diff --git a/.gitignore b/.gitignore
index afb23e1182b84001412cc1bda873ec9f47147741..e908def8b77c8504d79c2b265be235fa226fac64 100644
--- a/.gitignore
+++ b/.gitignore
@@ -17,4 +17,6 @@ map_package/
**/output.json
docs/build/
docs/source/_autosummary/
-**/.ipynb_checkpoints/
\ No newline at end of file
+**/.ipynb_checkpoints/
+**.whl
+**.tar.gz
diff --git a/Licence.txt b/Licence.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b6568d61827b94921c9279434071c72983b0c125
--- /dev/null
+++ b/Licence.txt
@@ -0,0 +1,32 @@
+University of Illinois/NCSA Open Source License
+
+Copyright (c) 2020 Mitra's Lab at UIUC. All rights reserved.
+
+Developed by: Mitra's Lab
+
+Permission is hereby granted, free of charge, to any person
+obtaining a copy of this software and associated documentation files
+(the "Software"), to deal with the Software without restriction,
+including without limitation the rights to use, copy, modify, merge,
+publish, distribute, sublicense, and/or sell copies of the Software,
+and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+* Redistributions of source code must retain the above copyright notice,
+ this list of conditions and the following disclaimers.
+
+* Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimers in the
+ documentation and/or other materials provided with the distribution.
+
+* Neither the names of Mitra's Lab nor the names of its
+ contributors may be used to endorse or promote products derived from
+ this Software without specific prior written permission.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS WITH
+THE SOFTWARE.
\ No newline at end of file
diff --git a/README.pdf b/README.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..faef40cc398efdecb9dce490b3761481a764ecc6
Binary files /dev/null and b/README.pdf differ
diff --git a/README.txt b/README.txt
index 42127f663d003c959f8554108667f86f960be3d0..c58e4e693c63016161ac6cc97c8aaba121f61958 100644
--- a/README.txt
+++ b/README.txt
@@ -1,12 +1,18 @@
-This is the repeatability evaluation package for the tool paper "Verse: A Python library for reasoning about multi-agent hybrid system scenarios"
+This is the repeatability evaluation package for the tool paper "Verse: A Python library for reasoning about multi-agent hybrid system scenarios". The "README.txt" file contains instruction to reproduce all experiments in the paper. A PDF version of the file can be found in "README.pdf".
###########################
+The link to the artifact on Figshare is:
+https://figshare.com/articles/software/Verse_A_Python_library_for_reasoning_about_multi-agent_hybrid_system_scenarios/21433125
+
The link to the artifact on Google drive is:
+https://drive.google.com/file/d/1MXVTnsqtt1YVOaWZDcgy_gvuC7d_hH7F/view?usp=sharing
-The link to the artifact on Figshare is:
+A detailed interactive tutorial for verse can be found at:
+https://github.com/AutoVerse-ai/Verse-library/blob/tutorial/tutorial/Verse_Tutorial_Drone.ipynb
+and a PDF version of the tutorial is included in the artifact as "tutorial.pdf".
-The link to the source code git repository for Verse is:
+The tool will be made available publicly if the paper gets accepted.
###########################
@@ -14,10 +20,16 @@ The run-time for regenerating data in Table 1 in the paper is approximately 2650
The run-time for regenerating data in Simulation section of Table 2 in the paper is approximately 174s (~3min).
-The run-time for regenerating data in Reach section of Table 2 in the paper is approximately ?s (~?min).
+The run-time for regenerating data in Reach section of Table 2 in the paper is approximately 4682s (~78min).
###########################
+The first step for replicating the experiments in the paper is to install Verse and its dependencies.
+The dependencies for Verse can be installed using following command in the root directory of artifact
+ python3 -m pip install -r requirements_local.txt
+Verse can be installed using following command in the root directory of artifact
+ python3 -m pip install -e .
+
To replicate our experiments from the paper, please run following commands from the root directory of the artifact.
1. For results in Table 1 Run command
python3 exprs.py
@@ -42,11 +54,13 @@ The results for all experiments in Table 1 will be generated as below at the end
& change init & 24 & 14.93 & 431 & 12.98 & 436 & 4.07 & 75.91 \\
& change ctlr & 45 & 16.1 & 431 & 8.49 & 438 & 4.38 & 78.19 \\
- Verification: Run command
+ Reach: Run command
python3 inc-expr.py v
The results for the experiments in Table 2 section Verification will be generated as below at the end of execution
- # TODO:
-
+ & repeat & 105 & 464.77 & 498 & 58.99 & 482 & 3.23 & 76.79 \\
+ & change init & 49 & 384.84 & 486 & 362.25 & 500 & 3.7 & 73.21 \\
+ & change ctlr & 93 & 428.83 & 498 & 227.49 & 491 & 4.0 & 73.44 \\
+
3. To reproduce Fig. 1,
Center: Run command
python3 demo/tacas2023/exp1/exp1_sim.py p
@@ -57,7 +71,7 @@ The results for all experiments in Table 1 will be generated as below at the end
4. To reproduce Fig. 4, from left to right
(1) Run command
- python3 python3 demo/tacas2023/exp9/exp9_dryvr.py pl
+ python3 demo/tacas2023/exp9/exp9_dryvr.py pl
(2)-(3) Run command
python3 demo/tacas2023/exp9/exp9_dryvr.py pc
@@ -85,9 +99,9 @@ Verse will automatically open a browser window to show the resulting plot. The r
7. To reproduce Fig. 9 in Appendix,
- Left: Run command
+ Left: Run command
python3 demo/tacas2023/exp6/exp6_neureach.py p
- Verse will automatically open a browser window to show the resulting plot.
+ Verse will automatically open a browser window to show the resulting plot. Note that due to the randomization in NeuReach's algorithm, the generated figure can be slightly different from the one included in the paper.
Right: Run command
python3 demo/tacas2023/exp6/exp6_dryvr.py p
@@ -112,18 +126,18 @@ Verse will automatically open a browser window to show the resulting plot.
11. To reproduce Fig. 15 in Appendix
Left: Run command
- python3
+ python3 demo/tacas2023/exp11/inc-expr.py snp
Verse will automatically open a browser window to show the resulting plot.
Right: Run command
- python3
+ python3 demo/tacas2023/exp11/inc-expr.py vnp
Verse will automatically open a browser window to show the resulting plot.
12. To reproduce Fig. 16 in Appendix
Left: Run command
- python3
+ python3 demo/tacas2023/exp11/inc-expr.py s8p
Verse will automatically open a browser window to show the resulting plot.
Right: Run command
- python3
+ python3 demo/tacas2023/exp11/inc-expr.py v8p
Verse will automatically open a browser window to show the resulting plot.
diff --git a/README_MD/README.md b/README_MD/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..e53d7c629eb57e7d44b8e66d71737b9af5490187
--- /dev/null
+++ b/README_MD/README.md
@@ -0,0 +1,235 @@
+This is the repeatability evaluation package for the tool paper "Verse: A Python library for reasoning about multi-agent hybrid system scenarios". <code>README.txt</code> contains the instruction to reproduce all experiments in the paper. A PDF version of the file can be found at <code>README.pdf</code>.
+
+# Artifact Link
+
+The link to the artifact on Figshare is:
+
+https://figshare.com/articles/software/Verse_A_Python_library_for_reasoning_about_multi-agent_hybrid_system_scenarios/21433125
+
+The link to the artifact on Google drive is:
+
+https://drive.google.com/file/d/1MXVTnsqtt1YVOaWZDcgy_gvuC7d_hH7F/view?usp=sharing
+
+A detailed interactive tutorial for verse can be found at:
+
+https://github.com/AutoVerse-ai/Verse-library/blob/tutorial/tutorial/Verse_Tutorial_Drone.ipynb
+
+and a PDF version of the tutorial is included in the artifact as "tutorial.pdf".
+
+The tool will be made available publicly if the paper gets accepted.
+# Estimated Runtime
+
+The run-time for regenerating data in Table 1 in the paper is approximately 2650s (~44min).
+
+The run-time for regenerating data in Simulation section of Table 2 in the paper is approximately 174s (~3min).
+
+The run-time for regenerating data in Reach section of Table 2 in the paper is approximately 4682s (~78min).
+
+# Installation Instructions
+
+The first step for replicating the experiments in the paper is to install Verse and its dependencies.
+
+The dependencies for Verse can be installed using following command in the root directory of artifact
+```
+ python3 -m pip install -r requirements_local.txt
+```
+Verse can be installed using following command in the root directory of artifact
+```
+ python3 -m pip install -e .
+```
+
+# Experiment Replication Instructions
+To replicate our experiments from the paper, please run following commands from the root directory of the artifact.
+1. For results in Table 1 Run command
+ ```
+ python3 exprs.py
+ ```
+ The results for all experiments in Table 1 will be generated as below at the end of execution.
+ ```
+ 2 & Q & M6 & DryVR & No & 8 & 53.82\\
+ 2 & Q & M5 & DryVR & No & 5 & 17.76\\
+ 2 & Q & M5 & NeuReach & No & 5 & 475.47\\
+ 3 & Q & M5 & DryVR & No & 7 & 38.26\\
+ 7 & C & M2 & DryVR & No & 37 & 343.26\\
+ 3 & C & M1 & DryVR & No & 5 & 22.51\\
+ 3 & C & M3 & DryVR & No & 4 & 34.12\\
+ 3 & C & M4 & DryVR & No & 7 & 116.65\\
+ 3 & C & M1 & DryVR & Yes & 5 & 29.84\\
+ 2 & C & M1 & DryVR & No & 5 & 14.66\\
+ 2 & C & M1 & NeuReach & No & 5 & 585.19\\
+ ```
+
+2. For results in Table 2,
+
+ <strong>Simulation</strong>: Run command
+ ```
+ python3 inc-expr.py s
+ ```
+
+ The results for the experiments in Table 2 section Simulation will be generated as below at the end of execution
+
+ ```
+ & repeat & 45 & 16.92 & 430 & 1.05 & 438 & 3.83 & 83.33 \\
+ & change init & 24 & 14.93 & 431 & 12.98 & 436 & 4.07 & 75.91 \\
+ & change ctlr & 45 & 16.1 & 431 & 8.49 & 438 & 4.38 & 78.19 \\
+ ```
+
+ <strong>Reach</strong>: Run command
+ ```
+ python3 inc-expr.py v
+ ```
+ The results for the experiments in Table 2 section Verification will be generated as below at the end of execution
+ ```
+ & repeat & 105 & 464.77 & 498 & 58.99 & 482 & 3.23 & 76.79 \\
+ & change init & 49 & 384.84 & 486 & 362.25 & 500 & 3.7 & 73.21 \\
+ & change ctlr & 93 & 428.83 & 498 & 227.49 & 491 & 4.0 & 73.44 \\
+ ```
+
+3. To reproduce Fig. 1,
+
+ <strong>Center</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp1/exp1_sim.py p
+ ```
+ Verse will automatically open a browser window to show the resulting plot as below.
+
+ 
+
+
+ <strong>Right</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp1/exp1.py p
+ ```
+ 
+
+4. To reproduce Fig. 4, from left to right
+
+ <strong>(1)</strong> Run command
+ ```
+ python3 demo/tacas2023/exp9/exp9_dryvr.py pl
+ ```
+ The result will looks like below.
+ 
+
+ <strong>(2)-(3)</strong> Run command
+ ```
+ python3 demo/tacas2023/exp9/exp9_dryvr.py pc
+ ```
+ Verse will automatically open two browser windows to show the two resulting plots as below. Note that the yellow boxes in the figures are drawn separately.
+ 
+
+ 
+
+ <strong>(4)</strong> Run command
+ ```
+ python3 demo/tacas2023/exp10/exp10_dryvr.py p
+ ```
+ The result will looks like below.
+ 
+
+5. To reproduce Fig. 6,
+
+ <strong>Left</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp2/exp2_straight.py p
+ ```
+ Verse will automatically open a browser window to show the resulting plot as below.
+ 
+
+ <strong>Center</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp2/exp2_curve.py p
+ ```
+ Verse will automatically open a browser window to show the resulting plot as below.
+ 
+
+ <strong>Right</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp4/exp4.py p
+ ```
+ Verse will automatically open a browser window to show the resulting plot as below.
+ 
+
+6. To reproduce Fig. 8 in Appendix, run command
+ ```
+ python3 demo/tacas2023/exp5/exp5.py p
+ ```
+ Verse will automatically open a browser window to show the resulting plot. The right figure is a zoom in of the left figure as shown below.
+ 
+
+7. To reproduce Fig. 9 in Appendix,
+
+ <strong>Left</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp6/exp6_neureach.py p
+ ```
+ Verse will automatically open a browser window to show the resulting plot as shown below. Note that due to the randomization in NeuReach's algorithm, the generated figure can be slightly different from the one included in the paper.
+ 
+
+ <strong>Right</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp6/exp6_dryvr.py p
+ ```
+ Verse will automatically open a browser window to show the resulting plot as shown below.
