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Challenge "aido-LFV_multi-sim-validation"

Challenge description

LFV_multi
Control multiple Duckiebots

In this variation of the lane following challenge, your agent is embodied in multiple robots. Avoid the crashes with different versions of yourself.

See the documentation for more details.

Note: this is the validation challenge - you can see the output but these are not the scores that count.

Leaderboard

Submissions

Challenge logistics

Scoring

Scoring criteria

These are the metrics defined:

Survival time - survival_time_median

This is the median survival time. The simulation is terminated when the car goes outside of the road or it crashes with an obstacle or pedestrian.

Major infractions - in-drivable-lane_median

This is the median of the time spent outside of the drivable zones. For example this penalizes driving in the wrong lane.

Traveled distance - driven_lanedir_consec_median

This is the median distance traveled, along a lane. (That is, going in circles will not make this metric increase.)

This is discretized to tiles.

Lateral deviation - deviation-center-line_median

This is the median lateral deviation from the center line.

Dependencies

Dependencies

No dependencies

Details

Technical details

Evaluation steps details

Evaluation step sim-0of4

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: docker.io/andreacensi/duckietown-challenges@sha256:74108b8ed5195dfbacad437871c23bf0f54023b87af30ca435981e233a84d13e
        environment:
            replica: '{"index": 0, "total": 4}'
            experiment_manager_parameters: 'episodes_per_scenario: 3

                episode_length_s: 60.0

                min_episode_length_s: 0.0

                seed: 20200922

                physics_dt: 0.05

                max_failures: 2

                fifo_dir: /fifos

                sim_in: /fifos/simulator-in

                sim_out: /fifos/simulator-out

                sm_in: /fifos/scenario_maker-in

                sm_out: /fifos/scenario_maker-out

                timeout_initialization: 120

                timeout_regular: 120

                port: 10123

                scenarios:

                - /scenarios

                '
        ports:
        - '10123'
    simulator:
        image: docker.io/andreacensi/duckietown-challenges@sha256:f6e97655c6dbe5966e76cbba2afb40fb8b138b1c95181b8e862852ae64b20356
        environment:
            replica: '{"index": 0, "total": 4}'
            AIDONODE_CONFIG: "env_constructor: Simulator\nenv_parameters:\n  max_steps:\
                \ 500001\n  domain_rand: 0\n  camera_width: 640\n  camera_height:\
                \ 480\n  distortion: true\n  num_tris_distractors: 0\n  color_ground:\n\
                \  - 0\n  - 0.3\n  - 0\n  enable_leds: true\ntopdown_resolution: 600\n\
                debug_no_video: false\n"
            AIDONODE_DATA_IN: /fifos/simulator-in
            AIDONODE_DATA_OUT: fifo:/fifos/simulator-out
    solution-ego0:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 0, "total": 4}'
            AIDONODE_NAME: ego0
            AIDONODE_DATA_IN: /fifos/ego0-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego0-out
    solution-ego1:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 0, "total": 4}'
            AIDONODE_NAME: ego1
            AIDONODE_DATA_IN: /fifos/ego1-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego1-out
    solution-ego2:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 0, "total": 4}'
            AIDONODE_NAME: ego2
            AIDONODE_DATA_IN: /fifos/ego2-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego2-out
    solution-ego3:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 0, "total": 4}'
            AIDONODE_NAME: ego3
            AIDONODE_DATA_IN: /fifos/ego3-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego3-out

The text SUBMISSION_CONTAINER will be replaced with the user containter.

Resources required for evaluating this step

Cloud simulations1

Evaluation step sim-1of4

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: docker.io/andreacensi/duckietown-challenges@sha256:74108b8ed5195dfbacad437871c23bf0f54023b87af30ca435981e233a84d13e
        environment:
            replica: '{"index": 1, "total": 4}'
            experiment_manager_parameters: 'episodes_per_scenario: 3

                episode_length_s: 60.0

                min_episode_length_s: 0.0

                seed: 20200922

                physics_dt: 0.05

                max_failures: 2

                fifo_dir: /fifos

                sim_in: /fifos/simulator-in

                sim_out: /fifos/simulator-out

                sm_in: /fifos/scenario_maker-in

                sm_out: /fifos/scenario_maker-out

                timeout_initialization: 120

                timeout_regular: 120

                port: 10123

                scenarios:

                - /scenarios

                '
        ports:
        - '10123'
    simulator:
        image: docker.io/andreacensi/duckietown-challenges@sha256:f6e97655c6dbe5966e76cbba2afb40fb8b138b1c95181b8e862852ae64b20356
        environment:
            replica: '{"index": 1, "total": 4}'
            AIDONODE_CONFIG: "env_constructor: Simulator\nenv_parameters:\n  max_steps:\
                \ 500001\n  domain_rand: 0\n  camera_width: 640\n  camera_height:\
                \ 480\n  distortion: true\n  num_tris_distractors: 0\n  color_ground:\n\
                \  - 0\n  - 0.3\n  - 0\n  enable_leds: true\ntopdown_resolution: 600\n\
                debug_no_video: false\n"
            AIDONODE_DATA_IN: /fifos/simulator-in
            AIDONODE_DATA_OUT: fifo:/fifos/simulator-out
    solution-ego0:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 1, "total": 4}'
            AIDONODE_NAME: ego0
            AIDONODE_DATA_IN: /fifos/ego0-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego0-out
    solution-ego1:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 1, "total": 4}'
            AIDONODE_NAME: ego1
            AIDONODE_DATA_IN: /fifos/ego1-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego1-out
    solution-ego2:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 1, "total": 4}'
            AIDONODE_NAME: ego2
            AIDONODE_DATA_IN: /fifos/ego2-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego2-out
    solution-ego3:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 1, "total": 4}'
            AIDONODE_NAME: ego3
            AIDONODE_DATA_IN: /fifos/ego3-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego3-out

The text SUBMISSION_CONTAINER will be replaced with the user containter.

