Hyperproperties are properties that describe the correctness of a system as a relation between multiple executions. Hyperproperties generalize trace properties and include information-flow security requirements, like noninterference, as well as requirements like symmetry, partial observation, robustness, and fault tolerance. We initiate the study of the specification and verification of hyperproperties of Markov decision processes (MDPs). We introduce the temporal logic PHL (Probabilistic Hyper Logic), which extends classic probabilistic logics with quantification over schedulers and traces. PHL can express a wide range of hyperproperties for probabilistic systems, including both classical applications, such as probabilistic noninterference, and novel applications in areas such as robotics and planning. While the model checking problem for PHL is in general undecidable, we provide methods both for proving and for refuting formulas from a fragment of the logic. The fragment includes many probabilistic hyperproperties of interest.
In this paper, we propose a new logic for expressing and reasoning about probabilistic hyperproperties. Hyperproperties characterize the relation between different independent executions of a system. Probabilistic hyperproperties express quantitative dependencies between such executions. The standard temporal logics for probabilistic systems, i.e., PCTL and PCTL* can refer only to a single path at a time and, hence, cannot express many probabilistic hyperproperties of interest. The logic proposed in this paper, \HyperPCTL, adds explicit and simultaneous quantification over multiple traces to P…
Many important properties of cyber-physical systems (CPS) are defined upon the relationship between multiple executions simultaneously in continuous time. Examples include probabilistic fairness and sensitivity to modeling errors (i.e., parameters changes) for real-valued signals. These requirements can only be specified by hyperproperties. In this work, we focus on verifying probabilistic hyperproperties for CPS. To cover a wide range of modeling formalisms, we first propose a general model of probabilistic uncertain systems (PUSs) that unify commonly studied CPS models such as continuous-tim…
We study the problem of formalizing and checking probabilistic hyperproperties for models that allow nondeterminism in actions. We extend the temporal logic \HyperPCTL, which has been previously introduced for discrete-time Markov chains, to enable the specification of hyperproperties also for Markov decision processes. We generalize HyperPCTL by allowing explicit and simultaneous quantification over schedulers and probabilistic computation trees and show that it can express important quantitative requirements in security and privacy. We show that HyperPCTL model checking over MDPs is in gener…
Hyperproperties have shown to be a powerful tool for expressing and reasoning about information-flow security policies. In this paper, we investigate the problem of statistical model checking (SMC) for hyperproperties. Unlike exhaustive model checking, SMC works based on drawing samples from the system at hand and evaluate the specification with statistical confidence. The main benefit of applying SMC over exhaustive techniques is its efficiency and scalability. To reason about probabilistic hyperproperties, we first propose the temporal logic HyperPCLT* that extends PCTL* and HyperPCTL. We sh…
We revisit the symbolic verification of Markov chains with respect to finite horizon reachability properties. The prevalent approach iteratively computes step-bounded state reachability probabilities. By contrast, recent advances in probabilistic inference suggest symbolically representing all horizon-length paths through the Markov chain. We ask whether this perspective advances the state-of-the-art in probabilistic model checking. First, we formally describe both approaches in order to highlight their key differences. Then, using these insights we develop Rubicon, a tool that transpiles Pris…
In this paper we extend the predicate logic introduced in [Beauquier et al. 2002] in order to deal with Semi-Markov Processes. We prove that with respect to qualitative probabilistic properties, model checking is decidable for this logic applied to Semi-Markov Processes. Furthermore we apply our logic to Probabilistic Timed Automata considering classical and urgent semantics, and considering also predicates on clock. We prove that results on Semi Markov Processes hold also for Probabilistic Timed Automata for both the two semantics considered. Moreover, we prove that results for Markov Process…
The paper studies a probabilistic notion of causes in Markov chains that relies on the counterfactuality principle and the probability-raising property. This notion is motivated by the use of causes for monitoring purposes where the aim is to detect faulty or undesired behaviours before they actually occur. A cause is a set of finite executions of the system after which the probability of the effect exceeds a given threshold. We introduce multiple types of costs that capture the consumption of resources from different perspectives, and study the complexity of computing cost-minimal causes.