+ 
+
+8. To reproduce Fig. 10 in Appendix, run command
+ ```
+ python3 demo/tacas2023/exp7/exp7.py p
+ ```
+ Verse will automatically open two browser windows to show the plots as shown below.
+ 
+
+ 
+
+9. To reproduce Fig. 11 in Appendix, run command
+ ```
+ python3 demo/tacas2023/exp3/exp3.py p
+ ```
+ Verse will automatically open a browser window to show the resulting plot as shown below.
+ 
+
+10. To reproduce Fig. 12 in Appendix
+ <strong>Left</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp11/inc-expr.py sbp
+ ```
+ Verse will automatically open a browser window to show the resulting plot. as shown below
+ 
+
+ <strong>Right</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp11/inc-expr.py vbp
+ ```
+ Verse will automatically open a browser window to show the resulting plot as below.
+ 
+
+11. To reproduce Fig. 15 in Appendix
+ <strong>Left</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp11/inc-expr.py snp
+ ```
+ Verse will automatically open a browser window to show the resulting plot as below. Note that the red box in the figure is added seperately.
+ 
+
+ <strong>Right</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp11/inc-expr.py vnp
+ ```
+ Verse will automatically open a browser window to show the resulting plot as below. Note that the red box in the figure is added seperately.
+ 
+
+12. To reproduce Fig. 16 in Appendix
+ <strong>Left</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp11/inc-expr.py s8p
+ ```
+ Verse will automatically open a browser window to show the resulting plot as below. Note that the red box in the figure is added seperately.
+ 
+
+ <strong>Right</strong>: Run command
+ ```
+ python3 demo/tacas2023/exp11/inc-expr.py v8p
+ ```
+ Verse will automatically open a browser window to show the resulting plot as below. Note that the red box in the figure is added seperately.
+ 
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diff --git a/README_MD/exp9_2.png b/README_MD/exp9_2.png
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diff --git a/README_MD/exp9_3.png b/README_MD/exp9_3.png
new file mode 100644
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new file mode 100644
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Binary files /dev/null and b/README_MD/exp9_lab.png differ
diff --git a/README_MD/expinc_simu.png b/README_MD/expinc_simu.png
new file mode 100644
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diff --git a/README_MD/expinc_veri.png b/README_MD/expinc_veri.png
new file mode 100644
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Binary files /dev/null and b/README_MD/expinc_veri.png differ
diff --git a/README_MD/figure8.png b/README_MD/figure8.png
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/README_MD/inc_ctrl_simu.png b/README_MD/inc_ctrl_simu.png
new file mode 100644
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Binary files /dev/null and b/README_MD/inc_ctrl_simu.png differ
diff --git a/README_MD/inc_ctrl_veri.png b/README_MD/inc_ctrl_veri.png
new file mode 100644
index 0000000000000000000000000000000000000000..c03739cd7a8961978db48cab3574ab9312b5cca3
Binary files /dev/null and b/README_MD/inc_ctrl_veri.png differ
diff --git a/README_MD/inc_init_simu.png b/README_MD/inc_init_simu.png
new file mode 100644
index 0000000000000000000000000000000000000000..76f3bacdc62b0875ef88c5c3e52728ddee970b96
Binary files /dev/null and b/README_MD/inc_init_simu.png differ
diff --git a/README_MD/inc_init_veri.png b/README_MD/inc_init_veri.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e8bd69bfeb9abebe9bc1b2cc8df5bb5f75e1e13
Binary files /dev/null and b/README_MD/inc_init_veri.png differ
diff --git a/README_MD/m1.png b/README_MD/m1.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a7b24158d61d76146783894f769b9286221abd0
Binary files /dev/null and b/README_MD/m1.png differ
diff --git a/README_MD/m2.png b/README_MD/m2.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcb580654086060d63bb1d5f040da7eb0df759f2
Binary files /dev/null and b/README_MD/m2.png differ
diff --git a/README_MD/m3.png b/README_MD/m3.png
new file mode 100644
index 0000000000000000000000000000000000000000..d68ad32928cd1d7f3656323af8dd931a2cbc1afb
Binary files /dev/null and b/README_MD/m3.png differ
diff --git a/README_MD/m4.png b/README_MD/m4.png
new file mode 100644
index 0000000000000000000000000000000000000000..0aa89b23e8775ff297a89447959c5172530d27d7
Binary files /dev/null and b/README_MD/m4.png differ
diff --git a/README_MD/m5.png b/README_MD/m5.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a33f7d6629a17e92c4af08e189e083ac972ddf5
Binary files /dev/null and b/README_MD/m5.png differ
diff --git a/README_MD/m6.png b/README_MD/m6.png
new file mode 100644
index 0000000000000000000000000000000000000000..06e5c80ff4824338ecee5c06b8bdfe8ad2402068
Binary files /dev/null and b/README_MD/m6.png differ
diff --git a/README_MD/reach2.png b/README_MD/reach2.png
new file mode 100644
index 0000000000000000000000000000000000000000..686706dac751995584d7b5a20d7fcbcec86986e8
Binary files /dev/null and b/README_MD/reach2.png differ
diff --git a/README_MD/scenario.png b/README_MD/scenario.png
new file mode 100644
index 0000000000000000000000000000000000000000..346a42fcfed21030b1d4e92c597e7735110d5e6a
Binary files /dev/null and b/README_MD/scenario.png differ
diff --git a/README_MD/sec2_example-lab.PNG b/README_MD/sec2_example-lab.PNG
new file mode 100644
index 0000000000000000000000000000000000000000..e8e6604faa2a7c6a6f9fa4a3c3bf76460b09ee54
Binary files /dev/null and b/README_MD/sec2_example-lab.PNG differ
diff --git a/README_MD/sec2_example.PNG b/README_MD/sec2_example.PNG
new file mode 100644
index 0000000000000000000000000000000000000000..839f47801254471b1c92d57296f18fa4de8d6c0b
Binary files /dev/null and b/README_MD/sec2_example.PNG differ
diff --git a/README_MD/simulation.png b/README_MD/simulation.png
new file mode 100644
index 0000000000000000000000000000000000000000..7755a92fc3191ed8433f8df0aff211b1da03d742
Binary files /dev/null and b/README_MD/simulation.png differ
diff --git a/README_MD/simulation_2-lab.png b/README_MD/simulation_2-lab.png
new file mode 100644
index 0000000000000000000000000000000000000000..3da386dd2cec207eff1920887163d521ff911e16
Binary files /dev/null and b/README_MD/simulation_2-lab.png differ
diff --git a/README_MD/simulation_2.png b/README_MD/simulation_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9839df66a35184fdec0007c7d27743a80394e0ea
Binary files /dev/null and b/README_MD/simulation_2.png differ
diff --git a/README_MD/tracks1.pdf b/README_MD/tracks1.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..68b799aa7b32edb93f7ae8de2ab30e043bd4d16b
Binary files /dev/null and b/README_MD/tracks1.pdf differ
diff --git a/demo/ball/ball_bounces.py b/demo/ball/ball_bounces.py
index 97f1290cfdfae46e7de9f495c6964f6c7945fc49..835d467189d83d72b080470d91f01c1c03fe363c 100644
--- a/demo/ball/ball_bounces.py
+++ b/demo/ball/ball_bounces.py
@@ -92,7 +92,7 @@ if __name__ == "__main__":
# this may be the cause for the VisibleDeprecationWarning
# TODO: Longer term: We should initialize by writing expressions like "-2 \leq myball1.x \leq 5"
# "-2 \leq myball1.x + myball2.x \leq 5"
- traces = bouncingBall.simulate(40, 0.01)
+ traces = bouncingBall.simulate_simple(40, 0.01)
# TODO: There should be a print({traces}) function
fig = go.Figure()
fig = simulation_tree(
diff --git a/demo/dryvr_demo/vanderpol_demo2.py b/demo/dryvr_demo/vanderpol_demo2.py
index a0d2e8377306658f47a9f5cd1dcebce2317f3f22..cd398794b47627a00db6e0952762d54a49745754 100644
--- a/demo/dryvr_demo/vanderpol_demo2.py
+++ b/demo/dryvr_demo/vanderpol_demo2.py
@@ -25,8 +25,9 @@ if __name__ == "__main__":
tuple([AgentMode.Default]),
]
)
+ scenario.config.reachability_method = 'NeuReach'
traces = scenario.verify(
- 7, 0.05,reachability_method='NeuReach',
+ 7, 0.05,
params={
"N_X0":1,
"N_x0":500,
diff --git a/demo/tacas2023/exp1/exp1_sim.py b/demo/tacas2023/exp1/exp1_sim.py
index 567b1e42ef55bfeb141f6b023f8a115c07fb5a35..062edf3510e860dc2935e3cfb0d282cf7556e7e7 100644
--- a/demo/tacas2023/exp1/exp1_sim.py
+++ b/demo/tacas2023/exp1/exp1_sim.py
@@ -59,7 +59,7 @@ if __name__ == "__main__":
# traces.dump("./output1.json")
# traces = AnalysisTree.load('./output1.json')
start_time = time.time()
- traces = scenario.simulate(40, time_step, seed=4)
+ traces = scenario.simulate_simple(40, time_step, seed=4)
run_time = time.time() - start_time
traces.dump('demo/tacas2023/exp1/output1_sim.json')
# print({
diff --git a/demo/tacas2023/exp1/output1.json b/demo/tacas2023/exp1/output1.json
index c55516f893e8f3e247d570fecbe33ac1104af2bd..a41b4d4b06eef00769fb0f05b63d23e0354f8201 100644
--- a/demo/tacas2023/exp1/output1.json
+++ b/demo/tacas2023/exp1/output1.json
@@ -174,7 +174,7 @@
[
0.6,
10.22982409802144,
- 0.8771719354665609,
+ 0.8771719354665612,
0.2730381911045079,
1.6253234519623077,
0.5905698798949626,
@@ -183,7 +183,7 @@
[
0.6,
9.706107958408854,
- 0.17717012522055497,
+ 0.1771701252205546,
-0.11225336467573119,
-1.4284668253306552,
0.5905698798949608,
@@ -202,7 +202,7 @@
0.7,
9.771697069148768,
0.24114845655748463,
- -0.06835366048692874,
+ -0.06835366048692866,
-1.4284668253306552,
0.6889981932107878,
-0.8642453958762409
@@ -210,19 +210,19 @@
[
0.8,
10.15468809570153,
- 1.0149716786663932,
- 0.20835339074718695,
+ 1.014971678666393,
+ 0.2083533907471869,
1.6253234519623088,
- 0.7874265065266166,
+ 0.7874265065266167,
0.9846945932305871
],
[
0.8,
9.819151535071056,
- 0.3149697624803764,
+ 0.3149697624803766,
-0.04538385702173639,
-1.4284668253306514,
- 0.7874265065266148,
+ 0.7874265065266147,
-3.302552684707966
],
[
@@ -231,22 +231,22 @@
1.0986357545201,
0.18538337763631332,
1.625323451962305,
- 0.8858548198424434,
