Challenge "aido5-LFV_multi-sim-testing"

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.

Evaluation steps details

• At the beginning execute step LFVmultibodyv-sim.

• If step LFVmultibodyv-sim has result success, then declare the submission SUCCESS.

• If step LFVmultibodyv-sim has result failed, then declare the submission FAILED.

• If step LFVmultibodyv-sim has result error, then declare the submission ERROR.

Evaluation step LFVmultibodyv-sim

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: docker.io/andreacensi/aido5-lfv_multi-sim-testing-lfvmultibodyv-sim-evaluator:2020_12_02_19_27_49@sha256:f08ab286cf978c49237eecf5ac016b79a4916f6b7aa2ef7093ac7c7157977d58
        environment:
            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

                scenarios:

                - /scenarios

                port: 10123

                '
        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\ntopdown_resolution: 600\ndebug_no_video: false\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