Verse Library

Verse is a Python library for creating, simulating, and verifying scenarios with interacting, decision making agents. The decision logic can be written in an expressive subset of Python. The continuous evolution can be described as a black-box simulation function. The agent can be ported across different maps, which can be defined from scratch or imported from opendrive files. Verse scenarios can be simulated and verified using hybrid reachability analysis.

Installation

The package requires python 3.8+. The package can be installed using pip with all required dependencies

python3 -m pip install -e .

To update the dependencies in case anything is missing, requirements.txt can be used.

pip install -r requirements.txt

Tutorial

A detailed interactive tutorial can be found in tutorial/tutorial.ipynb. The tutorial requires Jupyter notebook to run. A PDF version of the tutorial can be found in tutorial.pdf.

Demos

The package comes with several examples in the demo/ folder. Run these as:

python3 demo/ball/ball_bounces.py 

Read the comments in demo/ball/ball_bounces.py to learn how to create new agents and scenarios. More detailed tutorials will be provided later.

Using NueReach with Verse

Verse allows users to plug-in different reachability tools for computing reachable sets. By default, Verse uses DryVR to compute reachable sets. Verse also implement post computation using NeuReach. To use NeuReach, additional dependencies can be downloaded using following commands

git submodule init
git submodule update

Library structure

The source code of the package is contained in the verse folder, which contains the following sub-directories.

• verse, which contains building blocks for creating and analyzing scenarios.

  • verse/scenario contains code for the scenario base class. A scenario is constructed by several agents with continuous dynamics and controller, a map and a sensor defining how different agents interact with each other.
  • verse/agents contains code for the agent base class in the scenario.
  • verse/map contains code for the lane map base class and corresponding utilities in the scenario.
  • verse/code_parser contains code for converting the controller code to ASTs.
  • verse/automaton contains code implementing components in hybrid-automaton
  • verse/analysis contains the Simulator and Verifier and related utilities for doing analysis of the scenario
  • verse/dryvr dryvr for computing reachable sets

• example contains example map, sensor and agents that we provided

• plotter contains code for visualizing the computed results