Challenge "gb-eDI"

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 step1-simulation.

• If step step1-simulation has result success, then declare the submission SUCCESS.

• If step step1-simulation has result failed, then declare the submission FAILED.

• If step step1-simulation has result error, then declare the submission ERROR.

Evaluation step step1-simulation

Timeout 7200.0

This is the Docker Compose configuration skeleton:

version: '3'
services:
    solution:
        image: SUBMISSION_CONTAINER
        environment:
            AIDONODE_DATA_IN: /fifos/agent-in
            AIDONODE_DATA_OUT: fifo:/fifos/agent-out
    evaluator:
        image: docker.io/gibernas/gb-edi-step1-simulation-evaluator:2020_02_21_08_49_34@sha256:893ff1bb91c96bfaa1e91f4778366e3f3efb371a27219f858ef73b3bf4b7c82b
        environment:
            experiment_manager_parameters: 'episodes_per_scenario: 1

                episode_length_s: 20.0

                min_episode_length_s: 0.0

                seed: 43

                physics_dt: 0.05

                max_failures: 4

                agent_in: /fifos/agent-in

                agent_out: /fifos/agent-out

                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

                '
    simulator:
        image: docker.io/gibernas/gb-edi-step1-simulation-simulator:2020_02_21_08_49_59@sha256:1b1590ecf2b0606d1c46f35ea4d556feab8c961f6b51adeb7b0deee10099ce79
        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 \
                \ dynamics_rand: true\n  domain_rand: true\n  camera_rand: true\n\
                \  seed: 43\n"
            AIDONODE_DATA_IN: /fifos/simulator-in
            AIDONODE_DATA_OUT: fifo:/fifos/simulator-out
    scenario_maker:
        image: docker.io/gibernas/gb-edi-step1-simulation-scenario_maker:2020_02_21_08_52_19@sha256:a2f2d5f26f8e27f82ddcbafba465f9d79c9a5ebab9b23d8e9191d89a65bb51ad
        environment:
            AIDONODE_CONFIG: 'maps:

                - ETHZ_autolab_technical_track

                scenarios_per_map: 10

                robots_npcs: 0

                '
            AIDONODE_DATA_IN: /fifos/scenario_maker-in
            AIDONODE_DATA_OUT: fifo:/fifos/scenario_maker-out

The text SUBMISSION_CONTAINER will be replaced with the user containter.

Resources required for evaluating this step