Tags: TUMcps/CORA
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CORA v2025.2.0 - ci: better handling of failed jobs and retries, now warns if the duration of a test changed drastically - conZonotope/representsa: check for 'emptySet' makes use of polytope/representsa now - converter/cora2spaceex: bug fix, reset assignments - examples/ARCH'25 revisions - global/CORAROOT: major speedup - global/CORAerror: made help text clickable for convenience - global/CORAlinprog: improved stability - global/CORAtable: added 'rownr' and 'time' format, added 'csv' design - global/checkValueAttributes: bug fix, gpuArrays - global/codingConvention: enforced timerVal in tic-toc - global/printCell: bug fixes - global/printMatrix: bug fixes - global/updateCORApath: should be faster now; no longer includes the repeatability template - global/verbose: sets, systems, matrices, tables, etc. can now be printed directly into a file - linearSys/Krylov: refactor, speed up, and improved testing - linearSys/sparse|full: added - matZonotope/contains: added - matZonotope/randPoint: bug fix - models: moved distributed model files into ./model folder - neuralNetwork/calcSensitivity: fixed bug with incorrect size - neuralNetwork/computeReducedNetwork: added, computes a reduced network with nice verification guarantees - neuralNetwork/explain: added, computes provably sufficient explanations - n 8000 n: added ability to verify graph neural networks - nnActivationLayer: bug fix, large domains - polygon/minkDiff: bug fix, reset vertices property - polytope/project: bug fix, empty polytope did not return the correct polytope - polytope/representa: emptySet, bug fix - polytope/zonotope: added method 'inner' - reachSet/hasTimeInterval: added - reachSet/plot: bug fix, no time interval - repeatability package: updates for clarity - simResult/add: bug fix - simResult/isemptyobject: bug fix - specification/check: improved check of reachSet/simResult for timed specifications - zonoBundle/generateRandom: bug fix - zonotope/compact: bug fix, outputs are now consistent for 'all' - zonotope/contains: speed up, if the zonotope represents an interval; bug fix, tolerances - zonotope/reduce: added two methods based scaling - zonotope/sparse|full: added - zonotope/zonotopeNorm: bug fix, minimizer was not returned properly
CORA v2025.1.1 - conPolyZono/contains: bug fix, numeric inputs - conPolyZono/randPoint: bug fix, avoid infinity loop - conZonotope/isFullDim: added tolerance option - ellipsoid/contains: bug fix - emptySet/interval: uses interval/empty now for consistency - emptySet/polytope: uses polytope/empty now for consistency - fullspace/interval: uses interval/Inf now for consistency - fullspace/polytope: uses polytope/Inf now for consistency - global/CORAtable/printTable: added, prints a Matlab tables in CORA design - global/CORAtable: added option to save content and reprint using a different design - global/equalDimCheck: bug fix, broadcasting - global/parameters: harmonized parameter validation - global/testCase: add case distinction for computing y_a - interval/center: fullspace intervals now return the origin instead of nan - linearSysDT/reach: bug fix, last output set Y(N) was computed from u(N-1) instead of u(N) - polygon/getHoles: added - polygon/getRegions: added - polygon/nrOfHoles: added - polygon/nrOfRegions: added - polygon/plot: bug fix, multiple regions - polygon/subtract: added - polytope/center: unconstrained polytopes now return the origin instead of nan - polytope/contains: bug fix, given set is empty - polytope/isemptyobject: bug fix, .inf/.empty cases - unitTests: added test for major coding compatibility issues - zonotope/plus: minor speed up
CORA v2025.1.0 - contDynamics/nrOfDims: added, renamed from nrOfStates - contDynamics/printSystem: bug fix, function handles not printed correctly - contSet/contains: major improvements, now also provides a certificate on its result - contSet/plot: bug fix, better handling of (partially) transparent colors - ellipsoid/zonotope: bug fix for 'inner:norm', returned zonotope now always has the desired number of generators - neuralNetwork/computePGDAttack: bug fix, no upper and lower bound is set per default (apart from the epsilon radius) - nonlinearSys/reach: fixes for special approximative reachability - global/codingConventions: harmonized code writing throughout CORA - global/macros/CORAGITBRANCH: added, returns the current git branch name - global/printMatrix: bug fix, clearline flag was ignored if matrix has all zeros - polygon/compact: bugfix for Douglas Peuker algorithm - polyZonotope/exponentMatrix/id: improved merging of redundant exponents and ids - polyZonotope/polyMap: bug fix, E with all-zero columns - zonotope/reduce: added order reduction method from the Sadraddini-Tedrake paper
