Merge pull request #243 from mldiego/master

Some experimenting with GPU, fix few issues

code/nnv/engine/nn/layers/FullyConnectedLayer.m

@@ -284,15 +284,8 @@
 
                 n = in_image.numPred;
                 V(1, 1, :, in_image.numPred + 1) = zeros(obj.OutputSize, 1, 'like', in_image.V);
-                for i=1:n+1
-                    I = in_image.V(:,:,:,i);
-                    I = reshape(I,N,1); % flatten input
-                    if i==1
-                        V(1, 1,:,i) = obj.Weights*I + obj.Bias;
-                    else
-                        V(1, 1,:,i) = obj.Weights*I;
-                    end
-                end
+                V(1, 1, :, :) = obj.Weights*reshape(in_image.V, N, n + 1);
+                V(1, 1, :, 1) = reshape(V(1, 1, :, 1), obj.OutputSize, 1) + obj.Bias;
                 % output set
                 image = ImageStar(V, in_image.C, in_image.d, in_image.pred_lb, in_image.pred_ub);
             else % reach Star set

code/nnv/engine/nn/layers/ImageInputLayer.m

@@ -116,6 +116,12 @@
                 image = in_image;
             elseif strcmp(obj.Normalization, 'zerocenter')
                 image = in_image.affineMap([], -obj.Mean);
+            elseif strcmp(obj.Normalization, 'zscore')
+                image = in_image.affineMap([], -obj.Mean);
+                layer_std = obj.StandardDeviation;
+                for nc = 1:image.numChannel
+                    image.V(:,:,nc,:) = image.V(:,:,nc,:)/layer_std(nc);
+                end
             else
                 error('The normalization method is not supported yet.')
             end

code/nnv/engine/set/Box.m

@@ -40,7 +40,7 @@
                 % Speeding up implementation
                 gens = diag(vec); % generate matrix
                 if numel(gens) > 1
-                    gens(:,all(gens(gens==0))) = []; % delete colums with no info
+                    gens(:,all(gens==0)) = []; % delete colums with no info
                 end
                 obj.generators = gens;
             catch

code/nnv/engine/set/VolumeStar.m

@@ -554,16 +554,16 @@
                 S.V = gather(S.V);
                 S.C = gather(S.C);
                 S.d = gather(S.d);
-                S.predicate_lb = gather(S.predicate_lb); 
-                S.predicate_ub = gather(S.predicate_ub);
+                S.pred_lb = gather(S.pred_lb); 
+                S.pred_ub = gather(S.pred_ub);
                 S.vol_lb = gather(S.vol_lb); 
                 S.vol_ub = gather(S.vol_ub);
             elseif strcmp(deviceTarget, 'gpu')
                 S.V = gpuArray(S.V);
                 S.C = gpuArray(S.C);
                 S.d = gpuArray(S.d);
-                S.predicate_lb = gpuArray(S.predicate_lb); 
-                S.predicate_ub = gpuArray(S.predicate_ub);
+                S.pred_lb = gpuArray(S.pred_lb); 
+                S.pred_ub = gpuArray(S.pred_ub);
                 S.vol_lb = gpuArray(S.vol_lb); 
                 S.vol_ub = gpuArray(S.vol_ub);
             else

code/nnv/engine/utils/lpsolver.m

@@ -49,8 +49,8 @@
         % Define solver parameters
         params = struct; % for now, leave default options/params
         params.OutputFlag = 0; % no display
-        params.OptimalityTol = 1e-09;
-        params.FeasibilityTol = 1e-09;
+        % params.OptimalityTol = 1e-09;
+        % params.FeasibilityTol = 1e-09;
         result = gurobi(model, params);
         fval = result.objval; % get fval value from results
         % get exitflag and match those of linprog for easier parsing

code/nnv/engine/utils/verify_specification.m

@@ -32,6 +32,9 @@
             if ~isa(Set, "Star")
                 Set = Set.toStar;
             end
+            if isa(Set.V, 'gpuArray')
+                Set = Set.changeDevice('cpu');
+            end
             S = Set.intersectHalfSpace(property.G, property.g); % compute intersection with unsafe/not robust region
             if isempty(S)
                 result = 1; % no intersection with unsafe region = safe (unsat)
@@ -57,6 +60,7 @@
                     continue; % does nothing, just need an statement, wanted to make this clear
                 else
                     result = 2; %  unknown if approx, sat if exact
+                    return;
                 end
             end
             cp = cp+1;