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This prototype uses Three.js for the CARLA-style 3D renderer. Open the file while connected to the internet so the renderer can load from the CDN.

LINE//RL SIMULATOR

3D VISION-GUIDED AUTONOMOUS DRIVING LAB
TRAINING LIVE
Episode
001
Return
+0.0
CT Error
0.00 m
Speed
0.0 m/s
FPS
60

3D World Camera

GROUND TRUTHIsometric arena + cross-track supervisor
ISOMETRIC SUPERVISOR VIEW · CLICK TRACK TO REPOSITION ROBOT
0.0M/S
Policy commandCOAST · STRAIGHTRecommended speed20.0 m/sGrip margin100%

Fastest-lap objective

  1. White line: physical path seen by the onboard camera.
  2. Red vector: cross-track error used by the teacher/reward.
  3. Policy: learn throttle, braking and steering jointly to minimize lap time without leaving the path.
POS 0.0, 0.0
YAW 0.0°
TRACK 0%
GUIDE LINE + CENTERROBOT TRAJECTORYERROR VECTOR

Robot Camera

ONBOARD RGBAgent observation
Live robot camera
RGB 640×360 / FOV 82°
VISION CONF 99.0%
LINE OFFSET +0.000
Onboard RGB: this is the observation source used to estimate the line position. Global CTE remains teacher-only feedback.
SEMANTIC LINE FEATURE // LIVE8.3 ms
RUNTIME LOCAL JS

Learning Curve

SPEED-AWARE RETURNFaster valid laps score higher