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VRX2023_Technical-Guide_v1.2.pdf
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VRX2023_Technical-Guide_v1.2.pdf
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Virtual RobotX 2023
Competition
3 July 2023
Version 1.2
lVRX Competition Technical Guide
Virtual RobotX 2023 Competition www.RobotX.org
Table of Contents
1. Introduction............................................................................................................................................................... 2
2. VRX Goals and Approach........................................................................................................................................... 2
2.1. Submission and Evaluation.............................................................................................................................. 2
2.2. Competition Scoring........................................................................................................................................ 2
2.3. Competition Phases.........................................................................................................................................3
2.3.1. Phase 1: Hello World............................................................................................................................. 4
2.3.2. Phase 2: Dress Rehearsal....................................................................................................................... 4
2.3.3. Phase 3: VRX Challenge......................................................................................................................... 5
3. Robotic Platform........................................................................................................................................................ 5
4. Propulsion configuration............................................................................................................................................6
5. Sensor configuration..................................................................................................................................................8
5.1. Navigation Sensor............................................................................................................................................8
5.2. Camera Sensor.................................................................................................................................................9
5.3. Lidar Sensors....................................................................................................................................................9
5.4. Sensor Placement.......................................................................................................................................... 10
6. Task Structure and Implementation.........................................................................................................................11
6.1. Task States..................................................................................................................................................... 11
6.1.1. Initial....................................................................................................................................................11
6.1.2. Ready................................................................................................................................................... 11
6.1.3. Running................................................................................................................................................12
6.1.4. Finished............................................................................................................................................... 12
6.2. Task Info Message..........................................................................................................................................12
6.3. Simulated Pose Reference for Task Evaluation.............................................................................................. 12
7. Runs and Environmental Envelopes.........................................................................................................................14
7.1. Object Location and Orientation................................................................................................................... 14
7.2. Fog................................................................................................................................................................. 14
7.3. Wind.............................................................................................................................................................. 15
7.4. Waves............................................................................................................................................................ 15
7.5. Ambient Light................................................................................................................................................ 16
7.6. Summary of Environmental Parameters........................................................................................................ 17
8. VRX API.................................................................................................................................................................... 17
9. Submission and Code Execution.............................................................................................................................. 19
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1. Introduction
The purpose of this document is to provide Virtual RobotX (VRX) teams with the information necessary to
successfully prepare for and participate in the VRX competition. It covers the following topics: the
competition goals and approach, the robotic platform, propulsion and sensor configuration, generic
information about how tasks work, runs and environmental envelopes, the application programming
interface (API), and instructions for submitting your code for the competition.
For details of the individual tasks in the competition, see the VRX 2023 Task Descriptions.
2. VRX Goals and Approach
The VRX competition is a means of supporting engineering development for the Maritime RobotX Challenge
and maritime autonomy in general. The tasks and scoring reflect this intent by emphasizing the foundational
capabilities that lead to better autonomous performance. Testing autonomy algorithms in a relevant
simulation environment is an efficient and cost-effective approach when compared to the challenges of
testing system performance in a physical environment.
The simulation-based competition also rewards robust, repeatable performance by scoring each task over
multiple trials where the environmental conditions (e.g., sea state, wind magnitude and direction, lighting,
etc.) are varied between trials.
2.1. Submission and Evaluation
Evaluation of the VRX tasks will be performed in a specified evaluation environment composed of
computational resources consistent with the System Requirements for Running VRX. Team submissions,
consisting of configuration and software, will be executed by the VRX technical team to generate task
scoring.
The details of the evaluation environment will be provided to teams, along with working examples and
tutorials to allow teams to test their submissions thoroughly within an equivalent evaluation environment.
This should ensure that the performance of each team’s submitted solutions will be equivalent to
performance during development.
2.2. Competition Scoring
VRX scoring is inspired by the low-point system used in sailboat racing. Teams will receive a task rank for
each task. The VRX competition score is the total of the task rank for all tasks with lowest total points ranked
first. The final overall ranking is assigned based on this score, again with lowest total points ranked first. For
entries that are classified as “did not start,” “did not finish” or “disqualified” for a specific task, the task rank
shall be equal to the number of teams competing in that task.
