diff --git a/scripts/list_hal_vts.py b/scripts/list_hal_vts.py
new file mode 100755
index 0000000..1fb51a5
--- /dev/null
+++ b/scripts/list_hal_vts.py
@@ -0,0 +1,143 @@
+#!/usr/bin/python3
+
+"""
+List VTS tests for each HAL by parsing module-info.json.
+
+Example usage:
+
+  # First, build modules-info.json
+  m -j "${ANDROID_PRODUCT_OUT#$ANDROID_BUILD_TOP/}/module-info.json"
+
+  # List with pretty-printed JSON. *IDL packages without a VTS module will show up
+  # as keys with empty lists.
+  ./list_hals_vts.py | python3 -m json.tool
+
+  # List with CSV. *IDL packages without a VTS module will show up as a line with
+  # empty value in the VTS module column.
+  ./list_hals_vts.py --csv
+"""
+
+import argparse
+import collections
+import csv
+import io
+import json
+import os
+import logging
+import pathlib
+import re
+import sys
+
+PATH_PACKAGE_PATTERN = re.compile(
+  r'^hardware/interfaces/(?P<path>(?:\w+/)*?)(?:aidl|(?P<version>\d+\.\d+))/.*')
+
+
+class CriticalHandler(logging.StreamHandler):
+  def emit(self, record):
+    super(CriticalHandler, self).emit(record)
+    if record.levelno >= logging.CRITICAL:
+      sys.exit(1)
+
+
+logger = logging.getLogger(__name__)
+logger.addHandler(CriticalHandler())
+
+
+def default_json():
+  out = os.environ.get('ANDROID_PRODUCT_OUT')
+  if not out: return None
+  return os.path.join(out, 'module-info.json')
+
+
+def infer_package(path):
+  """
+  Infer package from a relative path from build top where a VTS module lives.
+
+  :param path: a path like 'hardware/interfaces/vibrator/aidl/vts'
+  :return: The inferred *IDL package, e.g. 'android.hardware.vibrator'
+
+  >>> infer_package('hardware/interfaces/automotive/sv/1.0/vts/functional')
+  'android.hardware.automotive.sv@1.0'
+  >>> infer_package('hardware/interfaces/vibrator/aidl/vts')
+  'android.hardware.vibrator'
+  """
+  mo = re.match(PATH_PACKAGE_PATTERN, path)
+  if not mo: return None
+  package = 'android.hardware.' + ('.'.join(pathlib.Path(mo.group('path')).parts))
+  if mo.group('version'):
+    package += '@' + mo.group('version')
+  return package
+
+
+def load_modules_info(json_file):
+  """
+  :param json_file: The path to modules-info.json
+  :return: a dictionary, where the keys are inferred *IDL package names, and
+           values are a list of VTS modules with that inferred package name.
+  """
+  with open(json_file) as fp:
+    root = json.load(fp)
+    ret = collections.defaultdict(list)
+    for module_name, module_info in root.items():
+      if 'vts' not in module_info.get('compatibility_suites', []):
+        continue
+      for path in module_info.get('path', []):
+        inferred_package = infer_package(path)
+        if not inferred_package:
+          continue
+        ret[inferred_package].append(module_name)
+    return ret
+
+
+def add_missing_idl(vts_modules):
+  top = os.environ.get("ANDROID_BUILD_TOP")
+  interfaces = None
+  if top:
+    interfaces = os.path.join(top, "hardware", "interfaces")
+  else:
+    logger.warning("Missing ANDROID_BUILD_TOP")
+    interfaces = "hardware/interfaces"
+  if not os.path.isdir(interfaces):
+    logger.error("Not adding missing *IDL modules because missing hardware/interfaces dir")
+    return
+  assert not interfaces.endswith(os.path.sep)
+  for root, dirs, files in os.walk(interfaces):
+    for dir in dirs:
+      full_dir = os.path.join(root, dir)
+      assert full_dir.startswith(interfaces)
+      top_rel_dir = os.path.join('hardware', 'interfaces', full_dir[len(interfaces) + 1:])
+      inferred_package = infer_package(top_rel_dir)
+      if inferred_package is None:
+        continue
+      if inferred_package not in vts_modules:
+        vts_modules[inferred_package] = []
+
+
+def main():
+  parser = argparse.ArgumentParser(__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+  parser.add_argument('json', metavar='module-info.json', default=default_json(), nargs='?')
+  parser.add_argument('--csv', action='store_true', help='Print CSV. If not specified print JSON.')
+  args = parser.parse_args()
+  if not args.json:
+    logger.critical('No module-info.json is specified or found.')
+  vts_modules = load_modules_info(args.json)
+  add_missing_idl(vts_modules)
+
+  if args.csv:
+    out = io.StringIO()
+    writer = csv.writer(out, )
+    writer.writerow(["package", "vts_module"])
+    for package, modules in vts_modules.items():
+      if not modules:
+        writer.writerow([package, ""])
+      for module in modules:
+        writer.writerow([package, module])
+    result = out.getvalue()
+  else:
+    result = json.dumps(vts_modules)
+
+  print(result)
+
+
+if __name__ == '__main__':
+  main()