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. Verse is developed abd maintained by the Reliable Autonomy Research Group at the University of Illinois at Urbana-Champaign.

Installation

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

pip install -e .

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

pip install -r requirements.txt

Tutorial

Interactive Jupyter tutorial: tutorial/tutorial.ipynb.

PDF tutorial: tutorial.pdf.

Documentation (in progress): 'Online'.

Demos

See the 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.

Using NeuReach 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

Contributors

• Katherine Braught
• Yangge Li
• Sayan Mitra
• Keyi Shen
• Haoqing Zhu
• Daniel Zhuang

Related Publications

Verse: A Python library for reasoning about multi-agent hybrid system scenarios Yangge Li, Haoqing Zhu, Katherine Braught, Keyi Shen, Sayan Mitra To appear in the proceedings of Computer Aided Verification (CAV), 2023.

Verification of L1 Adaptive Control using Verse Library: A Case Study of Quadrotors Lin Song, Yangge Li, Sheng Cheng, Pan Zhao, Sayan Mitra, Naira Hovakimyan To appear in the Work in Progress Session of International Conference on Cyber-Physical Systems (WiP-ICCPS), 2023.

Contributing

In order to contribute to this repository, you should run the following commands:

pip install -r requirements-dev.txt
pre-commit install