+ 0.8858548198424436,
2.9025526847079655
],
[
0.9,
9.853299377691007,
- 0.3986338192635919,
+ 0.39863381926359187,
-0.21050982918804234,
-1.4284668253306514,
- 0.8858548198424416,
+ 0.8858548198424414,
-3.302552684707966
],
[
1.0,
10.102614074737732,
- 1.1921426762257072,
+ 1.192142676225708,
0.3305095595816529,
1.625323451962305,
0.984283133158272,
@@ -255,7 +255,7 @@
[
1.0,
9.853299377691007,
- 0.49214079609903805,
+ 0.4921407960990375,
-0.21050982918804234,
-1.6253234519623088,
0.9842831331582669,
@@ -264,7 +264,7 @@
[
1.1,
10.102614074737732,
- 1.2954924052073367,
+ 1.295492405207337,
0.3305095595816529,
1.4284668253306547,
1.0827114464741,
@@ -272,8 +272,8 @@
],
[
1.1,
- 9.778660517368856,
- 0.5954905250806455,
+ 9.77866051736886,
+ 0.595490525080645,
-0.045382194952517746,
-1.6253234519623088,
1.0827114464740928,
@@ -281,62 +281,62 @@
],
[
1.2,
- 10.137881506451698,
- 1.408685044093739,
+ 10.137881506451695,
+ 1.40868504409374,
0.18538192534612832,
1.4284668253306547,
- 1.1811397597899254,
+ 1.181139759789925,
3.302552684707966
],
[
1.2,
9.68118295362383,
- 0.7086831101024987,
- -0.0021237385491611194,
+ 0.708683110102498,
+ -0.0021237385491608696,
-1.8221800785939584,
- 1.1811397597899205,
- -1.064245395876239
+ 1.181139759789921,
+ -1.064245395876238
],
[
1.3,
10.186144913538806,
- 1.531720435738523,
- 0.1621232590806889,
+ 1.531720435738524,
+ 0.16212325908068864,
1.2316101986989962,
1.2795680731057524,
- 0.6642453958762387
+ 0.6642453958762377
],
[
1.3,
- 9.601923300705373,
- 0.8317185017472819,
+ 9.601923300705376,
+ 0.831718501747281,
0.0037227844377918234,
-1.8221800785939584,
1.2795680731057475,
- -1.064245395876239
+ -1.064245395876238
],
[
1.4,
- 10.216190513105687,
- 1.66459873730181,
+ 10.216190513105683,
+ 1.6645987373018103,
0.12627692539190832,
1.2316101986989962,
1.3779963864215805,
- 0.6642453958762387
+ 0.6642453958762377
],
[
1.4,
- 9.559098601022411,
- 0.9645967494430684,
+ 9.559098601022416,
+ 0.9645967494430681,
0.0037227844377918234,
- -0.7206160229828165,
+ -0.7206160229828174,
1.3779963864215734,
-0.5846945932305878
],
[
1.5,
- 10.216190513105687,
- 1.8073197916097739,
+ 10.216190513105683,
+ 1.8073197916097747,
0.11627694600557427,
0.18932419976702464,
1.476424699737409,
@@ -344,19 +344,19 @@
],
[
1.5,
- 9.534491574698666,
- 1.1073178037510019,
+ 9.53449157469867,
+ 1.107317803751001,
0.0302559081948797,
- -0.7206160229828165,
+ -0.7206160229828174,
1.4764246997373989,
-0.5846945932305878
],
[
1.6,
- 10.209801056130738,
+ 10.209801056130733,
1.959883728565609,
0.12234605748226779,
- 0.22847445640368147,
+ 0.2284744564036824,
1.5748530130532346,
0.9846945932305875
],
@@ -371,8 +371,8 @@
],
[
1.7,
- 10.185194029118087,
- 2.122290445536731,
+ 10.185194029118083,
+ 2.1222904455367306,
0.12234605748226779,
1.4284668253306547,
1.6732813263690631,
@@ -381,1406 +381,1406 @@
[
1.7,
9.519727327701299,
- 1.422288458366866,
- 0.004723990193386068,
+ 1.422288458366867,
+ 0.004723990193385867,
-1.6253234519623088,
- 1.396079768783589,
+ 1.3960797687835886,
-0.9846945932305887
],
[
1.8,
10.170429782120719,
- 2.3086343776062868,
- 0.11527574026861179,
+ 2.308634377606275,
+ 0.11527574026861198,
1.4284668253306547,
- 2.147339510586181,
+ 2.1473395105861814,
0.5846945932305881
],
[
1.8,
9.523180861045228,
- 1.5804437262334026,
- 0.004723990193386068,
- -1.8221800785939577,
+ 1.5804437262334141,
+ 0.004723990193385867,
+ -1.8221800785939584,
1.297651455467762,
-0.5846945932305878
],
[
1.9,
10.137447651451337,
- 2.509074697905167,
- 0.11527574026861179,
- 1.2316101986989956,
- 2.147339510586181,
+ 2.5090746979051555,
+ 0.11527574026861198,
+ 1.2316101986989962,
+ 2.1473395105861814,
0.9846945932305875
],
[
1.9,
9.553226646778322,
- 1.724502502539917,
- 0.030255908212824333,
- -1.8221800785939577,
+ 1.7245025025399285,
+ 0.030255908212951023,
+ -1.8221800785939584,
1.1992231421519355,
-0.5846945932305878
],
[
2.0,
10.058187709060332,
- 2.6996721411750766,
- 0.12234605743220375,
- 1.2316101986989956,
+ 2.699672141175065,
+ 0.12234605743217186,
+ 1.2316101986989962,
2.0489111972703538,
0.9846945932305875
],
[
2.0,
- 9.583272273508564,
- 1.8587183898755535,
- 0.03765346305629987,
+ 9.583272273508568,
+ 1.8587183898755653,
+ 0.03765346305633178,
-0.8336803879715813,
1.100794828836109,
-0.584694593230588
],
[
2.1,
- 9.978928029008864,
- 2.880426798810791,
- 0.12974377685778413,
+ 9.978928029008861,
+ 2.8804267988107792,
+ 0.12974377685765603,
0.34153882139244585,
1.9504828839545265,
0.984694593230588
],
[
2.1,
- 9.595100437887641,
- 1.983091503518903,
- 0.04348649805462706,
+ 9.595100437887645,
+ 1.9830915035189145,
+ 0.04348649805465498,
-0.8336803879715813,
1.0023665155202814,
-0.584694593230588
],
[
2.2,
- 9.91788570797187,
- 3.0513385435255254,
- 0.15651275247915403,
+ 9.917885707971866,
+ 3.051338543525514,
+ 0.1565127524791261,
0.34153882139244596,
1.852054570638699,
0.984694593230588
],
[
2.2,
- 9.582621748727586,
- 2.097621734564126,
- 0.04348649805462706,
+ 9.582621748727503,
+ 2.0976217345641377,
+ 0.04348649805465498,
-0.7352520746557543,
0.9039382022044544,
- -0.9846945932305877
+ -0.9846945932305874
],
[
2.3,
9.858734725134585,
- 3.212407538498075,
- 0.15651275247915403,
+ 3.212407538498062,
+ 0.1565127524791261,
0.34153882139244596,
1.7536262573228725,
- 0.5846945932305874
+ 0.584694593230587
],
[
2.3,
- 9.558014766161111,
- 2.2023091855443098,
- 0.03765346307421612,
+ 9.558014766161028,
+ 2.2023091855443226,
+ 0.037653463074247585,
-0.5644826639595315,
- 0.8055098888886278,
- -0.9846945932305877
+ 0.8055098888886283,
+ -0.9846945932305874
],
[
2.4,
- 9.831936216672034,
- 3.363633620546952,
- 0.12974358228098457,
- 0.07234109738039624,
+ 9.831936216672117,
+ 3.3636336205469415,
+ 0.12974358228098337,
+ 0.07234109738039596,
1.6551979440070455,
- 0.5846945932305874
+ 0.584694593230587
],
[
2.4,
- 9.533407687832154,
- 2.297153753925014,
- 0.03765346307421612,
- -0.46605435064370454,
- 0.707081575572801,
+ 9.533407687832087,
+ 2.2971537539250266,
+ 0.037653463074247585,
+ -0.4660543506437045,
+ 0.7070815755728015,
-0.5846945932305887
],
[
2.5,
- 9.807329175440579,
- 3.5050169528563364,
- 0.12974377686417893,
- 0.07234109738039624,
- 1.5567696306912189,
+ 9.807329175440662,
+ 3.5050169528563258,
+ 0.1297437768641787,
+ 0.07234109738039596,
+ 1.5567696306912175,
0.9846945932305882
],
[
2.5,
- 9.496766108602106,
- 2.3821555422420326,
- 0.04348649805869895,
- -0.769343124164605,
+ 9.49676610860211,
+ 2.382155542242045,
+ 0.04348649805869957,
+ -0.769343124164604,
0.6086532622569747,
-0.5846945932305887
],
[
2.6,
- 9.782722097111622,
- 3.6365573722400932,
- 0.15651275246914134,
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],
[
39.900000000000006,
- -5.775754093655063,
- 8.099042177754441,
- 4.121764900799527,
- 0.1657722637784475,
- 0.04177756647978417,
- 0.3937641463387152
+ -5.775754092657294,
+ 8.099042177012862,
+ 4.121764899706216,
+ 0.16577226377844922,
+ 0.041777566479801465,
+ 0.3937641463387296
],
[
39.900000000000006,
- -7.413098851144378,
- 6.750473370846548,
- 4.026993480784749,
- -0.37267755564290445,
- -0.4473070889779613,
- -0.634973349775019
+ -7.4130988505225215,
+ 6.750473370065436,
+ 4.026993480844117,
+ -0.37267755564291105,
+ -0.44730708897794574,
+ -0.6349733497750045
],
[
40.0,
- -5.80444699372541,
- 8.082386777702895,
- 4.121764900799527,
- 0.1657722637784475,
- -0.01864306176539074,
- 0.3937641463387152
+ -5.804446992727641,
+ 8.082386776961325,
+ 4.121764899706216,
+ 0.16577226377844922,
+ -0.01864306176537478,
+ 0.3937641463387296
]
]
},
diff --git a/demo/tacas2023/exp10/exp10_dryvr.py b/demo/tacas2023/exp10/exp10_dryvr.py
index 8aa1fda1a3e6f2b22ace969a9e9d6f86b8cca44e..5684896a5586a0b850fe42989e5ef950928ddc76 100644
--- a/demo/tacas2023/exp10/exp10_dryvr.py
+++ b/demo/tacas2023/exp10/exp10_dryvr.py
@@ -114,6 +114,7 @@ if __name__ == "__main__":
# traces = AnalysisTree.load('demo/tacas2023/exp10/output10.json')
if len(sys.argv)>1 and sys.argv[1]=='p':
+ fig = pv.Plotter()
fig = plot3dMap(tmp_map, ax=fig)
fig = plot3dReachtube(traces, 'test1', 1, 2, 3, color = 'r', ax=fig)
fig = plot3dReachtube(traces, 'test2', 1, 2, 3, color = 'b', ax=fig)
diff --git a/demo/tacas2023/exp11/inc-expr.py b/demo/tacas2023/exp11/inc-expr.py
index 7d0c8aa386c8bd0b8728e67a5e9cf1bcd8484873..43eb2d6b10f9ee34d7301e67387847e8071b7038 100644
--- a/demo/tacas2023/exp11/inc-expr.py
+++ b/demo/tacas2023/exp11/inc-expr.py
@@ -70,7 +70,7 @@ def run(sim, meas=False):
traces.dump("main.json")
traces.dump("tree2.json" if meas else "tree1.json")
- if 'p' in arg:
+ if 'p' in arg and meas:
fig = go.Figure()
if sim:
fig = simulation_tree(traces, tmp_map, fig, 1, 2, print_dim_list=[1, 2])
diff --git a/demo/tacas2023/exp2/exp2_curve.py b/demo/tacas2023/exp2/exp2_curve.py
index 6b10a5e40d71c405a6d936359af8d218646353db..90727aed766ee1fbb65b5fb02727c4643f6b32fe 100644
--- a/demo/tacas2023/exp2/exp2_curve.py
+++ b/demo/tacas2023/exp2/exp2_curve.py
@@ -82,7 +82,7 @@ if __name__ == "__main__":
start_time = time.time()
traces = scenario.verify(40, 0.1, params={"bloating_method": 'GLOBAL'})
run_time = time.time()-start_time
- traces.dump('output2_curve.json')
+ traces.dump('./demo/tacas2023/exp2/output2_curve.json')
print({
"#A": len(scenario.agent_dict),
"A": "C",
diff --git a/demo/tacas2023/exp2/exp2_straight.py b/demo/tacas2023/exp2/exp2_straight.py
index fd669115e5f2fede4548332cec3b8978d58f0ba6..230af83fbbbde59dc432c23a30a1000730be9e17 100644
--- a/demo/tacas2023/exp2/exp2_straight.py
+++ b/demo/tacas2023/exp2/exp2_straight.py
@@ -81,7 +81,7 @@ if __name__ == "__main__":
start_time = time.time()
traces = scenario.verify(40, 0.1, params={"bloating_method": 'GLOBAL'})
run_time = time.time()-start_time
- traces.dump('output2_straight.json')
+ traces.dump('./demo/tacas2023/exp2/output2_straight.json')
