Select time: t = 0.00t = 0.07t = 0.13t = 0.20t = 0.27t = 0.33t = 0.40t = 0.47t = 0.53t = 0.60t = 0.67t = 0.73t = 0.80t = 0.87t = 0.93t = 1.00t = 1.07t = 1.13t = 1.20t = 1.27t = 1.33t = 1.40t = 1.47t = 1.53t = 1.60t = 1.67t = 1.73t = 1.80t = 1.87t = 1.93t = 2.00t = 2.07t = 2.13t = 2.20t = 2.27t = 2.33t = 2.40t = 2.47t = 2.53t = 2.60t = 2.67t = 2.73t = 2.80t = 2.87t = 2.93t = 3.00t = 3.07t = 3.13t = 3.20t = 3.27t = 3.33t = 3.40t = 3.47t = 3.53t = 3.60t = 3.67t = 3.73t = 3.80t = 3.87t = 3.93t = 4.00t = 4.07t = 4.13t = 4.20t = 4.27t = 4.33t = 4.40t = 4.47t = 4.53t = 4.60t = 4.67t = 4.73t = 4.80t = 4.87t = 4.93t = 5.00t = 5.07t = 5.13t = 5.20t = 5.27t = 5.33t = 5.40t = 5.47t = 5.53t = 5.60t = 5.67t = 5.73t = 5.80t = 5.87t = 5.93t = 6.00t = 6.07t = 6.13t = 6.20t = 6.27t = 6.33t = 6.40t = 6.47t = 6.53t = 6.60t = 6.67t = 6.73t = 6.80t = 6.87t = 6.93t = 7.00t = 7.07t = 7.13t = 7.20t = 7.27t = 7.33t = 7.40t = 7.47t = 7.53t = 7.60t = 7.67t = 7.73t = 7.80t = 7.87t = 7.93t = 8.00t = 8.07t = 8.13t = 8.20t = 8.27t = 8.33t = 8.40t = 8.47t = 8.53t = 8.60t = 8.67t = 8.73t = 8.80t = 8.87t = 8.93t = 9.00t = 9.07t = 9.13t = 9.20t = 9.27t = 9.33t = 9.40t = 9.47t = 9.53t = 9.60t = 9.67t = 9.73t = 9.80t = 9.87t = 9.93t = 10.00t = 10.07t = 10.13t = 10.20t = 10.27t = 10.33t = 10.40t = 10.47t = 10.53t = 10.60t = 10.67t = 10.73t = 10.80t = 10.87t = 10.93t = 11.00t = 11.07t = 11.13t = 11.20t = 11.27t = 11.33t = 11.40t = 11.47t = 11.53t = 11.60t = 11.67t = 11.73t = 11.80t = 11.87t = 11.93t = 12.00t = 12.07t = 12.13t = 12.20t = 12.27t = 12.33t = 12.40t = 12.47t = 12.53t = 12.60t = 12.67t = 12.73t = 12.80t = 12.87t = 12.93t = 13.00t = 13.07t = 13.13t = 13.20t = 13.27t = 13.33t = 13.40t = 13.47t = 13.53t = 13.60t = 13.67t = 13.73t = 13.80t = 13.87t = 13.93t = 14.00t = 14.07t = 14.13t = 14.20t = 14.27t = 14.33t = 14.40t = 14.47t = 14.53t = 14.60t = 14.67t = 14.73t = 14.80t = 14.87t = 14.93t = 15.00t = 15.07t = 15.13t = 15.20t = 15.27t = 15.33t = 15.40t = 15.47t = 15.53t = 15.60t = 15.67t = 15.73t = 15.80t = 15.87t = 15.93t = 16.00t = 16.07t = 16.13t = 16.20t = 16.27t = 16.33t = 16.40t = 16.47t = 16.53t = 16.60t = 16.67t = 16.73t = 16.80t = 16.87t = 16.93t = 17.00t = 17.07t = 17.13t = 17.20t = 17.27t = 17.33t = 17.40t = 17.47t = 17.53t = 17.60t = 17.67t = 17.73t = 17.80t = 17.87t = 17.93t = 18.00t = 18.07t = 18.13t = 18.20t = 18.27t = 18.33t = 18.40t = 18.47t = 18.53t = 18.60t = 18.67t = 18.73t = 18.80t = 18.87t = 18.93t = 19.00t = 19.07t = 