diff --git a/f1tenth_gym/envs/dynamic_models/__init__.py b/f1tenth_gym/envs/dynamic_models/__init__.py
index 9837f013..bc011941 100644
--- a/f1tenth_gym/envs/dynamic_models/__init__.py
+++ b/f1tenth_gym/envs/dynamic_models/__init__.py
@@ -11,7 +11,7 @@
 from .single_track import vehicle_dynamics_st, get_standardized_state_st
 from .multi_body import init_mb, vehicle_dynamics_mb, get_standardized_state_mb
 from .utils import pid_steer, pid_accl
-
+from typing import Optional
 
 class DynamicModel(Enum):
     KS = 1  # Kinematic Single Track
@@ -32,7 +32,7 @@ def from_string(model: str):
         else:
             raise ValueError(f"Unknown model type {model}")
 
-    def get_initial_state(self, pose=None, params: dict | None = None):
+    def get_initial_state(self, pose=None, params: Optional[dict] = None):
         # Assert that if self is MB, params is not None
         if self == DynamicModel.MB and params is None:
             raise ValueError("MultiBody model requires parameters to be provided.")
diff --git a/f1tenth_gym/envs/dynamic_models/single_track.py b/f1tenth_gym/envs/dynamic_models/single_track.py
index 522a57be..7a1e3516 100644
--- a/f1tenth_gym/envs/dynamic_models/single_track.py
+++ b/f1tenth_gym/envs/dynamic_models/single_track.py
@@ -83,7 +83,7 @@ def vehicle_dynamics_st(x: np.ndarray, u_init: np.ndarray, params: dict):
     ACCL = u[1]
 
     # switch to kinematic model for small velocities
-    if V < 0.1:
+    if V < 0.5:
         # wheelbase
         lwb = params["lf"] + params["lr"]
         BETA_HAT = np.arctan(np.tan(DELTA) * params["lr"] / lwb)
diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 9dd7174b..fe78a918 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -324,6 +324,30 @@ def fullscale_vehicle_params(cls) -> dict:
         }
         return params
 
+    @classmethod
+    def f1fifth_vehicle_params(cls) -> dict:
+        params = {
+            "mu": 1.1,
+            "C_Sf": 1.3507,
+            "C_Sr": 1.3507,
+            "lf": 0.2725,
+            "lr": 0.2585,
+            "h": 0.1825,
+            "m": 15.32,
+            "I": 0.64332,
+            "s_min": -0.4189,
+            "s_max": 0.4189,
+            "sv_min": -3.2,
+            "sv_max": 3.2,
+            "v_switch": 7.319,
+            "a_max": 9.51,
+            "v_min": -5.0,
+            "v_max": 20.0,
+            "width": 0.55,
+            "length": 0.8,
+        }
+        return params
+
     @classmethod
     def f1tenth_vehicle_params(cls) -> dict:
         params = {
diff --git a/f1tenth_gym/envs/rendering/__init__.py b/f1tenth_gym/envs/rendering/__init__.py
index 0e52410f..2325a937 100644
--- a/f1tenth_gym/envs/rendering/__init__.py
+++ b/f1tenth_gym/envs/rendering/__init__.py
@@ -35,7 +35,8 @@ def make_renderer(
     if render_spec.render_type == "pygame":
         from .rendering_pygame import PygameEnvRenderer as EnvRenderer
     elif render_spec.render_type == "pyqt6":
-        os.environ["QT_QPA_PLATFORM"] = "offscreen"
+        if render_mode in ["rgb_array", "rgb_array_list"]:
+            os.environ["QT_QPA_PLATFORM"] = "offscreen"
         from .rendering_pyqt import PyQtEnvRenderer as EnvRenderer
     else:
         raise ValueError(f"Unknown render type: {render_spec.render_type}")
diff --git a/f1tenth_gym/envs/reset/__init__.py b/f1tenth_gym/envs/reset/__init__.py
index bae55b2f..c1a80191 100644
--- a/f1tenth_gym/envs/reset/__init__.py
+++ b/f1tenth_gym/envs/reset/__init__.py
@@ -1,5 +1,6 @@
 from __future__ import annotations
 from .masked_reset import GridResetFn, AllTrackResetFn
+from .map_reset import AllMapResetFn
 from .reset_fn import ResetFn
 from ..track import Track
 
@@ -10,6 +11,12 @@ def make_reset_fn(type: str | None, track: Track, num_agents: int, **kwargs) ->
     try:
         refline_token, reset_token, shuffle_token = type.split("_")
 
