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..63a0e45631cb322e0b602ac1c091e5b44b340db0
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diff --git a/README.txt b/README.txt
index d299889a7439a6defe1d052232c6e1c06e79bf9a..4fd0f16dc37e9fadecdc13531073344a650afd59 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 source code git repository for Verse is: https://github.com/AutoVerse-ai/Verse-library
+The link to the source code git repository for Verse is:
+https://github.com/AutoVerse-ai/Verse-library
+
+A tutorial for creating custom scenarios can be found at:
+https://github.com/AutoVerse-ai/Verse-library/tree/tutorial
###########################
@@ -48,7 +54,7 @@ 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
& repeat & 105 & 464.77 & 498 & 58.99 & 482 & 3.23 & 76.79 \\
@@ -93,9 +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
@@ -129,7 +135,7 @@ Verse will automatically open a browser window to show the resulting plot.
12. To reproduce Fig. 16 in Appendix
Left: Run command
- python3 demo/tacas2023/exp11/inc-expr.py vnp
+ python3 demo/tacas2023/exp11/inc-expr.py s8p
Verse will automatically open a browser window to show the resulting plot.
Right: Run command
diff --git a/README_MD/README.md b/README_MD/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..285acf57b08bdd42e8afb40f8f34b64df7ddbc89
--- /dev/null
+++ b/README_MD/README.md
@@ -0,0 +1,236 @@
+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
+
+The link to the source code git repository for Verse is:
+
+https://github.com/AutoVerse-ai/Verse-library
+
+A tutorial for creating custom scenarios can be found at:
+
+https://github.com/AutoVerse-ai/Verse-library/tree/tutorial
+
+# 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 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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