RoadLogic: Declarative Scenario-based Testing

View on GitHub arXiv preprint

RoadLogic is a logic-based planning and simulation framework for road and traffic scenarios. It synthesizes high-level driving plans using Answer Set Programming (ASP) and supports scenario specifications in OpenSCENARIO 2.1 DSL. The generated plans can be executed and evaluated through CommonRoad and the Frenetix Motion Planner.

Reproducibility Evaluation

See REPRODUCIBILITY.md and the PDF version REPRODUCIBILITY.pdf.

Overview

RoadLogic provides:

Declarative reasoning for scenario-based planning
Automatic plan synthesis from OpenSCENARIO 2.1 descriptions
Execution interface for CommonRoad simulations
Integration with the Frenetix motion-planning library

Status: This branch is frozen for reproducibility. Active development continues on the main branch.

Installation

Docker

To reproduce the figures in the paper, just use the Dockerfile. The experiments run for about 10h in total on my Dell Latitude with a 12th Gen Intel(R) Core(TM) i7-1265U. Your mileage may vary (and the computation time with it).

Inside this folder, run docker build -t roadlogic-artifact .
Run the container. docker run --rm -it --name roadlogic-artifact roadlogic-artifact Be careful: remove --rm if you want the container to persist after usage.
Run the script to reproduce the Figures from the paper bash paper/reproduce_experiments.sh
This part takes about 10h.
Find the results under paper/figures

Set up locally

Prerequisites

Ubuntu 22.04.5 LTS (or WSL on Windows)
make
git
pyenv

Setup

git clone https://github.com/figlerg/roadlogic.git
cd roadlogic

# using pyenv
pyenv install 3.10.16
pyenv local 3.10.16
python -m venv venv
source venv/bin/activate

# check
python --version
which python

# pip install
pip install -U pip wheel setuptools
pip install -e ./Frenetix-Motion-Planner   # local submodule
pip install -e .                           # roadlogic itself

Test

python -m planning.Planner plans --osc2_file tests/overtake.osc -n 3 -a # run planning engine standalone
bash experiments_src/exp_001/run.sh # run the experiments with their shell script. see shell script for some make examples

The experiments are carried out like this. Assume there is an experiment folder EXP with folders EXP/in and EXP/out, and a specification EXP/in/spec.osc. Then plans, plots and metrics can be generated as follows (see experiments_src/common.sh for the full pipeline):

N=10                    # number of plans
STEP_LENGTH=60          # number of discarded plans before selecting the next, has minor impact on model diversity

# actual planning module
make generate-osc-scenarios \
    OSC_N="$N" \
    OSC_FILE="$EXP/in/spec.osc" \
    OUTPUT_FOLDER="$EXP/out/cr_simulations" \
    SCENARIOS_FOLDER="$EXP/out" \
    STEP_LENGTH="$STEP_LENGTH" \
    RULE_INJECTION="$EXP/in/rule_injection.lp"

# simulate in CommonRoad (no visualization)
make execute-all-scenarios \
    SCENARIOS_FOLDER="$EXP/out/cr_scenarios" \
    OUTPUT_FOLDER="$EXP/out/cr_simulations"

# compute metrics for the monitor
make -j 8 \
    SCENARIOS_FOLDER="$EXP/out/cr_scenarios" \
    OUTPUT_FOLDER="$EXP/out/cr_simulations" \
    compute-selected-metrics-for-all-scenarios

# compute monitoring results from the metrics (witnesses satisfaction)
make generate-summary \
    SCENARIOS_FOLDER="$EXP/out/cr_scenarios" \
    OUTPUT_FOLDER="$EXP/out/cr_simulations" \
    OSC_FILE="$EXP/in/spec.osc"

# build a similarity matrix for the generated plans
python commonroad_extensions/simulation_analysis/similarity.py \
    --plans-folder "$EXP/out/serialized_models" \
    --output-folder "$EXP/out/similarity"

Authors & Acknowledgments

Ezio Bartocci
Alessio Gambi
Felix Gigler
Cristinel Mateis
Dejan Nickovic

This repository is maintained by Felix Gigler and Alessio Gambi.

Citation

If you use RoadLogic in academic work, please cite our forthcoming paper:

@inproceedings{bartocci2026roadlogic,
  title     = {Declarative Scenario-based Testing with RoadLogic},
  author    = {Bartocci, Ezio and Gambi, Alessio and Gigler, Felix and Mateis, Cristinel and Ni\v{c}kovi\'{c}, Dejan},
  booktitle = {Proceedings of the 29th ACM International Conference on Hybrid Systems: Computation and Control (HSCC)},
  year      = {2026},
  note      = {To appear}
}

Read the preprint here. Will be updated once the HSCC proceedings are available.

License

RoadLogic core: BSD 3-Clause License
OpenSCENARIO 2 grammar and generated parser: MPL-2.0
Frenetix integration: uses components under LGPL-3.0
See THIRD_PARTY_NOTICES.md for detailed attributions.