F1TENTH Sim Racing League @ IROS 2024¶
About¶
F1TENTH Autonomous Racing is a semi-regular competition organized by an international community of researchers, engineers, and autonomous systems enthusiasts. The teams participating in the 21st F1TENTH Autonomous Grand Prix at IROS 2024 will write software for a 1:10 scaled autonomous race car to fulfill the objectives for the competition: drive fast but don’t crash!
This time, we are organizing the first ever F1TENTH Sim Racing League, which leverages AutoDRIVE Ecosystem to model and simulate the digital twin of an F1TENTH racecar within a virtual racetrack. Please see the accompanying video for a glimpse of the F1TENTH digital twins in action.
The main focus of the Sim Racing League is a virtual competition with simulated cars and environments, which is accessible to everyone across the globe. For the IROS 2024 competition, each team will be provided with a standardized simulation setup (in the form of a digital twin of the F1TENTH vehicle, and a digital twin of the Porto racetrack) within the high-fidelity AutoDRIVE Simulator. Additionally, teams will also be provided with a working implementation of the AutoDRIVE Devkit to get started with developing their autonomy algorithms. Teams will have to develop perception, planning, and control algorithms to parse the real-time sensor data streamed from the simulator and generate control commands to be fed back to the simulated vehicle.
The competition will take place in 2 stages:
- Qualification Race: Teams will demonstrate their ability to complete multiple laps around the practice track without colliding with the track bounds at run time.
- Time-Attack Race: Teams will compete against the clock, on a previously unseen racetrack, to secure a position on the leaderboard.
Since the vehicle, the sensors, the simulator, and the devkit are standardized, teams must develop robust racing algorithms that can deal with the uncertainties of an unseen racetrack.
Tip
If you are interested in autonomously racing physical F1TENTH vehicles, please check out the website for 21st F1TENTH Autonomous Grand Prix, which will be held in person at IROS 2024. You can always register and compete in both physical and virtual competitions!
Organizers¶
Timeline¶
Warning
Timeline is subject to change. Please keep checking this page for any updates.
| DATE | EVENT |
|---|---|
| Jul 22, 2024 | Registration Opens |
| Aug 31, 2024 | Registration Closes |
| Sep 02, 2024 (5:30 – 6:30 PM EDT) | Online Orientation 1 |
| Sep 22, 2024 (5:30 – 6:30 PM EDT) | Online Orientation 2 |
| Sep 28 – Sep 29, 2024 | Qualification Round |
| Sep 30, 2024 | Qualification Results Declared |
| Oct 03, 2024 | Competition Track Released |
| Oct 05 – Oct 06, 2024 | Final Race |
| Oct 07, 2024 | Competition Results Declared |
Following is a brief summary of each event:
- Registration: Interested teams will register for the Sim Racing League.
- Online Orientation 1: Organizers will explain the competition rules and guidelines, and demonstrate how to use the simulation framework.
- Online Orientation 2: Organizers will check progress of the participating teams and help with any technical difficulties.
- Qualification Round: Teams will demonstrate successful completion of 10 laps around the practice track provided ahead of time.
- Qualification Results Declared: Standings of all the qualified teams will be released.
- Competition Track Released: Organizers will release the actual "competition track", which will be used for the final race. This track may be replicated in the physical race as well.
- Final Race: Organizers will collect containerized algorithms from each team and connect them with the containerized simulator. Performance metrics of each team will be recorded.
- Competition Results Declared: Standings of all the teams for the final race will be released.
Info
The F1TENTH Sim Racing League will be held approximately 1 week ahead of IROS 2024 and the performance metrics will be made available to the teams. Discussions are underway with the IROS organizing team to allow teams to analyze and present their approach/results in a short (~10 min) presentation in a special session at IROS 2024.
Resources¶
AutoDRIVE is envisioned to be an open, comprehensive, flexible and integrated cyber-physical ecosystem for enhancing autonomous driving research and education. It bridges the gap between software simulation and hardware deployment by providing the AutoDRIVE Simulator and AutoDRIVE Testbed, a well-suited duo for real2sim and sim2real transfer targeting vehicles and environments of varying scales and operational design domains. It also offers AutoDRIVE Devkit, a developer's kit for rapid and flexible development of autonomy algorithms using a variety of programming languages and software frameworks. For the Sim Racing League, teams will develop their autonomous racing algorithms using the AutoDRIVE Devkit to interface with the AutoDRIVE Simulator in real-time.
