arXiv subjects

Sanjit A. Seshia

Publications and source records attributed to Sanjit A. Seshia.

At least 37 records · Page 2Linked to original sources

arXiv2025

Privacy Preserving Mechanisms for Coordinating Airspace Usage in Advanced Air Mobility

Advanced Air Mobility (AAM) operations are expected to transform air transportation while challenging current air traffic management practices. By introducing a novel market-based mechanism, we address the problem of on-demand allocation of capacity-constrained airspace to AAM vehicles with heterogeneous and private valuations. We model airspace and air infrastructure as a collection of contiguous regions with constraints on the number of vehicles that simultaneously enter, stay, or exit each region. Vehicles request access to the airspace with trajectories spanning multiple regions at different times. We use the graph structure of our airspace model to formulate the allocation problem as a path allocation problem on a time-extended graph. To ensure the cost information of AAM vehicles remains private, we introduce a novel mechanism that allocates each vehicle a budget of "air-credits" and anonymously charges prices for traversing the edges of the time-extended graph. We seek to compute a competitive equilibrium that ensures that: (i) capacity constraints are satisfied, (ii) a strictly positive resource price implies that the sector capacity is fully utilized, and (iii) the allocation is integral and optimal for each AAM vehicle given current prices, without requiring access to individual vehicle utilities. However, a competitive equilibrium with integral allocations may not always exist. We provide sufficient conditions for the existence and computation of a fractional-competitive equilibrium, where allocations can be fractional. Building on these theoretical insights, we propose a distributed, iterative, two-step algorithm that: 1) computes a fractional competitive equilibrium, and 2) derives an integral allocation from this equilibrium. We validate the effectiveness of our approach in allocating trajectories for two emerging urban air mobility services: drone delivery and air taxis.

eess.SY↗

arXiv2025

Learning Symbolic Task Decompositions for Multi-Agent Teams

One approach for improving sample efficiency in cooperative multi-agent learning is to decompose overall tasks into sub-tasks that can be assigned to individual agents. We study this problem in the context of reward machines: symbolic tasks that can be formally decomposed into sub-tasks. In order to handle settings without a priori knowledge of the environment, we introduce a framework that can learn the optimal decomposition from model-free interactions with the environment. Our method uses a task-conditioned architecture to simultaneously learn an optimal decomposition and the corresponding agents' policies for each sub-task. In doing so, we remove the need for a human to manually design the optimal decomposition while maintaining the sample-efficiency benefits of improved credit assignment. We provide experimental results in several deep reinforcement learning settings, demonstrating the efficacy of our approach. Our results indicate that our approach succeeds even in environments with codependent agent dynamics, enabling synchronous multi-agent learning not achievable in previous works.

cs.MA↗

arXiv2025

Compositional Automata Embeddings for Goal-Conditioned Reinforcement Learning

Goal-conditioned reinforcement learning is a powerful way to control an AI agent's behavior at runtime. That said, popular goal representations, e.g., target states or natural language, are either limited to Markovian tasks or rely on ambiguous task semantics. We propose representing temporal goals using compositions of deterministic finite automata (cDFAs) and use cDFAs to guide RL agents. cDFAs balance the need for formal temporal semantics with ease of interpretation: if one can understand a flow chart, one can understand a cDFA. On the other hand, cDFAs form a countably infinite concept class with Boolean semantics, and subtle changes to the automaton can result in very different tasks, making them difficult to condition agent behavior on. To address this, we observe that all paths through a DFA correspond to a series of reach-avoid tasks and propose pre-training graph neural network embeddings on "reach-avoid derived" DFAs. Through empirical evaluation, we demonstrate that the proposed pre-training method enables zero-shot generalization to various cDFA task classes and accelerated policy specialization without the myopic suboptimality of hierarchical methods.

cs.LG↗

arXiv2024

Syzygy: Dual Code-Test C to (safe) Rust Translation using LLMs and Dynamic Analysis

