Environments

HighwayEnv includes the following ten environments for autonomous driving decision-making. Each environment features configurable observations, actions, dynamics, and rewards — see Configuring an environment for details.

Environment	Description	Action type
Highway	Drive fast on a multilane highway while avoiding collisions.	Discrete
Merge	Merge onto a highway from an on-ramp through dense traffic.	Discrete
Roundabout	Navigate a roundabout with merging and exiting traffic.	Discrete
Parking	Park in a given space with the correct heading (goal-conditioned).	Continuous
Intersection	Cross an unsignalized intersection among other vehicles.	Discrete
Racetrack	Follow a racetrack as fast as possible while staying on the road.	Continuous
Lane Keeping	Steer to follow a sine-wave lane using bicycle dynamics.	Continuous
Two Way	Overtake on a two-way road with oncoming traffic (risk management).	Discrete
Exit	Navigate across lanes to reach a highway exit ramp.	Discrete
U-Turn	Overtake blocking vehicles through a double-lane U-turn.	Discrete

All environments follow the Gymnasium API and are highly configurable via arguments specified in each environment’s documentation.