F1TENTH is an international community of researchers, engineers, and autonomous systems enthusiasts. It is centered around the idea of converting a 1:10 scale RC car into an autonomous vehicle for research and education; check out the documentation to build your own F1TENTH autonomous racecar. Additionally, if you are new to the field of autonomous racing, you can refer to the complete course material, which is open sourced. If you already have some experience with autonomous racing, feel free to delve deeper into the research enabled by F1TENTH. Lastly, you can also check out the physical F1TENTH races that are being organized all around the world. For the Sim Racing League, teams will not require a physical F1TENTH vehicle; however, the learning resources can certainly be useful to get your autonomous racing fundamentals right!
We recommend all the teams interested in participating in the F1TENTH Sim Racing League to get accustomed with the competition. Following are a few resources to get you started:
-
Competition Documents
Learn about the competition rules and technical aspects of the framework.
-
Docker Containers
Download base container images for the competition and start developing your algorithms.
-
Local Resources
Get started with the competition framework locally, and worry about containerization later.
AutoDRIVE Simulator:
exploreLinux | Windows | macOSpracticeLinux | Windows | macOScompeteLinux | Windows | macOSAutoDRIVE Devkit:
-
Orientation Resources
Join the online orientation sessions or review what we covered there.
Orientation 1:
Meeting Link: Zoom
Review Links: Recording | Slides
Orientation 2:
Meeting Link: Zoom
Question
You can post general questions on the AutoDRIVE Slack workspace; this is the preferred modality. Technical questions can be also posted as GitHub Issues or GitHub Discussions. For any other questions or concerns that cannot be posted publicly, please contact Chinmay Samak or Tanmay Samak.
Registration¶
This competition is open to everyone around the world - students, researchers, hobbyists, professionals, or anyone else who is interested. A team can consist of multiple teammates. Teams with only one person are also allowed.
Registration for the Sim Racing League is free of cost and separate from the Physical Racing League and the conference registrations themselves. The above form signs you up only for the Sim Racing League, and for its orientation and information sessions. Although you can participate in the Sim Racing League without attending the conference, we strongly encourage all competition participants to attend the conference in person. This will help you connect with the broader AutoDRIVE and F1TENTH communities, and you can also witness/participate in the physical F1TENTH autonomous racing competition!
Registered teams are added to the following table:
| SR. NO. | TEAM NAME | TEAM MEMBERS | ORGANIZATION |
|---|---|---|---|
| 01 | SAGOL | JoonCheol Park | Personal |
| 02 | Solo | Abdul Rahman Khader | Khalifa University |
| 03 | OptimusPrime | Sahruday Patti | University of Maryland, College Park |
| 04 | Velizar Zlatev | Velizar Zlatev | University of Bristol |
| 05 | Beryllium | Ronnie Romman | Personal |
| 06 | Cornell Electric Vehicles | Jason Klein Eric Marchetti Zach Chosed Utku Melemetci Sidharth Rao Myles Pasetsky Zephan Sanghani Sia Chitnis Nicole Sin |
Cornell University |
| 07 | Robotisim Dev | Muhammad Luqman Yusuf Butt |
Robotisim |
| 08 | Log Robotics | Logesh G | Bannari Amman Institute of Technology |
| 09 | Lone Rider | Akshay Laddha | Indian Institute of Technology, Bombay |
| 10 | Atlas 2.0 | Manav Gagvani | Purdue University |
| 11 | The Buttowskis | Kalash Jain | Pandit Deendayal Energy University |
| 12 | Hanuman Parakram | Dheeraj Bhurewar Vaibhav Wanere Akash Sundar Suryaprakash Senthil Kumar |
Personal |
| 13 | Pallas | Haris Khan | Skoltech |
| 14 | Gopher Speedsters | Sujeendra Ramesh | University of Minnesota, Twin Cities |
| 15 | Autopilots | Nouf Aljaberi Amna Muhammad Hajar Alnaqbi Shouq Zanki Sara Almessabie |
United Arab Emirates University |
