Community best practices are useful for helping use a software product more effectively. I’ve just completed a small project using the Z3 solver. Here are some things I’ve learned:
- My project involves an optimization problem: for a subset of Boolean variables, maximize the count of how many are true. My specific problem is solved much faster with Z3 by converting to a decision problem: set up a base problem to solve for the count being at least a certain fixed number, and iterate using bisection search to find the highest number satisfied. Bisection has been used for this problem before. Also, certain methods may possibly reduce the number of bisection steps.
- Using Z3 “tactics” can greatly speed up the solve process. I found a good combination of tactics by trial and error, guided in part by the descriptions of the tactics. ChatGPT was of some help in finding good selections to try. An interesting paper discusses use of Monte Carlo tree search to define a good chain of tactics. The branching factor here is high, perhaps around 1000, though there are some redundancies in this number. Training multi-step MCTS might be expensive, but doing this once to get a good static chain of tactics might be worthwhile.
- The strength of Z3 is in its extremely broad functionality, more so than its raw compute performance. It would be a daunting task for the Z3 team to fully optimize every possible solve option. I examined some of the SMT solver competitions to find faster codes. CVC5 on one case I tried was about twice as fast as Z3; I’ve seen similar reports in the literature. Presently I don’t find it worth the switching costs to use CVC5. One approach might be to use the very capable tactics engine of Z3 and pass the resulting modified problem to CVC5.
- The specific formulation of the problem can make a big difference in solver performance. I’ve already seen this in the area of iterative linear solvers, for example diagonal matrix scaling can dramatically help (conjugate gradients) or hurt (multigrid) solver performance. Same thing here. Hence the huge importance in good “preprocessing“ for SAT/SMT solvers. One could wish the solver could handle all this automatically without user intervention. However, these powerful tools must be brandished very carefully for maximum effect.
- Generally, one should move as much of the problem outside of the solver as possible, since the solver is the long pole in the tent in terms of scalability. For example if there is a Z3 integer that must be limited to a certain range and additionally some values in the interval must be blacklisted, it’s better, if possible, to compress all of the valid values into a single interval, to make testing for validity simpler in the Z3 code.
- Along these lines: the Z3 tactics for propagating constants are not perfect; thus it can help to manually propagate constants (though this unfortunately makes the code more messy). This propagation can also sometimes allow for removal of unneeded constraints, further speeding up performance. Relatedly, some intriguing work by Benjamin Mikek shows how one can use the LLVM code optimizer to optimize the SMT problem in a way that is complementary to Z3 tactics, achieving significant speedup (for more info see here, here and here). I haven’t tried this but it seems promising.
- Because of the scalability challenge of SMT solvers, various simplifying heuristics to modify the problem can be helpful. For example: solving a subproblem of the main problem and holding the resulting variables fixed in order to solve the rest of the problem. Or solving a simpler, smaller problem first to determine variable presets for the full problem. With these heuristics, one does not in general find the true global optimum; but the result may be adequate.
- CPU threading does not work for my case (Z3 Python, macOS). Perfect parallelization of SAT and SMP is an unsolved (and perhaps in some sense not fully solvable) problem. One can naïvely parallelize bisection search by converting to trisection, etc., but this does not give perfect speedup (specif., log(P) speedup on P threads). Improvements to parallel bisection in some cases may be possible. Recent work by Armin Biere and colleagues looks promising; as I read it, near perfect speedup up to eight threads (at least for some problems).
- Some of the main developers of Z3 are on Stack Overflow and have been active in the past answering questions. This seems very useful.
Resources like Handbook of Satisfiability and the proceedings of various SAT/SMT conferences seem helpful. More information on best practices for non-expert practitioners would be a great help to the community. If you know of any good resources, please share in the comments.