print({
"#A": len(scenario.agent_dict),
diff --git a/demo/tacas2023/exp2/output2_curve.json b/demo/tacas2023/exp2/output2_curve.json
index 4d138c77a071a12776b5aca92c069a1a4afd8de5..fca63c3b878dbf151b0f0738a8f1661ff3a59350 100644
--- a/demo/tacas2023/exp2/output2_curve.json
+++ b/demo/tacas2023/exp2/output2_curve.json
@@ -5,7 +5,7 @@
"car2": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>",
"car3": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>"
},
- "assert_hits": {},
+ "assert_hits": null,
"child": [
1,
2
@@ -8708,7 +8708,7 @@
"car2": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>",
"car3": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>"
},
- "assert_hits": {},
+ "assert_hits": null,
"child": [
3
],
@@ -8981,6 +8981,38 @@
1.000001
]
]
+ ],
+ "car2": [
+ [
+ [
+ 28.977112372194274,
+ 1.6744085378198708,
+ 0.3802519254472876,
+ 0.499999
+ ],
+ [
+ 29.049340212997535,
+ 1.823547706948966,
+ 0.40615581832904235,
+ 0.500001
+ ]
+ ]
+ ],
+ "car3": [
+ [
+ [
+ 20.092610439278634,
+ 2.685914079733412,
+ -0.07773510741868193,
+ 0.999999
+ ],
+ [
+ 20.699974647681387,
+ 3.146789267223486,
+ 0.004998803032860807,
+ 1.000001
+ ]
+ ]
]
},
"mode": {
@@ -16748,11 +16780,14 @@
"car2": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>",
"car3": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>"
},
- "assert_hits": {
- "car1": [
- "Seperation"
- ]
- },
+ "assert_hits": [
+ {
+ "car1": [
+ "Seperation"
+ ]
+ },
+ 64
+ ],
"child": [],
"id": 2,
"init": {
@@ -17023,6 +17058,38 @@
1.000001
]
]
+ ],
+ "car2": [
+ [
+ [
+ 28.977112372194274,
+ 1.6744085378198708,
+ 0.3802519254472876,
+ 0.499999
+ ],
+ [
+ 29.049340212997535,
+ 1.823547706948966,
+ 0.40615581832904235,
+ 0.500001
+ ]
+ ]
+ ],
+ "car3": [
+ [
+ [
+ 20.092610439278634,
+ 2.685914079733412,
+ -0.07773510741868193,
+ 0.999999
+ ],
+ [
+ 20.699974647681387,
+ 3.146789267223486,
+ 0.004998803032860807,
+ 1.000001
+ ]
+ ]
]
},
"mode": {
@@ -19792,7 +19859,7 @@
"car2": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>",
"car3": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>"
},
- "assert_hits": {},
+ "assert_hits": null,
"child": [],
"id": 3,
"init": {
@@ -21981,6 +22048,38 @@
1.000001
]
]
+ ],
+ "car2": [
+ [
+ [
+ 30.15107236996941,
+ 2.4475121360332963,
+ 0.48876131604422574,
+ 0.499999
+ ],
+ [
+ 30.218343660949497,
+ 2.581157267590763,
+ 0.5092657440865304,
+ 0.500001
+ ]
+ ]
+ ],
+ "car3": [
+ [
+ [
+ 22.88969371917287,
+ 2.698582142193629,
+ -0.023191478347390878,
+ 0.999999
+ ],
+ [
+ 23.494632822855813,
+ 3.171372441690934,
+ 0.05698264103299597,
+ 1.000001
+ ]
+ ]
]
},
"mode": {
diff --git a/demo/tacas2023/exp2/output2_straight.json b/demo/tacas2023/exp2/output2_straight.json
index 5a72b6945d5db5791c450ca2b5096144fb98bbe6..ed49cba3cccf2359994562e47a4f22046da09047 100644
--- a/demo/tacas2023/exp2/output2_straight.json
+++ b/demo/tacas2023/exp2/output2_straight.json
@@ -5,7 +5,7 @@
"car2": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>",
"car3": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>"
},
- "assert_hits": {},
+ "assert_hits": null,
"child": [
1,
2
@@ -8624,7 +8624,7 @@
"car2": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>",
"car3": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>"
},
- "assert_hits": {},
+ "assert_hits": null,
"child": [
3
],
@@ -8841,6 +8841,38 @@
1.000001
]
]
+ ],
+ "car2": [
+ [
+ [
+ 29.38320863406757,
+ -0.0003027122496872423,
+ -0.0013908422116181564,
+ 0.499999
+ ],
+ [
+ 29.466791366092927,
+ 0.0003027122496872423,
+ 0.0013908422116181564,
+ 0.500001
+ ]
+ ]
+ ],
+ "car3": [
+ [
+ [
+ 20.296222622499567,
+ 2.9996972877503127,
+ -0.00040515983661082287,
+ 0.999999
+ ],
+ [
+ 20.903777377521592,
+ 3.0003027122496873,
+ 0.00040515983661082287,
+ 1.000001
+ ]
+ ]
]
},
"mode": {
@@ -11400,7 +11432,7 @@
"car2": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>",
"car3": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>"
},
- "assert_hits": {},
+ "assert_hits": null,
"child": [
4
],
@@ -11617,6 +11649,38 @@
1.000001
]
]
+ ],
+ "car2": [
+ [
+ [
+ 29.38320863406757,
+ -0.0003027122496872423,
+ -0.0013908422116181564,
+ 0.499999
+ ],
+ [
+ 29.466791366092927,
+ 0.0003027122496872423,
+ 0.0013908422116181564,
+ 0.500001
+ ]
+ ]
+ ],
+ "car3": [
+ [
+ [
+ 20.296222622499567,
+ 2.9996972877503127,
+ -0.00040515983661082287,
+ 0.999999
+ ],
+ [
+ 20.903777377521592,
+ 3.0003027122496873,
+ 0.00040515983661082287,
+ 1.000001
+ ]
+ ]
]
},
"mode": {
@@ -14176,7 +14240,7 @@
"car2": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>",
"car3": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>"
},
- "assert_hits": {},
+ "assert_hits": null,
"child": [],
"id": 3,
"init": {
@@ -14349,6 +14413,38 @@
1.000001
]
]
+ ],
+ "car2": [
+ [
+ [
+ 31.783208631712522,
+ -5.7680630062532234e-05,
+ -0.00036928263736628884,
+ 0.499999
+ ],
+ [
+ 31.866791368294937,
+ 5.7680630062532234e-05,
+ 0.00036928263736628884,
+ 0.500001
+ ]
+ ]
+ ],
+ "car3": [
+ [
+ [
+ 25.09622262224276,
+ 2.9999423193699375,
+ -0.00010404480793433815,
+ 0.999999
+ ],
+ [
+ 25.703777377757373,
+ 3.0000576806300625,
+ 0.00010404480793433815,
+ 1.000001
+ ]
+ ]
]
},
"mode": {
@@ -21276,7 +21372,7 @@
"car2": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>",
"car3": "<class 'verse.agents.example_agent.car_agent.NPCAgent'>"
},
- "assert_hits": {},
+ "assert_hits": null,
"child": [],
"id": 4,
"init": {
@@ -21449,6 +21545,38 @@
1.000001
]
]
+ ],
+ "car2": [
+ [
+ [
+ 31.783208631712522,
+ -5.7680630062532234e-05,
+ -0.00036928263736628884,
+ 0.499999
+ ],
+ [
+ 31.866791368294937,
+ 5.7680630062532234e-05,
+ 0.00036928263736628884,
+ 0.500001
+ ]
+ ]
+ ],
+ "car3": [
+ [
+ [
+ 25.09622262224276,
+ 2.9999423193699375,
+ -0.00010404480793433815,
+ 0.999999
+ ],
+ [
+ 25.703777377757373,
+ 3.0000576806300625,
+ 0.00010404480793433815,
+ 1.000001
+ ]
+ ]
]
},
"mode": {
diff --git a/demo/tacas2023/exp3/exp3.py b/demo/tacas2023/exp3/exp3.py
index 51bffb2880b12dfed8e4bee957e0306ff7c49fa9..4834e8c5f03ab8ca7078951020477fc81b5851c5 100644
--- a/demo/tacas2023/exp3/exp3.py
+++ b/demo/tacas2023/exp3/exp3.py
@@ -96,5 +96,5 @@ if __name__ == "__main__":
if len(sys.argv)>1 and sys.argv[1]=='p':
fig = go.Figure()
- fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace',combine_rect=3)
+ fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace', combine_rect=3)
fig.show()
diff --git a/demo/tacas2023/exp6/exp6_neureach.py b/demo/tacas2023/exp6/exp6_neureach.py
index 218bd317bce0861b700b38321def8bc1054522a7..21b8777726af88495edd65fcf61f830667fb4110 100644
--- a/demo/tacas2023/exp6/exp6_neureach.py
+++ b/demo/tacas2023/exp6/exp6_neureach.py
@@ -54,7 +54,7 @@ if __name__ == "__main__":
"N_t": 500,
"epochs": 50,
"_lambda": 5,
- "use_cuda": True,
+ "use_cuda": False,
'r': 0,
}
)
diff --git a/demo/tacas2023/exp6/output6_neureach.json b/demo/tacas2023/exp6/output6_neureach.json
index 0bc3e2b5fa1a56a76b9f9fe1940fb4dcdcf149c1..98bd0ce298bee51e59ed052a827f9612ae5cfa0d 100644
--- a/demo/tacas2023/exp6/output6_neureach.json
+++ b/demo/tacas2023/exp6/output6_neureach.json
@@ -64,29383 +64,26583 @@
"car1": [
[
0.0,
- -0.04986962199211121,
- -0.4893040359020233,
- -0.18230754137039185,
- 0.9914454817771912
+ 0.003049333691596985,
+ -0.5453978776931763,
+ -0.2542559504508972,
+ 0.9896840155124664
],
[
0.05,
- 0.09614383459091186,
- 0.4893040359020233,
- 0.18230754137039185,
- 1.0085545182228088
+ 0.061374001502990716,
+ 0.5453978776931763,
+ 0.2542559504508972,
+ 1.0103159844875336
],
[
0.05,
- 0.013856165409088128,
- -0.48631608486175537,
- -0.1735295057296753,
- 0.9948732256889343
+ 0.04862599849700927,
+ -0.5336856842041016,
+ -0.24056844413280487,
+ 0.9938714802265167
],
[
0.1,
- 0.1330511677265167,
- 0.48631608486175537,
- 0.1735295057296753,
- 1.0051267743110657
+ 0.11506478071212767,
+ 0.5336856842041016,
+ 0.24056844413280487,
+ 1.0061285197734833
],
[
0.1,
- 0.07694883227348326,
- -0.4832010567188263,
- -0.1655711531639099,
- 0.9977069795131683
+ 0.0949352192878723,
+ -0.5220152139663696,
+ -0.2272590547800064,
+ 0.9975226819515228
],
[
0.15000000000000002,
- 0.170796422958374,
- 0.4832010567188263,
- 0.1655711531639099,
- 1.0022930204868317
+ 0.1680948722362518,
+ 0.5220152139663696,
+ 0.2272590547800064,
+ 1.0024773180484772
],
[
0.15000000000000002,
- 0.13920357704162595,
- -0.479919970035553,
- -0.1584036499261856,
- 0.9988580048084259
+ 0.14190512776374814,
+ -0.510434627532959,
+ -0.21445055305957794,
+ 0.9971036911010742
],
[
0.2,
- 0.20953382730484005,
- 0.479919970035553,
- 0.1584036499261856,
- 1.001141995191574
+ 0.22054009318351742,
+ 0.510434627532959,
+ 0.21445055305957794,
+ 1.0028963088989258
],
[
0.2,
- 0.20046617269515987,
- -0.47643133997917175,
- -0.1519860029220581,
- 0.9982569217681885
+ 0.1894599068164825,
+ -0.4989790618419647,
+ -0.20223861932754517,
+ 0.9953981041908264
],
[
0.25,
- 0.26063302636146546,
- 0.47643133997917175,
- 0.1519860029220581,
- 1.0017430782318115
+ 0.2724773335456848,
+ 0.4989790618419647,
+ 0.20223861932754517,
+ 1.0046018958091736
],
[
0.25,
- 0.24936697363853455,
- -0.472692608833313,
- -0.14627069234848022,
- 0.9982569217681885
+ 0.2375226664543152,
+ -0.4876735508441925,
+ -0.19069314002990723,
+ 0.9942882657051086
],
[
0.3,
- 0.3196479606628418,
- 0.472692608833313,
- 0.14627069234848022,
- 1.0017430782318115
+ 0.3239802050590515,
+ 0.4876735508441925,
+ 0.19069314002990723,
+ 1.0057117342948914
],
[
0.3,
- 0.2903520393371582,
- -0.46866312623023987,
- -0.14120610058307648,
- 0.9982931017875671
+ 0.2860197949409485,
+ -0.47653278708457947,
+ -0.17986127734184265,
+ 0.9936972856521606
],
[
0.35,
- 0.3774959850311279,
- 0.46866312623023987,
- 0.14120610058307648,
- 1.0017068982124329
+ 0.3751182961463928,