Despite extensive usage in high-performance, low-level systems programming applications, C is susceptible to vulnerabilities due to manual memory management and unsafe pointer operations. Rust, a modern systems programming language, offers a compelling alternative. Its unique ownership model and type system ensure memory safety without sacrificing performance. In this paper, we present Syzygy, an automated approach to translate C to safe Rust. Our technique uses a synergistic combination of LLM-driven code and test translation guided by dynamic-analysis-generated execution information. This paired translation runs incrementally in a loop over the program in dependency order of the code elements while maintaining per-step correctness. Our approach exposes novel insights on combining the strengths of LLMs and dynamic analysis in the context of scaling and combining code generation with testing. We apply our approach to successfully translate Zopfli, a high-performance compression library with ~3000 lines of code and 98 functions. We validate the translation by testing equivalence with the source C program on a set of inputs. To our knowledge, this is the largest automated and test-validated C to safe Rust code translation achieved so far.

cs.SE↗

arXiv2024

Tenspiler: A Verified Lifting-Based Compiler for Tensor Operations (Extended Version)

Tensor processing infrastructures such as deep learning frameworks and specialized hardware accelerators have revolutionized how computationally intensive code from domains such as deep learning and image processing is executed and optimized. These infrastructures provide powerful and expressive abstractions while ensuring high performance. However, to utilize them, code must be written specifically using the APIs / ISAs of such software frameworks or hardware accelerators. Importantly, given the fast pace of innovation in these domains, code written today quickly becomes legacy as new frameworks and accelerators are developed, and migrating such legacy code manually is a considerable effort. To enable developers in leveraging such DSLs while preserving their current programming paradigm, we introduce Tenspiler, a verified lifting-based compiler that uses program synthesis to translate sequential programs written in general-purpose programming languages (e.g., C++ or Python code) into tensor operations. Central to Tenspiler is our carefully crafted yet simple intermediate language, named TensIR, that expresses tensor operations. TensIR enables efficient lifting, verification, and code generation. Currently, Tenspiler already supports $\textbf{six}$ DSLs, spanning a broad spectrum of software and hardware environments. Furthermore, we show that new backends can be easily supported by Tenspiler by adding simple pattern-matching rules for TensIR. Using 10 real-world code benchmark suites, our experimental evaluation shows that by translating code to be executed on $\textbf{6}$ different software frameworks and hardware devices, Tenspiler offers on average 105$\times$ kernel and 9.65$\times$ end-to-end execution time improvement over the fully-optimized sequential implementation of the same benchmarks.

cs.PL↗

arXiv2024

Synthetic Programming Elicitation for Text-to-Code in Very Low-Resource Programming and Formal Languages

Recent advances in large language models (LLMs) for code applications have demonstrated remarkable zero-shot fluency and instruction following on challenging code related tasks ranging from test case generation to self-repair. Unsurprisingly, however, models struggle to compose syntactically valid programs in programming languages unrepresented in pre-training, referred to as very low-resource Programming Languages (VLPLs). VLPLs appear in crucial settings, including domain-specific languages for internal tools, tool-chains for legacy languages, and formal verification frameworks. Inspired by a technique called natural programming elicitation, we propose designing an intermediate language that LLMs "naturally" know how to use and which can be automatically compiled to a target VLPL. When LLMs generate code that lies outside of this intermediate language, we use compiler techniques to repair the code into programs in the intermediate language. Overall, we introduce \emph{synthetic programming elicitation and compilation} (SPEAC), an approach that enables LLMs to generate syntactically valid code even for VLPLs. We empirically evaluate the performance of SPEAC in a case study for the UCLID5 formal verification language and find that, compared to existing retrieval and fine-tuning baselines, SPEAC produces syntactically correct programs more frequently and without sacrificing semantic correctness.

