Installation of VerifAI and Scenic

1. Clone the VerifAI repository and Scenic version 2.1.0.
2. Use python 3.8, higher versions of python might produce conflicts within some of the used libraries.
3. Install both repositories, first Scenic then VerifAI. Go to their folders and run python -m pip install -e (we recommend installing everything in a virtual enviroment)
4. Download Carla (versions 0.9.12-0.9.15 work)
5. Set the enviromental variables of carla and its wheel python file.
6. Our experiments use Town06 so make sure you install the additional maps for Carla.
7. Download this repository.

Running the experiments

1. Activate the virtual environment where Scenic and VerifAI are installed.
2. Open Carla simulator
3. To run an experiment run the python script falsifier.py with parameters: --model carla --path path/to/scenario eg: --path scenarios-ddas/persistent_attack.scenic --e output_name (to name the file where the falsification table will be stored) --route folder (to create a new folder to save the results of your simulation

Additional notes

• Take into account the variable inter_vehicle_distance in the scenario (.scenic file) to specify the setpoint distance, this gives the distance between the vehicles (remember that the distances are measured from the center of mass so in reality the bumper to bumper distance is x - 4.95)
• Remember to change the variable verifaiSampleType in each scenario, our experiments have test bo(Bayesian Optimization) and ce (Cross Entropy) as of Feb/2025
• git submodule update --init to intialize and update Scenic submodule in you're using the Scenic Gym branch