19.13t = 19.20t = 19.27t = 19.33t = 19.40t = 19.47t = 19.53t = 19.60t = 19.67t = 19.73t = 19.80t = 19.87t = 19.93t = 20.00t = 20.07t = 20.13t = 20.20t = 20.27t = 20.33t = 20.40t = 20.47t = 20.53t = 20.60t = 20.67t = 20.73t = 20.80t = 20.87t = 20.93t = 21.00t = 21.07t = 21.13t = 21.20t = 21.27t = 21.33t = 21.40t = 21.47t = 21.53t = 21.60t = 21.67t = 21.73t = 21.80t = 21.87t = 21.93t = 22.00t = 22.07t = 22.13t = 22.20t = 22.27t = 22.33t = 22.40t = 22.47t = 22.53t = 22.60t = 22.67t = 22.73t = 22.80t = 22.87t = 22.93t = 23.00t = 23.07t = 23.13t = 23.20t = 23.27t = 23.33t = 23.40t = 23.47t = 23.53t = 23.60t = 23.67t = 23.73t = 23.80t = 23.87t = 23.93t = 24.00t = 24.07t = 24.13t = 24.20t = 24.27t = 24.33t = 24.40t = 24.47t = 24.53t = 24.60t = 24.67t = 24.73t = 24.80t = 24.87t = 24.93t = 25.00t = 25.07t = 25.13t = 25.20t = 25.27t = 25.33t = 25.40t = 25.47t = 25.53t = 25.60t = 25.67t = 25.73t = 25.80t = 25.87t = 25.93t = 26.00t = 26.07t = 26.13t = 26.20t = 26.27t = 26.33t = 26.40t = 26.47t = 26.53t = 26.60t = 26.67t = 26.73t = 26.80t = 26.87t = 26.93t = 27.00t = 27.07t = 27.13t = 27.20t = 27.27t = 27.33t = 27.40t = 27.47t = 27.53t = 27.60t = 27.67t = 27.73t = 27.80t = 27.87t = 27.93t = 28.00t = 28.07t = 28.13t = 28.20t = 28.27t = 28.33t = 28.40t = 28.47t = 28.53t = 28.60t = 28.67t = 28.73t = 28.80t = 28.87t = 28.93t = 29.00t = 29.07t = 29.13t = 29.20t = 29.27t = 29.33t = 29.40t = 29.47t = 29.53t = 29.60t = 29.67t = 29.73t = 29.80t = 29.87t = 29.93t = 30.00t = 30.07t = 30.13t = 30.20t = 30.27t = 30.33t = 30.40t = 30.47t = 30.53t = 30.60t = 30.67t = 30.73t = 30.80t = 30.87t = 30.93t = 31.00t = 31.07t = 31.13t = 31.20t = 31.27t = 31.33t = 31.40t = 31.47t = 31.53t = 31.60t = 31.67t = 31.73t = 31.80t = 31.87t = 31.93t = 32.00t = 32.07t = 32.13t = 32.20t = 32.27t = 32.33t = 32.40t = 32.47t = 32.53t = 32.60t = 32.67t = 32.73t = 32.80t = 32.87t = 32.93t = 33.00t = 33.07t = 33.13t = 33.20t = 33.27t = 33.33t = 33.40t = 33.47t = 33.53t = 33.60t = 33.67t = 33.73t = 33.80t = 33.87t = 33.93t = 34.00t = 34.07t = 34.13t = 34.20t = 34.27t = 34.33t = 34.40t = 34.47t = 34.53t = 34.60t = 34.67t = 34.73t = 34.80t = 34.87t = 34.93t = 35.00t = 35.07t = 35.13t = 35.20t = 35.27t = 35.33t = 35.40t = 35.47t = 35.53t = 35.60t = 35.67t = 35.73t = 35.80t = 35.87t = 35.93t = 36.00t = 36.07t = 36.13t = 36.20t = 36.27t = 36.33t = 36.40t = 36.47t = 36.53t = 36.60t = 36.67t = 36.73t = 36.80t = 36.87t = 36.93t = 37.00t = 37.07t = 37.13t = 37.20t = 