\itemrange{2}{\textbf{Corner Top Left} [Landmark] Top left corner HFO Playfield.}
\itemrange{2}{\textbf{Corner Top Right} [Landmark] Top right corner HFO Playfield.}
\itemrange{2}{\textbf{Corner Bot Right} [Landmark] Bot right corner HFO Playfield.}
\itemrange{2}{\textbf{Corner Bot Left} [Landmark] Bot left corner HFO Playfield.}
\itemrange{2}{\textbf{Corner Bot Right} [Landmark] Bottom right corner HFO Playfield.}
\itemrange{2}{\textbf{Corner Bot Left} [Landmark] Bottom left corner HFO Playfield.}
\item{\textbf{OOB Left Dist} [Proximity] Proximity to the nearest
point of the left side of the HFO playable area. E.g. distance
remaining before the agent goes out of bounds in left field.}
...
...
@@ -506,17 +506,21 @@ low-level features:
\item{\textbf{Ball Vel Valid} [Valid] Indicates the ball velocity estimate is valid.}
\item{\textbf{Ball Vel Mag} [Other] Magnitude of the ball's velocity.}
\itemrange{1}{\textbf{Ball Vel Ang} [Angle] Global angle of ball velocity.}
\item [$8T$] {\textbf{Teammate Features} [Player] One teammate feature set (8 features) for each teammate active in HFO, sorted by proximity to the agent.}
\item [$8O$] {\textbf{Opponent Features} [Player] One opponent feature set (8 features) for each opponent present, sorted by proximity to the player.}
\item [$T$] {\textbf{Teammate Uniform Nums} [Unum] One uniform number for each teammate active in HFO, sorted by proximity to the agent.}
\item [$O$] {\textbf{Opponent Uniform Nums} [Unum] One uniform number for each opponent present, sorted by proximity to the player.}
\item [$8T$] {\textbf{Teammate Features} [Player] One teammate feature set (8 features)
for each teammate active in HFO, sorted by proximity to the agent.}
\item [$8O$] {\textbf{Opponent Features} [Player] One opponent feature set (8 features)
for each opponent active in HFO, sorted by proximity to the player.}
\item [$T$] {\textbf{Teammate Uniform Nums} [Unum] One uniform number for each teammate active in HFO,
sorted by proximity to the agent.}
\item [$O$] {\textbf{Opponent Uniform Nums} [Unum] One uniform number for each opponent active in HFO,
sorted by proximity to the player.}
\end{enumerate}
\section{Action Space}
The HFO domain provides support for both low-level primitive actions,
mid-level, and high-level strategic actions. Low-level, parameterized
actions are provided for locomotion and kicking. Mid-level actions are
still parameterized by capture high level activities such as
still mostly parameterized but capture high-level activities such as
dribbling. Finally, high-level discrete, strategic actions are
available for moving, shooting, passing and dribbling. Control of the
agent's head and gaze is not provided and follows Agent2D's default
...
...
@@ -606,10 +610,10 @@ below the table for the action abbreviations.
\begin{tabular}{r | c c c c | c c c c | c c c c c c c c c}
Action & Da & Tu & Ta & K & KT & MT & DT & I & M & S & P & Dr & C & RG & DG & G & MP \\
\hline\hline
Self position invalid & Y & Y & Y & Y & N & N & N? & N? & N? & N? &? & Y & ? & N? & N? & ? & ?\\