+        if refline_token == "map":
+            reset_fn = {"random": AllMapResetFn}[reset_token]
+            shuffle = {"static": False, "random": True}[shuffle_token]
+            return reset_fn(track=track, num_agents=num_agents, shuffle=shuffle, **kwargs)
+        
+        # "cl" or "rl"
         refline = {"cl": track.centerline, "rl": track.raceline}[refline_token]
         reset_fn = {"grid": GridResetFn, "random": AllTrackResetFn}[reset_token]
         shuffle = {"static": False, "random": True}[shuffle_token]
diff --git a/f1tenth_gym/envs/reset/map_reset.py b/f1tenth_gym/envs/reset/map_reset.py
new file mode 100644
index 00000000..f92ab4de
--- /dev/null
+++ b/f1tenth_gym/envs/reset/map_reset.py
@@ -0,0 +1,85 @@
+from abc import abstractmethod
+
+import cv2
+import numpy as np
+
+from .reset_fn import ResetFn
+from .utils import sample_around_pose
+from ..track import Track
+
+
+class MapResetFn(ResetFn):
+    @abstractmethod
+    def get_mask(self) -> np.ndarray:
+        pass
+
+    def __init__(
+        self,
+        track: Track,
+        num_agents: int,
+        move_laterally: bool,
+        min_dist: float,
+        max_dist: float,
+    ):
+        self.track = track
+        self.n_agents = num_agents
+        self.min_dist = min_dist
+        self.max_dist = max_dist
+        self.move_laterally = move_laterally
+        # Mask is a 2D array of booleans of where the agents can be placed
+        # Should acount for max_dist from obstacles
+        self.mask = self.get_mask() 
+
+
+    def sample(self) -> np.ndarray:
+        # Random ample an x-y position from the mask
+        valid_x, valid_y = np.where(self.mask)
+        idx = np.random.choice(len(valid_x))
+        pose_x = valid_x[idx] * self.track.spec.resolution + self.track.spec.origin[0]
+        pose_y = valid_y[idx] * self.track.spec.resolution + self.track.spec.origin[1]
+        pose_theta = np.random.uniform(-np.pi, np.pi)
+        pose = np.array([pose_x, pose_y, pose_theta])
+        
+        poses = sample_around_pose(
+            pose=pose,
+            n_agents=self.n_agents,
+            min_dist=self.min_dist,
+            max_dist=self.max_dist,
+        )
+        return poses
+
+class AllMapResetFn(MapResetFn):
+    def __init__(
+        self,
+        track: Track,
+        num_agents: int,
+        move_laterally: bool = True,
+        shuffle: bool = True,
+        min_dist: float = 0.5,
+        max_dist: float = 1.0,
+    ):
+        super().__init__(
+            track=track,
+            num_agents=num_agents,
+            move_laterally=move_laterally,
+            min_dist=min_dist,
+            max_dist=max_dist,
+        )
+        self.shuffle = shuffle
+
+    def get_mask(self) -> np.ndarray:
+        # Create mask from occupancy grid enlarged by max_dist
+        dilation_size = int(self.max_dist / self.track.spec.resolution)
+        kernel = np.ones((dilation_size, dilation_size), np.uint8)
+        inverted_occ_map = (255 - self.track.occupancy_map)
+        dilated = cv2.dilate(inverted_occ_map, kernel, iterations=1)
+        dilated_inverted = (255 - dilated)
+        return dilated_inverted == 255
+
+    def sample(self) -> np.ndarray:
+        poses = super().sample()
+
+        if self.shuffle:
+            np.random.shuffle(poses)
+
+        return poses
diff --git a/f1tenth_gym/envs/reset/utils.py b/f1tenth_gym/envs/reset/utils.py
index 74846cf8..9571d195 100644
--- a/f1tenth_gym/envs/reset/utils.py
+++ b/f1tenth_gym/envs/reset/utils.py
@@ -83,3 +83,36 @@ def sample_around_waypoint(
         )
 
     return np.array(poses)
+
+def sample_around_pose(
+    pose: np.ndarray,
+    n_agents: int,
+    min_dist: float,
+    max_dist: float,
+) -> np.ndarray:
+    """
+    Compute n poses around a given pose.
+    It iteratively samples the next agent within a distance range from the previous one.
+    Note: no guarantee that the agents are on the track nor that they are not colliding with the environment.
+
+    Args:
+        - pose: the initial pose
+        - n_agents: the number of agents
+        - min_dist: the minimum distance between two consecutive agents
+        - max_dist: the maximum distance between two consecutive agents
+    """
+    current_pose = pose
+
+    poses = []
+    for i in range(n_agents):
+        x, y, theta = current_pose
+        pose = np.array([x, y, theta])
+        poses.append(pose)
+        # sample next pose
+        dist = np.random.uniform(min_dist, max_dist)
+        theta = np.random.uniform(-np.pi, np.pi)
+        x += dist * np.cos(theta)
+        y += dist * np.sin(theta)
+        current_pose = np.array([x, y, theta])
+
+    return np.array(poses)
\ No newline at end of file
diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index f95bda3d..6e338255 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -164,6 +164,72 @@ def from_track_name(track: str, track_scale: float = 1.0) -> Track:
             print(ex)
             raise FileNotFoundError(f"It could not load track {track}") from ex
 
