Pith Number

pith:RRUT436X

pith:2026:RRUT436X4T7UY52XVHEJYB5YTY

not attested not anchored not stored refs resolved

Compiling OpenSCENARIO 2.1 for Scenario-Based Testing in CARLA

Lasanthi Gamage, Thoshitha Gamage

A compiler pipeline converts OpenSCENARIO 2.1 scenarios into executable CARLA behavior trees by mapping the standard ontology through a custom registry.

arxiv:2604.16452 v2 · 2026-04-07 · cs.RO · cs.PL · cs.SY · eess.SY

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\usepackage{pith}
\pithnumber{RRUT436X4T7UY52XVHEJYB5YTY}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

This framework establishes a functional baseline for reproducible, large-scale SBT, paving the way for future C++ optimizations to mitigate current Python-based computational overhead.

C2weakest assumption

That a custom method registry can map the full OpenSCENARIO 2.1 ontology to CARLA's procedural API without external logic solvers or loss of expressiveness for concurrent and dynamic behaviors.

C3one line summary

A multi-pass compiler using ANTLR4 and py_trees translates OpenSCENARIO 2.1 DSL into CARLA behaviors, demonstrated on a multi-actor cut-in scenario.

References

17 extracted · 17 resolved · 0 Pith anchors

[1] ASAM OpenSCENARIO XML 2020

[2] ASAM OpenSCENARIO DSL 2.1.0 2024

[3] Declarative Scenario-based Testing with RoadLogic 2026

[4] The Y ASE Framework: Holistic Scenario Modeling with Behav- ior Trees 2021

[5] Text2Scenario: Text-driven scenario generation for autonomous driving test 2025

Receipt and verification

First computed	2026-06-26T00:15:25.663567Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8c693e6fd7e4ff4c7757a9c89c07b89e3d545b11de899376a39040cca185966a

Aliases

arxiv: 2604.16452 · arxiv_version: 2604.16452v2 · doi: 10.48550/arxiv.2604.16452 · pith_short_12: RRUT436X4T7U · pith_short_16: RRUT436X4T7UY52X · pith_short_8: RRUT436X

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/RRUT436X4T7UY52XVHEJYB5YTY \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 8c693e6fd7e4ff4c7757a9c89c07b89e3d545b11de899376a39040cca185966a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e6bfae891705c648aca764e72a6deee01b8aa7b093a376e2e5ecf80f38046ecf",
    "cross_cats_sorted": [
      "cs.PL",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-07T20:30:06Z",
    "title_canon_sha256": "a3bbf9caa963ffb2afee9a98bdb484079311ff23418ce57aee31abdb39d062eb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.16452",
    "kind": "arxiv",
    "version": 2
  }
}