This is a university course being taught at ETH Zurich, the University of Montreal, TTIC/UChicago and other institutions, where students learn about self-driving cars and robotics by building their own small-scale model which can drive around in the miniature Duckietown universe, complete with turns, intersections, traffic signs, and other moving vehicles. The simulator I'm building works as an OpenAI Gym environment, which makes it easy to use for reinforcement learning. While working on this simulator, I'm also experimenting with sim-to-real transfer, that is, getting policies trained in simulation to work with a real robot.