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Challenge "mooc-state-estimation"

Challenge description

This is the challenge is part of the the MOOC’s state estimation 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:

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.

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 sim

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: docker.io/liampaull/duckietown-challenges@sha256:f8580a6416ce4615a1e8751c47e054a1d437ebf43576a291366cd1dc2c900b80
        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/liampaull/duckietown-challenges@sha256:4a8daea0baf01e1a0891e35479960370163ae476b61a4da3ec76ae21f0138aeb
        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