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

[ Paper | Documentation ]

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.

Please see our paper for more details about the benchmark and its design principles. Please refer to our documentation for installation instructions, tutorials, and more details about ScenicRules.

If you have any questions or suggestions, please feel free to open an issue.

Repository Status

Parts of the documentation and tutorials for ScenicRules are still under development. All the tutorials and documentation are expected to be available by the end of March 2026. In the meantime, we encourage you to explore the codebase and stay tuned for updates!

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}
}