+    @staticmethod
+    def from_track_path(path: pathlib.Path, track_scale: float = 1.0) -> Track:
+        """
+        Load track from track path.
+
+        Parameters
+        ----------
+        path : pathlib.Path
+            path to the track yaml file
+
+        Returns
+        -------
+        Track
+            track object
+
+        Raises
+        ------
+        FileNotFoundError
+            if the track cannot be loaded
+        """
+        try:
+            if type(path) is str:
+                path = pathlib.Path(path)
+        
+            track_spec = Track.load_spec(
+                track=path.stem, filespec=path
+            )
+            track_spec.resolution = track_spec.resolution * track_scale
+            track_spec.origin = (
+                track_spec.origin[0] * track_scale,
+                track_spec.origin[1] * track_scale,
+                track_spec.origin[2],
+            )
+
+            # load occupancy grid
+            # Image path is from path + image name from track_spec
+            image_path = path.parent / track_spec.image  
+            image = Image.open(image_path).transpose(Transpose.FLIP_TOP_BOTTOM)
+            occupancy_map = np.array(image).astype(np.float32)
+            occupancy_map[occupancy_map <= 128] = 0.0
+            occupancy_map[occupancy_map > 128] = 255.0
+
+            # if exists, load centerline
+            if (path / f"{path.stem}_centerline.csv").exists():
+                centerline = Raceline.from_centerline_file(path / f"{path.stem}_centerline.csv")
+            else:
+                centerline = None
+
+            # if exists, load raceline
+            if (path / f"{path.stem}_raceline.csv").exists():
+                raceline = Raceline.from_raceline_file(path / f"{path.stem}_raceline.csv")
+            else:
+                raceline = centerline
+
+            return Track(
+                spec=track_spec,
+                filepath=str(path.absolute()),
+                ext=image_path.suffix,
+                occupancy_map=occupancy_map,
+                centerline=centerline,
+                raceline=raceline,
+            )
+        except Exception as ex:
+            print(ex)
+            raise FileNotFoundError(f"It could not load track {path}") from ex
+
     @staticmethod
     def from_refline(x: np.ndarray, y: np.ndarray, velx: np.ndarray):
         """
@@ -249,7 +315,7 @@ def from_refline(x: np.ndarray, y: np.ndarray, velx: np.ndarray):
             centerline=refline,
         )
 
-    def frenet_to_cartesian(self, s, ey, ephi):
+    def frenet_to_cartesian(self, s, ey, ephi, use_raceline=False):
         """
         Convert Frenet coordinates to Cartesian coordinates.
 
@@ -262,8 +328,9 @@ def frenet_to_cartesian(self, s, ey, ephi):
             y: y-coordinate
             psi: yaw angle
         """
-        x, y = self.centerline.spline.calc_position(s)
-        psi = self.centerline.spline.calc_yaw(s)
+        line = self.raceline if use_raceline else self.centerline
+        x, y = line.spline.calc_position(s)
+        psi = line.spline.calc_yaw(s)
 
         # Adjust x,y by shifting along the normal vector
         x -= ey * np.sin(psi)
@@ -274,7 +341,7 @@ def frenet_to_cartesian(self, s, ey, ephi):
 
         return x, y, psi
 
-    def cartesian_to_frenet(self, x, y, phi, s_guess=0):
+    def cartesian_to_frenet(self, x, y, phi, use_raceline=False, s_guess=0):
         """
         Convert Cartesian coordinates to Frenet coordinates.
 
@@ -287,22 +354,25 @@ def cartesian_to_frenet(self, x, y, phi, s_guess=0):
             ey: lateral deviation
             ephi: heading deviation
         """
-        s, ey = self.centerline.spline.calc_arclength_inaccurate(x, y)
-        if s > self.centerline.spline.s[-1]:
+        line = self.raceline if use_raceline else self.centerline
+        s, ey = line.spline.calc_arclength_inaccurate(x, y)
+        if s > line.spline.s[-1]:
             # Wrap around
-            s = s - self.centerline.spline.s[-1]
+            s = s - line.spline.s[-1]
         if s < 0:
             # Negative s means we are behind the start point
-            s = s + self.centerline.spline.s[-1]
+            s = s + line.spline.s[-1]
 
         # Use the normal to calculate the signed lateral deviation
-        normal = self.centerline.spline._calc_normal(s)
-        x_eval, y_eval = self.centerline.spline.calc_position(s)
+        normal = line.spline._calc_normal(s)
+        x_eval, y_eval = line.spline.calc_position(s)
         dx = x - x_eval
         dy = y - y_eval
         distance_sign = np.sign(np.dot([dx, dy], normal))
         ey = ey * distance_sign
 
-        phi = phi - self.centerline.spline.calc_yaw(s)
+        ephi = phi - line.spline.calc_yaw(s)
+        # ephi is unbouded, so we need to wrap it to [-pi, pi]
+        ephi = (ephi + np.pi) % (2 * np.pi) - np.pi
 
-        return s, ey, phi
+        return s, ey, ephi