ACSG: Avoidable Collision Scenario Generator for Autonomous Vehicles

Run ACSG

Need to install gym-lass first.

mkdir output
python run.py
cd parasearch
python parasearch.py

To try different scenarios, modify run.py

cars = 'asp/cars-exp2.lp' # try cars-exp1.lp or cars-exp3.lp

and asp/goal.lp

goal(done, t) :-
    % SCEN 1
    % not h(exist_over(ego), t),
    % h(on(ego, 1), t).

    % SCEN 2
    not h(exist_over(ego), t),
    h(on(ego, 3), t).

    % SCEN 3
    % not h(exist_over(ego), t),
    % h(on(ego, 1), t).

Run baselines

RL baseline

Need to install spinningup and gym-lass first. See spinningup docs for how to run them.

Random baseline

Need to install gym-lass first.