37.27t = 37.33t = 37.40t = 37.47t = 37.53t = 37.60t = 37.67t = 37.73t = 37.80t = 37.87t = 37.93t = 38.00t = 38.07t = 38.13t = 38.20t = 38.27t = 38.33t = 38.40t = 38.47t = 38.53t = 38.60t = 38.67t = 38.73t = 38.80t = 38.87t = 38.93t = 39.00t = 39.07t = 39.13t = 39.20t = 39.27t = 39.33t = 39.40t = 39.47t = 39.53t = 39.60t = 39.67t = 39.73t = 39.80t = 39.87t = 39.93t = 40.00t = 40.07t = 40.13t = 40.20t = 40.27t = 40.33t = 40.40t = 40.47t = 40.53t = 40.60t = 40.67t = 40.73t = 40.80t = 40.87t = 40.93t = 41.00t = 41.07t = 41.13t = 41.20t = 41.27t = 41.33t = 41.40t = 41.47t = 41.53t = 41.60t = 41.67t = 41.73t = 41.80t = 41.87t = 41.93t = 42.00t = 42.07t = 42.13t = 42.20t = 42.27t = 42.33t = 42.40t = 42.47t = 42.53t = 42.60t = 42.67t = 42.73t = 42.80t = 42.87t = 42.93t = 43.00t = 43.07t = 43.13t = 43.20t = 43.27t = 43.33t = 43.40t = 43.47t = 43.53t = 43.60t = 43.67t = 43.73t = 43.80t = 43.87t = 43.93t = 44.00t = 44.07t = 44.13t = 44.20t = 44.27t = 44.33t = 44.40t = 44.47t = 44.53t = 44.60t = 44.67t = 44.73t = 44.80t = 44.87t = 44.93t = 45.00t = 45.07t = 45.13t = 45.20t = 45.27t = 45.33t = 45.40t = 45.47t = 45.53t = 45.60t = 45.67t = 45.73t = 45.80t = 45.87t = 45.93t = 46.00t = 46.07t = 46.13t = 46.20t = 46.27t = 46.33t = 46.40t = 46.47t = 46.53t = 46.60t = 46.67t = 46.73t = 46.80t = 46.87t = 46.93t = 47.00t = 47.07t = 47.13t = 47.20t = 47.27t = 47.33t = 47.40t = 47.47t = 47.53t = 47.60t = 47.67t = 47.73t = 47.80t = 47.87t = 47.93t = 48.00t = 48.07t = 48.13t = 48.20t = 48.27t = 48.33t = 48.40t = 48.47t = 48.53t = 48.60t = 48.67t = 48.73t = 48.80t = 48.87t = 48.93t = 49.00t = 49.07t = 49.13t = 49.20t = 49.27t = 49.33t = 49.40t = 49.47t = 49.53t = 49.60t = 49.67t = 49.73t = 49.80t = 49.87t = 49.93t = 50.00t = 50.07t = 50.13t = 50.20t = 50.27t = 50.33t = 50.40t = 50.47t = 50.53t = 50.60t = 50.67t = 50.73t = 50.80t = 50.87t = 50.93t = 51.00t = 51.07t = 51.13t = 51.20t = 51.27t = 51.33t = 51.40t = 51.47t = 51.53t = 51.60t = 51.67t = 51.73t = 51.80t = 51.87t = 51.93t = 52.00t = 52.07t = 52.13t = 52.20

static data textures axes
map lane segments (control points)

vehicles duckies signs signs textures decorations

current lane anchor point

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

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.

This metric computes how far the robot drove.

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

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.

Length of the episode.