cs.PL↗

arXiv2024

SimpleStrat: Diversifying Language Model Generation with Stratification

Generating diverse responses from large language models (LLMs) is crucial for applications such as planning/search and synthetic data generation, where diversity provides distinct answers across generations. Prior approaches rely on increasing temperature to increase diversity. However, contrary to popular belief, we show not only does this approach produce lower quality individual generations as temperature increases, but it depends on model's next-token probabilities being similar to the true distribution of answers. We propose SimpleStrat, an alternative approach that uses the language model itself to partition the space into strata. At inference, a random stratum is selected and a sample drawn from within the strata. To measure diversity, we introduce CoverageQA, a dataset of underspecified questions with multiple equally plausible answers, and assess diversity by measuring KL Divergence between the output distribution and uniform distribution over valid ground truth answers. As computing probability per response/solution for proprietary models is infeasible, we measure recall on ground truth solutions. Our evaluation show using SimpleStrat achieves higher recall by 0.05 compared to GPT-4o and 0.36 average reduction in KL Divergence compared to Llama 3.

cs.CL↗

arXiv2024

ScenicNL: Generating Probabilistic Scenario Programs from Natural Language

For cyber-physical systems (CPS), including robotics and autonomous vehicles, mass deployment has been hindered by fatal errors that occur when operating in rare events. To replicate rare events such as vehicle crashes, many companies have created logging systems and employed crash reconstruction experts to meticulously recreate these valuable events in simulation. However, in these methods, "what if" questions are not easily formulated and answered. We present ScenarioNL, an AI System for creating scenario programs from natural language. Specifically, we generate these programs from police crash reports. Reports normally contain uncertainty about the exact details of the incidents which we represent through a Probabilistic Programming Language (PPL), Scenic. By using Scenic, we can clearly and concisely represent uncertainty and variation over CPS behaviors, properties, and interactions. We demonstrate how commonplace prompting techniques with the best Large Language Models (LLM) are incapable of reasoning about probabilistic scenario programs and generating code for low-resource languages such as Scenic. Our system is comprised of several LLMs chained together with several kinds of prompting strategies, a compiler, and a simulator. We evaluate our system on publicly available autonomous vehicle crash reports in California from the last five years and share insights into how we generate code that is both semantically meaningful and syntactically correct.

cs.SE↗

arXiv2024

SemPat: Using Hyperproperty-based Semantic Analysis to Generate Microarchitectural Attack Patterns

Microarchitectural security verification of software has seen the emergence of two broad classes of approaches. The first is based on semantic security properties (e.g., non-interference) which are verified for a given program and a specified abstract model of the hardware microarchitecture. The second is based on attack patterns, which, if found in a program execution, indicates the presence of an exploit. While the former uses a formal specification that can capture several gadget variants targeting the same vulnerability, it is limited by the scalability of verification. Patterns, while more scalable, must be currently constructed manually, as they are narrower in scope and sensitive to gadget-specific structure. This work develops a technique that, given a non-interference-based semantic security hyperproperty, automatically generates attack patterns up to a certain complexity parameter (called the skeleton size). Thus, we combine the advantages of both approaches: security can be specified by a hyperproperty that uniformly captures several gadget variants, while automatically generated patterns can be used for scalable verification. We implement our approach in a tool and demonstrate the ability to generate new patterns, (e.g., for SpectreV1, SpectreV4) and improved scalability using the generated patterns over hyperproperty-based verification.

cs.CR↗

arXiv2024

Verified Code Transpilation with LLMs

Domain-specific languages (DSLs) are integral to various software workflows. Such languages offer domain-specific optimizations and abstractions that improve code readability and maintainability. However, leveraging these languages requires developers to rewrite existing code using the specific DSL's API. While large language models (LLMs) have shown some success in automatic code transpilation, none of them provide any functional correctness guarantees on the transpiled code. Another approach for automating this task is verified lifting, which relies on program synthesis to find programs in the target language that are functionally equivalent to the source language program. While several verified lifting tools have been developed for various application domains, they are specialized for specific source-target languages or require significant expertise in domain knowledge to make the search efficient. In this paper, leveraging recent advances in LLMs, we propose an LLM-based approach (LLMLift) to building verified lifting tools. We use the LLM's capabilities to reason about programs to translate a given program into its corresponding equivalent in the target language. Additionally, we use LLMs to generate proofs for functional equivalence. We develop lifting-based compilers for {\em four different} DSLs targeting different application domains. Our approach not only outperforms previous symbolic-based tools in both the number of benchmarks transpiled and transpilation time, but also requires significantly less effort to build.

