrained combination. Tensors of theories arise in several contexts; in particular, in the semantics of programming languages, the monad transformer for global state is given by a tensor. We show that under certain assumptions on the quantitative theories the free monad that arises from the tensor of two theories is the categorical tensor of the free monads on the theories. As an application, we provide the first algebraic axiomatizations of labelled Markov processes and Markov decision processes. Apart from the intrinsic interest in the axiomatizations, it is pleasing they are obtained compositionally by means of the sum and tensor of simpler quantitative equational theories.

We introduce polynomial couplings, a generalization of probabilistic couplings, to develop an algorithm for the computation of equivalence relations which can be interpreted as a lifting of probabilistic bisimulation to polynomial differential equations, a ubiquitous model of dynamical systems across science and engineering. The algorithm enjoys polynomial time complexity and complements classical partition-refinement approaches because: (a) it implements a local exploration of the system, possibly yielding equivalences that do not necessarily involve the inspection of the whole system of differential equations; (b) it can be enhanced by up-to techniques; and (c) it allows the specification of pairs which ought not be included in the output. Using a prototype, these advantages are demonstrated on case studies from systems biology for applications to model reduction and comparison. Notably, we report four orders of magnitude smaller runtimes than partition-refinement approaches when disproving equivalences between Markov chains.

The probabilistic bisimilarity distance of Deng et al. has been proposed as a robust quantitative generalization of Segala and Lynch's probabilistic bisimilarity for probabilistic automata. In this paper, we present a novel characterization of the bisimilarity distance as the solution of a simple stochastic game. The characterization gives us an algorithm to compute the distances by applying Condon's simple policy iteration on these games. The correctness of Condon's approach, however, relies on the assumption that the games are stopping. Our games may be non-stopping in general, yet we are able to prove termination for this extended class of games. Already other algorithms have been proposed in the literature to compute these distances, with complexity in UP cap coUP and PPAD. Despite the theoretical relevance, these algorithms are inefficient in practice. To the best of our knowledge, our algorithm is the first practical solution. In the proofs of all the above-mentioned results, an alternative presentation of the Hausdorff distance due to Mémoli plays a central rôle.

We study two well-known linear-time metrics on Markov chains (MCs), namely, the strong and strutter trace distances. Our interest in these metrics is motivated by their relation to the probabilistic linear temporal logic (LTL)-model checking problem: we prove that they correspond to the maximal differences in the probability of satisfying the same LTL and LTL−X(LTL without next operator) formulas, respectively. The threshold problem for these distances (whether their value exceeds a given threshold) is NP-hard and not known to be decidable. Nevertheless, we provide an approximation schema where each lower and upper approximant is computable in polynomial time in the size of the MC. The upper approximants are bisimilarity-like pseudometrics (hence, branching-time distances) that converge point-wise to the linear-time metrics. This convergence is interesting in itself, because it reveals a non-trivial relation between branching and linear-time metric-based semantics that does not hold in equivalence-based semantics.

The ordinary untyped λ-calculus has a λ-theoretic model proposed in two related forms by Scott and Plotkin in the 1970s. Recently Scott showed how to introduce probability by extending these models with random variables. However, to reason about correctness and to add further features, it is useful to reinterpret the construction in a higher-order Boolean-valued model involving a measure algebra. We develop the semantics of an extended stochastic λ-calculus suitable for modeling a simple higher-order probabilistic programming language. We exhibit a number of key equations satisfied by the terms of our language. The terms are interpreted using a continuation-style semantics with an additional argument, an infinite sequence of coin tosses, which serves as a source of randomness. We also introduce a fixpoint operator as a new syntactic construct, as β-reduction turns out not to be sound for unrestricted terms. Finally, we develop a new notion of equality between terms interpreted in a measure algebra, allowing one to reason about terms that may not be equal almost everywhere. This provides a new framework and reasoning principles for probabilistic programs and their higher-order properties.

Markov processes are a fundamental model of probabilistic transition systems and are the underlying semantics of probabilistic programs. We give an algebraic axiomatisation of Markov processes using the framework of quantitative equational logic introduced in [13]. We present the theory in a structured way using work of Hyland et al. [9] on combining monads. We take the interpolative barycentric algebras of [13] which captures the Kantorovich metric and combine it with a theory of contractive operators to give the required axiomatisation of Markov processes both for discrete and continuous state spaces. This work apart from its intrinsic interest shows how one can extend the general notion of combining effects to the quantitative setting.

In this paper we propose a complete axiomatization of the bisimilarity distance of Desharnais et al. for the class of finite labelled Markov chains. Our axiomatization is given in the style of a quantitative extension of equational logic recently proposed by Mardare, Panangaden, and Plotkin (LICS 2016) that uses equality relations $t \equiv_\varepsilon s$ indexed by rationals, expressing that `$t$ is approximately equal to $s$ up to an error $\varepsilon$'. Notably, our quantitative deduction system extends in a natural way the equational system for probabilistic bisimilarity given by Stark and Smolka by introducing an axiom for dealing with the Kantorovich distance between probability distributions. The axiomatization is then used to propose a metric extension of a Kleene's style representation theorem for finite labelled Markov chains, that was proposed (in a more general coalgebraic fashion) by Silva et al. (Inf. Comput. 2011). Comment: Logical Methods in Computer Science

We address the behavioral metric-based approximate minimization problem of Markov Chains (MCs), i.e., given a finite MC and a positive integer k, we are interested in finding a k-state MC of minimal distance to the original. By considering as metric the bisimilarity distance of Desharnais at al., we show that optimal approximations always exist; show that the problem can be solved as a bilinear program; and prove that its threshold problem is in PSPACE and NP-hard. Finally, we present an approach inspired by expectation maximization techniques that provides suboptimal solutions. Experiments suggest that our method gives a practical approach that outperforms the bilinear program implementation run on state-of-the-art bilinear solvers.

We propose a distance between continuous-time Markov chains (CTMCs) and study the problem of computing it by comparing three different algorithmic methodologies: iterative, linear program, and on-the-fly. In a work presented at FoSSaCS'12, Chen et al. characterized the bisimilarity distance of Desharnais et al. between discrete-time Markov chains as an optimal solution of a linear program that can be solved by using the ellipsoid method. Inspired by their result, we propose a novel linear program characterization to compute the distance in the continuous-time setting. Differently from previous proposals, ours has a number of constraints that is bounded by a polynomial in the size of the CTMC. This, in particular, proves that the distance we propose can be computed in polynomial time. Despite its theoretical importance, the proposed linear program characterization turns out to be inefficient in practice. Nevertheless, driven by the encouraging results of our previous work presented at TACAS'13, we propose an efficient on-the-fly algorithm, which, unlike the other mentioned solutions, computes the distances between two given states avoiding an exhaustive exploration of the state space. This technique works by successively refining over-approximations of the target distances using a greedy strategy, which ensures that the state space is further explored only when the current approximations are improved. Tests performed on a consistent set of (pseudo)randomly generated CTMCs show that our algorithm improves, on average, the efficiency of the corresponding iterative and linear program methods with orders of magnitude.

In this paper we propose a complete axiomatization of the bisimilarity distance of Desharnais et al. for the class of finite labelled Markov chains. Our axiomatization is given in the style of a quantitative extension of equational logic recently proposed by Mardare, Panangaden, and Plotkin (LICS'16) that uses equality relations t =_e s indexed by rationals, expressing that "t is approximately equal to s up to an error e". Notably, our quantitative deductive system extends in a natural way the equational system for probabilistic bisimilarity given by Stark and Smolka by introducing an axiom for dealing with the Kantorovich distance between probability distributions.