+ 0.47653278708457947,
+ 0.17986127734184265,
+ 1.0063027143478394
],
[
0.35,
- 0.33250401496887205,
- -0.46430760622024536,
- -0.13674020767211914,
- 0.998838484287262
+ 0.33488170385360716,
+ -0.46556463837623596,
+ -0.16977088153362274,
+ 0.9935352504253387
],
[
0.39999999999999997,
- 0.43419656038284293,
- 0.46430760622024536,
- 0.13674020767211914,
- 1.001161515712738
+ 0.4259549367427825,
+ 0.46556463837623596,
+ 0.16977088153362274,
+ 1.0064647495746613
],
[
0.39999999999999997,
- 0.3758034396171569,
- -0.4595973491668701,
- -0.13282151520252228,
- 0.9991340041160583
+ 0.3840450632572173,
+ -0.45477259159088135,
+ -0.1604331135749817,
+ 0.9935352504253387
],
[
0.45,
- 0.4897974300384521,
- 0.4595973491668701,
- 0.13282151520252228,
- 1.0008659958839417
+ 0.47654737710952755,
+ 0.45477259159088135,
+ 0.1604331135749817,
+ 1.0064647495746613
],
[
0.45,
- 0.4202025699615478,
- -0.4545133113861084,
- -0.12940055131912231,
- 0.9979391396045685
+ 0.43345262289047237,
+ -0.44415754079818726,
+ -0.15184585750102997,
+ 0.9937090277671814
],
[
0.5,
- 0.5443664240837097,
- 0.4545133113861084,
- 0.12940055131912231,
- 1.0020608603954315
+ 0.5269456255435944,
+ 0.44415754079818726,
+ 0.15184585750102997,
+ 1.0062909722328186
],
[
0.5,
- 0.4656335759162903,
- -0.4490455090999603,
- -0.12643034756183624,
- 0.9967914521694183
+ 0.48305437445640564,
+ -0.43371880054473877,
+ -0.14399577677249908,
+ 0.994128406047821
],
[
0.55,
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diff --git a/demo/tacas2023/exp9/exp9_dryvr.py b/demo/tacas2023/exp9/exp9_dryvr.py
index 60db30e13675375a7363dbe0714df29bd05e6a50..ace33cf18ee357a9266f48c4be6852cb8878388c 100644
--- a/demo/tacas2023/exp9/exp9_dryvr.py
+++ b/demo/tacas2023/exp9/exp9_dryvr.py
@@ -99,7 +99,7 @@ if __name__ == "__main__":
# fig = reachtube_tree(traces, None, fig, 0, 3, [0,1])
# fig.show()
# traces = AnalysisTree.load('./demo/tacas2023/exp9/output9.json')
- if len(sys.argv)>1 and sys.argv[1]=='p':
+ if len(sys.argv)>1 and sys.argv[1]=='pl':
fig = pv.Plotter()
fig = plot3dMap(tmp_map, ax=fig)
fig = plot3dReachtube(traces, 'test1', 1, 2, 3, color = 'r', ax=fig)
@@ -109,7 +109,13 @@ if __name__ == "__main__":
fig = plot_line_3d([0,0,0],[0,0,10],fig,'b',line_width = 5)
fig.set_background('#e0e0e0')
fig.show()
-
+ elif len(sys.argv)>1 and sys.argv[1]=='pc':
+ fig = go.Figure()
+ fig = reachtube_tree(traces, None, fig, 0, 1, [0,1])
+ fig.show()
+ fig = go.Figure()
+ fig = reachtube_tree(traces, None, fig, 0, 3, [0,1])
+ fig.show()
# fig = go.Figure()
# fig = reachtube_tree_3d(
# traces,
diff --git a/demo/tacas2023/exp9/exp9_neureach.py b/demo/tacas2023/exp9/exp9_neureach.py
index 6f4c691c3247a2704dfe45ec4d690e1bbf1f3284..14dc97fe1e377198a0a805a4756867171ac62c8a 100644
--- a/demo/tacas2023/exp9/exp9_neureach.py
+++ b/demo/tacas2023/exp9/exp9_neureach.py
@@ -73,7 +73,7 @@ if __name__ == "__main__":
"N_t": 50,
"epochs": 50,
"_lambda": 10,
- "use_cuda": True,
+ "use_cuda": False,
'r': 0,
}
)
diff --git a/demo/tacas2023/exp9/output9_neureach.json b/demo/tacas2023/exp9/output9_neureach.json
index bf8bee056e8d1b5fa1a268f84a1d18b446a2ab46..d70691453588df44c352a2ceb4f201aee37180c7 100644
--- a/demo/tacas2023/exp9/output9_neureach.json
+++ b/demo/tacas2023/exp9/output9_neureach.json
@@ -72,4037 +72,4541 @@
"test1": [
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+ 1.0252000982223508e-05,
+ 1.4593868637037728,
+ 1.9196293615157443,
+ 0.4481309056282061,
+ 0.6958778738975373
],
[
57.8,
- 48.323402044401426,
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- -1.6330143300313102,
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],
[
58.0,
- 49.69024221160778,
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- 1.4361577033996602,
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+ 50.942748944548455,
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],
[
58.0,
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],
[
58.2,
- 49.788670524923624,
- 0.05169710431994101,
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- 2.4862351678664525,
- 1.6330143300313142,
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+ 51.0411772578643,
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+ 1.4993868212757566,
+ 1.9196293615157445,
+ 0.6449875322598604,
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],
[
58.2,
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+ -0.6958778738975675
],
[
58.4,
- 49.88709881735889,
- 0.07138274610254017,
- 0.040000501459620974,
- 2.4862351678664525,
- 1.6330143300313142,
- 1.3761656284332124
+ 51.139605550299564,
+ 1.0252001015814693e-05,
+ 1.4593868212757335,
+ 1.9196293615157445,
+ 0.6449875322598604,
+ 0.2958778738975375
],
[
58.4,
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],
[
58.6,
- 49.98552713067471,
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+ 1.459386863703696,
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+ 0.4481309056282064,
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],
[
58.6,
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- -1.501952034708195,
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],
[
58.8,
- 50.08395542310995,
- 0.05169708343937529,
- 0.08000050145956727,
- 2.486235167866452,
- 1.4361577033996604,
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+ 0.4481309056282065,
+ 0.6958778738975373
],
[
58.8,
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],
[
59.0,
- 50.18238373642579,
- 0.05169710431997476,
- 0.08000050145956727,
- 2.4862351678664525,
- 1.6330143300313145,
- 1.376165628433212
+ 51.434890469366465,
+ -0.01967538978154959,
+ 1.4993868212756798,
+ 1.9196293615157445,
+ 0.6449875322598606,
+ 0.29587787389753706
],
[
59.0,
- 48.91397186165467,
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- -1.5019520347081947,
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- -1.7761656284332425
+ 47.661465128714,
+ -0.019695893779352325,
+ -1.4193868637133704,
+ -0.9353462283574866,
+ -0.448130905628202,
+ -0.6958778738975675
],
[
59.2,
- 50.28081202886104,
- 0.07138274610257393,
- 0.04000050145954415,
- 2.4862351678664525,
- 1.6330143300313145,
- 1.3761656284332124
+ 51.533318761801716,
+ 1.0252001049579351e-05,
+ 1.4593868212756567,
+ 1.9196293615157445,
+ 0.6449875322598606,
+ 0.2958778738975375
],
[
59.2,
- 49.012400154089924,
- -0.0910684087614424,
- -5.438972579124846e-07,
- -1.5019520347081947,
- -1.6330143300313098,
- -1.3761656284332426
+ 47.75989342114925,
+ -0.019695914659918046,
+ -1.4193868637133704,
+ -0.9353462283574866,
+ -0.644987532259856,
+ -0.2958778738975675
],
[
59.4,
- 50.379240342176864,
- 0.07138274610257393,
- 0.04000054388750662,
- 2.486235167866452,
- 1.4361577033996604,
- 1.7761656284332124
+ 51.63174707511754,
+ 1.0252001049579351e-05,
+ 1.4593868637036191,
+ 1.9196293615157443,
+ 0.4481309056282067,
+ 0.6958778738975373
],
[
59.4,
- 49.110828467405746,
- -0.11075405054401846,
- 0.03999945610273947,
- -1.501952034708195,
- -1.6330143300313098,
- -1.376165628433243
+ 47.85832173446507,
+ -0.039381556442494116,
+ -1.379386863713373,
+ -0.9353462283574869,
+ -0.644987532259856,
+ -0.29587787389756803
],
[
59.6,
- 50.477668634612094,
- 0.05169708343940904,
- 0.08000050145949045,
- 2.486235167866452,
- 1.4361577033996604,
- 1.7761656284332124
+ 51.73017536755277,
+ -0.01967541066211531,
+ 1.499386821275603,
+ 1.9196293615157443,
+ 0.4481309056282067,
+ 0.6958778738975373
],
[
59.6,
- 49.209256759840976,
- -0.11075405054401846,
- 0.039999413674701056,
- -1.501952034708195,
- -1.436157703399656,
- -1.776165628433243
+ 47.9567500269003,
+ -0.039381556442494116,
+ -1.3793869061414115,
+ -0.9353462283574869,
+ -0.448130905628202,
+ -0.695877873897568
],
[
59.8,
- 50.57609694792793,
- 0.05169710432000829,
- 0.08000050145949045,
- 2.486235167866452,
- 1.6330143300313147,
- 1.376165628433212
+ 51.8286036808686,
+ -0.01967538978151606,
+ 1.499386821275603,
+ 1.919629361515744,
+ 0.6449875322598608,
+ 0.29587787389753695
],
[
59.8,
- 49.30768507315681,
- -0.09106838788084315,
- -5.438973338933728e-07,
- -1.5019520347081952,
- -1.4361577033996558,
- -1.776165628433243
+ 48.05517834021614,
+ -0.019695893779318796,
+ -1.4193868637134464,
+ -0.935346228357487,
+ -0.44813090562820185,
+ -0.695877873897568
],
[
60.0,
- 50.67452524036319,
- 0.0713827461026075,
- 0.04000050145946821,
- 2.486235167866452,
- 1.6330143300313147,
- 1.376165628433212
+ 51.92703197330386,
+ 1.0252001083142781e-05,
+ 1.4593868212755807,
+ 1.919629361515744,
+ 0.6449875322598608,
+ 0.29587787389753706
]
]
},
diff --git a/exprs.py b/exprs.py
index 4cf3e664c6a14d6538f4a281f8a963c0be003266..45ce531975ba9fc4064fe61dd7fb2dabba105208 100644
--- a/exprs.py
+++ b/exprs.py
@@ -36,7 +36,7 @@ expr_list = [
]
rslts = []
for expr in expr_list:
- cmd = Popen(f"/usr/bin/time -v -- python3.8 demo/tacas2023/{expr}", stdout=PIPE, stderr=PIPE, shell=True)
+ cmd = Popen(f"/usr/bin/time -v -- python3 demo/tacas2023/{expr}", stdout=PIPE, stderr=PIPE, shell=True)
print(f"run '{expr}', pid={cmd.pid}")
ret = cmd.wait()
stderr = cmd.stderr.readlines()
diff --git a/inc-expr.py b/inc-expr.py
index f78ef02d90ce8e2725eb065156646f9b044136e0..45fdcda76b7683e483bdf6ed06f97311845d7c79 100644
--- a/inc-expr.py
+++ b/inc-expr.py
@@ -4,6 +4,8 @@ from pprint import pp
import re
from subprocess import PIPE, Popen
from typing import Tuple, Union
+import sys
+import time
@dataclass
class ExperimentResult:
@@ -14,13 +16,18 @@ class ExperimentResult:
node_count: Tuple[int, int]
ret_code: int
cache_hits: Union[Tuple[int, int], Tuple[Tuple[int, int], Tuple[int, int]]]
+start_time = time.time()
+if len(sys.argv)>1 and sys.argv[1]=='v':
+ xprms = [
+ "v" +
+ "".join(l) for l in product("rn8", ("", "i"))]
+else:
+ xprms = [
+ "".join(l) for l in product("rn8", ("", "i"))]
