├── .gitignore ├── .readthedocs.yml ├── LICENSE ├── README.md ├── docs ├── Makefile ├── _static │ └── assets │ │ ├── cartpole.jpg │ │ └── mountaincar.jpg ├── basic_usage.rst ├── conf.py ├── dynamics.rst ├── feature_api.rst ├── index.rst ├── installation.rst ├── make.bat ├── multi_objective.rst ├── parallel_falsification.rst ├── publications.rst ├── samplers.rst ├── server_client.rst └── tutorial.md ├── examples ├── data_augmentation │ ├── __init__.py │ ├── classifier.py │ ├── counterexample_images │ │ └── README │ ├── data │ │ └── car_detector │ │ │ └── checkpoint │ │ │ ├── car-detector-model.data-00000-of-00001 │ │ │ ├── car-detector-model.index │ │ │ ├── car-detector-model.meta │ │ │ └── checkpoint │ ├── falsifier.py │ ├── model │ │ ├── dataset.py │ │ ├── model.py │ │ ├── testNN.py │ │ ├── train.py │ │ └── utils.py │ └── renderer │ │ ├── generator.py │ │ ├── image.py │ │ ├── imgSampSpaces.pickle │ │ ├── kittiLib.py │ │ ├── library.py │ │ ├── library │ │ ├── cars │ │ │ ├── benz_front_kitti.png │ │ │ ├── bmw_blue_kitti.png │ │ │ ├── bmw_front_kitti.png │ │ │ ├── bmw_gray_front_kitti.png │ │ │ ├── chevrolet_truck_rear_kitti.png │ │ │ ├── chrysler_kitti.png │ │ │ ├── corvette_front_kitti.png │ │ │ ├── fiat_abarth_front_kitti.png │ │ │ ├── fiat_front_kitti.png │ │ │ ├── ford_front_kitti.png │ │ │ ├── ford_truck_rear_kitti.png │ │ │ ├── honda_civic_front_kitti.png │ │ │ ├── honda_kitti.png │ │ │ ├── jeep_cherokee_front_kitti.png │ │ │ ├── jeep_front_kitti.png │ │ │ ├── mazda_front_kitti.png │ │ │ ├── mazda_rear_kitti.png │ │ │ ├── mercedes_front_kitti.png │ │ │ ├── mercedes_rear_kitti.png │ │ │ ├── peugeot_kitti.png │ │ │ ├── porche_rear_kitti.png │ │ │ ├── scion_front_kitti.png │ │ │ ├── scion_rear_kitti.png │ │ │ ├── smart_front_kitti.png │ │ │ ├── smart_rear_kitti.png │ │ │ ├── suzuki_front_kitti.png │ │ │ ├── suzuki_rear_kitti.png │ │ │ ├── tesla_front_kitti.png │ │ │ ├── tesla_rear_kitti.png │ │ │ ├── toyota_camry_front_kitti.png │ │ │ ├── toyota_kitti.png │ │ │ ├── toyota_new_prius_front_kitti.png │ │ │ ├── toyota_prius_front_kitti.png │ │ │ ├── volkswagen_beetle_front_kitti.png │ │ │ ├── volkswagen_golf_front_kitti.png │ │ │ └── volvo_rear_kitti.png │ │ └── roads │ │ │ ├── alps_kitti.png │ │ │ ├── big_sur_kitti.png │ │ │ ├── bridge_1.JPG │ │ │ ├── bridge_1_kitti.png │ │ │ ├── bridge_kitti.jpg │ │ │ ├── bridge_kitti.png │ │ │ ├── building.jpeg │ │ │ ├── building_kitti.png │ │ │ ├── city.jpg │ │ │ ├── city_kitti.png │ │ │ ├── cloud.jpeg │ │ │ ├── cloud_kitti.png │ │ │ ├── construction_kitti.png │ │ │ ├── countryside.jpg │ │ │ ├── countryside_kitti.jpg │ │ │ ├── cropped_desert.jpg │ │ │ ├── desert.jpg │ │ │ ├── desert_kitti.png │ │ │ ├── desert_road.jpg │ │ │ ├── downtown.jpg │ │ │ ├── downtown_kitti.png │ │ │ ├── fields_kitti.png │ │ │ ├── forest_kitti.png │ │ │ ├── freeway.jpg │ │ │ ├── freeway_kitti.jpg │ │ │ ├── freeway_kitti.png │ │ │ ├── freeway_moto_kitti.jpg │ │ │ ├── hill_kitti.jpg │ │ │ ├── icy_kitti.jpg │ │ │ ├── in_tunnel_kitti.jpg │ │ │ ├── indoor_parking_kitti.png │ │ │ ├── island_kitti.jpg │ │ │ ├── joshua_tree_kitti.jpg │ │ │ ├── little_bridge_kitti.jpg │ │ │ ├── mountain_kitti.jpg │ │ │ ├── night_bridge_kitti.jpg │ │ │ ├── night_road_kitti.jpg │ │ │ ├── parking_lot_kitti.png │ │ │ ├── rainforest.jpg │ │ │ ├── rainforest_kitti.png │ │ │ ├── rainy_bridge_kitti.jpg │ │ │ ├── snow_kitti.jpg │ │ │ ├── track.jpg │ │ │ ├── track_kitti.jpg │ │ │ ├── tree.jpg │ │ │ ├── tree_kitti.png │ │ │ ├── trees.jpg │ │ │ ├── trees_kitti.png │ │ │ ├── tunnel_kitti.jpg │ │ │ └── yosemite_kitti.png │ │ └── utils.py ├── multi_objective │ ├── README.md │ ├── intersection_01.scenic │ ├── maps │ │ └── Town05.xodr │ ├── multi_objective_falsification.py │ └── uberCrashNewton.scenic ├── openai_gym │ ├── cartpole │ │ ├── cartpole_falsifier.py │ │ └── cartpole_simulation.py │ └── mountaincar │ │ ├── mountaincar_falsifier.py │ │ └── mountaincar_simulation.py ├── scenic │ ├── README.md │ ├── carla │ │ └── carlaChallenge1.scenic │ ├── falsify_distance.py │ └── newtonian │ │ └── carlaChallenge2.scenic ├── webots │ ├── controllers │ │ ├── Makefile │ │ ├── cones_lanechange_supervisor │ │ │ ├── cones_lanechange_falsifier.py │ │ │ └── cones_lanechange_supervisor.py │ │ ├── gaussian_cnn │ │ │ ├── binarization_utils.py │ │ │ ├── calibration_utils.py │ │ │ ├── camera_cal │ │ │ │ ├── calibration1.jpg │ │ │ │ ├── calibration10.jpg │ │ │ │ ├── calibration11.jpg │ │ │ │ ├── calibration12.jpg │ │ │ │ ├── calibration13.jpg │ │ │ │ ├── calibration14.jpg │ │ │ │ ├── calibration15.jpg │ │ │ │ ├── calibration16.jpg │ │ │ │ ├── calibration17.jpg │ │ │ │ ├── calibration18.jpg │ │ │ │ ├── calibration19.jpg │ │ │ │ ├── calibration2.jpg │ │ │ │ ├── calibration20.jpg │ │ │ │ ├── calibration3.jpg │ │ │ │ ├── calibration4.jpg │ │ │ │ ├── calibration5.jpg │ │ │ │ ├── calibration6.jpg │ │ │ │ ├── calibration7.jpg │ │ │ │ ├── calibration8.jpg │ │ │ │ ├── calibration9.jpg │ │ │ │ └── calibration_data.pickle │ │ │ ├── data │ │ │ │ ├── checkpoints │ │ │ │ │ ├── model-traffic-cones.ckpt-1150.data-00000-of-00001 │ │ │ │ │ ├── model-traffic-cones.ckpt-1150.index │ │ │ │ │ └── model-traffic-cones.ckpt-1150.meta │ │ │ │ └── distance_regression.xlsx │ │ │ ├── evaluation_utils.py │ │ │ ├── gaussian_cnn.py │ │ │ ├── gen_utils.py │ │ │ ├── globals.py │ │ │ ├── line_utils.py │ │ │ ├── perspective_utils.py │ │ │ ├── squeezedet.py │ │ │ └── src │ │ │ │ ├── __init__.py │ │ │ │ ├── config │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── kitti_model_config.py │ │ │ │ ├── kitti_res50_config.py │ │ │ │ ├── kitti_squeezeDetPlus_config.py │ │ │ │ ├── kitti_squeezeDet_config.py │ │ │ │ └── kitti_vgg16_config.py │ │ │ │ ├── dataset │ │ │ │ ├── __init__.py │ │ │ │ ├── imdb.py │ │ │ │ ├── kitti.py │ │ │ │ ├── pascal_voc.py │ │ │ │ └── voc_eval.py │ │ │ │ ├── demo.py │ │ │ │ ├── eval.py │ │ │ │ ├── nets │ │ │ │ ├── __init__.py │ │ │ │ ├── resnet50_convDet.py │ │ │ │ ├── squeezeDet.py │ │ │ │ ├── squeezeDetPlus.py │ │ │ │ └── vgg16_convDet.py │ │ │ │ ├── nn_skeleton.py │ │ │ │ ├── train.py │ │ │ │ └── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── caffemodel2pkl.py │ │ │ │ └── util.py │ │ ├── scenic_cones_supervisor │ │ │ ├── lane_cones.scenic │ │ │ ├── scenic_cones_sampler.py │ │ │ └── scenic_cones_supervisor.py │ │ ├── scenic_intersection_supervisor │ │ │ ├── IntersectionCrashIntersection.osm │ │ │ ├── IntersectionCrash_EgoView.json │ │ │ ├── guideways_accident.py │ │ │ ├── intersection_crash.scenic │ │ │ ├── scenic_intersection_sampler.py │ │ │ └── scenic_intersection_supervisor.py │ │ ├── smart_brake │ │ │ └── smart_brake.py │ │ └── turning_car_guideway │ │ │ └── turning_car_guideway.py │ └── worlds │ │ ├── scenic_intersection.wbt │ │ ├── shattuck_build.wbt │ │ ├── shattuck_buildings_falsif.wbt │ │ └── textures │ │ ├── bus_lines.png │ │ ├── dead_end_road.jpg │ │ ├── dry_land.jpg │ │ ├── flowers_purple.jpg │ │ ├── flowers_yellow.jpg │ │ ├── ground.jpg │ │ ├── ground_grass.jpg │ │ ├── parking.jpg │ │ ├── pavement.jpg │ │ ├── road_double_yellow.jpg │ │ └── road_highway.jpg └── xplane │ ├── README.md │ ├── config.yaml │ ├── elevations.csv │ ├── example.scenic │ └── runway.yaml ├── pyproject.toml ├── src └── verifai │ ├── __init__.py │ ├── client.py │ ├── error_table.py │ ├── falsifier.py │ ├── features │ ├── __init__.py │ └── features.py │ ├── monitor.py │ ├── samplers │ ├── __init__.py │ ├── bayesian_optimization.py │ ├── cross_entropy.py │ ├── dist_BO.py │ ├── domain_sampler.py │ ├── eg_sampler.py │ ├── feature_sampler.py │ ├── grid_sampler.py │ ├── halton.py │ ├── multi_armed_bandit.py │ ├── multi_objective.py │ ├── random_sampler.py │ ├── rejection.py │ ├── scenic_sampler.py │ └── simulated_annealing.py │ ├── scenic_server.py │ ├── server.py │ ├── simulators │ ├── __init__.py │ ├── car_simulator │ │ ├── __init__.py │ │ ├── car_dynamics.py │ │ ├── car_object.py │ │ ├── client_car_sim.py │ │ ├── examples │ │ │ ├── __init__.py │ │ │ ├── control_utils │ │ │ │ ├── LQR_computation.py │ │ │ │ └── __init__.py │ │ │ ├── lanekeeping_LQR │ │ │ │ ├── __init__.py │ │ │ │ ├── lanekeeping_falsifier.py │ │ │ │ └── lanekeeping_simulation.py │ │ │ └── simple_control.py │ │ ├── imgs │ │ │ ├── car-blue.png │ │ │ ├── car-gray.png │ │ │ ├── car-orange.png │ │ │ ├── car-purple.png │ │ │ ├── car-red.png │ │ │ ├── car-white.png │ │ │ ├── car-yellow.png │ │ │ ├── cone.png │ │ │ ├── firetruck.png │ │ │ └── grass.png │ │ ├── lane.py │ │ └── simulator.py │ ├── carla │ │ ├── agents │ │ │ ├── brake_agent.py │ │ │ ├── overtake_agent.py │ │ │ ├── pid_agent.py │ │ │ └── pid_follow_controller.py │ │ ├── carla_scenic_task.py │ │ ├── carla_task.py │ │ ├── carla_world.py │ │ └── client_carla.py │ ├── openai_gym │ │ ├── __init__.py │ │ ├── baselines_task.py │ │ └── client_gym.py │ ├── webots │ │ ├── __init__.py │ │ ├── client_webots.py │ │ └── webots_task.py │ └── xplane │ │ ├── __init__.py │ │ ├── server.py │ │ └── utils │ │ ├── __init__.py │ │ ├── controller.py │ │ ├── geometry.py │ │ └── images.py │ └── utils │ ├── __init__.py │ ├── frozendict.py │ └── utils.py ├── tests ├── README.txt ├── __init__.py ├── conftest.py ├── scenic │ ├── Town01.xodr │ ├── __init__.py │ ├── conftest.py │ ├── road.wbt │ ├── scenic_driving.scenic │ ├── scenic_road.scenic │ └── test_scenic.py ├── test_bayesianOptimization.py ├── test_crossEntropy.py ├── test_distBO.py ├── test_domains.py ├── test_examples.py ├── test_features.py ├── test_grid.py ├── test_halton.py ├── test_samplers.py ├── test_simulatedAnnealing.py └── utils.py └── tox.ini /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BerkeleyLearnVerify/VerifAI/HEAD/.gitignore -------------------------------------------------------------------------------- /.readthedocs.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/BerkeleyLearnVerify/VerifAI/HEAD/.readthedocs.yml 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