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