  Learn-to-Race Autonomous Racing Virtual Challenge hosted on
www<dot>aicrowd<dot>com platform consisted of two tracks: Single and Multi
Camera. Our UniTeam team was among the final winners in the Single Camera
track. The agent is required to pass the previously unknown F1-style track in
the minimum time with the least amount of off-road driving violations. In our
approach, we used the U-Net architecture for road segmentation, variational
autocoder for encoding a road binary mask, and a nearest-neighbor search
strategy that selects the best action for a given state. Our agent achieved an
average speed of 105 km/h on stage 1 (known track) and 73 km/h on stage 2
(unknown track) without any off-road driving violations. Here we present our
solution and results.
