def main():
# path = '../Scenic-devel/examples/carla/pedestrian.scenic'
path = 'fullScenario.scenic'
sampler = ScenicSampler.fromScenario(path)
falsifier_params = DotMap(
n_iters=1,
save_error_table=True,
save_safe_table=True,
error_table_path="failures_file.txt",
)
falsifier_params.fal_thres = 4
# falsifier_params.fal_thres = 7
server_options = DotMap(maxSteps=800, verbosity=0)
falsifier = generic_falsifier(sampler=sampler,
falsifier_params=falsifier_params,
server_class=ScenicServer,
server_options=server_options,
monitor=specification_monitor(specification))
t0 = time.time()
falsifier.run_falsifier()
t = time.time() - t0
print(
f'Generated {len(falsifier.samples)} samples in {t} seconds with 1 worker'
)
print(f'Number of counterexamples: {len(falsifier.error_table.table)}')
def test_driving_dynamic(pathToLocalFile):
path = pathToLocalFile('scenic_driving.scenic')
sampler = ScenicSampler.fromScenario(path)
falsifier_params = DotMap(
n_iters=3,
save_error_table=False,
save_safe_table=False,
)
server_options = DotMap(maxSteps=2, verbosity=3)
falsifier = generic_falsifier(sampler=sampler,
falsifier_params=falsifier_params,
server_class=ScenicServer,
server_options=server_options)
falsifier.run_falsifier()
super().__init__(specification)
falsifier_params = DotMap()
falsifier_params.port = PORT
falsifier_params.n_iters = MAX_ITERS
falsifier_params.maxreqs = MAXREQS
falsifier_params.bufsize = BUFSIZE
falsifier_params.compute_error_table = True
falsifier_params.fal_thres = 0.0
sampler_params = DotMap()
sampler_params.thres = 0.0
falsifier_params.sampler_params = sampler_params
falsifier = generic_falsifier(sample_space=sample_space,
sampler_type=SAMPLERTYPE,
monitor=mountaincar_spec(),
falsifier_params=falsifier_params)
falsifier.run_falsifier()
analysis_params = DotMap()
analysis_params.k_closest_params.k = 4
analysis_params.random_params.count = 4
falsifier.analyze_error_table(analysis_params=analysis_params)
print("Hyper-parameters leading to good controllers")
print(falsifier.error_table.table)
# To save all samples: uncomment this
# pickle.dump(falsifier.samples, open("generated_samples.pickle", "wb"))
super().__init__(specification)
MAX_ITERS = 20
PORT = 8888
MAXREQS = 5
BUFSIZE = 4096
falsifier_params = DotMap()
falsifier_params.n_iters = MAX_ITERS
falsifier_params.compute_error_table = True
falsifier_params.fal_thres = 0.5
server_options = DotMap(port=PORT, bufsize=BUFSIZE, maxreqs=MAXREQS)
falsifier = generic_falsifier(sampler=sampler, server_options=server_options,
monitor=confidence_spec(), falsifier_params=falsifier_params)
falsifier.run_falsifier()
analysis_params = DotMap()
analysis_params.k_closest_params.k = 4
analysis_params.random_params.count = 4
analysis_params.pca = True
falsifier.analyze_error_table(analysis_params=analysis_params)
lib = getLib()
print("Error table")
print(falsifier.error_table.table)
print("Results of error table analysis")
print("Random samples from error table")
for i, sample in enumerate(falsifier.error_analysis.random_samples):
print("Random Sample : ", i)
from verifai.falsifier import generic_falsifier
path_to_scenic_file = 'lane_cones.sc'
sampler = ScenicSampler.fromScenario(path_to_scenic_file)
MAX_ITERS = 20
PORT = 8888
MAXREQS = 5
BUFSIZE = 4096
falsifier_params = DotMap()
falsifier_params.port = PORT
falsifier_params.n_iters = MAX_ITERS
falsifier_params.maxreqs = MAXREQS
falsifier_params.bufsize = BUFSIZE
falsifier_params.save_error_table = False
falsifier_params.save_good_samples = False
falsifier = generic_falsifier(sampler=sampler,
sampler_type='scenic',
falsifier_params=falsifier_params)
falsifier.run_falsifier()
print("Scenic Samples")
for i in falsifier.samples.keys():
print("Sample: ", i)
print(falsifier.samples[i])
# To save all samples: uncomment this
# pickle.dump(falsifier.samples, open("generated_samples.pickle", "wb"))
path_to_scenic_file = 'lane_cones.sc'
sampler = ScenicSampler.fromScenario(path_to_scenic_file)
MAX_ITERS = 20
PORT = 8888
MAXREQS = 5
BUFSIZE = 4096
falsifier_params = DotMap()
falsifier_params.n_iters = MAX_ITERS
falsifier_params.save_error_table = False
falsifier_params.save_good_samples = False
server_options = DotMap(port=PORT, bufsize=BUFSIZE, maxreqs=MAXREQS)
falsifier = generic_falsifier(sampler=sampler,
sampler_type='scenic',
falsifier_params=falsifier_params,
server_options=server_options)
falsifier.run_falsifier()
print("Scenic Samples")
for i in falsifier.samples.keys():
print("Sample: ", i)
print(falsifier.samples[i])
# To save all samples: uncomment this
# pickle.dump(falsifier.samples, open("generated_samples.pickle", "wb"))
MAX_ITERS = 20
PORT = 8888
MAXREQS = 5
BUFSIZE = 4096
falsifier_params = DotMap()
falsifier_params.port = PORT
falsifier_params.n_iters = MAX_ITERS
falsifier_params.maxreqs = MAXREQS
falsifier_params.bufsize = BUFSIZE
falsifier_params.compute_error_table = True
falsifier_params.fal_thres = 0.5
falsifier = generic_falsifier(sampler=sampler,
monitor=confidence_spec(),
falsifier_params=falsifier_params)
falsifier.run_falsifier()
analysis_params = DotMap()
analysis_params.k_closest_params.k = 4
analysis_params.random_params.count = 4
analysis_params.pca_params.n_components = 2
analysis_params.pca = True
falsifier.analyze_error_table(analysis_params=analysis_params)
lib = getLib()
print("Error table")
print(falsifier.error_table.table)
print("Results of error table analysis")