-xprms = [
- # "v" +
- "".join(l) for l in product("brn8", ("", "i"))]
rslts = []
for xprm in xprms:
- cmd = Popen(f"/usr/bin/time -v -- python3.8 demo/tacas2023/exp11/inc-expr.py {xprm}", stdout=PIPE, stderr=PIPE, shell=True)
+ cmd = Popen(f"/usr/bin/time -v -- python3 demo/tacas2023/exp11/inc-expr.py {xprm}", stdout=PIPE, stderr=PIPE, shell=True)
print(f"run '{xprm}', pid={cmd.pid}")
ret = cmd.wait()
stderr = cmd.stderr.readlines()
@@ -54,3 +61,5 @@ for i in range(0, len(rslts), 2):
cache_hit_rate = inc.cache_hits[0] / (inc.cache_hits[0] + inc.cache_hits[1]) if "v" not in var else (inc.cache_hits[0][0] + inc.cache_hits[1][0]) / (inc.cache_hits[0][0] + inc.cache_hits[0][1] + inc.cache_hits[1][0] + inc.cache_hits[1][1])
print(" & " + " & ".join([name] + [str(i) for i in [inc.node_count[1], round(no.duration, 2), round(no.max_mem), round(inc.duration, 2), round(inc.max_mem), round(inc.cache_size, 2), round(cache_hit_rate * 100, 2)]]) + " \\\\")
+
+# print(">>>>>>>>>", time.time()-start_time)
diff --git a/requirements.txt b/requirements.txt
index ce3c43f8365968edeee1ba51151bf10c8532b4f2..4fef8f4a24ef29dc9c8288bdc5bc79e64bfd7d48 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,17 +1,17 @@
-numpy~=1.22.1
-scipy~=1.8.1
-matplotlib~=3.4.2
-polytope~=0.2.3
-pyvista~=0.32.1
-networkx~=2.2
-sympy~=1.6.2
-six~=1.14.0
-astunparse~=1.6.3
-treelib~=1.6.1
-z3-solver~=4.8.17.0
-igraph~=0.9.10
-plotly~=5.8.0
-beautifulsoup4~=4.11.1
-lxml~=4.9.1
+numpy
+scipy
+matplotlib
+polytope
+pyvista
+networkx
+sympy
+six
+astunparse
+z3-solver
+plotly
+beautifulsoup4
+lxml
torch
-tqdm
\ No newline at end of file
+tqdm
+intervaltree
+Pympler
diff --git a/requirements_local.txt b/requirements_local.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ad808c3bb3d9fef3df9081d37e385aa90c43c06
--- /dev/null
+++ b/requirements_local.txt
@@ -0,0 +1,48 @@
+requirements/tqdm-4.64.1-py2.py3-none-any.whl
+requirements/wheel-0.37.1-py2.py3-none-any.whl
+requirements/z3_solver-4.11.2.0-py2.py3-none-manylinux1_x86_64.whl
+requirements/vtk-9.2.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+requirements/treelib-1.6.1.tar.gz
+requirements/soupsieve-2.3.2.post1-py3-none-any.whl
+requirements/cycler-0.11.0-py3-none-any.whl
+requirements/imageio-2.22.2-py3-none-any.whl
+requirements/packaging-21.3-py3-none-any.whl
+requirements/frozenlist-1.3.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+requirements/sortedcontainers-2.4.0-py2.py3-none-any.whl
+requirements/six-1.16.0-py2.py3-none-any.whl
+requirements/scipy-1.9.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+requirements/kiwisolver-1.4.4-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl
+requirements/charset_normalizer-2.1.1-py3-none-any.whl
+requirements/networkx-2.8.7-py3-none-any.whl
+requirements/aiosignal-1.2.0-py3-none-any.whl
+requirements/idna-3.4-py3-none-any.whl
+requirements/astunparse-1.6.3-py2.py3-none-any.whl
+requirements/plotly-5.10.0-py2.py3-none-any.whl
+requirements/sympy-1.11.1-py3-none-any.whl
+requirements/future-0.18.2.tar.gz
+requirements/typing_extensions-4.4.0-py3-none-any.whl
+requirements/beautifulsoup4-4.11.1-py3-none-any.whl
+requirements/python_dateutil-2.8.2-py2.py3-none-any.whl
+requirements/contourpy-1.0.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+requirements/tenacity-8.1.0-py3-none-any.whl
+requirements/Pympler-1.0.1-py3-none-any.whl
+requirements/pyparsing-3.0.9-py3-none-any.whl
+requirements/scooby-0.6.0-py3-none-any.whl
+requirements/attrs-22.1.0-py2.py3-none-any.whl
+requirements/torch-1.12.1-cp310-cp310-manylinux1_x86_64.whl
+requirements/lxml-4.9.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl
+requirements/multidict-6.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+requirements/fonttools-4.38.0-py3-none-any.whl
+requirements/aiohttp-3.8.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+requirements/intervaltree-3.1.0.tar.gz
+requirements/wslink-1.9.0-py3-none-any.whl
+requirements/pyvista-0.36.1-py3-none-any.whl
+requirements/async_timeout-4.0.2-py3-none-any.whl
+requirements/yarl-1.8.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+requirements/polytope-0.2.3.tar.gz
+requirements/appdirs-1.4.4-py2.py3-none-any.whl
+requirements/mpmath-1.2.1-py3-none-any.whl
+requirements/Pillow-9.2.0-cp310-cp310-manylinux_2_28_x86_64.whl
+requirements/matplotlib-3.6.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+requirements/numpy-1.23.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+
diff --git a/setup.py b/setup.py
index 234aa4922cbf348693e1bd9eb0ce9e970637f019..23db9d8cd61fd0d4b2f4abbae762d043bf396d13 100644
--- a/setup.py
+++ b/setup.py
@@ -20,9 +20,7 @@ setup(
"sympy",
"six",
"astunparse",
- "treelib",
"z3-solver",
- "igraph",
"plotly",
"beautifulsoup4",
"lxml",
diff --git a/tutorial.pdf b/tutorial.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7d025c90d5dbea6af5bcab5e54fbe2e15e3589d
Binary files /dev/null and b/tutorial.pdf differ
diff --git a/verse/analysis/incremental.py b/verse/analysis/incremental.py
index 505ae7d91a911f88ed72cea239c2323ca75f73be..651795b283897ee4b6cd568d14b27c7a69df22eb 100644
--- a/verse/analysis/incremental.py
+++ b/verse/analysis/incremental.py
@@ -74,7 +74,7 @@ def to_simulate(old_agents: Dict[str, BaseAgent], new_agents: Dict[str, BaseAgen
elif not ControllerIR.ir_eq(old.val_veri, new.val_veri):
reset_changed_paths.append(new)
new_cache = {}
- pp(("removed_paths", removed_paths))
+ # pp(("removed_paths", removed_paths))
for agent_id in cached:
segment = copy.deepcopy(cached[agent_id])
new_transitions = []
@@ -94,7 +94,7 @@ def to_simulate(old_agents: Dict[str, BaseAgent], new_agents: Dict[str, BaseAgen
new_transitions.append(trans)
segment.transitions = new_transitions
new_cache[agent_id] = segment
- pp(("filtered", agent_id, len(cached[agent_id].transitions), len(new_cache[agent_id].transitions), len([p for a, p in added_paths if a.id == agent_id])))
+ # pp(("filtered", agent_id, len(cached[agent_id].transitions), len(new_cache[agent_id].transitions), len([p for a, p in added_paths if a.id == agent_id])))
return new_cache, added_paths
def convert_sim_trans(agent_id, transit_agents, inits, transition, trans_ind):
diff --git a/verse/analysis/simulator.py b/verse/analysis/simulator.py
index f107bcba97a4cf16a465889b7225147b59560489..138a8daf3b667e1c3ae99b957cf553a7d9e2dbd6 100644
--- a/verse/analysis/simulator.py
+++ b/verse/analysis/simulator.py
@@ -107,7 +107,7 @@ class Simulator:
# else:
# print("!!!")
- asserts, transitions, transition_idx = transition_graph.get_transition_simulate_new(new_cache, paths_to_sim, node)
+ asserts, transitions, transition_idx = transition_graph.get_transition_simulate(new_cache, paths_to_sim, node)
# pp(("transitions:", transition_idx, transitions))
node.assert_hits = asserts
@@ -208,3 +208,136 @@ class Simulator:
self.simulation_tree = AnalysisTree(root)
return self.simulation_tree
+
+ def simulate_simple(self, init_list, init_mode_list, static_list, uncertain_param_list, agent_list,
+ transition_graph, time_horizon, time_step, lane_map, run_num, past_runs):
+ # Setup the root of the simulation tree
+ root = AnalysisTreeNode(
+ trace={},
+ init={},
+ mode={},
+ static={},
+ uncertain_param={},
+ agent={},
+ child=[],
+ start_time=0,
+ )
+ for i, agent in enumerate(agent_list):
+ root.init[agent.id] = init_list[i]
+ init_mode = [elem.name for elem in init_mode_list[i]]
+ root.mode[agent.id] = init_mode
+ init_static = [elem.name for elem in static_list[i]]
+ root.static[agent.id] = init_static
+ root.uncertain_param[agent.id] = uncertain_param_list[i]
+ root.agent[agent.id] = agent
+ root.type = 'simtrace'
+
+ simulation_queue = []
+ simulation_queue.append(root)
+ # Perform BFS through the simulation tree to loop through all possible transitions
+ while simulation_queue != []:
+ node: AnalysisTreeNode = simulation_queue.pop(0)
+ pp(("start sim", node.start_time, {a: (*node.mode[a], *node.init[a]) for a in node.mode}))
+ remain_time = round(time_horizon - node.start_time, 10)
+ if remain_time <= 0:
+ continue
+ # For trace not already simulated
+ for agent_id in node.agent:
+ mode = node.mode[agent_id]
+ init = node.init[agent_id]
+ # pp(("sim", agent_id, *mode, *init))
+ # Simulate the trace starting from initial condition
+ trace = node.agent[agent_id].TC_simulate(
+ mode, init, remain_time, time_step, lane_map)
+ trace[:, 0] += node.start_time
+ trace = trace.tolist()
+ node.trace[agent_id] = trace
+ # pp(("cached_segments", cached_segments.keys()))
+ # TODO: for now, make sure all the segments comes from the same node; maybe we can do
+ # something to combine results from different nodes in the future
+
+ asserts, transitions, transition_idx = transition_graph.get_transition_simulate_simple(node)
+ # pp(("transitions:", transition_idx, transitions))
+
+ node.assert_hits = asserts
+ # pp(("next init:", {a: trace[transition_idx] for a, trace in node.trace.items()}))
+
+ # truncate the computed trajectories from idx and store the content after truncate
+ truncated_trace, full_traces = {}, {}
+ for agent_idx in node.agent:
+ full_traces[agent_idx] = node.trace[agent_idx]
+ if transitions or asserts:
+ truncated_trace[agent_idx] = node.trace[agent_idx][transition_idx:]
+ node.trace[agent_idx] = node.trace[agent_idx][:transition_idx+1]
+
+ if asserts != None:
+ pass
+ # print(transition_idx)
+ # pp({a: len(t) for a, t in node.trace.items()})
+ else:
+ # If there's no transitions (returned transitions is empty), continue
+ if not transitions:
+ continue
+
+ # pp(("transit agents", transit_agents))
+
+ transition_list = list(transitions.values())
+ all_transition_combinations = itertools.product(
+ *transition_list)
+
+ # For each possible transition, construct the new node.
