WIP ScenarioCharacterization

An open-source framework for automated, dataset-agnostic profiling of driving scenarios in trajectory datasets. Built upon the scenario characterization approach introduced in SafeShift, this project extends it into a modular, configuration-driven pipeline with three layers:

  1. Dataset adapter — ingests custom datasets and re-formats them into a common scenario representation, validated by Pydantic schemas.
  2. Characterizer — performs feature extraction, behavior probing, and criticality scoring at the scenario and agent levels.
  3. Analysis — supports scenario visualization, feature and score analyses, categorical profiling, and scenario mining.

New datasets plug in without rewriting the characterization and analysis stack. The framework is demonstrated on Waymo Open Motion, nuScenes, Argoverse2, and nuPlan. Developed as part of an internship project at StackAV.

Scenario Characterization workflow diagram

Visualization Examples
Categorical Scores Animated Scenarios Static Scenarios
5c1f8d26c481e36d_2 43 5c1f8d26c481e36d_2 43 6e593bf6b9dbbf73
Results from our categorical profiler. Agents are visualized from dark green (low crit.) to dark red (high crit.) based on their criticality with respect to the ego agent (blue). Result from our animated visualizer, showing agents by type: vehicle (gray), pedestrian (magenta), cyclist (green), and ego (blue), along with the scenario's elapsed time throughout the episode. Result from our static scenario visualizer. The episode's time is shown by increasing trajectory opacity over time.

Repository: github.com/navarrs/ScenarioCharacterization

Installation

Install the package

uv pip install scenario-characterization

Install the package in editable mode

Clone the repository and install the package in editable mode:

git clone git@github.com:navarrs/ScenarioCharacterization.git
cd ScenarioCharacterization
uv run pip install -e .

To install with dataset-specific dependencies, use the appropriate optional extra:

# Waymo Open Motion Dataset (requires Python 3.10)
uv run pip install -e ".[waymo]"

# nuScenes dataset (requires Python 3.12)
uv run pip install -e ".[nuscenes]"

# nuPlan dataset (requires Python 3.12)
uv run pip install -e ".[nuplan]"

If installing with development dependencies, run:

uv run pip install -e ".[dev]"
uv run pre-commit install

Documentation

Citing

@misc{navarro2026scenchar,
  title={ScenarioCharacterization: A Modular Toolkit for Characterizing Safety across Trajectory Datasets},
  author={Ingrid Navarro and Yutong Duan and Jonathan Francis and Jean Oh},
  year={2026},
  eprint={2608.16041},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2608.16041},
}

@INPROCEEDINGS{stoler2024safeshift,
  author={Stoler, Benjamin and Navarro, Ingrid and Jana, Meghdeep and Hwang, Soonmin and Francis, Jonathan and Oh, Jean},
  booktitle={2024 IEEE Intelligent Vehicles Symposium (IV)},
  title={SafeShift: Safety-Informed Distribution Shifts for Robust Trajectory Prediction in Autonomous Driving},
  year={2024},
  volume={},
  number={},
  pages={1179-1186},
  keywords={Meters;Collaboration;Predictive models;Robustness;Iron;Trajectory;Safety},
  doi={10.1109/IV55156.2024.10588828}}

Development

Run uv sync --frozen --all-groups to set up the environment. Run pre-commit run --all-files to run all hooks on all files.

Project links

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Credits

Author: Duan Yutong (dyt-stackav)

GitHub Statistics

Data verified by PyPI on Aug 20, 2026
The GitHub source repository was provided by the project maintainers and verified by PyPI at the time of upload. Stars, forks, and open issues/PRs are derived from that repository and have not been independently verified.

License

Apache Software License (Apache License)

Requires

Python <3.14, >=3.10

Provides Extra

argoverse2 dev nuplan nuscenes viz waymo

Tags

Characterization Safety Metrics Trajectory Datasets

Classifiers

Report project as malware

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