# F1/10: An Open-Source Autonomous Cyber-Physical Platform

arXiv: https://arxiv.org/abs/1901.08567 · HTML: https://mlsanity.com/paper/1901.08567/

## Key facts

- Cited by 14 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Jan 2019.

## Built on by (most cited first, 14 of 14)

- [Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing](https://mlsanity.com/paper/2202.07008/) (2022)
- [A Super-human Vision-based Reinforcement Learning Agent for Autonomous Racing in Gran Turismo](https://mlsanity.com/paper/2406.12563/) (2024)
- [AutoDRIVE: A Comprehensive, Flexible and Integrated Digital Twin Ecosystem for Enhancing Autonomous Driving Research and Education](https://mlsanity.com/paper/2212.05241/) (2022)
- [Deep Dynamics: Vehicle Dynamics Modeling with a Physics-Constrained Neural Network for Autonomous Racing](https://mlsanity.com/paper/2312.04374/) (2023)
- [Drive Fast, Learn Faster: On-Board RL for High Performance Autonomous Racing](https://mlsanity.com/paper/2505.07321/) (2025)
- [The Use of the Simplex Architecture to Enhance Safety in Deep-Learning-Powered Autonomous Systems](https://mlsanity.com/paper/2509.21014/) (2025)
- [Vehicle Dynamics Modeling for Autonomous Racing Using Gaussian Processes](https://mlsanity.com/paper/2306.03405/) (2023)
- [Towards Validation of Autonomous Vehicles Across Scales using an Integrated Digital Twin Framework](https://mlsanity.com/paper/2402.12670/) (2024)
- [Mixed-Reality Digital Twins: Leveraging the Physical and Virtual Worlds for Hybrid Sim2Real Transition of Multi-Agent Reinforcement Learning Policies](https://mlsanity.com/paper/2403.10996/) (2024)
- [Fine-Tuning Hybrid Physics-Informed Neural Networks for Vehicle Dynamics Model Estimation](https://mlsanity.com/paper/2409.19647/) (2024)
- [RoboMal: Malware Detection for Robot Network Systems](https://mlsanity.com/paper/2201.08470/) (2022)
- [An Empirical Analysis of the Use of Real-Time Reachability for the Safety Assurance of Autonomous Vehicles](https://mlsanity.com/paper/2205.01419/) (2022)
- [Multi-Agent Deep Reinforcement Learning for Cooperative and Competitive Autonomous Vehicles using AutoDRIVE Ecosystem](https://mlsanity.com/paper/2309.10007/) (2023)
- [Learning to Drift with Individual Wheel Drive: Maneuvering Autonomous Vehicle at the Handling Limits](https://mlsanity.com/paper/2507.23339/) (2025)

## Abstract (arXiv)

In 2005 DARPA labeled the realization of viable autonomous vehicles (AVs) a grand challenge; a short time later the idea became a moonshot that could change the automotive industry. Today, the question of safety stands between reality and solved. Given the right platform the CPS community is poised to offer unique insights. However, testing the limits of safety and performance on real vehicles is costly and hazardous. The use of such vehicles is also outside the reach of most researchers and students. In this paper, we present F1/10: an open-source, affordable, and high-performance 1/10 scale autonomous vehicle testbed. The F1/10 testbed carries a full suite of sensors, perception, planning, control, and networking software stacks that are similar to full scale solutions. We demonstrate key examples of the research enabled by the F1/10 testbed, and how the platform can be used to augment research and education in autonomous systems, making autonomy more accessible.