+ # Obtain the new initial condition for agent having transition
+ # copy the traces that are not under transition
+ all_transition_paths = []
+ for transition_combination in all_transition_combinations:
+ transition_paths = []
+ next_node_mode = copy.deepcopy(node.mode)
+ next_node_static = copy.deepcopy(node.static)
+ next_node_uncertain_param = copy.deepcopy(node.uncertain_param)
+ next_node_agent = node.agent
+ next_node_start_time = list(
+ truncated_trace.values())[0][0][0]
+ next_node_init = {}
+ next_node_trace = {}
+ for transition in transition_combination:
+ transit_agent_idx, dest_mode, next_init, paths = transition
+ if dest_mode is None:
+ continue
+ transition_paths.extend(paths)
+ # next_node = AnalysisTreeNode(trace = {},init={},mode={},agent={}, child = [], start_time = 0)
+ next_node_mode[transit_agent_idx] = dest_mode
+ next_node_init[transit_agent_idx] = next_init
+ for agent_idx in next_node_agent:
+ if agent_idx not in next_node_init:
+ next_node_trace[agent_idx] = truncated_trace[agent_idx]
+ next_node_init[agent_idx] = truncated_trace[agent_idx][0][1:]
+
+ all_transition_paths.append(transition_paths)
+ tmp = AnalysisTreeNode(
+ trace=next_node_trace,
+ init=next_node_init,
+ mode=next_node_mode,
+ static=next_node_static,
+ uncertain_param=next_node_uncertain_param,
+ agent=next_node_agent,
+ child=[],
+ start_time=next_node_start_time,
+ type='simtrace'
+ )
+ node.child.append(tmp)
+ simulation_queue.append(tmp)
+ # print(red("end sim"))
+ # Put the node in the child of current node. Put the new node in the queue
+ # node.child.append(AnalysisTreeNode(
+ # trace = next_node_trace,
+ # init = next_node_init,
+ # mode = next_node_mode,
+ # agent = next_node_agent,
+ # child = [],
+ # start_time = next_node_start_time
+ # ))
+ # simulation_queue += node.child
+
+ self.simulation_tree = AnalysisTree(root)
+ return self.simulation_tree
+
diff --git a/verse/analysis/verifier.py b/verse/analysis/verifier.py
index 6684e6f89e502ae760193b2af59514757d9eff91..d9da908379a9e07a7c3be9e81cdba7786195a592 100644
--- a/verse/analysis/verifier.py
+++ b/verse/analysis/verifier.py
@@ -241,7 +241,7 @@ class Verifier:
# pp(("to sim", new_cache.keys(), len(paths_to_sim)))
# Get all possible transitions to next mode
- asserts, all_possible_transitions = transition_graph.get_transition_verify_new(new_cache, paths_to_sim, node)
+ asserts, all_possible_transitions = transition_graph.get_transition_verify(new_cache, paths_to_sim, node)
# pp(("transitions:", [(t[0], t[2]) for t in all_possible_transitions]))
node.assert_hits = asserts
if asserts != None:
diff --git a/verse/map/example_map/map_tacas.py b/verse/map/example_map/map_tacas.py
index c92933c16169c76bc89a7200ed371fa2505aafe3..86ba7909c2fab4505b238f045ec84b4328f31fea 100644
--- a/verse/map/example_map/map_tacas.py
+++ b/verse/map/example_map/map_tacas.py
@@ -4,6 +4,7 @@ from verse.map.lane_3d import Lane_3d
from math import pi
import numpy as np
from verse.map import LaneMap, LaneSegment, StraightLane, CircularLane, Lane
+from enum import Enum
class M1(LaneMap):
@@ -119,9 +120,13 @@ class M2(LaneMap):
}
def left_lane(self, lane_mode):
+ if isinstance(lane_mode, Enum):
+ lane_mode = lane_mode.name
return self.left_dict[lane_mode]
def right_lane(self,lane_mode):
+ if isinstance(lane_mode, Enum):
+ lane_mode = lane_mode.name
return self.right_dict[lane_mode]
class M3(LaneMap):
@@ -347,10 +352,10 @@ class M6(LaneMap_3d):
('M21', 'MoveUp', 'Normal'): 'T1',
}
- def h(self, lane_idx: str, agent_mode_src: str, agent_mode_dest: str) -> str:
+ def h_func(self, lane_idx: str, agent_mode_src: str, agent_mode_dest: str) -> str:
return self.h_dict[(lane_idx, agent_mode_src, agent_mode_dest)]
- def h_exist(self, lane_idx: str, agent_mode_src: str, agent_mode_dest: str) -> bool:
+ def h_exist_func(self, lane_idx: str, agent_mode_src: str, agent_mode_dest: str) -> bool:
if (lane_idx, agent_mode_src, agent_mode_dest) in self.h_dict:
return True
else:
diff --git a/verse/map/lane_map.py b/verse/map/lane_map.py
index a286fbaaf19f95adf2de94a58747fd53645da05d..7c2b36610851963fea69f30d7006943b65732622 100644
--- a/verse/map/lane_map.py
+++ b/verse/map/lane_map.py
@@ -35,6 +35,8 @@ class LaneMap:
return self.lane_dict[src_lane].get_geometry()
def get_longitudinal_position(self, lane_idx: str, position: np.ndarray) -> float:
+ if isinstance(lane_idx, Enum):
+ lane_idx = lane_idx.name
if len(lane_idx) == 3:
src_lane = f"T{lane_idx[1]}"
else:
@@ -46,6 +48,8 @@ class LaneMap:
return lane.get_longitudinal_position(position)
def get_lateral_distance(self, lane_idx: str, position: np.ndarray) -> float:
+ if isinstance(lane_idx, Enum):
+ lane_idx = lane_idx.name
if len(lane_idx) == 3:
src_lane = f"T{lane_idx[1]}"
else:
@@ -104,11 +108,23 @@ class LaneMap:
return lane.get_lane_width()
def h(self, lane_idx, agent_mode_src, agent_mode_dest):
+ if isinstance(lane_idx, Enum):
+ lane_idx = lane_idx.name
+ if isinstance(agent_mode_src, Enum):
+ agent_mode_src = agent_mode_src.name
+ if isinstance(agent_mode_dest, Enum):
+ agent_mode_dest = agent_mode_dest.name
if self.h_dict == {}:
return ""
return self.h_dict[(lane_idx, agent_mode_src, agent_mode_dest)]
def h_exist(self, lane_idx, agent_mode_src, agent_mode_dest):
+ if isinstance(lane_idx, Enum):
+ lane_idx = lane_idx.name
+ if isinstance(agent_mode_src, Enum):
+ agent_mode_src = agent_mode_src.name
+ if isinstance(agent_mode_dest, Enum):
+ agent_mode_dest = agent_mode_dest.name
if (lane_idx, agent_mode_src, agent_mode_dest) in self.h_dict:
return True
else:
diff --git a/verse/map/lane_map_3d.py b/verse/map/lane_map_3d.py
index ba500fdf19d3a3ca2676a2475377d5c4fe3f8ae6..d415c5c1ecfed5c430a6ae830513e04adf23e65f 100644
--- a/verse/map/lane_map_3d.py
+++ b/verse/map/lane_map_3d.py
@@ -42,6 +42,24 @@ class LaneMap_3d:
self.up_lane_dict[lane_seg.id] = []
self.down_lane_dict[lane_seg.id] = []
+ def h(self, lane_idx: str, agent_mode_src: str, agent_mode_dest: str) -> str:
+ if isinstance(lane_idx, Enum):
+ lane_idx = lane_idx.name
+ if isinstance(agent_mode_src, Enum):
+ agent_mode_src = agent_mode_src.name
+ if isinstance(agent_mode_dest, Enum):
+ agent_mode_dest = agent_mode_dest.name
+ return self.h_func(lane_idx, agent_mode_src, agent_mode_dest)
+
+ def h_exist(self, lane_idx: str, agent_mode_src: str, agent_mode_dest: str) -> str:
+ if isinstance(lane_idx, Enum):
+ lane_idx = lane_idx.name
+ if isinstance(agent_mode_src, Enum):
+ agent_mode_src = agent_mode_src.name
+ if isinstance(agent_mode_dest, Enum):
+ agent_mode_dest = agent_mode_dest.name
+ return self.h_exist_func(lane_idx, agent_mode_src, agent_mode_dest)
+
def h_func(self, lane_idx: str, agent_mode_src: str, agent_mode_dest: str) -> str:
raise NotImplementedError
diff --git a/verse/parser/parser.py b/verse/parser/parser.py
index 7373e5da2bf4f09955950bceb0a1516b46dd7f4f..e5ffea9ac8b789f2e31d132fdfffdead1bcf4a8b 100644
--- a/verse/parser/parser.py
+++ b/verse/parser/parser.py
@@ -47,7 +47,9 @@ class StateDef:
"""Variable/member set needed for simulation/verification for some object"""
cont: List[str] = field(default_factory=list) # Continuous variables
disc: List[str] = field(default_factory=list) # Discrete variables
+ disc_type: List[str] = field(default_factory=list) # Type of discrete variables
static: List[str] = field(default_factory=list) # Static data in object
+ static_type: List[str] = field(default_factory=list) # Type of discrete variables
def all_vars(self) -> List[str]:
return self.cont + self.disc + self.static
@@ -258,6 +260,7 @@ class ControllerIR:
asserts_veri: List[Assert]
state_defs: Dict[str, StateDef]
mode_defs: Dict[str, ModeDef]
+ controller_code: str
@staticmethod
def parse(code: Optional[str] = None, fn: Optional[str] = None) -> "ControllerIR":
@@ -265,7 +268,7 @@ class ControllerIR:
@staticmethod
def empty() -> "ControllerIR":
- return ControllerIR([], [], [], [], {}, {})
+ return ControllerIR([], [], [], [], {}, {},"")
@staticmethod
def dump(node, dump=False):
@@ -329,28 +332,32 @@ class ControllerIR:
cond = compile_expr(Env.trans_args(cond, False))
val = compile_expr(Env.trans_args(case.val, False))
paths.append(ModePath(cond, cond_veri, var, val, val_veri))
- return ControllerIR(controller.args, paths, asserts_sim, asserts_veri, env.state_defs, env.mode_defs)
+ return ControllerIR(controller.args, paths, asserts_sim, asserts_veri, env.state_defs, env.mode_defs, env.controller_code)
@dataclass
class Env():
+ controller_code: str
state_defs: Dict[str, StateDef] = field(default_factory=dict)
mode_defs: Dict[str, ModeDef] = field(default_factory=dict)
scopes: List[ScopeLevel] = field(default_factory=lambda: [ScopeLevel()])
@staticmethod
def parse(code: Optional[str] = None, fn: Optional[str] = None):
+ code_string = ""
if code != None:
if fn != None:
root = ast.parse(code, fn)
else:
root = ast.parse(code)
+ code_string = code
elif fn != None:
with open(fn) as f:
cont = f.read()
root = ast.parse(cont, fn)
+ code_string = cont
else:
raise TypeError("need at least one of `code` and `fn`")
- env = Env()
+ env = Env(controller_code = code_string)
proc(root, env)
return env
@@ -666,20 +673,35 @@ def proc(node: ast.AST, env: Env) -> Any:
raise NotImplementedError("non ident as mode/state name")
return names
+ def grab_annotates(nodes: List[ast.stmt]):
+ annotates = []
+ for node in nodes:
+ if isinstance(node, ast.Assign):
+ annotates.append(None)
+ elif isinstance(node, ast.AnnAssign):
+ if isinstance(node.annotation, ast.Name):
+ annotates.append(node.annotation.id)
+ else:
+ raise NotImplementedError("non ident as mode/state name")
+ return annotates
+
# NOTE we are dupping it in `state_defs`/`mode_defs` and the scopes cuz value
if node.name.endswith("Mode"):
mode_def = ModeDef(grab_names(node.body))
env.mode_defs[node.name] = mode_def
elif node.name.endswith("State"):
names = grab_names(node.body)
+ annotates = grab_annotates(node.body)
state_vars = StateDef()
- for name in names:
+ for i, name in enumerate(names):
if "type" == name:
state_vars.static.append(name)
+ state_vars.static_type.append(annotates[i])
elif "mode" not in name:
state_vars.cont.append(name)
else:
state_vars.disc.append(name)
+ state_vars.disc_type.append(annotates[i])
env.state_defs[node.name] = state_vars
env.add_hole(node.name, None)
elif isinstance(node, ast.Assert):
diff --git a/verse/scenario/scenario.py b/verse/scenario/scenario.py
index 330a178d3e9cc55961df74ce1165fead2f7920c0..5df7917b905092fdb1223a60e967ba502ae9041c 100644
--- a/verse/scenario/scenario.py
+++ b/verse/scenario/scenario.py
@@ -6,6 +6,9 @@ import warnings
from collections import defaultdict, namedtuple
import ast
from dataclasses import dataclass
+import types
+import sys
+from enum import Enum
import numpy as np
@@ -23,6 +26,38 @@ from verse.map.lane_map import LaneMap
EGO, OTHERS = "ego", "others"
+def convertStrToEnum(inp, agent:BaseAgent, dl):
+ res = inp
+ for field in res.__dict__:
+ for state_def_name in agent.decision_logic.state_defs:
+ if field in agent.decision_logic.state_defs[state_def_name].disc:
+ idx = agent.decision_logic.state_defs[state_def_name].disc.index(field)
+ field_type = agent.decision_logic.state_defs[state_def_name].disc_type[idx]
+ enum_class = getattr(dl, field_type)
+ setattr(res, field, enum_class[getattr(res, field)])
+ return res
+
+def convertEnumToStr(inp, agent:BaseAgent, dl):
+ res = inp
+ for field in res.__dict__:
+ val = getattr(res, field)
+ if isinstance(val, Enum):
+ setattr(res, field, val.name)
+ return res
+
+def disc_field(field:str, agent:BaseAgent):
+ for state_def_name in agent.decision_logic.state_defs:
+ state_def = agent.decision_logic.state_defs[state_def_name]
+ if field in state_def.disc:
+ return True
+ return False
+
+def namedTupleToClass(inp: NamedTuple):
+ res = types.SimpleNamespace()
+ for field in inp._fields:
+ setattr(res, field, getattr(inp, field))
+ return res
+
def red(s):
return "\x1b[31m" + s + "\x1b[0m"
@@ -56,6 +91,12 @@ def pack_env(agent: BaseAgent, ego_ty_name: str, cont: Dict[str, float], disc: D
packed[EGO] = state_ty(**packed[EGO])
return dict(packed.items())
+def is_equivalent(inp1:NamedTuple, inp2:NamedTuple):
+ for field in inp1._fields:
+ if getattr(inp1, field) != getattr(inp2, field):
+ return False
+ return True
+
def check_sim_transitions(agent: BaseAgent, guards: List[Tuple], cont, disc, map, state, mode):
