3D Environment Modeling for Falsification and Beyond with Scenic 3.0

Eric Vin, Shun Kashiwa, Matthew Rhea, Daniel J. Fremont, Edward Kim, Tommaso Dreossi, Shromona Ghosh, Xiangyu Yue, Alberto L. Sangiovanni-Vincentelli, and Sanjit A. Seshia. 3D Environment Modeling for Falsification and Beyond with Scenic 3.0. In 35th International Conference on Computer Aided Verification (CAV), pp. 253–265, Lecture Notes in Computer Science 13964, Springer, 2023.

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Abstract

We present a major new version of Scenic, a probabilistic programming language for writing formal models of the environments of cyber-physical systems. Scenic has been successfully used for the design and analysis of CPS in a variety of domains, but earlier versions are limited to environments that are essentially two-dimensional. In this paper, we extend Scenic with native support for 3D geometry, introducing new syntax that provides expressive ways to describe 3D configurations while preserving the simplicity and readability of the language. We replace Scenic’s simplistic representation of objects as boxes with precise modeling of complex shapes, including a ray tracing-based visibility system that accounts for object occlusion. We also extend the language to support arbitrary temporal requirements expressed in LTL, and build an extensible Scenic parser generated from a formal grammar of the language. Finally, we illustrate the new application domains these features enable with case studies that would have been impossible to accurately model in Scenic 2.

BibTeX

@inproceedings{vin-cav23,
  author       = {Eric Vin and
                  Shun Kashiwa and
                  Matthew Rhea and
                  Daniel J. Fremont and
                  Edward Kim and
                  Tommaso Dreossi and
                  Shromona Ghosh and
                  Xiangyu Yue and
                  Alberto L. Sangiovanni{-}Vincentelli and
                  Sanjit A. Seshia},
  editor       = {Constantin Enea and
                  Akash Lal},
  title        = {{3D} Environment Modeling for Falsification and Beyond with Scenic 3.0},
  booktitle    = {35th International Conference on Computer Aided Verification (CAV)},
  series       = {Lecture Notes in Computer Science},
  volume       = {13964},
  pages        = {253--265},
  publisher    = {Springer},
  year         = {2023},
  abstract  = {We present a major new version of Scenic, a probabilistic programming language for writing formal models of the environments of cyber-physical systems. Scenic has been successfully used for the design and analysis of CPS in a variety of domains, but earlier versions are limited to environments that are essentially two-dimensional. In this paper, we extend Scenic with native support for 3D geometry, introducing new syntax that provides expressive ways to describe 3D configurations while preserving the simplicity and readability of the language. We replace Scenic’s simplistic representation of objects as boxes with precise modeling of complex shapes, including a ray tracing-based visibility system that accounts for object occlusion. We also extend the language to support arbitrary temporal requirements expressed in LTL, and build an extensible Scenic parser generated from a formal grammar of the language. Finally, we illustrate the new application domains these features enable with case studies that would have been impossible to accurately model in Scenic 2.},
}