verse.scenario.scenario.ScenarioConfig
- class verse.scenario.scenario.ScenarioConfig(incremental: bool = False, unsafe_continue: bool = False, init_seg_length: int = 1000, reachability_method: ReachabilityMethod = ReachabilityMethod.DRYVR, parallel_sim_ahead: int = 8, parallel_ver_ahead: int = 8, parallel: bool = True, try_local: bool = False, print_level: int = 1, pca: bool = True)
Bases:
objectConfiguration for how simulation/verification is performed for a scenario. Properties are immutable so that incremental verification works correctly.
- __init__(incremental: bool = False, unsafe_continue: bool = False, init_seg_length: int = 1000, reachability_method: ReachabilityMethod = ReachabilityMethod.DRYVR, parallel_sim_ahead: int = 8, parallel_ver_ahead: int = 8, parallel: bool = True, try_local: bool = False, print_level: int = 1, pca: bool = True) None
- incremental: bool = False
Enable incremental simulation/verification. Results from previous runs will be used to try to speed up experiments. Result is undefined when the map, agent dynamics and sensor are changed.
- parallel: bool = True
Enable parallelization. Uses the Ray library. Could be slower for small scenarios.
- parallel_sim_ahead: int = 8
The number of simulation tasks to dispatch before waiting.
- parallel_ver_ahead: int = 8
The number of verification tasks to dispatch before waiting.
- pca: bool = True
If true, uses the PCA algorithm to generate the starsets, otherwise, uses DryVR and rectangular overapproximations
- print_level: int = 1
Adjust print_level from 0 - 2 to print different information.
- reachability_method: ReachabilityMethod = 1
Method of performing reachability. Can be DryVR, NeuReach, MixMonoCont and MixMonoDisc.
- try_local: bool = False
Heuristic. When enabled, try to use the local thread when some results are cached.
- unsafe_continue: bool = False
Continue exploring the branch when an unsafe condition occurs.