A continuous-time Markov chain (CTMC) execution is a continuous class of probability distributions over states. This paper proposes a probabilistic linear-time temporal logic, namely continuous-time linear logic (CLL), to reason about the probability distribution execution of CTMCs. We define the syntax of CLL on the space of probability distributions. The syntax of CLL includes multiphase timed until formulas, and the semantics of CLL allows time reset to study relatively temporal properties. We derive a corresponding model-checking algorithm for CLL formulas. The correctness of the model-che…
There is a scalability gap between probabilistic and non-probabilistic verification. Probabilistic model checking tools are based either on explicit engines or on (Multi-Terminal) Binary Decision Diagrams. These structures are complemented in areas of non-probabilistic verification by more scalable techniques, such as IC3. We present a symbolic probabilistic model checking algorithm based on IC3-like incremental construction of inductive clauses to partition the state space, interleaved with incremental construction of a system of linear inequalities. This paper compares our implementation to …
Model checking probabilistic CTL properties of Markov decision processes with convex uncertainties has been recently investigated by Puggelli et al. Such model checking algorithms typically suffer from the state space explosion. In this paper, we address probabilistic bisimulation to reduce the size of such an MDP while preserving the probabilistic CTL properties it satisfies. In particular, we discuss the key ingredients to build up the operations of parallel composition for composing interval MDP components at run-time. More precisely, we investigate how the parallel composition operator for…
We study Probabilistic Workflow Nets (PWNs), a model extending van der Aalst's workflow nets with probabilities. We give a semantics for PWNs in terms of Markov Decision Processes and introduce a reward model. Using a result by Varacca and Nielsen, we show that the expected reward of a complete execution of the PWN is independent of the scheduler. Extending previous work on reduction of non-probabilistic workflow nets, we present reduction rules that preserve the expected reward. The rules lead to a polynomial-time algorithm in the size of the PWN (not of the Markov decision process) for the c…
Strong and weak simulation relations have been proposed for Markov chains, while strong simulation and strong probabilistic simulation relations have been proposed for probabilistic automata. However, decision algorithms for strong and weak simulation over Markov chains, and for strong simulation over probabilistic automata are not efficient, which makes it as yet unclear whether they can be used as effectively as their non-probabilistic counterparts. This paper presents drastically improved algorithms to decide whether some (discrete- or continuous-time) Markov chain strongly or weakly simula…
Interface theories are powerful frameworks supporting incremental and compositional design of systems through refinements and constructs for conjunction, and parallel composition. In this report we present a first Interface Theor -- |Modal Mixed Interfaces -- for systems exhibiting both non-determinism and randomness in their behaviour. The associated component model -- Mixed Markov Decision Processes -- is also novel and subsumes both ordinary Markov Decision Processes and Probabilistic Automata.
Probabilistic model checking for systems with large or unbounded state space is a challenging computational problem in formal modelling and its applications. Numerical algorithms require an explicit representation of the state space, while statistical approaches require a large number of samples to estimate the desired properties with high confidence. Here, we show how model checking of time-bounded path properties can be recast exactly as a Bayesian inference problem. In this novel formulation the problem can be efficiently approximated using techniques from machine learning. Our approach is …
UMB: A Unified Markov Binary Format for Probabilistic Model Checking (extended version)
Brno University of Technology（布尔诺工业大学）；University of Twente（特温特大学）；Utah State University（犹他州立大学）；Radboud University（拉德堡德大学）；Lancaster University Leipzig（兰开斯特大学莱比锡分校）；University of Oxford（牛津大学）；RWTH Aachen University（亚琛工业大学）；Ruhr-University Bochum（鲁尔大学波鸿分校）
Propositional Projection Temporal Logic (PPTL) is a useful formalism for reasoning about period of time in hardware and software systems and can handle both sequential and parallel compositions. In this paper, based on discrete time Markov chains, we investigate the probabilistic model checking approach for PPTL towards verifying arbitrary linear-time properties. We first define a normal form graph, denoted by NFG_inf, to capture the infinite paths of PPTL formulas. Then we present an algorithm to generate the NFG_inf. Since discrete-time Markov chains are the deterministic probabilistic model…
