Challenge "lx22-visservoing"

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.

Evaluation steps details

• At the beginning execute step sim.

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

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

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

Evaluation step sim

Timeout 10000.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    evaluator:
        image: registry-stage2.duckietown.org/andrea/duckietown-challenges:lx22-visservoing-sim-evaluator@sha256:ec827aba47291bb5466bcd85997389516dd4bb490fc13990ae5b65c0b26d6fc5
        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: registry-stage2.duckietown.org/duckietown/challenge-aido_lf-simulator-gym:daffy@sha256:5e28d8ebe2d7acb0a4aa1616409b71a3a05fd698bdd6b2aaf76475e374f9a00f
        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