Merge branch 'main' of gitlab.engr.illinois.edu:chsieh16/cs598mp-fall2021-proj into main

dtree_synth.py

@@ -33,11 +33,11 @@ def test_synth_dtree():
     positive_examples = load_positive_examples(
         "data/collect_images_2021-11-22-17-59-46.cs598.filtered.pickle")
 
-    #positive_examples = positive_examples[:20:]  # Select only first few examples
+    # positive_examples = positive_examples[:20:]  # Select only first few examples
     ex_dim = len(positive_examples[0])
     print("#examples: %d" % len(positive_examples))
     print("Dimension of each example: %d" % ex_dim)
-    
+
     assert all(len(ex) == ex_dim and not any(np.isnan(ex))
                for ex in positive_examples)
 
@@ -57,11 +57,11 @@ def synth_dtree(positive_examples, teacher, num_max_iterations: int = 10):
                         [0., 0., -1.]])
     b_vec_0 = np.zeros(2)
     learner.set_grammar([(a_mat_0, b_vec_0)])
-    #writing positive examples in csv file
+    # writing positive examples in csv file
     f = open("positive_sample.csv", 'w')
     data_out = csv.writer(f)
     for ps in positive_examples:
-        data_out.writerow(itertools.chain(ps,["true"]))
+        data_out.writerow(itertools.chain(ps, ["true"]))
     f.close()
 
     learner.add_positive_examples(*positive_examples)
@@ -79,7 +79,7 @@ def synth_dtree(positive_examples, teacher, num_max_iterations: int = 10):
             return
 
         print(f"candidate DNF: {candidate_dnf}")
-        
+
         past_candidate_list.append(candidate_dnf)
         # QUERYING TEACHER IF THERE ARE NEGATIVE EXAMPLES
         print(f"number of paths: {len(candidate_dnf)}")
@@ -91,6 +91,7 @@ def synth_dtree(positive_examples, teacher, num_max_iterations: int = 10):
             if result == z3.sat:
                 m = teacher.model()
                 assert len(m) > 0
+                assert validate_negative_examples(candidate, m)
                 negative_examples.extend(m)
                 # TODO check if negative example state is spurious or true courterexample
             elif result == z3.unsat:
@@ -102,9 +103,9 @@ def synth_dtree(positive_examples, teacher, num_max_iterations: int = 10):
         fneg = open("negative_sample.csv", 'w')
         data_out = csv.writer(fneg)
         for pn in negative_examples:
-            data_out.writerow(itertools.chain(pn,["true"]))
+            data_out.writerow(itertools.chain(pn, ["true"]))
         fneg.close()
-        
+
         print(f"negative examples: {negative_examples}")
         if len(negative_examples) > 0:
             learner.add_negative_examples(*negative_examples)
@@ -121,5 +122,16 @@ def synth_dtree(positive_examples, teacher, num_max_iterations: int = 10):
     return []
 
 
+def validate_negative_examples(candidate, neg_exs) -> bool:
+    a_mat, b_vec, coeff_mat, cut_vec = candidate
+
+    for ex in neg_exs:
+        z_diff = ex[3:5] - (a_mat @ ex[0:3] + b_vec)
+        if not np.all(coeff_mat @ z_diff <= cut_vec):
+            print(ex)
+            return False
+    return True
+
+
 if __name__ == "__main__":
     test_synth_dtree()

dtree_teacher_gem_stanley.py

@@ -28,7 +28,7 @@ class DTreeTeacherGEMStanley(GEMStanleyTeacher):
         self._prev_candidate_constr.append(cons)
 
         # Constraints on values of z
-        cons = m.addMConstr(coeff_mat, z_diff, '<', cut_vec)
+        cons = m.addMConstr(coeff_mat, z_diff, '<', cut_vec - 10**-3)
         self._prev_candidate_constr.append(cons)
 
         # L2-norm objective