cs.PL↗

arXiv2024

SMT-Based Dynamic Multi-Robot Task Allocation

Multi-Robot Task Allocation (MRTA) is a problem that arises in many application domains including package delivery, warehouse robotics, and healthcare. In this work, we consider the problem of MRTA for a dynamic stream of tasks with task deadlines and capacitated agents (capacity for more than one simultaneous task). Previous work commonly focuses on the static case, uses specialized algorithms for restrictive task specifications, or lacks guarantees. We propose an approach to Dynamic MRTA for capacitated robots that is based on Satisfiability Modulo Theories (SMT) solving and addresses these concerns. We show our approach is both sound and complete, and that the SMT encoding is general, enabling extension to a broader class of task specifications. We show how to leverage the incremental solving capabilities of SMT solvers, keeping learned information when allocating new tasks arriving online, and to solve non-incrementally, which we provide runtime comparisons of. Additionally, we provide an algorithm to start with a smaller but potentially incomplete encoding that can iteratively be adjusted to the complete encoding. We evaluate our method on a parameterized set of benchmarks encoding multi-robot delivery created from a graph abstraction of a hospital-like environment. The effectiveness of our approach is demonstrated using a range of encodings, including quantifier-free theories of uninterpreted functions and linear or bitvector arithmetic across multiple solvers.

cs.RO↗

arXiv2023

An Eager Satisfiability Modulo Theories Solver for Algebraic Datatypes

Algebraic data types (ADTs) are a construct classically found in functional programming languages that capture data structures like enumerated types, lists, and trees. In recent years, interest in ADTs has increased. For example, popular programming languages, like Python, have added support for ADTs. Automated reasoning about ADTs can be done using satisfiability modulo theories (SMT) solving, an extension of the Boolean satisfiability problem with constraints over first-order structures. Unfortunately, SMT solvers that support ADTs do not scale as state-of-the-art approaches all use variations of the same \emph{lazy} approach. In this paper, we present an SMT solver that takes a fundamentally different approach, an \emph{eager} approach. Specifically, our solver reduces ADT queries to a simpler logical theory, uninterpreted functions (UF), and then uses an existing solver on the reduced query. We prove the soundness and completeness of our approach and demonstrate that it outperforms the state-of-theart on existing benchmarks, as well as a new, more challenging benchmark set from the planning domain.

cs.LO↗

arXiv2023

3D Environment Modeling for Falsification and Beyond with Scenic 3.0

We present a major new version of Scenic, a probabilistic programming language for writing formal models of the environments of cyber-physical systems. Scenic has been successfully used for the design and analysis of CPS in a variety of domains, but earlier versions are limited to environments which are essentially two-dimensional. In this paper, we extend Scenic with native support for 3D geometry, introducing new syntax which provides expressive ways to describe 3D configurations while preserving the simplicity and readability of the language. We replace Scenic's simplistic representation of objects as boxes with precise modeling of complex shapes, including a ray tracing-based visibility system that accounts for object occlusion. We also extend the language to support arbitrary temporal requirements expressed in LTL, and build an extensible Scenic parser generated from a formal grammar of the language. Finally, we illustrate the new application domains these features enable with case studies that would have been impossible to accurately model in Scenic 2.

cs.PL↗

arXiv2023

Genetic Algorithms for Searching a Matrix of Metagrammars for Synthesis

Syntax-guided synthesis is a paradigm in program synthesis in which the search space of candidate solutions is constrained by a syntactic template in the form of a grammar. These syntactic constraints serve two purposes: constraining the language to the space the user desires, but also rendering the search space tractable for the synthesizer. Given a well-written syntactic template, this is an extremely effective technique. However, this is highly dependent on the user providing such a template: a syntactic template that is too large results in a larger search space and slower synthesis, and a syntactic template that is too small may not contain the solution needed. In this work, we frame the space of syntactic templates as a matrix of rules, and demonstrate how this matrix can be searched effectively with little training data using simple search techniques such as genetic algorithms, giving improvements in both the number of benchmarks solved and solving time for the state-of-the-art synthesis solver.

