CarBeat

Task

Drive the F1tenth car through a track layout, while avoiding the track walls. Extra reward for overtaking opponent vehicles.

Track environment, bordered by track walls. One other vehicle driving in competition.

Linear and Angular Velocity

action = [lin_vel, ang_vel]

Component	Details
Odometry	x position, y position, w quaternion, x quaternion, y quaternion, z quaternion, linear velocity, angular velocity
Goal Position	x position, y position

state = [x_pos, y_pos, w_quat, x_quat, y_quat, z_quat, lin_vel, ang_vel, goal_x, goal_y]

Component	Details
Proportional Progress toward Goal	`10 * (distance before step - distance after step) / distance before step`
Reached Goal	`+100`
Collided with a wall or flipped over	`-25`
Overtaken opponent	`200`

When the F1tenth is within COLLISION_RANGE distance of something as detected by lidar. Default COLLISION_RANGE is 0.2m

The maximum episode length is MAX_STEPS steps. Default MAX_STEPS is 50. Each step by default is 0.25 seconds simulation time