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Challenge "aido5-LFVI_multi_full-sim-validation"

Challenge description

This is LFVI_multi with full state observability.

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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

No dependencies

Details

Technical details

Evaluation steps details

Evaluation step LFVIv-sim

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: docker.io/andreacensi/aido5-lfvi_multi_full-sim-validation-lfviv-sim-evaluator:2020_12_02_19_24_22@sha256:6f3b8f6deada32879d8470d37655f98d29ff4938a17853c945bb79b97449b032
        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
    solution-ego1:
        image: SUBMISSION_CONTAINER
        environment:
            AIDONODE_NAME: ego1
            AIDONODE_DATA_IN: /fifos/ego1-in
            AIDO_REQUIRE_GPU: '1'
            AIDONODE_DATA_OUT: fifo:/fifos/ego1-out
    solution-ego2:
        image: SUBMISSION_CONTAINER
        environment:
            AIDONODE_NAME: ego2
            AIDONODE_DATA_IN: /fifos/ego2-in
            AIDO_REQUIRE_GPU: '1'
            AIDONODE_DATA_OUT: fifo:/fifos/ego2-out
    solution-ego3:
        image: SUBMISSION_CONTAINER
        environment:
            AIDONODE_NAME: ego3
            AIDONODE_DATA_IN: /fifos/ego3-in
            AIDO_REQUIRE_GPU: '1'
            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