cs.SE↗

arXiv2023

Demonstration Informed Specification Search

This paper considers the problem of learning temporal task specifications, e.g. automata and temporal logic, from expert demonstrations. Task specifications are a class of sparse memory augmented rewards with explicit support for temporal and Boolean composition. Three features make learning temporal task specifications difficult: (1) the (countably) infinite number of tasks under consideration; (2) an a-priori ignorance of what memory is needed to encode the task; and (3) the discrete solution space - typically addressed by (brute force) enumeration. To overcome these hurdles, we propose Demonstration Informed Specification Search (DISS): a family of algorithms requiring only black box access to a maximum entropy planner and a task sampler from labeled examples. DISS then works by alternating between conjecturing labeled examples to make the provided demonstrations less surprising and sampling tasks consistent with the conjectured labeled examples. We provide a concrete implementation of DISS in the context of tasks described by Deterministic Finite Automata, and show that DISS is able to efficiently identify tasks from only one or two expert demonstrations.

cs.AI↗

arXiv2023

Pacti: Scaling Assume-Guarantee Reasoning for System Analysis and Design

Contract-based design is a method to facilitate modular system design. While there has been substantial progress on the theory of contracts, there has been less progress on scalable algorithms for the algebraic operations in this theory. In this paper, we present: 1) principles to implement a contract-based design tool at scale and 2) Pacti, a tool that can efficiently compute these operations. We then illustrate the use of Pacti in a variety of case studies.

cs.LO↗

arXiv2023

Specification-Guided Data Aggregation for Semantically Aware Imitation Learning

Advancements in simulation and formal methods-guided environment sampling have enabled the rigorous evaluation of machine learning models in a number of safety-critical scenarios, such as autonomous driving. Application of these environment sampling techniques towards improving the learned models themselves has yet to be fully exploited. In this work, we introduce a novel method for improving imitation-learned models in a semantically aware fashion by leveraging specification-guided sampling techniques as a means of aggregating expert data in new environments. Specifically, we create a set of formal specifications as a means of partitioning the space of possible environments into semantically similar regions, and identify elements of this partition where our learned imitation behaves most differently from the expert. We then aggregate expert data on environments in these identified regions, leading to more accurate imitation of the expert's behavior semantics. We instantiate our approach in a series of experiments in the CARLA driving simulator, and demonstrate that our approach leads to models that are more accurate than those learned with other environment sampling methods.

cs.LG↗

arXiv2023

Scenic4RL: Programmatic Modeling and Generation of Reinforcement Learning Environments

The capability of a reinforcement learning (RL) agent heavily depends on the diversity of the learning scenarios generated by the environment. Generation of diverse realistic scenarios is challenging for real-time strategy (RTS) environments. The RTS environments are characterized by intelligent entities/non-RL agents cooperating and competing with the RL agents with large state and action spaces over a long period of time, resulting in an infinite space of feasible, but not necessarily realistic, scenarios involving complex interaction among different RL and non-RL agents. Yet, most of the existing simulators rely on randomly generating the environments based on predefined settings/layouts and offer limited flexibility and control over the environment dynamics for researchers to generate diverse, realistic scenarios as per their demand. To address this issue, for the first time, we formally introduce the benefits of adopting an existing formal scenario specification language, SCENIC, to assist researchers to model and generate diverse scenarios in an RTS environment in a flexible, systematic, and programmatic manner. To showcase the benefits, we interfaced SCENIC to an existing RTS environment Google Research Football(GRF) simulator and introduced a benchmark consisting of 32 realistic scenarios, encoded in SCENIC, to train RL agents and testing their generalization capabilities. We also show how researchers/RL practitioners can incorporate their domain knowledge to expedite the training process by intuitively modeling stochastic programmatic policies with SCENIC.

cs.LG↗