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Challenge "aido5-LFI-sim-validation"

Challenge description

(No description.)

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Submissions

Challenge logistics

Scoring

Scoring criteria

These are the metrics defined:

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.

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.

Lateral deviation - deviation-center-line_median

This is the median lateral deviation from the center line.

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.

Dependencies

Dependencies

Depends on successful evaluation on LFV 🚗🚗 - Lane following + Vehicles (simulation 👾, validation 🏋)

The submission must first pass LFV testing.

The sum of the following tests should be at least 2.0.

Test on absolute scores:

good_enough(1.0 points)
Obtain at least 0.2 for score driven_lanedir_consec_median.

Test on relative performance:

better-than-bea-straight(1.0 points)
Do at least as good as a submission of 1639 labeled straight.

Details

Technical details

Evaluation steps details

Evaluation step LFVIv-sim

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    npc0:
        image: docker.io/duckietown/challenge-aido_lf-minimal-agent-full@sha256:2914fa743f9d20457cff19df787b230fc8489a3bdd17d9f3b7bbcd3cb4541f15
        environment:
            AIDONODE_NAME: npc0
            AIDONODE_DATA_IN: /fifos/npc0-in
            AIDONODE_DATA_OUT: fifo:/fifos/npc0-out
    npc1:
        image: docker.io/duckietown/challenge-aido_lf-minimal-agent-full@sha256:2914fa743f9d20457cff19df787b230fc8489a3bdd17d9f3b7bbcd3cb4541f15
        environment:
            AIDONODE_NAME: npc1
            AIDONODE_DATA_IN: /fifos/npc1-in
            AIDONODE_DATA_OUT: fifo:/fifos/npc1-out
    npc2:
        image: docker.io/duckietown/challenge-aido_lf-minimal-agent-full@sha256:2914fa743f9d20457cff19df787b230fc8489a3bdd17d9f3b7bbcd3cb4541f15
        environment:
            AIDONODE_NAME: npc2
            AIDONODE_DATA_IN: /fifos/npc2-in
            AIDONODE_DATA_OUT: fifo:/fifos/npc2-out
    npc3:
        image: docker.io/duckietown/challenge-aido_lf-minimal-agent-full@sha256:2914fa743f9d20457cff19df787b230fc8489a3bdd17d9f3b7bbcd3cb4541f15
        environment:
            AIDONODE_NAME: npc3
            AIDONODE_DATA_IN: /fifos/npc3-in
            AIDONODE_DATA_OUT: fifo:/fifos/npc3-out
    evaluator:
        image: docker.io/andreacensi/aido5-lfi-sim-validation-lfviv-sim-evaluator:2020_12_02_19_24_22@sha256:8089b2f843cd0a02b70b085c33ca0766989b1321b3c3a8e64fbd698ec01dbd79
        environment:
            experiment_manager_parameters: 'episodes_per_scenario: 1

                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/duckietown/challenge-aido_lf-simulator-gym@sha256:c0096866077db3574e425d40603d8f5fc8ebbd164da7c0578df94ff4ede58d95
        environment:
            AIDONODE_CONFIG: "env_constructor: Simulator\nenv_parameters:\n  max_steps:\
                \ 500001 # we don't want the gym to reset itself\n  domain_rand: 0\n\
                \  camera_width: 640\n  camera_height: 480\n  distortion: true\n \
                \ num_tris_distractors: 0\n  color_ground: [0, 0.3, 0] # green\n \
                \ enable_leds: true\n"
            AIDONODE_DATA_IN: /fifos/simulator-in
            AIDONODE_DATA_OUT: fifo:/fifos/simulator-out
    solution-ego0:
        image: SUBMISSION_CONTAINER
        environment:
            AIDONODE_NAME: ego0
            AIDONODE_DATA_IN: /fifos/ego0-in
            AIDO_REQUIRE_GPU: '1'
            AIDONODE_DATA_OUT: fifo:/fifos/ego0-out

The text SUBMISSION_CONTAINER will be replaced with the user containter.

Resources required for evaluating this step

Cloud simulations1