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Challenge "lx22-modcon"

Challenge description

This is the challenge to test the PID controller of the MOOC’s modcon exercise.

For more information about the “Self-Driving Cars with Duckietown” MOOC, visit duckietown.org.

Leaderboard

Submissions

Challenge logistics

Scoring

Scoring criteria

These are the metrics defined:

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.

Lateral deviation - deviation-center-line_median

This is the median lateral deviation from the center line.

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 or pedestrian.

Dependencies

Dependencies

No dependencies

Details

Technical details

Evaluation steps details

Evaluation step sim

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: andreacensi/duckietown-challenges:lx22-modcon-sim-evaluator@sha256:dcfd30506cf3aebf02d5dd0c8421eb43a53444d8b8ea24fa328f3b1995f19545
        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:daffy@sha256:73b2e77813651f1db621c247e49f1f932947769b7ff3558ffec01e5eee27c2e0
        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, 0] # black\n  #color_sky:\
                \ [0, 0, 0.1] # dark blue\n  enable_leds: true\n\nterminate_on_ool:\
                \ false\nterminate_on_out_of_tile: true\nterminate_on_collision: true\n\
                topdown_resolution: 900\nmax_pixel_mov: 1000\ndebug_profile: False\n\
                debug_profile_summary: 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
            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