arXiv subjects

Bernd Finkbeiner

Publications and source records attributed to Bernd Finkbeiner.

At least 37 records · Page 2Linked to original sources

arXiv2025

Verifying Asynchronous Hyperproperties in Reactive Systems

Hyperproperties are system properties that relate multiple execution traces and commonly occur when specifying information-flow and security policies. Logics like HyperLTL utilize explicit quantification over execution traces to express temporal hyperproperties in reactive systems, i.e., hyperproperties that reason about the temporal behavior along infinite executions. An often unwanted side-effect of such logics is that they compare the quantified traces synchronously. This prohibits the logics from expressing properties that compare multiple traces asynchronously, such as Zdancewic and Myers's observational determinism, McLean's non-inference, or stuttering refinement. We study the model-checking problem for a variant of asynchronous HyperLTL (A-HLTL), a temporal logic that can express hyperproperties where multiple traces are compared across timesteps. In addition to quantifying over system traces, A-HLTL features secondary quantification over stutterings of these traces. Consequently, A-HLTL allows for a succinct specification of many widely used asynchronous hyperproperties. Model-checking A-HLTL requires finding suitable stutterings, which, thus far, has been only possible for very restricted fragments or terminating systems. In this paper, we propose a novel game-based approach for the verification of arbitrary $\forall^*\exists^*$ A-HLTL formulas in reactive systems. In our method, we consider the verification as a game played between a verifier and a refuter, who challenge each other by controlling parts of the underlying traces and stutterings. A winning strategy for the verifier then corresponds to concrete witnesses for existentially quantified traces and asynchronous alignments for existentially quantified stutterings. We identify fragments for which our game-based interpretation is complete and thus constitutes a finite-state decision procedure.

cs.LO↗

arXiv2025

Checking Satisfiability of Hyperproperties using First-Order Logic

Hyperproperties are system properties that relate multiple execution traces and occur, e.g., when specifying security and information-flow properties. Checking if a hyperproperty is satisfiable has many important applications, such as testing if some security property is contradictory, or analyzing implications and equivalences between information-flow policies. In this paper, we present FOLHyper, a tool that can automatically check satisfiability of hyperproperties specified in the temporal logic HyperLTL. FOLHyper reduces the problem to an equisatisfiable first-order logic (FOL) formula, which allows us to leverage FOL solvers for the analysis of hyperproperties. As such, FOLHyper is applicable to many formulas beyond the decidable $\exists^*\forall^*$ fragment of HyperLTL. Our experiments show that FOLHyper is particularly useful for proving that a formula is unsatisfiable, and complements existing bounded approaches to satisfiability.

cs.LO↗

arXiv2025

Universal Safety Controllers with Learned Prophecies

\emph{Universal Safety Controllers (USCs)} are a promising logical control framework that guarantees the satisfaction of a given temporal safety specification when applied to any realizable plant model. Unlike traditional methods, which synthesize one logical controller over a given detailed plant model, USC synthesis constructs a \emph{generic controller} whose outputs are conditioned by plant behavior, called \emph{prophecies}. Thereby, USCs offer strong generalization and scalability benefits over classical logical controllers. However, the exact computation and verification of prophecies remain computationally challenging. In this paper, we introduce an approximation algorithm for USC synthesis that addresses these limitations via learning. Instead of computing exact prophecies, which reason about sets of trees via automata, we only compute under- and over-approximations from (small) example plants and infer computation tree logic (CTL) formulas as representations of prophecies. The resulting USC generalizes to unseen plants via a verification step and offers improved efficiency and explainability through small and concise CTL prophecies, which remain human-readable and interpretable. Experimental results demonstrate that our learned prophecies remain generalizable, yet are significantly more compact and interpretable than their exact tree automata representations.

cs.LO↗

arXiv2025

Explainability Requirements as Hyperproperties

Explainability is emerging as a key requirement for autonomous systems. While many works have focused on what constitutes a valid explanation, few have considered formalizing explainability as a system property. In this work, we approach this problem from the perspective of hyperproperties. We start with a combination of three prominent flavors of modal logic and show how they can be used for specifying and verifying counterfactual explainability in multi-agent systems: With Lewis' counterfactuals, linear-time temporal logic, and a knowledge modality, we can reason about whether agents know why a specific observation occurs, i.e., whether that observation is explainable to them. We use this logic to formalize multiple notions of explainability on the system level. We then show how this logic can be embedded into a hyperlogic. Notably, from this analysis we conclude that the model-checking problem of our logic is decidable, which paves the way for the automated verification of explainability requirements.

