This respository contains controller submissions and results from the GRAIC 2022 Competition. Each controller takes as input the sensor data for the ego vehicles and outputs decisions for the actuators, namely steering and throttle. This controller program has to be plugged-in to the vehicle and a custom-made CARLA simulation environment to run the whole autonomous system. The GRAIC competition evaluates (or races) each of the controllers on different vehicles, different tracks, populated with different scenarios involving other vehicles and pedestrians. The score for a controller is determined based on speed of track completion and collision penalties. This repository provides the controller code, and the results logs we computed from each of these races. Instructions for reproducing these results are given below. With 16 different hand-coded controllers and 5 tracks you can create 80 different race configurations; changing vehicles and scenarios, you can create 100s of scenarios for testing and verification.
Final submissions for each team can be found in the final_submission directory or by clicking on the team name below. To replicate the results, follow the directions here.
Previous submissions for teams (as they submitted for testing) can be found in the directories labeled by date of submission.
The log_*.txt file in each of the directories include the results of the submissions for the day. They are formatted as follows:
You can learn more about the 2022 GRAIC competition participating teams from here. This benchmark is compiled by GRAIC team. For comments or suggestions email graic2021@gmail.com.
Email
Score
Team Name
Track
Score Log Link
Video Link
Raw Log Link| Track | Score | Score Log Link | Video Link | Raw Log Link |
|---|---|---|---|---|
| final_t1_triple | 70.0 | Link | Link | Link |
| final_t2_triple | 214.0 | Link | Link | Link |
| final_t3 | inf | Link | Link | Link |
| final_t4 | 116.0 | Link | Link | Link |
| final_track5 | 258.0 | Link | Link | Link |
| Track | Score | Score Log Link | Video Link | Raw Log Link |
|---|---|---|---|---|
| final_t1_triple | 122.0 | Link | Link | Link |
| final_t2_triple | inf | Link | Link | Link |
| final_t3 | 311.0 | Link | Link | Link |
| final_t4 | 281.0 | Link | Link | Link |
| final_track5 | inf | Link | Link | Link |
| Track | Score | Score Log Link | Video Link | Raw Log Link |
|---|---|---|---|---|
| final_t1_triple | 74.0 | Link | Link | Link |
| final_t2_triple | 246.0 | Link | Link | Link |
| final_t3 | 246.0 | Link | Link | Link |
| final_t4 | 125.0 | Link | Link | Link |
| final_track5 | 234.0 | Link | Link | Link |
| Track | Score | Score Log Link | Video Link | Raw Log Link |
|---|---|---|---|---|
| final_t1_triple | 226.0 | Link | Link | Link |
| final_t2_triple | 215.0 | Link | Link | Link |
| final_t3 | inf | Link | Link | Link |
| final_t4 | 182.0 | Link | Link | Link |
| final_track5 | 360.0 | Link | Link | Link |
| Track | Score | Score Log Link | Video Link | Raw Log Link |
|---|---|---|---|---|
| final_t1_triple | 101.0 | Link | Link | Link |
| final_t2_triple | 311.0 | Link | Link | Link |
| final_t3 | inf | Link | Link | Link |
| final_t4 | 342.0 | Link | Link | Link |
| final_track5 | 252.0 | Link | Link | Link |
| Track | Score | Score Log Link | Video Link | Raw Log Link |
|---|---|---|---|---|
| final_t1_triple | 87.0 | Link | Link | Link |
| final_t2_triple | 249.0 | Link | Link | Link |
| final_t3 | 437.0 | Link | Link | Link |
| final_t4 | 213.0 | Link | Link | Link |
| final_track5 | 247.0 | Link | Link | Link |
Follow the instructions on this page for reproducing the race results. Note Because of the nondeterminism in the GRAIC/CARLA simulation framework, your results may differ from the logs in this repository.
If you are using these benchmarks, pleace cite us with:
@misc{GRAIC22-Benchmarks,
title = {GRAIC Autonomous Racing Benchmark Controllers for 2022},
author = {Yixuan Jia and Raj Joshi and Junyan Li and Yan Miao and Kristina Miller and Sayan Mitra and Dawei Sun},
publisher = {GitHub},
journal = {GitHub repository},
url = {https://github.com/PoPGRI/GRAIC22-Benchmarks},
year = {2022}
}
The GRAIC project and the related outreach activities are sponsored by:
