Introduced normalization for all of the state features.

bin/Trainer.py

@@ -63,6 +63,7 @@ class Trainer(object):
     self._agentTeam = '' # Name of the team the agent is playing for
     self._agentNumInt = -1 # Agent's internal team number
     self._agentNumExt = -1 # Agent's external team number
+    self._agentServerPort = args.serverPort # Port for agent's server
     # =============== MISC =============== #
     self._offenseTeam = '' # Name of the offensive team
     self._defenseTeam = '' # Name of the defensive team
@@ -97,12 +98,12 @@ class Trainer(object):
     self._agentNumExt = self.convertToExtPlayer(self._agentTeam,
                                                 self._agentNumInt)
     agentCmd = 'start_agent.sh -t %s -u %i --numTeammates %i --numOpponents %i'\
-               ' --playingOffense %i'\
+               ' --playingOffense %i --serverPort %i'\
                %(self._agentTeam, self._agentNumExt, numTeammates, numOpponents,
-                 self._agent_play_offense)
+                 self._agent_play_offense, self._agentServerPort)
     agentCmd = agentCmd.split(' ')
     # Ignore stderr because librcsc continually prints to it
-    kwargs = {'stderr':open('/dev/null','w')}
+    kwargs = {}#{'stderr':open('/dev/null','w')}
     p = subprocess.Popen(agentCmd, **kwargs)
     p.wait()
     with open('/tmp/start%i' % p.pid,'r') as f:

bin/start.py

@@ -101,6 +101,8 @@ def parseArgs(args=None):
                  help='Don\'t use a learning agent.')
   p.add_argument('--no-sync', dest='sync', action='store_false', default=True,
                  help='Run server in non-sync mode')
+  p.add_argument('--server-port', dest='serverPort', type=int, default=6008,
+                 help='Port to run agent server on.')
   return p.parse_args(args=args)
 
 if __name__ == '__main__':

bin/start_agent.sh

@@ -77,6 +77,7 @@ usage()
    echo "  --numTeammates NUM           number of teammates"
    echo "  --numOpponents NUM           number of opponents"
    echo "  --playingOffense [0|1]       are we playing offense or defense"
+   echo "  --serverPort   NUM           port for server to list on"
    echo "  --seed NUM                   seed for rng"
    echo "  --gdb                        runs with gdb on (default:off)"
    ) 1>&2
@@ -265,6 +266,15 @@ do
       shift 1
       ;;
 
+    --serverPort)
+      if [ $# -lt 2 ]; then
+        usage
+        exit 1
+      fi
+      opts="${opts} --serverPort ${2}"
+      shift 1
+      ;;
+
     --seed)
       if [ $# -lt 2 ]; then
         usage

src/agent.h

@@ -90,28 +90,57 @@ protected:
   // Get the current game status
   hfo_status_t getGameStatus();
 
+  // Encodes an angle feature as the sin and cosine of that angle,
+  // effectively transforming a single angle into two features.
+  void addAngFeature(const rcsc::AngleDeg& ang);
+
+  // Encodes a proximity feature which is defined by a distance as
+  // well as a maximum possible distance, which acts as a
+  // normalizer. Encodes the distance as [0-far, 1-close]. Ignores
+  // distances greater than maxDist or less than 0.
+  void addDistFeature(float dist, float maxDist);
+
   // Add the angle and distance to the landmark to the feature_vec
-  void addLandmarkFeature(const rcsc::Vector2D& landmark,
-                          const rcsc::Vector2D& self_pos);
+  void addLandmarkFeatures(const rcsc::Vector2D& landmark,
+                           const rcsc::Vector2D& self_pos,
+                           const rcsc::AngleDeg& self_ang);
+
+  // Add features corresponding to another player.
+  void addPlayerFeatures(rcsc::PlayerObject& player,
+                         const rcsc::Vector2D& self_pos,
+                         const rcsc::AngleDeg& self_ang);
+
+  // Start the server and listen for a connection.
+  void startServer(int server_port=6008);
 
-  int numTeammates;
-  int numOpponents;
+  // Transmit information to the client and ensure it can recieve.
+  void clientHandshake();
+
+ protected:
+  int numTeammates; // Number of teammates in HFO
+  int numOpponents; // Number of opponents in HFO
   bool playingOffense; // Are we playing offense or defense?
   int numFeatures; // Total number of features
-  // Number of features for non-player objects. Clearly this is the answer.
-  const static int num_basic_features = 42;
+  // Number of features for non-player objects.
+  const static int num_basic_features = 58;
   // Number of features for each player or opponent in game.
-  const static int features_per_player = 5;
-  std::vector<float> feature_vec; // Contains the current features
+  const static int features_per_player = 8;
   int featIndx; // Feature being populated
-  const static int server_port = 6008;
-  long lastTrainerMessageTime; // Last time the trainer sent a message
-  bool episode_start; // True only in the timestep that the game is starting
+  std::vector<float> feature_vec; // Contains the current features
 
-  // Start the server and listen for a connection.
-  virtual void startServer();
-  // Transmit information to the client and ensure it can recieve.
-  virtual void clientHandshake();
+  // Observed values of some parameters.
+  const static float observedSelfSpeedMax   = 0.46;
+  const static float observedPlayerSpeedMax = 0.75;
+  const static float observedStaminaMax     = 8000.;
+  const static float observedBallSpeedMax   = 3.0;
+  float maxHFORadius; // Maximum possible distance in HFO playable region
+  // Useful measures defined by the Server Parameters
+  float pitchLength, pitchWidth, pitchHalfLength, pitchHalfWidth,
+    goalHalfWidth, penaltyAreaLength, penaltyAreaWidth;
+  long lastTrainerMessageTime; // Last time the trainer sent a message
+  int server_port; // Port to start the server on
+  bool server_running; // Is the server running?
+  int sockfd, newsockfd; // Server sockets
 
  private:
   bool doPreprocess();
@@ -122,8 +151,6 @@ protected:
   Communication::Ptr M_communication;
   FieldEvaluator::ConstPtr M_field_evaluator;
   ActionGenerator::ConstPtr M_action_generator;
-  bool server_running; // Is the server running?
-  int sockfd, newsockfd; // Server sockets
 };
 
 #endif