We propose a simple technique for verifying probabilistic models whose transition probabilities are parametric. The key is to replace parametric transitions by nondeterministic choices of extremal values. Analysing the resulting parameter-free model using off-the-shelf means yields (refinable) lower and upper bounds on probabilities of regions in the parameter space. The technique outperforms the existing analysis of parametric Markov chains by several orders of magnitude regarding both run-time and scalability. Its beauty is its applicability to various probabilistic models. It in particular …
Quantitative verification techniques have been developed for the formal analysis of a variety of probabilistic models, such as Markov chains, Markov decision process and their variants. They can be used to produce guarantees on quantitative aspects of system behaviour, for example safety, reliability and performance, or to help synthesise controllers that ensure such guarantees are met. We propose the model of turn-based probabilistic timed multi-player games, which incorporates probabilistic choice, real-time clocks and nondeterministic behaviour across multiple players. Building on the digit…
Markov automata combine continuous time, probabilistic transitions, and nondeterminism in a single model. They represent an important and powerful way to model a wide range of complex real-life systems. However, such models tend to be large and difficult to handle, making abstraction and abstraction refinement necessary. In this paper we present an abstraction and abstraction refinement technique for Markov automata, based on the game-based and menu-based abstraction of probabilistic automata. First experiments show that a significant reduction in size is possible using abstraction.
A standard way of justifying that a certain probabilistic property holds in a system is to provide a witnessing subsystem (also called critical subsystem) for the property. Computing minimal witnessing subsystems is NP-hard already for acyclic Markov chains, but can be done in polynomial time for Markov chains whose underlying graph is a tree. This paper considers the problem for probabilistic systems that are similar to trees or paths. It introduces the parameters directed tree-partition width (dtpw) and directed path-partition width (dppw) and shows that computing minimal witnesses remains N…
Probabilistic model checkers like PRISM only check probabilistic systems of a fixed size. To guarantee the desired properties for an arbitrary size, mathematical analysis is necessary. We show for two case studies how this can be done in the interactive proof assistant Isabelle/HOL. The first case study is a detailed description of how we verified properties of the ZeroConf protocol, a decentral address allocation protocol. The second case study shows the more involved verification of anonymity properties of the Crowds protocol, an anonymizing protocol.
This work introduces a notion of approximate probabilistic trace equivalence for labelled Markov chains, and relates this new concept to the known notion of approximate probabilistic bisimulation. In particular this work shows that the latter notion induces a tight upper bound on the approximation between finite-horizon traces, as expressed by a total variation distance. As such, this work extends corresponding results for exact notions and analogous results for non-probabilistic models. This bound can be employed to relate the closeness in satisfaction probabilities over bounded linear-time p…
A standard way of justifying that a certain probabilistic property holds in a system is to provide a witnessing subsystem (also called critical subsystem) for the property. Computing minimal witnessing subsystems is NP-hard already for acyclic Markov chains, but can be done in polynomial time for Markov chains whose underlying graph is a tree. This paper considers the problem for probabilistic systems that are similar to trees or paths. It introduces the parameters directed tree-partition width (dtpw) and directed path-partition width (dppw) and shows that computing minimal witnesses remains N…
We consider the value 1 problem for probabilistic automata over finite words: it asks whether a given probabilistic automaton accepts words with probability arbitrarily close to 1. This problem is known to be undecidable. However, different algorithms have been proposed to partially solve it; it has been recently shown that the Markov Monoid algorithm, based on algebra, is the most correct algorithm so far. The first contribution of this paper is to give a characterisation of the Markov Monoid algorithm. The second contribution is to develop a profinite theory for probabilistic automata, calle…
We consider the synthesis of control policies for probabilistic systems, modeled by Markov decision processes, operating in partially known environments with temporal logic specifications. The environment is modeled by a set of Markov chains. Each Markov chain describes the behavior of the environment in each mode. The mode of the environment, however, is not known to the system. Two control objectives are considered: maximizing the expected probability and maximizing the worst-case probability that the system satisfies a given specification.