cs.LO↗

arXiv2025

Strategy Logic, Imperfect Information, and Hyperproperties

Strategy logic (SL) is a powerful temporal logic that enables first-class reasoning over strategic behavior in multi-agent systems (MAS). In many MASs, the agents (and their strategies) cannot observe the global state of the system, leading to many extensions of SL centered around imperfect information, such as strategy logic with imperfect information (SL$_\mathit{ii}$). Along orthogonal lines, researchers have studied the combination of strategic behavior and hyperproperties. Hyperproperties are system properties that relate multiple executions in a system and commonly arise when specifying security policies. Hyper Strategy Logic (HyperSL) is a temporal logic that combines quantification over strategies with the ability to express hyperproperties on the executions of different strategy profiles. In this paper, we study the relation between SL$_\mathit{ii}$ and HyperSL. Our main result is that both logics (restricted to formulas where no state formulas are nested within path formulas) are equivalent in the sense that we can encode SL$_\mathit{ii}$ instances into HyperSL instances and vice versa. For the former direction, we build on the well-known observation that imperfect information is a hyperproperty. For the latter direction, we construct a self-composition of MASs and show how we can simulate hyperproperties using imperfect information.

cs.LO↗

arXiv2025

On Hyperproperty Verification, Quantifier Alternations, and Games under Partial Information

Hyperproperties generalize traditional trace properties by relating multiple execution traces rather than reasoning about individual runs in isolation. They provide a unified way to express important requirements such as information flow and robustness properties. Temporal logics like HyperLTL capture these properties by explicitly quantifying over executions of a system. However, many practically relevant hyperproperties involve quantifier alternations, a feature that poses substantial challenges for automated verification. Complete verification methods require a system complementation for each quantifier alternation, making it infeasible in practice. A cheaper (but incomplete) method interprets the verification of a HyperLTL formula as a two-player game between universal and existential quantifiers. The game-based approach is significantly cheaper, facilitates interactive proofs, and allows for easy-to-check certificates of satisfaction. It is, however, limited to $\forall^*\exists^*$ properties, leaving important properties out of reach. In this paper, we show that we can use games to verify hyperproperties with arbitrary quantifier alternations by utilizing multiplayer games under partial information. While games under partial information are, in general, undecidable, we show that our game is played under hierarchical information and thus falls in a decidable class of games. We discuss the completeness of the game and study prophecy variables in the setting of partial information.

cs.LO↗

arXiv2025

Learning Representations Through Contrastive Neural Model Checking

Model checking is a key technique for verifying safety-critical systems against formal specifications, where recent applications of deep learning have shown promise. However, while ubiquitous for vision and language domains, representation learning remains underexplored in formal verification. We introduce Contrastive Neural Model Checking (CNML), a novel method that leverages the model checking task as a guiding signal for learning aligned representations. CNML jointly embeds logical specifications and systems into a shared latent space through a self-supervised contrastive objective. On industry-inspired retrieval tasks, CNML considerably outperforms both algorithmic and neural baselines in cross-modal and intra-modal settings. We further show that the learned representations effectively transfer to downstream tasks and generalize to more complex formulas. These findings demonstrate that model checking can serve as an objective for learning representations for formal languages.

cs.LG↗

arXiv2025

Trace Repair for Temporal Behavior Trees

We present methods for repairing traces against specifications given as temporal behavior trees (TBT). TBT are a specification formalism for action sequences in robotics and cyber-physical systems, where specifications of sub-behaviors, given in signal temporal logic, are composed using operators for sequential and parallel composition, fallbacks, and repetition. Trace repairs are useful to explain failures and as training examples that avoid the observed problems. In principle, repairs can be obtained via mixed-integer linear programming (MILP), but this is far too expensive for practical applications. We present two practical repair strategies: (1) incremental repair, which reduces the MILP by splitting the trace into segments, and (2) landmark-based repair, which solves the repair problem iteratively using TBT's robust semantics as a heuristic that approximates MILP with more efficient linear programming. In our experiments, we were able to repair traces with more than 25,000 entries in under ten minutes, while MILP runs out of memory.

