{"id":31021416,"url":"https://github.com/sisl/autonomousriskframework.jl","last_synced_at":"2026-02-28T05:49:50.339Z","repository":{"id":43120690,"uuid":"296752869","full_name":"sisl/AutonomousRiskFramework.jl","owner":"sisl","description":"Framework for autonomous vehicle risk assessment","archived":false,"fork":false,"pushed_at":"2023-05-11T17:31:33.000Z","size":91887,"stargazers_count":16,"open_issues_count":4,"forks_count":3,"subscribers_count":7,"default_branch":"master","last_synced_at":"2025-04-14T01:24:25.692Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Julia","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/sisl.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2020-09-18T23:57:55.000Z","updated_at":"2025-01-28T08:24:30.000Z","dependencies_parsed_at":"2022-09-06T19:20:44.276Z","dependency_job_id":null,"html_url":"https://github.com/sisl/AutonomousRiskFramework.jl","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/sisl/AutonomousRiskFramework.jl","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sisl%2FAutonomousRiskFramework.jl","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sisl%2FAutonomousRiskFramework.jl/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sisl%2FAutonomousRiskFramework.jl/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sisl%2FAutonomousRiskFramework.jl/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/sisl","download_url":"https://codeload.github.com/sisl/AutonomousRiskFramework.jl/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sisl%2FAutonomousRiskFramework.jl/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":274955834,"owners_count":25380669,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-13T02:00:10.085Z","response_time":70,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-09-13T11:21:21.379Z","updated_at":"2026-02-28T05:49:45.315Z","avatar_url":"https://github.com/sisl.png","language":"Julia","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Autonomous Vehicle Risk Assessment Framework\n\n[![Report](https://img.shields.io/badge/research-report-2d716f.svg)](http://web.stanford.edu/~mossr/pdf/Autonomous_Vehicle_Risk_Assessment.pdf)\n[![Build Status](https://github.com/sisl/AutonomousRiskFramework/actions/workflows/CI.yml/badge.svg)](https://github.com/sisl/AutonomousRiskFramework/actions/workflows/CI.yml)\n\n```\n@techreport{moss2021autonomous,\n  title={{Autonomous Vehicle Risk Assessment}},\n  author={Robert J. Moss and Shubh Gupta and Robert Dyro and Karen Leung and Mykel J. Kochenderfer and Grace X. Gao and Marco Pavone and Edward Schmerling and Anthony Corso and Regina Madigan and Matei Stroila and Tim Gibson},\n  institution={Stanford Center for AI Safety, Stanford University},\n  year={2021}\n}\n```\n\n## Installation\n**Note:** Julia v1.5+ is recommended for AutomotiveSimulator and POMDPStressTesting.\n\n```julia\njulia install.jl\n```\n\n\n\n## Example\n\n```julia\nusing RiskSimulator\n\nsystem = IntelligentDriverModel()\nscenario = get_scenario(MERGING)\nplanner = setup_ast(sut=system, scenario=scenario)\n\nsearch!(planner)\n\nfail_metrics = failure_metrics(planner)\nα = 0.2 # risk tolerance\nrisk_metrics = metrics(planner, α)\nrisk = overall_area(planner, α=α)\n```\n\n### CARLA experiment\n[See adversarial CARLA environment instructions here.](./CARLAIntegration/adversarial_carla_env)\n\n\n```julia\nusing AVExperiments\n\nconfig = ExperimentConfig(\n    seed=0xC0FFEE,\n    agent=WorldOnRails,\n    N=100,\n    dir=\"results_wor\",\n    use_tree_is=true,\n    leaf_noise=true,\n    resume=false,\n)\n\nresults = run_carla_experiment(config)\n```\n\n\n## Related packages\n- **Adaptive stress testing**:\n    - https://github.com/sisl/POMDPStressTesting.jl\n- **Signal temporal logic computation graphs**:\n    - https://github.com/StanfordASL/stlcg\n- **Automotive simulator**:\n    - https://github.com/sisl/AutomotiveSimulator.jl (note AutomotiveDrivingModels.jl is deprecated)\n    - **Driving visualizations**:\n        - https://github.com/sisl/AutomotiveVisualization.jl (note AutoViz.jl is deprecated)\n- **Adversarial driving**:\n    - https://github.com/sisl/AdversarialDriving.jl\n- **Interpretability for validation**:\n    - https://github.com/sisl/InterpretableValidation.jl\n    - **Defining expression rules (for STL)**:\n        - https://github.com/sisl/ExprRules.jl\n- **POMDPs framework**:\n    - https://github.com/JuliaPOMDP/POMDPs.jl\n\n\n## Publications\n\n- See [PUBLICATIONS.md](https://github.com/sisl/AutonomousRiskFramework/blob/master/PUBLICATIONS.md)\n\n\n## CARLA Installation\n\n- See [CARLAIntegration](https://github.com/sisl/AutonomousRiskFramework/tree/master/CARLAIntegration/adversarial_carla_env).\n\n## Code style\n\n- See: https://github.com/invenia/BlueStyle\n\n## Known issues\n\n#### INTEL MKL ERROR: Library not loaded: @rpath/libiomp5.dylib\nThis error was observed on MacOS and appears to be related to Conda.\nOne solution that worked was to run\n\n```julia\nusing Conda\nConda.rm(\"mkl\")\nConda.add(\"nomkl\")\n```\nSee https://github.com/JuliaPy/PyPlot.jl/issues/315 for relevant discussions.\n\n\n#### Python version conflicts\nSome versions of Python e.g., 3.9 are incompatible with the framework as they do not support packages such as `pytorch` that are needed.\nIt is possible to switch to a working version of Python as follows:\n```julia\nusing Conda\nConda.add(\"python=3.7.5\")\n```\nHowever, note that if you were using an incompatible of Python before, you might have installed Python packages of versions\nthat can conflict with the new compatible version of Python as the packages remain under the Conda directory.\nYou may see error messages like the following if this is the case:\n```\nPackage enum34 conflicts for:\npyopenssl -\u003e cryptography[version='\u003e=2.8'] -\u003e enum34\ncryptography -\u003e enum34\nbrotlipy -\u003e enum34\nurllib3 -\u003e brotlipy[version='\u003e=0.6.0'] -\u003e enum34\npyqt -\u003e enum34\n```\nIf so, you may need to remove the Conda directory to remove the packages and resintall them *after* setting Conda to use a correct version of Python i.e.,\n```shell\nrm -R ~/.julia/conda/  # Make sure this is okay to do in your case\n```\nthen,\n```julia\nusing Conda\nConda.add(\"python=3.7.5\")\nusing RiskSimulator\n```\n\n\n## Contacts\n- Stanford Intelligent Systems Laboratory (SISL)\n    - Robert Moss: [mossr](https://github.com/mossr)\n    - Kyu-Young Kim: [kykim0](https://github.com/kykim0)\n- Navigation and Autonomous Vehicles Laboratory (NAV Lab)\n    - Shubh Gupta: [shubhg1996](https://github.com/shubhg1996)\n- Stanford Autonomous Systems Laboratory (ASL)\n    - Karen Leung: [karenl7](https://github.com/karenl7)\n    - Robert Dyro: [rdyro](https://github.com/rdyro)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsisl%2Fautonomousriskframework.jl","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsisl%2Fautonomousriskframework.jl","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsisl%2Fautonomousriskframework.jl/lists"}