BibTeX formatted citation:

@misc{poddubnyy2026ariseadaptiverefinement,
      title={ARISE -- Adaptive Refinement and Iterative Scenario Engineering}, 
      author={Konstantin Poddubnyy and Igor Vozniak and Nils Lipp and Ivan Burmistrov and Davit Hovhannisyan and Christian Mueller and Philipp Slusallek},
      year={2026},
      eprint={2601.14743},
      archivePrefix={arXiv},
      primaryClass={cs.SE},
      url={https://arxiv.org/abs/2601.14743}, 
}

Installation

This repository utilizes Scenic.

Recommended system: Ubuntu 20.04 or 22.04

1. Local Installation

Step 1: Setup conda environment

conda create -n arise
conda activate arise

Step 2: Clone this git repo in an appropriate folder

git clone git@github.com:kopodfki/ARISE.git

Step 3: Enter the repo root folder and install the packages:

cd ARISE
pip install -r requirements.txt

Step 4: Install the Scenic package:

cd Scenic
python -m pip install -e .

Step 5: Download and install CARLA.

Step 7: Add the python API of CARLA to the PYTHONPATH environment variable. You can add the following commands to your ~/.bashrc:

export CARLA_ROOT={path/to/your/carla}
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.1x-py3.x-linux-x86_64.egg
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/agents
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI

Then, do source ~/.bashrc to update the environment variable.

CARLA Setup

1. Desktop Users

Enter the CARLA root folder, launch the CARLA server and run our platform with

# Launch CARLA
./CarlaUE4.sh -prefernvidia -windowed -carla-port=2000

2. Remote Server Users

Enter the CARLA root folder, launch the CARLA server with headless mode, and run our platform with

# Launch CARLA
./CarlaUE4.sh -prefernvidia -RenderOffScreen -carla-port=2000

(Optional) You can also visualize the pygame window using TurboVNC. First, launch CARLA with headless mode, and run our platform on a virtual display.

# Launch CARLA
./CarlaUE4.sh -prefernvidia -RenderOffScreen -carla-port=2000

# Run a remote VNC-Xserver. This will create a virtual display "8".
/opt/TurboVNC/bin/vncserver :8 -noxstartup

You can use the TurboVNC client on your local machine to connect to the virtual display.

# Use the built-in SSH client of TurboVNC Viewer
/opt/TurboVNC/bin/vncviewer -via user@host localhost:n

# Or you can manually forward connections to the remote server by
ssh -L fp:localhost:5900+n user@host
# Open another terminal on local machine
/opt/TurboVNC/bin/vncviewer localhost::fp

where user@host is your remote server, fp is a free TCP port on the local machine, and n is the display port specified when you started the VNC server on the remote server ("8" in our example).

License

This project is licensed under the GNU Affero General Public License v3.0 (AGPLv3).

It is based on original work by the Safebench Team (ChatScene), which is distributed under the MIT License. See the NOTICE.txt file for full attribution and the original license text.