Safety Verification of Decision-Tree Policies in Continuous Time

This is the repeatability package for the NeurIPS 2023 paper of the same title. To cite the work, please use this citation:

@inproceedings{SchillingLDL23,
  author       = {Christian Schilling and
                  Anna Lukina and
                  Emir Demirovi{\'{c}} and
                  Kim Guldstrand Larsen},
  title        = {Safety verification of decision-tree policies in continuous time},
  booktitle    = {{NeurIPS}},
  volume       = {36},
  pages        = {14750--14769},
  publisher    = {Curran Associates, Inc.},
  year         = {2024},
  url          = {https://dl.acm.org/doi/10.5555/3666122.3666772}
}

Installation

The following has been tested on an Ubuntu Linux computer, but it should work across several major platforms.

Install a Julia compiler for your system. You can download one here. The instructions below assume you have added the julia command to your PATH variable.

Running

Navigate to this folder in the terminal. Run Julia with the following command.

julia --project=. experiments/neurips2023_experiments.jl

The script tells you that it will write all plots to the folder plots.

The script also tells you that verification runs are executed twice. This is because Julia is just-in-time compiled, so the first run compiles everything; this is a common standard for just-in-time-compiled languages. Note that the scripts only run the benchmarks once.

Plotting of the quadrotor results takes a long time (~15 minutes).