asserts = []
satisfied_guard = []
@@ -274,6 +315,24 @@ class Scenario:
self.past_runs.append(tree)
return tree
+ def simulate_simple(self, time_horizon, time_step, seed = None) -> AnalysisTree:
+ self.check_init()
+ init_list = []
+ init_mode_list = []
+ static_list = []
+ agent_list = []
+ uncertain_param_list = []
+ for agent_id in self.agent_dict:
+ init_list.append(sample_rect(self.init_dict[agent_id], seed))
+ init_mode_list.append(self.init_mode_dict[agent_id])
+ static_list.append(self.static_dict[agent_id])
+ uncertain_param_list.append(self.uncertain_param_dict[agent_id])
+ agent_list.append(self.agent_dict[agent_id])
+ print(init_list)
+ tree = self.simulator.simulate_simple(init_list, init_mode_list, static_list, uncertain_param_list, agent_list, self, time_horizon, time_step, self.map, len(self.past_runs), self.past_runs)
+ self.past_runs.append(tree)
+ return tree
+
def verify(self, time_horizon, time_step, params={}) -> AnalysisTree:
self.check_init()
init_list = []
@@ -405,7 +464,7 @@ class Scenario:
# unrolled_variable, unrolled_variable_index = updater[variable]
# disc_var_dict[unrolled_variable] = disc_var_dict[variable][unrolled_variable_index]
- def get_transition_simulate_new(self, cache: Dict[str, CachedSegment], paths: PathDiffs, node: AnalysisTreeNode) -> Tuple[Optional[Dict[str, List[str]]], Optional[Dict[str, List[Tuple[str, List[str], List[float]]]]], int]:
+ def get_transition_simulate(self, cache: Dict[str, CachedSegment], paths: PathDiffs, node: AnalysisTreeNode) -> Tuple[Optional[Dict[str, List[str]]], Optional[Dict[str, List[Tuple[str, List[str], List[float]]]]], int]:
track_map = self.map
trace_length = len(list(node.trace.values())[0])
@@ -498,7 +557,97 @@ class Scenario:
break
return None, dict(transitions), idx
- def get_transition_verify_new(self, cache: Dict[str, CachedRTTrans], paths: PathDiffs, node: AnalysisTreeNode) -> Tuple[Optional[Dict[str, List[str]]], Optional[Dict[str, List[Tuple[str, List[str], List[float]]]]]]:
+ def get_transition_simulate_simple(self, node: AnalysisTreeNode) -> Tuple[Optional[Dict[str, List[str]]], Optional[Dict[str, List[Tuple[str, List[str], List[float]]]]], int]:
+ track_map = self.map
+ trace_length = len(list(node.trace.values())[0])
+
+ # For each agent
+ agent_guard_dict = defaultdict(list)
+
+ paths = [(agent, p) for agent in node.agent.values() for p in agent.decision_logic.paths]
+
+ for agent, path in paths:
+ # Get guard
+ if len(agent.decision_logic.args) == 0:
+ continue
+ agent_id = agent.id
+ state_dict = {aid: (node.trace[aid][0], node.mode[aid], node.static[aid]) for aid in node.agent}
+ cont_var_dict_template, discrete_variable_dict, len_dict = self.sensor.sense(self, agent, state_dict, self.map)
+ agent_guard_dict[agent_id].append((path, discrete_variable_dict))
+
+ transitions = defaultdict(list)
+ # TODO: We can probably rewrite how guard hit are detected and resets are handled for simulation
+ for idx in range(trace_length):
+ state_dict = {aid: (node.trace[aid][idx], node.mode[aid], node.static[aid]) for aid in node.agent}
+ satisfied_guard = []
+ all_asserts = defaultdict(list)
+ for agent_id in agent_guard_dict:
+ # Get agent controller
+ # Reference: https://stackoverflow.com/questions/55905240/python-dynamically-import-modules-code-from-string-with-importlib
+ agent: BaseAgent = self.agent_dict[agent_id]
+ dl = types.ModuleType('dl')
+ exec(agent.decision_logic.controller_code,dl.__dict__)
+
+ # Get the input arguments for the controller function
+ # Pack the environment (create ego and others list)
+ continuous_variable_dict, orig_disc_vars, _ = self.sensor.sense(self, agent, state_dict, self.map)
+ arg_list = []
+ env = pack_env(agent, EGO, continuous_variable_dict, orig_disc_vars, track_map)
+ for arg in agent.decision_logic.args:
+ if arg.name == EGO:
+ ego = namedTupleToClass(env[EGO])
+ ego = convertStrToEnum(ego, agent, dl)
+ arg_list.append(ego)
+ elif arg.name == 'track_map':
+ arg_list.append(track_map)
+ else:
+ if isinstance(env[arg.name], list):
+ tmp_list = []
+ for item in env[arg.name]:
+ tmp = namedTupleToClass(item)
+ tmp = convertStrToEnum(tmp, agent, dl)
+ tmp_list.append(tmp)
+ arg_list.append(tmp_list)
+ else:
+ tmp = namedTupleToClass(env[arg.name])
+ tmp = convertStrToEnum(tmp, agent, dl)
+ arg_list.append(tmp)
+
+ try:
+ # Input the environment into the actual controller
+ output = dl.decisionLogic(*arg_list)
+ output = convertEnumToStr(output, agent, dl)
+ # Check if output is the same as ego
+ if not is_equivalent(env[EGO], output):
+ # If not, a transition happen, get source and destination, break
+ next_init = []
+ pure_dest = []
+ for field in env[EGO]._fields:
+ if disc_field(field, agent):
+ pure_dest.append(getattr(output, field))
+ else:
+ next_init.append(getattr(output, field))
+ satisfied_guard.append((agent_id, pure_dest, next_init, []))
+ except AssertionError:
+ # If assertion error happen, means assert hit happen
+ # Get the which assert hit happen and return
+ _, error, _ = sys.exc_info()
+ assertion_label = error.args[0]
+ all_asserts[agent_id] = assertion_label
+ continue
+
+ if len(all_asserts) > 0:
+ for agent_idx, dest, next_init, paths in satisfied_guard:
+ transitions[agent_idx].append((agent_idx, dest, next_init, paths))
+ return all_asserts, dict(transitions), idx
+ if len(satisfied_guard)>0:
+ break
+ # Convert output to asserts, transition and idx
+ for agent_idx, dest, next_init, paths in satisfied_guard:
+ transitions[agent_idx].append((agent_idx, dest, next_init, paths))
+ return None, dict(transitions), idx
+
+ def get_transition_verify(self, cache: Dict[str, CachedRTTrans], paths: PathDiffs, node: AnalysisTreeNode) -> Tuple[Optional[Dict[str, List[str]]], Optional[Dict[str, List[Tuple[str, List[str], List[float]]]]]]:
track_map = self.map
# For each agent
diff --git a/verse/sensor/example_sensor/single_sensor.py b/verse/sensor/example_sensor/single_sensor.py
new file mode 100644
index 0000000000000000000000000000000000000000..06f64f114ceb3aa792d9cedacd9cfdda26e1c12c
--- /dev/null
+++ b/verse/sensor/example_sensor/single_sensor.py
@@ -0,0 +1,196 @@
+import numpy as np
+
+def sets(d, thing, attrs, vals):
+ d.update({thing + "." + k: v for k, v in zip(attrs, vals)})
+
+
+def adds(d, thing, attrs, vals):
+ for k, v in zip(attrs, vals):
+ if thing + '.' + k not in d:
+ d[thing + '.' + k] = [v]
+ else:
+ d[thing + '.' + k].append(v)
+
+
+def set_states_2d(cnts, disc, thing, val, cont_var, disc_var, stat_var):
+ state, mode, static = val
+ sets(cnts, thing, cont_var, state[1:])
+ sets(disc, thing, disc_var, mode)
+ sets(disc, thing, stat_var, static)
+
+
+def set_states_3d(cnts, disc, thing, val, cont_var, disc_var, stat_var):
+ state, mode, static = val
+ transp = np.transpose(np.array(state)[:, 1:])
+ # assert len(transp) == 4
+ sets(cnts, thing, cont_var, transp)
+ sets(disc, thing, disc_var, mode)
+ sets(disc, thing, stat_var, static)
+
+
+def add_states_2d(cont, disc, thing, val, cont_var, disc_var, stat_var):
+ state, mode, static = val
+ adds(cont, thing, cont_var, state[1:])
+ adds(disc, thing, disc_var, mode)
+ adds(disc, thing, stat_var, static)
+
+
+def add_states_3d(cont, disc, thing, val, cont_var, disc_var, stat_var):
+ state, mode, static = val
+ transp = np.transpose(np.array(state)[:, 1:])
+ # assert len(transp) == 4
+ adds(cont, thing, cont_var, transp)
+ adds(disc, thing, disc_var, mode)
+ adds(disc, thing, stat_var, static)
+
+# TODO-PARSER: Update base sensor
+
+
+class SingleSensor():
+ # The baseline sensor is omniscient. Each agent can get the state of all other agents
+ def sense(self, scenario, agent, state_dict, lane_map):
+ cont = {}
+ disc = {}
+ len_dict = {'others': len(state_dict)-1}
+ tmp = np.array(list(state_dict.values())[0][0])
+ if tmp.ndim < 2:
+ for agent_id in state_dict:
+ if agent_id == agent.id:
+ # Get type of ego
+ controller_args = agent.decision_logic.args
+ arg_type = None
+ for arg in controller_args:
+ if arg.name == 'ego':
+ arg_type = arg.typ
+ break
+ if arg_type is None:
+ continue
+ raise ValueError(f"Invalid arg for ego")
+ cont_var = agent.decision_logic.state_defs[arg_type].cont
+ disc_var = agent.decision_logic.state_defs[arg_type].disc
+ stat_var = agent.decision_logic.state_defs[arg_type].static
+ set_states_2d(
+ cont, disc, 'ego', state_dict[agent_id], cont_var, disc_var, stat_var)
+ else:
+ controller_args = agent.decision_logic.args
+ arg_type = None
+ arg_name = None
+ for arg in controller_args:
+ if arg.name != 'ego' and 'map' not in arg.name:
+ arg_name = arg.name
+ arg_type = arg.typ
+ break
+ if arg_type is None:
+ continue
+ raise ValueError(f"Invalid arg for others")
+ cont_var = agent.decision_logic.state_defs[arg_type].cont
+ disc_var = agent.decision_logic.state_defs[arg_type].disc
+ stat_var = agent.decision_logic.state_defs[arg_type].static
+ add_states_2d(
+ cont, disc, arg_name, state_dict[agent_id], cont_var, disc_var, stat_var)
+
+ else:
+ for agent_id in state_dict:
+ if agent_id == agent.id:
+ # Get type of ego
+ controller_args = agent.decision_logic.args
+ arg_type = None
+ for arg in controller_args:
+ if arg.name == 'ego':
+ arg_type = arg.typ
+ break
+ if arg_type is None:
+ raise ValueError(f"Invalid arg for ego")
+ cont_var = agent.decision_logic.state_defs[arg_type].cont
+ disc_var = agent.decision_logic.state_defs[arg_type].disc
+ stat_var = agent.decision_logic.state_defs[arg_type].static
+ set_states_3d(
+ cont, disc, 'ego', state_dict[agent_id], cont_var, disc_var, stat_var)
+ else:
+ controller_args = agent.decision_logic.args
+ arg_type = None
+ arg_name = None
+ for arg in controller_args:
+ if arg.name != 'ego' and 'map' not in arg.name:
+ arg_name = arg.name
+ arg_type = arg.typ
+ break
+ if arg_type is None:
+ raise ValueError(f"Invalid arg for others")
+ cont_var = agent.decision_logic.state_defs[arg_type].cont
+ disc_var = agent.decision_logic.state_defs[arg_type].disc
+ stat_var = agent.decision_logic.state_defs[arg_type].static
+ set_states_3d(cont, disc, arg_name, state_dict[agent_id], cont_var, disc_var, stat_var)
+
+ return cont, disc, len_dict
+
+class FakeSensor3:
+ def sense(self, scenario, agent, state_dict, lane_map):
+ cont = {}
+ disc = {}
+ len_dict = {'others': len(state_dict)-1}
+ tmp = np.array(state_dict['car1'][0])
+ if tmp.ndim < 2:
+ for agent_id in state_dict:
+ if agent_id == agent.id:
+ set_states_2d(cont, disc, 'ego', state_dict[agent_id])
+ else:
+ add_states_2d(cont, disc, 'others', state_dict[agent_id])
+ else:
+ for agent_id in state_dict:
+ if agent_id == agent.id:
+ set_states_3d(cont, disc, "ego", state_dict[agent_id])
+ else:
+ add_states_3d(cont, disc, 'others', state_dict[agent_id])
+ return cont, disc, len_dict
+
+
+def set_states_2d_ball(cnts, disc, thing, val):
+ state, mode = val
+ sets(cnts, thing, ["x", "y", "vx", "vy"], state[1:5])
+ sets(disc, thing, ["ball_mode", "lane_mode"], mode)
+
+
+def set_states_3d_ball(cnts, disc, thing, val):
+ state, mode = val
+ transp = np.transpose(np.array(state)[:, 1:5])
+ assert len(transp) == 4
+ sets(cnts, thing, ["x", "y", "vx", "vy"], transp)
+ sets(disc, thing, ["ball_mode", "lane_mode"], mode)
+
+
+def add_states_2d_ball(cont, disc, thing, val):
+ state, mode = val
+ adds(cont, thing, ['x', 'y', 'vx', 'vy'], state[1:5])
+ adds(disc, thing, ["ball_mode", "lane_mode", "type"], mode)
+
+
+def add_states_3d_ball(cont, disc, thing, val):
+ state, mode = val
+ transp = np.transpose(np.array(state)[:, 1:5])
+ assert len(transp) == 4
+ adds(cont, thing, ['x', 'y', 'vx', 'vy'], transp)
+ adds(disc, thing, ["ball_mode", "lane_mode", "type"], mode)
+
+
+class FakeSensor4:
+ def sense(self, scenario, agent, state_dict, lane_map):
+ cont = {}
+ disc = {}
+ len_dict = {'others': len(state_dict)-1}
+ tmp = np.array(list(state_dict.values())[0])
+ if tmp.ndim < 2:
+ for agent_id in state_dict:
+ if agent_id == agent.id:
+ set_states_2d_ball(cont, disc, 'ego', state_dict[agent_id])
+ else:
+ add_states_2d_ball(cont, disc, 'others',
+ state_dict[agent_id])
+ else:
+ for agent_id in state_dict:
+ if agent_id == agent.id:
+ set_states_3d_ball(cont, disc, "ego", state_dict[agent_id])
+ else:
+ add_states_3d_ball(cont, disc, 'others',
+ state_dict[agent_id])
+ return cont, disc, len_dict