Select time: t = 0.00t = 0.10t = 0.20t = 0.30t = 0.40t = 0.50t = 0.60t = 0.70t = 0.80t = 0.90t = 1.00t = 1.10t = 1.20t = 1.30t = 1.40t = 1.50t = 1.60t = 1.70t = 1.80t = 1.90t = 2.00t = 2.10t = 2.20t = 2.30t = 2.40t = 2.50t = 2.60t = 2.70t = 2.80t = 2.90t = 3.00t = 3.10t = 3.20t = 3.30t = 3.40t = 3.50t = 3.60t = 3.70t = 3.80t = 3.90t = 4.00t = 4.10t = 4.20t = 4.30t = 4.40t = 4.50t = 4.60t = 4.70t = 4.80t = 4.90t = 5.00t = 5.10t = 5.30

static data textures axes
map lane segments (control points)

vehicles duckies signs signs textures decorations

current lane anchor point

main
rules

The PWM commands sent to the wheels

024−0.2−0.100.10.20.30.40.5024−0.2−0.100.10.20.30.40.5
motor_leftmotor_right

Velocities in body frame. Given in m/s and deg/s.

024−120−100−80−60−40−200204002400.020.040.060.080.1024−350μ−300μ−250μ−200μ−150μ−100μ−50μ050μ
angularlongitudinallateral

This metric describes the amount of deviation from the relative heading.

02400.10.20.30.40.50.60.702400.20.40.60.811.2
incrementalcumulative

This metric computes whether the robot was in a drivable area.

Note that we check that the robot is in the lane in a correct heading (up to 90deg deviation from the lane direction).

This metric describes the amount of deviation from the center line.

02400.050.10.1502400.050.10.150.20.25
incrementalcumulative

This metric computes how far the robot drove.

02400.0010.0020.0030.0040.00502400.050.10.150.20.250.30.350.40.45
incrementalcumulative

This metric computes how far the robot drove in the direction of the lane.

02400.0010.0020.0030.0040.00502400.050.10.150.20.25
incrementalcumulative

This metric computes how far the robot drove in the direction of the correct lane, discounting whenever it was driven in the wrong direction with respect to the start.

02400.0010.0020.0030.0040.00502400.050.10.150.20.25
incrementalcumulative

Length of the episode.

Distance from the starting point.

02400.0010.0020.0030.0040.00502400.050.10.150.20.250.30.350.40.45
incrementalcumulative