ScenicRules: An Autonomous Driving Benchmark with Multi-Objective Specifications and Abstract Scenarios

ScenicRules is an autonomous driving benchmark designed to evaluate systems against complex, multi-objective specifications in diverse driving contexts. It integrates the following key features:

• Multi-Objective Specification: Supports the formalization of conflicting driving objectives and explicit priority relations using the Rulebook framework.
• Abstract Scenario Representation: Leverages the Scenic probabilistic programming language to model driving contexts in an expressive, compact, and interpretable manner.

Repository Status

This repository is currently under active development as we organize the codebase and documentation for the official release. Some features and documentation pages may be incomplete. Stay tuned!

Documentation

Please refer to our documentation for installation instructions, tutorials, and more details about ScenicRules.

Authors

ScenicRules was originally designed and implemented by Kevin Kai-Chun Chang, Ekin Beyazit, Alberto Sangiovanni-Vincentelli, Tichakorn Wongpiromsarn, and Sanjit A. Seshia.

Citing ScenicRules

If you use ScenicRules in your work, please cite the following paper:

@inproceedings{chang2026scenicrules,
  title={{ScenicRules}: An Autonomous Driving Benchmark with Multi-Objective Specifications and Abstract Scenarios},
  author={Chang, Kevin Kai{-}Chun and Beyazit, Ekin and Sangiovanni-Vincentelli, Alberto and Wongpiromsarn, Tichakorn and Seshia, Sanjit A},
  booktitle={IEEE Intelligent Vehicles Symposium (IV)},
  year={2026}
}