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Challenge "aido5-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:

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 LF 🚗 - Lane following (simulation 👾, validation 🏋)

The submission must first pass the LF validation.

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 LFVmultibodyv-sim

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: docker.io/andreacensi/aido5-lfv_multi-sim-validation-lfvmultibodyv-sim-evaluator:2020_12_02_19_26_08@sha256:7a1e853b24e91198fd10bf78eafe53349762d4a384493f6f7fe2d396764c1030
        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

                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\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:
            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