Resources required for evaluating this step

Cloud simulations1

Evaluation step sim-2of4

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: docker.io/andreacensi/duckietown-challenges@sha256:74108b8ed5195dfbacad437871c23bf0f54023b87af30ca435981e233a84d13e
        environment:
            replica: '{"index": 2, "total": 4}'
            experiment_manager_parameters: 'episodes_per_scenario: 3

                episode_length_s: 60.0

                min_episode_length_s: 0.0

                seed: 20200922

                physics_dt: 0.05

                max_failures: 2

                fifo_dir: /fifos

                sim_in: /fifos/simulator-in

                sim_out: /fifos/simulator-out

                sm_in: /fifos/scenario_maker-in

                sm_out: /fifos/scenario_maker-out

                timeout_initialization: 120

                timeout_regular: 120

                port: 10123

                scenarios:

                - /scenarios

                '
        ports:
        - '10123'
    simulator:
        image: docker.io/andreacensi/duckietown-challenges@sha256:f6e97655c6dbe5966e76cbba2afb40fb8b138b1c95181b8e862852ae64b20356
        environment:
            replica: '{"index": 2, "total": 4}'
            AIDONODE_CONFIG: "env_constructor: Simulator\nenv_parameters:\n  max_steps:\
                \ 500001\n  domain_rand: 0\n  camera_width: 640\n  camera_height:\
                \ 480\n  distortion: true\n  num_tris_distractors: 0\n  color_ground:\n\
                \  - 0\n  - 0.3\n  - 0\n  enable_leds: true\ntopdown_resolution: 600\n\
                debug_no_video: false\n"
            AIDONODE_DATA_IN: /fifos/simulator-in
            AIDONODE_DATA_OUT: fifo:/fifos/simulator-out
    solution-ego0:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 2, "total": 4}'
            AIDONODE_NAME: ego0
            AIDONODE_DATA_IN: /fifos/ego0-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego0-out
    solution-ego1:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 2, "total": 4}'
            AIDONODE_NAME: ego1
            AIDONODE_DATA_IN: /fifos/ego1-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego1-out
    solution-ego2:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 2, "total": 4}'
            AIDONODE_NAME: ego2
            AIDONODE_DATA_IN: /fifos/ego2-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego2-out
    solution-ego3:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 2, "total": 4}'
            AIDONODE_NAME: ego3
            AIDONODE_DATA_IN: /fifos/ego3-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego3-out

The text SUBMISSION_CONTAINER will be replaced with the user containter.

Resources required for evaluating this step

Cloud simulations1

Evaluation step sim-3of4

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: docker.io/andreacensi/duckietown-challenges@sha256:74108b8ed5195dfbacad437871c23bf0f54023b87af30ca435981e233a84d13e
        environment:
            replica: '{"index": 3, "total": 4}'
            experiment_manager_parameters: 'episodes_per_scenario: 3

                episode_length_s: 60.0

                min_episode_length_s: 0.0

                seed: 20200922

                physics_dt: 0.05

                max_failures: 2

                fifo_dir: /fifos

                sim_in: /fifos/simulator-in

                sim_out: /fifos/simulator-out

                sm_in: /fifos/scenario_maker-in

                sm_out: /fifos/scenario_maker-out

                timeout_initialization: 120

                timeout_regular: 120

                port: 10123

                scenarios:

                - /scenarios

                '
        ports:
        - '10123'
    simulator:
        image: docker.io/andreacensi/duckietown-challenges@sha256:f6e97655c6dbe5966e76cbba2afb40fb8b138b1c95181b8e862852ae64b20356
        environment:
            replica: '{"index": 3, "total": 4}'
            AIDONODE_CONFIG: "env_constructor: Simulator\nenv_parameters:\n  max_steps:\
                \ 500001\n  domain_rand: 0\n  camera_width: 640\n  camera_height:\
                \ 480\n  distortion: true\n  num_tris_distractors: 0\n  color_ground:\n\
                \  - 0\n  - 0.3\n  - 0\n  enable_leds: true\ntopdown_resolution: 600\n\
                debug_no_video: false\n"
            AIDONODE_DATA_IN: /fifos/simulator-in
            AIDONODE_DATA_OUT: fifo:/fifos/simulator-out
    solution-ego0:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 3, "total": 4}'
            AIDONODE_NAME: ego0
            AIDONODE_DATA_IN: /fifos/ego0-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego0-out
    solution-ego1:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 3, "total": 4}'
            AIDONODE_NAME: ego1
            AIDONODE_DATA_IN: /fifos/ego1-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego1-out
    solution-ego2:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 3, "total": 4}'
            AIDONODE_NAME: ego2
            AIDONODE_DATA_IN: /fifos/ego2-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego2-out
    solution-ego3:
        image: SUBMISSION_CONTAINER
        environment:
            replica: '{"index": 3, "total": 4}'
            AIDONODE_NAME: ego3
            AIDONODE_DATA_IN: /fifos/ego3-in
            AIDONODE_DATA_OUT: fifo:/fifos/ego3-out

The text SUBMISSION_CONTAINER will be replaced with the user containter.

Resources required for evaluating this step

Cloud simulations1