| 16 | i3 | Pranav Kallem | Personal |
| 17 | RobotX & More | Oussama Errouji Imad-Eddine NACIRI |
Euro Mediterranean University of Fez |
| 18 | IEEE Zagazig SB | Abdulrahman Omar Hossam Elsherbiny Essam Shenhab Eman Abdelhamed Abdullah Elmasry Salma Swailem Merna Atef Amr Yasser Mahmoud Samy Mostafa Asaad Menna Gamal Ahmed Medhat |
Zagazig University |
| 19 | AMUGAE | Kim Amugae | Personal |
| 20 | TURTLEBOT | Jit Ern Lim | Personal |
| 21 | Byte Benders | Bhajneet Singh Bedi | Personal |
| 22 | KGX | Hareesh R Raja Rajan K Ramesh Patel D Marudhu Paandian K Bhuvaneshwari Kanagaraj |
KGISL Institute of technology |
| 23 | NaN | Hariharan Ravichandran Siva Vignesh Krishnan Chidambaram |
Personal |
| 24 | Vortex | Chinmay K | National Institute of Technology, Karnataka |
| 25 | bracaai | Luis Bracamontes | Braca Vision |
| 26 | ASU Racing Team | Abdallah Ismail Mahmoud Omar Hussien Algendy Serag Abdelmohsen Ammar Ahmed Ahmed Sallam Malk Hany |
Ain Shams University |
| 27 | TurboX | Dheeraj Bhogisetty | Personal |
| 28 | TractionX | Ameya Bagal Ananya Das Amizhthni PRK Aayush Ranawat |
Indian Institute of Technology, Madras |
| 29 | Urban AI | Adham Fayad Abdulrahman Ahmed Nabil Fouda George Welson Muhab Muhammed Mostafa Samy |
Ain Shams University |
| 30 | fstMINI | José Mateus Duarte Domingues |
Instituto Superior Técnico |
| 31 | Buggy Coders | Cody Uehara | Personal |
| 32 | AutoVision | Luis Bracamontes | Personal |
| 33 | Autobots | Shubham Barge Anshuman Jena |
Personal |
| 34 | Kyber-Kabs | Aditya Jambhale | SRM Institute of Science and Technology |
| 35 | SUST AutoDrive | Abul Bashar Raz Ad-Deen Mahbub Shafi Abdullah Fardeen Mosharraf Redwan Hassan Taj Ahmed |
Shahjalal University of Science and Technology |
| 36 | VersusAI | Junior Jesus Alisson Kolling Pedro Pinheiro Victor Kich |
Universidade Federal do Rio Grande |
| 37 | vijAYAM | Adarsh Baburaj | Manipal University (MU), Dubai |
| 38 | OutRunner | Nihad Jifri Arif Sidhiequ Midhun Manoharan |
Personal |
| 39 | simracer | Vinura Wanniarachchi | Personal |
| 40 | Phoenix | Aman Kumar Singh Lakshmikanth Nageswar Kandregula Abhinav Suchi Sharma |
Personal |
| 41 | KU F1TENTH | Riley Anderson Jackson Yanek Mohammed Misbah Zarrar |
The University of Kansas |
| 42 | Void | Gonna Yaswanth Prajyot Jadhav |
Personal |
| 43 | Aztec Autonomous Racing Team (AART) | Hyunjong Choi Pascal Reich Hyunhee Kwak |
San Diego State University |
| 44 | IDEA_LAB | Myeongjun Kim Ji-hong Park Juyoung Kim Sunwoong Moon Gyuhyeok Lee Sujin Park |
Gyeongsang National University |
| 45 | Aumechtron | Siddhant Diwaker Aryan Iyer |
SRM Institute of Science and Technology |
| 46 | UJI | Enric Cervera | Universitat Jaume-I |
| 47 | TurboTrack AI | Swapneel Dhananjay Wagholikar | Personal |
| 48 | InDIGo | Nikolaos Sarantinoudis | Technical University of Crete |
| 49 | Shelby | S Srikaanth S A Gogulnath |
Sastra Deemed University |
| 50 | Noyma | Roni Emad Youssef Karam Ahmed Khalifa John Maged Mina Sameh Andrew Bahaa Marise Nachaat Mark Medhat |
Personal |
| 51 | BREATH | Wonbin Lee Sechan Park Sunhwan Lee |
Handong Global University |
| 52 | SNAIL | Minsu Kim Minyoung Song Sieun Park |
Handong Global University |
| 53 | Shoubra Racing Team | Ahmed Elmasry Mohamed Alaa Hana Ahmed Hazem Abuelanin |
Benha University - Shoubra Faculty of Engineering |
| 54 | Kanka | Goktug Poyrazoglu Volkan Isler Yukang Cao Burak Mert Gonultas Qingyuan Jiang Burak Susam William Chastek |
University of Minnesota |
| 55 | Kılavuz-Mekatronom | Mehmet Baha Dursun Mustafa Kurban Hüseyin Ayvacı Cihat Kurtuluş Altıparmak |
Saha Robotik |
| 56 | AA Lab | Taha Kocyigit | Bogazici University |
| 57 | Cognitron | Abhinav Pillai Abid Ansari Muhamed Shijas Safa N Razeen Rasheed |
Indian Institute of Technology, Kharagpur |
| 58 | VAUL | Tommy Bouchard-Lebrun William Fecteau Nicolas Lauzon |
Laval University |
Note
The above table will be updated with newly registered teams within a few days of registration. Please contact Chinmay Samak or Tanmay Samak if you do not see your team entry for more than 7 days after registering.