CORA v2025.0.3 - conZonotope/randPoint: bug fix - global/CORAtable: added design 'markdown', bug fixes - global/animations: added, allows users to animate computed sets for videos - global/exponentialMatrix: removed helper class, functionality sufficiently covered by taylorLinSys - global/videos: generalized functionality - hybridDynamics: bug fixes - linearSystems/reach: bug fixes, adaptive algorithm - linearSystems/reachBackward: bug fixes - polytope/mtimes: bug fix, multiplication with all-zero matrix - polytope/plot: bug fix, unbounded sets - reachSet/plot: bug fix, empty reachSet object - repeatability package: added template to run CORA code on servers which can be used as repeatability package - unitTests/ci: added script to run ci via docker - zonotope/contains: bug fix, point in zonotope
CORA v2025.0.2 - conZonotope: A & b get converted to double now - global/CORAlinprog: bug fix, problem fields not given as double - global/print: bug fixes - global/thirdparty/fourier: added mac mex file - linearSys/reach: refactored adaptive algorithm - polytope/center: added 'avg' method for v-polytope - polytope/contains: bug fix in v-polytope
CORA v2025.0.0 - New reachability algorithms: We have added a novel set-based reachability algorithm for computing inner approximations of nonlinear systems. Furthermore, we have integrated recently proposed backward reachability algorithms for linear continuous-time systems. - New spectrahedral shadow class: We added a new set representation spectraShadow to CORA (Sec. 2.2.1.10): Spectrahedral shadows can be seen as the semidefinite generalization of polytopes, and can represent a large variety of convex sets. In particular, every convex set representation implemented in CORA can be represented as a spectrahedral shadow. - Improved neural network verification and new set-based training: We improved the code to verify neural networks and harmonized it with all other CORA modules. Additionally, we added a novel approach to train verifiably robust networks both in the supervised and in the reinforcement learning setting. Please visit Sec. 6 for more information. - Reachset-conformance identification: We added several new functionalities to the reachset-conformance identification in CORA. Please visit Sec. 4.1.10 for details. - Verification of dynamic systems using signal temporal logic: Improvements have been made how signal temporal logic can be used to verify dynamic systems, in particular using a new incremental algorithm to verify hybrid systems. - Overhaul of dynamic systems: We overhauled all dynamics system classes to ensure the correctness of our implementation and improve maintainability. This also comes with an updated syntax for hybrid systems as described in Sec. 4.3, in particular how reset functions are constructed. - Polytopes: Our polytope class got a massive overhaul with several new functionalities. Vertex representation and halfspace representation can now also be instantiated independently from another, making the usage more flexible. Visit Sec. 2.2.1.4 for details. - Matrix sets: We improved the performance of matrix sets by restructuring their properties as multi-dimensional matrices instead of cell arrays. Please visit Sec. 3 for the new syntax. - Miscellaneous: Minor improvements have been made in various parts of the code: Some basic functionality runs more efficiently, standardized input argument validation and more accurate error messages enhance the responsiveness, and more unit tests ensure greater reliability. Please also have a look at Appendix A.12 for deprecated functionality and their replacements.
CORA v2024.4.1 - ci: limit number of cpu threads to 4 - contSet/plotRandPoint: added option to plot in 1d and 3d - global/ndimCross: simplify code, added unit test - hybridAutomaton/simulate: major bugfix for simulation with inputs - hybridAutomaton/simulate: optimized speed and numeric stability - installCORA: bug fix, limit number of cpu threads in non-interactive installation (e.g. in docker) - polytope/isIntersecting: bugfix for 1D case - unitTests/test_docstring: bug fix, allow calls of "yalmiperror"
CORA v2024.4.0 - polytope/contains: bug fix, 1D case - polytope/supportFunc: bug fix, improved numeric stability - polytope: extension and refactor, vertex representation and halfspace representation can now be instantiated independently from another - reachSet/isemptyobject: bug fix - stl/modelCheckTrace: bug fix 'next', time within tolerance - zonotope/reduceUnderApprox: bug fix
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