PROVERO

PROVERO is a sampling-based tool to quantitatively estimate properties for neural networks with probabilistic guarantees. This work is by Teodora Baluta, Zheng Leong Chua, Kuldeep S. Meel and Prateek Saxena, as published in ICSE 2021.

How to Install

We recommend you create a Python 3.6.8 (tested with 3.5.2 also) environment and install the requirements with pip install -r requirements.txt. To set up paths run . ./install.sh. You will need to edit this file to your own system's paths.

Environment Variables

The install.sh sets the following list of paths/environment vairables

• PROVERO_HOME: path to the project's root directory
• DATA_DIR: path to directory containing ImageNet dataset. For the pretrained models, it will try to load either from the imagenet_test.pkl, imagenet_test_inception.pkl or by default create the folder DATASET_DIR to load the dataset from it. If you have an existing download for the ImageNet dataset, change this variable to point to it
• PROVERO_MODELS_PATH: where to save to/load from pretrained models (as available from keras.applications package). By default, this is set to /tmp/

It also clones the pixeldp project, if the PixelDP pretrained models do not exist, it downloads them and sets the environment variable to point to the repo.

Other paths (in definitions.py)

Most of these variables are set with respect to the environment variables.

• NB_TEST_SAMPLES: number of test samples to run provero on
• LOGS_PATH: creates and saves logs from running provero at this path, by default set to $PROVERO_HOME/logs
• ERAN_TEST_PATH: the path to the test set for the ERAN models, by default set to $PROVERO_HOME/eran_benchmark
• PROVERO_TEST_PATH: the path to the test set for the pretrained models
• PIXELDP_NETS: the name of the PixelDP model
• PRETRAINED_NETS: list of names of supported pretrained nets

Package Requirements

The installation scripts require the unzip utility installed on the system.

Other Requirements

Please note that in order to run the example below you need to download the pre-trained models. The instructions to download the benchmarks are available in Benchmarks section. The BM1 models, together with the test sets require around 6GB of storage and it may take up to 10 minutes depending on your network connection. Additionally, for the benchmark on randomized networks that uses PixelDP, another 1.3GB are required for the CIFAR10 model and datasets. The large pre-trained models (BM2) require around 2GB of storage. These models are stored by default in /tmp/.

How to Run

To verify if there are less than --thresh adversarial samples within a L-p ball defined by a --img_epsilon of a given image with confidence --delta:

python nn_verify/ --netname <path_to_model> --dataset [mnist, cifar10, imagenet] --img_epsilon
<float> --thresh <threshold> --eta <error> --delta <confidence>

For example:

python nn_verify/ --netname /hdd/provero-private/eran_benchmark/nets/pytorch/mnist/convBigRELU__DiffAI.pyt --delta 0.01 --eta 0.01 --thresh 0.1

Excerpt from the expected output (omitted are Tensorflow messages)

...
W shape (3, 3, 1, 32)
Conv2D {'filters': 32, 'kernel_size': [3, 3], 'input_shape': [28, 28, 1], 'stride': [1, 1], 'padding': 1} W.shape: (3, 3, 1, 32) b.shape: (32,)
        OutShape:  (1, 28, 28, 32)
W shape (4, 4, 32, 32)
Conv2D {'filters': 32, 'kernel_size': [4, 4], 'input_shape': [28, 28, 32], 'stride': [2, 2], 'padding': 1} W.shape: (4, 4, 32, 32) b.shape: (32,)
        OutShape:  (1, 14, 14, 32)
W shape (3, 3, 32, 64)
Conv2D {'filters': 64, 'kernel_size': [3, 3], 'input_shape': [14, 14, 32], 'stride': [1, 1], 'padding': 1} W.shape: (3, 3, 32, 64) b.shape: (64,)
        OutShape:  (1, 14, 14, 64)
W shape (4, 4, 64, 64)
Conv2D {'filters': 64, 'kernel_size': [4, 4], 'input_shape': [14, 14, 64], 'stride': [2, 2], 'padding': 1} W.shape: (4, 4, 64, 64) b.shape: (64,)
        OutShape:  (1, 7, 7, 64)
ReLU
        OutShape:  (1, 512)
        WShape:  (3136, 512)
        BShape:  (512,)
ReLU
        OutShape:  (1, 512)
        WShape:  (512, 512)
        BShape:  (512,)
Affine
        OutShape:  (1, 10)
        WShape:  (512, 10)
        BShape:  (10,)
mean=[0.1307],stds=[0.3081]
...
RandomVar initialized - correct_label=7; eps=0.1
Running adaptive_assert!
Run for 144 samples
s:0
Sampling took 0.465954065322876 sec
img 0 #adversarial < 0.1: Yes 0.4702014923095703 sec
RandomVar initialized - correct_label=2; eps=0.1
Running adaptive_assert!
Run for 144 samples
s:0
Sampling took 0.4389660358428955 sec
img 1 #adversarial < 0.1: Yes 0.44341611862182617 sec
RandomVar initialized - correct_label=1; eps=0.1
Running adaptive_assert!
Run for 144 samples

....

Benchmarks

1. ERAN Benchmark (BM1)

Models

Neural nets pre-trained and provided by ERAN in eran_benchmark/nets (too big to upload on git -- use eran_benchmark/download_nets.sh script to dowload the neural nets) are in a specific format .pyt or .tf.

If provero is given a neural network in a .pyt or .tf format then it will run on the ERAN test set. Supported datasets: MNIST and CIFAR10.

In the paper we ran the older ERAN version (commit 08fc8f63d60dce382624cf7e8307b1fe96420574) that supports Tensorflow 1.11 models. Porting the model loading and parsing to Tensorflow 2.x is for future development work.

Test set

Test set for ERAN: 100 test images for MNIST and CIFAR10 (in eran_benchmark/mnist_test.csv and eran_data/cifar10_test.csv). You may run it on other inputs by adding your input in the ERAN test set format. More information is available on the ERAN Github repo.

2. Larger Models (BM2)

Models

Pre-trained neural nets available in Keras trained on the ImageNet dataset. To run provero on these, instead of a file select one of the option VGG16,VGG19,ResNet50,DenseNet,Inception_v3 for --netname.

When you first run provero for the pre-trained models, these will be downloaded as .h5 files and saved in /tmp/<model_name> folder by default.

Test Set

Test set for pretrained: 100 images saved in provero_benchmark/. We recommend downloading the .pkl files containing the test set used in the evaluation first as ImageNet is a large dataset that requires around 150GB.

3. PixelDP Model

Randomized ResNet20 neural net on the CIFAR10 dataset (downloaded from pixeldp repo during the installation phase).

How to Extend

1. What if I have my own models?

You can either convert models to .pyt or .tf format (as per ERAN tool) or you may add your own model loading or benchmarks. To add your own model loading code, follow the example of nn_verify/eran_benchmark.py to create a nn_verify/<custommodel>_benchmark.py.

2. Does it work on other properties?

Currently, we instantiate the property to the robustness property but extending it to other properties should not be too hard. For extending it to other properties, you should extend the RandomVar class in nn_verify/provero.py (see how we extend it for robustness in RandomVarRobustness). The only requirement is that the property class should have a sample method so that the algorithms in nn_verify/provero.py.

How to Cite

If you use PROVERO, please cite our work.

The benchmarks used in our evaluation can be found here. More info on the project page, PROVERO.