cs.LO↗

arXiv2025

Pacing Types: Safe Monitoring of Asynchronous Streams

Stream-based monitoring is a real-time safety assurance mechanism for complex cyber-physical systems such as unmanned aerial vehicles. In this context, a monitor aggregates streams of input data from sensors and other sources to give real-time statistics and assessments of the system's health. Since monitors are safety-critical components, it is crucial to ensure that they are free of potential runtime errors. One of the central challenges in designing reliable stream-based monitors is to deal with the asynchronous nature of data streams: in concrete applications, the different sensors being monitored produce values at different speeds, and it is the monitor's responsibility to correctly react to the asynchronous arrival of different streams of values. To ease this process, modern frameworks for stream-based monitoring such as RTLola feature an expressive specification language that allows to finely specify data synchronization policies. While this feature dramatically simplifies the design of monitors, it can also lead to subtle runtime errors. To mitigate this issue, this paper presents pacing types, a novel type system implemented in RTLola to ensure that monitors for asynchronous streams are well-behaved at runtime. We formalize the essence of pacing types for a core fragment of RTLola, and present a soundness proof of the pacing type system using a new logical relation.

cs.PL↗

arXiv2025

Active Monitoring with RTLola: A Specification-Guided Scheduling Approach

Stream-based monitoring is a well-established runtime verification approach which relates input streams, representing sensor readings from the monitored system, with output streams that capture filtered or aggregated results. In such approaches, the monitor is a passive external component that continuously receives sensor data from the system under observation. This setup assumes that the system dictates what data is sent and when, regardless of the monitor's current needs. However, in many applications -- particularly in resource-constrained environments like autonomous aircraft, where energy, size, or weight are limited -- this can lead to inefficient use of communication resources. We propose making the monitor an active component that decides, based on its current internal state, which sensors to query and how often. This behavior is driven by scheduling annotations in the specification, which guide the dynamic allocation of bandwidth towards the most relevant data, thereby improving monitoring efficiency. We demonstrate our approach using the stream-based specification language RTLola and assess the performance by monitoring a specification from the aerospace domain. With equal bandwidth usage, our approach detects specification violations significantly sooner than monitors sampling all inputs at a fixed frequency.

cs.LO↗

arXiv2025

Synthesis of Temporal Causality

We present an automata-based algorithm to synthesize omega-regular causes for omega-regular effects on executions of a reactive system, such as counterexamples uncovered by a model checker. Our theory is a generalization of temporal causality, which has recently been proposed as a framework for drawing causal relationships between trace properties on a given trace. So far, algorithms exist only for verifying a single causal relationship and, as an extension, cause synthesis through enumeration, which is complete only for a small fragment of effect properties. This work presents the first complete cause-synthesis algorithm for the class of omega-regular effects. We show that in this case, causes are guaranteed to be omega-regular themselves and can be computed as, e.g., nondeterministic Büchi automata. We demonstrate the practical feasibility of this algorithm with a prototype tool and evaluate its performance for cause synthesis and cause checking.

cs.LO↗

arXiv2025

An Intermediate Program Representation for Optimizing Stream-Based Languages

Stream-based runtime monitors are safety assurance tools that check at runtime whether the system's behavior satisfies a formal specification. Specifications consist of stream equations, which relate input streams, containing sensor readings and other incoming information, to output streams, representing filtered and aggregated data. This paper presents a framework for the stream-based specification language RTLola. We introduce a new intermediate representation for stream-based languages, the StreamIR, which, like the specification language, operates on streams of unbounded length; while the stream equations are replaced by imperative programs. We developed a set of optimizations based on static analysis of the specification and have implemented an interpreter and a compiler for several target languages. In our evaluation, we measure the performance of several real-world case studies. The results show that using the StreamIR framework reduces the runtime significantly compared to the existing StreamIR interpreter. We evaluate the effect of the optimizations and show that significant performance gains are possible beyond the optimizations of the target language's compiler. While our current implementation is limited to RTLola, the StreamIR is designed to accommodate other stream-based languages, enabling their interpretation and compilation into all available target languages.

cs.LO↗

arXiv2025

Closure and Complexity of Temporal Causality

Temporal causality defines what property causes some observed temporal behavior (the effect) in a given computation, based on a counterfactual analysis of similar computations. In this paper, we study its closure properties and the complexity of computing causes. For the former, we establish that safety, reachability, and recurrence properties are all closed under causal inference: If the effect is from one of these property classes, then the cause for this effect is from the same class. We also show that persistence and obligation properties are not closed in this way. These results rest on a topological characterization of causes which makes them applicable to a wide range of similarity relations between computations. Finally, our complexity analysis establishes improved upper bounds for computing causes for safety, reachability, and recurrence properties. We also present the first lower bounds for all of the classes.