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Table 1: Low-Point Scoring
Task Rank
Task Points
First
1
Second
2
Third
3
...
...
Task Ties: Ties in task rank are not usually possible. However, if a tie does occur, points for the place for
which the teams have tied and for the place(s) immediately below shall be averaged. For example, if there
was a tie for ranks fourth through eighth, all tied participants would receive a rank of 6.
Competition Ties: If there is a competition score tie between two or more teams, each team’s task points
shall be listed in order of best to worst, and at the first point(s) where there is a difference the tie shall be
broken in favor of the team(s) with the best score(s). If a tie remains between two or more teams, they shall
be ranked in order of their task points in the last task. Any remaining ties shall be broken by using the tied
teams’ task points in the next-to-last task and so on until all ties are broken.
To illustrate the scoring strategy, consider the following example:
Table 2: Competition Scoring Example
Task
Team A Points
Team B Points
Team C Points
1
1
2
3
2
2
1
3
3
1
3
3
4
3
2
1
5
2
1
3
Total
8
8
13
In this example, Teams A and B would be tied for first place in the competition and Team C would be in third
place. The task points for A and B would be listed in order for each team. For both teams the ordering is 1,
1, 2, 2, 3 To break this tie the scores would be compared for Task 5; Team B has 1 and Team A has 2, so the
tie is broken in favor of Team B. The final results would be Team B, first place; Team A, second place; and
Team C, third place.
2.3. Competition Phases
The VRX competition consists of three sequential phases.
● Phase 1: Hello World
● Phase 2: Dress Rehearsal
● Phase 3: VRX Challenge
The first phase will take place in September of 2023. The second and third phases will follow in October and
November of 2023. Final due dates are posted on the VRX website.
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2.3.1. Phase 1: Hello World
This simple check encourages teams to start early and is a means to identify technical issues with the
simulation environment. The goal of this phase is for teams to demonstrate that they have set up the VRX
simulation environment locally, on their own computers, and to provide a means for teams to demonstrate
prototype solutions to the VRX tasks.
● Preparation:
○ Teams access the VRX code, documentation and tutorials to support setting up their local
development environment.
○ Teams review the competition documents: Task Descriptions, Technical Guide, etc., available on the
VRX website.
○ For technical support, teams are encouraged to submit to the VRX issue tracker.
● Submission:
○ Each team submits a video demonstrating the team’s ability to run their own autonomy software
within the VRX simulation environment. The purpose of the video is to document team status and
progress towards completing the VRX challenge tasks. While not required, it is expected that many
teams will be able to demonstrate prototype solutions to a subset of the VRX tasks.
○ It is expected that the VRX simulation and the team’s solutions (control and autonomy software)
run locally on the team’s computers.
○ Teams are encouraged to demonstrate successful solutions to as many of the VRX Tasks as possible.
● Evaluation:
○ Teams must submit a video to be eligible to participate in future phases.
○ Videos will be shared with the community unless teams request that their videos remain private.
● Next Steps:
○ Teams review instructions for final submissions (see the VRX Wiki) and become familiar with the
evaluation environment infrastructure.
○ Teams continue to develop solutions to the VRX tasks and begin testing solutions within the
evaluation environment.
2.3.2. Phase 2: Dress Rehearsal
To complete this phase successfully teams should have prototype solutions for the VRX tasks and should be
able to submit their solutions for automatic evaluation within the evaluation environment as described in
the VRX Technical Guide. The task scores awarded in this phase are for practice only and will not count
toward final rankings.
● Preparation:
○ Teams review instructions to create and test solutions within the VRX evaluation environment.
○ Teams are expected to test their solutions in their own evaluation environment, including running
the automated scoring as preparation for the dress rehearsal submission.
○ Teams review detailed documentation of the submission process and tutorials on how to submit
and score their solutions.
○ Technical support continues to be managed primarily through the VRX issue tracker.
● Submission:
○ Each team submits a solution as described on the VRX Wiki.
● Evaluation:
○ To be eligible for Phase 3, teams must submit their solution for automatic evaluation as described in
the VRX Technical Guide.
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