run.env

DR_WORLD_NAME =

reInvent2019_track (the original and best)
jyllandsringen_open (the "Open" June 2021 virtual race)
jyllandsringen_pro (the "Pro" June 2021 virtual race)

DR_RACE_TYPE =

TIME_TRIAL
OBJECT_AVOIDANCE
HEAD_TO_BOT

system.env

DR_ROBOMAKER_IMAGE =

4.0.5-gpu (latest build number comes from: https://github.com/aws-deepracer-community/deepracer-simapp/releases)

model_metadata.json

sensor = one or more of...

FRONT_FACING_CAMERA
STEREO_CAMERAS
SECTOR_LIDAR

action_space_type =

discrete
continuous

version =

3
4 (you must use version 4 for best results competing in AWS virtual races)

action_space = (use this format for continuous, or refer to default for discrete format)

{"steering_angle": {"high": 30, "low": -30}, "speed": {"high": 4, "low": 1}}

Master Reference

https://aws-deepracer-community.github.io/deepracer-for-cloud/reference.html