Submission¶
Use the secure form below to make your team's submission for Phase 1 (Qualification Round) of the F1TENTH Sim Racing League. Please fill in your team's name and add the link to your team's DockerHub repository containing the autonomous racing stack. If you are using a private repository, make sure to add autodriveecosystem as a collaborator to your repository.
Warning
Phase 1 submission window will close on Sep 28, 2024. Please contact Chinmay Samak or Tanmay Samak if you have any questions.
Use the secure form below to make your team's submission for Phase 2 (Final Race) of the F1TENTH Sim Racing League. Please fill in your team's name and add the link to your team's DockerHub repository containing the autonomous racing stack. If you are using a private repository, make sure to add autodriveecosystem as a collaborator to your repository.
Warning
Phase 2 submission window will close on Oct 05, 2024. Please contact Chinmay Samak or Tanmay Samak if you have any questions.
Results¶
Phase 1: Qualification
The following teams have qualified for the final time-attack race. Here are the official standings:
| RANK | TEAM NAME | RACE TIME | COLLISION COUNT | ADJUSTED RACE TIME | BEST LAP TIME | VIDEO |
|---|---|---|---|---|---|---|
| 01 | 👏 KU F1TENTH | 117.05 s | 0 | 117.05 s | 11.67 s | YouTube |
| 02 | 👏 IDEA_LAB | 145.89 s | 1 | 155.89 s | 14.43 s | YouTube |
| 03 | 👏 Shoubra Racing Team | 179.57 s | 0 | 179.57 s | 17.84 s | YouTube |
| 04 | 👏 bracaai | 181.04 s | 0 | 181.04 s | 17.87 s | YouTube |
| 05 | 👏 TURTLEBOT | 181.33 s | 0 | 181.33 s | 17.98 s | YouTube |
| 06 | 👏 Kanka | 177.08 s | 7 | 247.08 s | 17.37 s | YouTube |
| 07 | 👏 Log Robotics | 265.59 s | 1 | 275.59 s | 26.47 s | YouTube |
| 08 | 👏 Phoenix | 411.03 s | 0 | 411.03 s | 41.05 s | YouTube |
| 09 | 👏 Urban AI | 1284.26 s | 0 | 1284.26 s | 128.00 s | YouTube |
Phase 2: Competition
The following teams successfully finished the final time-attack race. Here are the official standings:
| RANK | TEAM NAME | RACE TIME | COLLISION COUNT | ADJUSTED RACE TIME | BEST LAP TIME | VIDEO |
|---|---|---|---|---|---|---|
| 01 | 🥇 TURTLEBOT | 141.59 s | 0 | 141.59 s | 13.90 s | YouTube |
| 02 | 🥈 IDEA_LAB | 186.58 s | 0 | 186.58 s | 17.79 s | YouTube |
| 03 | 🥉 KU F1TENTH | 244.88 s | 0 | 244.88 s | 24.12 s | YouTube |
| 04 | 👏 Shoubra Racing Team | 201.84 s | 6 | 261.84 s | 19.00 s | YouTube |
| 05 | 👏 Phoenix | 282.16 s | 0 | 282.16 s | 27.97 s | YouTube |