This paper presents a novel technique for counterexample generation in probabilistic model checking of Markov Chains and Markov Decision Processes. (Finite) paths in counterexamples are grouped together in witnesses that are likely to provide similar debugging information to the user. We list five properties that witnesses should satisfy in order to be useful as debugging aid: similarity, accuracy, originality, significance, and finiteness. Our witnesses contain paths that behave similar outside strongly connected components. This papers shows how to compute these witnesses by reducing the pro…
In this paper, we consider algorithms to decide the existence of strategies in MDPs for Boolean combinations of objectives. These objectives are omega-regular properties that need to be enforced either surely, almost surely, existentially, or with non-zero probability. In this setting, relevant strategies are randomized infinite memory strategies: both infinite memory and randomization may be needed to play optimally. We provide algorithms to solve the general case of Boolean combinations and we also investigate relevant subcases. We further report on complexity bounds for these problems.
J-P: MDP. FP. PP.: Characterizing Total Expected Rewards in Markov Decision Processes as Least Fixed Points with an Application to Operational Semantics of Probabilistic Programs (Technical Report)
In model checking, a counterexample is considered as a valuable tool for debugging. In Probabilistic Model Checking (PMC), counterexample generation has a quantitative aspect. The counterexample in PMC is a set of paths in which a path formula holds, and their accumulative probability mass violates the probability threshold. However, understanding the counterexample is not an easy task. In this paper we address the task of counterexample analysis for Markov Decision Processes (MDPs). We propose an aided-diagnostic method for probabilistic counterexamples based on the notions of causality, resp…
Much work has been done to give semantics to probabilistic programming languages. In recent years, most of the semantics used to reason about probabilistic programs fall in two categories: semantics based on Markov kernels and semantics based on linear operators. Both styles of semantics have found numerous applications in reasoning about probabilistic programs, but they each have their strengths and weaknesses. Though it is believed that there is a connection between them there are no languages that can handle both styles of programming. In this work we address these questions by defining a t…
The main challenge in using abstractions effectively, is to construct a suitable abstraction for the system being verified. One approach that tries to address this problem is that of {\it counterexample guided abstraction-refinement (CEGAR)}, wherein one starts with a coarse abstraction of the system, and progressively refines it, based on invalid counterexamples seen in prior model checking runs, until either an abstraction proves the correctness of the system or a valid counterexample is generated. While CEGAR has been successfully used in verifying non-probabilistic systems automatically, C…
The formal verification of large probabilistic models is important and challenging. Exploiting the concurrency that is often present is one way to address this problem. Here we study a restricted class of asynchronous distributed probabilistic systems in which the synchronizations determine the probability distribution for the next moves of the participating agents. The key restriction we impose is that the synchronizations are deterministic, in the sense that any two simultaneously enabled synchronizations must involve disjoint sets of agents. As a result, this network of agents can be viewed…
In recent years probabilistic model checking has become an important area of research because of the diffusion of computational systems of stochastic nature. Despite its great success, standard probabilistic model checking suffers the limitation of requiring a sharp specification of the probabilities governing the model behaviour. The theory of imprecise probabilities offers a natural approach to overcome such limitation by a sensitivity analysis with respect to the values of these parameters. However, only extensions based on discrete-time imprecise Markov chains have been considered so far f…
Constructing an accurate system model for formal model verification can be both resource demanding and time-consuming. To alleviate this shortcoming, algorithms have been proposed for automatically learning system models based on observed system behaviors. In this paper we extend the algorithm on learning probabilistic automata to reactive systems, where the observed system behavior is in the form of alternating sequences of inputs and outputs. We propose an algorithm for automatically learning a deterministic labeled Markov decision process model from the observed behavior of a reactive syste…
The bottleneck in the quantitative analysis of Markov chains and Markov decision processes against specifications given in LTL or as some form of nondeterministic Büchi automata is the inclusion of a determinisation step of the automaton under consideration. In this paper, we show that full determinisation can be avoided: subset and breakpoint constructions suffice. We have implemented our approach---both explicit and symbolic versions---in a prototype tool. Our experiments show that our prototype can compete with mature tools like PRISM.