cs.LO↗

arXiv2025

Counterfactual Explanations for MITL Violations

MITL is a temporal logic that facilitates the verification of real-time systems by expressing the critical timing constraints placed on these systems. MITL specifications can be checked against system models expressed as networks of timed automata. A violation of an MITL specification is then witnessed by a timed trace of the network, i.e., an execution consisting of both discrete actions and real-valued delays between these actions. Finding and fixing the root cause of such a violation requires significant manual effort since both discrete actions and real-time delays have to be considered. In this paper, we present an automatic explanation method that eases this process by computing the root causes for the violation of an MITL specification on the execution of a network of timed automata. This method is based on newly developed definitions of counterfactual causality tailored to networks of timed automata in the style of Halpern and Pearl's actual causality. We present and evaluate a prototype implementation that demonstrates the efficacy of our method on several benchmarks from the literature.

cs.LO↗

arXiv2025

Stream-Based Monitoring of Algorithmic Fairness

Automatic decision and prediction systems are increasingly deployed in applications where they significantly impact the livelihood of people, such as for predicting the creditworthiness of loan applicants or the recidivism risk of defendants. These applications have given rise to a new class of algorithmic-fairness specifications that require the systems to decide and predict without bias against social groups. Verifying these specifications statically is often out of reach for realistic systems, since the systems may, e.g., employ complex learning components, and reason over a large input space. In this paper, we therefore propose stream-based monitoring as a solution for verifying the algorithmic fairness of decision and prediction systems at runtime. Concretely, we present a principled way to formalize algorithmic fairness over temporal data streams in the specification language RTLola and demonstrate the efficacy of this approach on a number of benchmarks. Besides synthetic scenarios that particularly highlight its efficiency on streams with a scaling amount of data, we notably evaluate the monitor on real-world data from the recidivism prediction tool COMPAS.

cs.LG↗

arXiv2025

Synthesis of Universal Safety Controllers

The goal of logical controller synthesis is to automatically compute a control strategy that regulates the discrete, event-driven behavior of a given plant s.t. a temporal logic specification holds over all remaining traces. Standard approaches to this problem construct a two-player game by composing a given complete plant model and the logical specification and applying standard algorithmic techniques to extract a control strategy. However, due to the often enormous state space of a complete plant model, this process can become computationally infeasible. In this paper, we introduce a novel synthesis approach that constructs a universal controller derived solely from the game obtained by the standard translation of the logical specification. The universal controller's moves are annotated with prophecies - predictions about the plant's behavior that ensure the move is safe. By evaluating these prophecies, the universal controller can be adapted to any plant over which the synthesis problem is realizable. This approach offers several key benefits, including enhanced scalability with respect to the plant's size, adaptability to changes in the plant, and improved explainability of the resulting control strategy. We also present encouraging experimental results obtained with our prototype tool, UNICON.

cs.LO↗

arXiv2025

A Tutorial on Stream-based Monitoring

Stream-based runtime monitoring frameworks are safety assurance tools that check the runtime behavior of a system against a formal specification. This tutorial provides a hands-on introduction to RTLola, a real-time monitoring toolkit for cyber-physical systems and networks. RTLola processes, evaluates, and aggregates streams of input data, such as sensor readings, and provides a real-time analysis in the form of comprehensive statistics and logical assessments of the system's health. RTLola has been applied successfully in monitoring autonomous systems such as unmanned aircraft. The tutorial guides the reader through the development of a stream-based specification for an autonomous drone observing other flying objects in its flight path. Each tutorial section provides an intuitive introduction, highlighting useful language features and specification patterns, and gives a more in-depth explanation of technical details for the advanced reader. Finally, we discuss how runtime monitors generated from RTLola specifications can be integrated into a variety of systems and discuss different monitoring applications.

cs.LO↗

arXiv2025

Visualizing Game-Based Certificates for Hyperproperty Verification

Hyperproperties relate multiple executions of a system and are commonly used to specify security and information-flow policies. While many verification approaches for hyperproperties exist, providing a convincing certificate that the system satisfies a given property is still a major challenge. In this paper, we propose strategies as a suitable form of certificate for hyperproperties specified in a fragment of the temporal logic HyperLTL. Concretely, we interpret the verification of a HyperLTL property as a game between universal and existential quantification, allowing us to leverage strategies for the existential quantifiers as certificates. We present HyGaViz, a browser-based visualization tool that lets users interactively explore an (automatically synthesized) witness strategy by taking control over universally quantified executions.

cs.LO↗