CarWall

CarWall

Task

Drive the F1tenth car to a goal position

Map

Inside a walled area (10x10)

Action Space

Linear and Angular Velocity

action = [lin_vel, ang_vel]

Observation Space

Component	Details
Odometry	x position, y position, w quaternion, x quaternion, y quaternion, z quaternion, linear velocity, angular velocity
Lidar	10 lidar points uniformly sampled across 640 original rays
Goal Position	x position, y position

state = [x_pos, y_pos, w_quat, x_quat, y_quat, z_quat, lin_vel, ang_vel, lidar_1, lidar_2, lidar_3, lidar_4, lidar_5, lidar_6, lidar_7, lidar_8, lidar_9, lidar_10, goal_x, goal_y]

Reward

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

Termination Condition

When the F1tenth is within REWARD_RANGE distance of the goal. Default REWARD_RANGE is 0.2m

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

Truncation Condition

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