End2Race: An End-to-End Learning Framework for Multi-Vehicle Autonomous Racing

Autonomous racing serves as a compelling testbed for advancing autonomous vehicle systems. The 1/10-scale F1Tenth platform is widely adopted for education and research, with annual competitions held worldwide. Yet, leading solutions in these tournaments remain dominated by rule-based approaches. While learning-based methods have been proposed, they focus primarily on single-vehicle settings, leaving challenging multi-vehicle interactions largely unexplored. To address this gap, we introduce End2Race, an end-to-end learning framework designed for head-to-head autonomous racing. Using this framework, we develop a computationally efficient policy network that achieves an inference latency below 1 ms on an F1Tenth onboard computer. Extensive evaluations show that the policy generalizes to both novel tracks and unseen opponent behaviors, demonstrating high racing speeds, robust safety, and adaptive overtaking maneuvers. These results substantially outperform both prior learning-based methods and rule-based baselines. Codebase is available at https://github.com/michigan-traffic-lab/End2Race.