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Seminar-HFO
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Merge branch 'action_chart' into add_feedback - start revisions based on... 

Merge branch 'action_chart' into add_feedback - start revisions based on exploration of defense actions
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......@@ -11,7 +11,7 @@
\renewcommand*{\labelenumi}{\theenumi}
\usepackage{hyperref,graphicx}
\usepackage{fullpage}
\usepackage[cm]{fullpage}
\usepackage{enumitem}
\usepackage{subcaption}
......@@ -153,6 +153,9 @@ visualizer. \\
\noindent To change the logging directory:\\
\verb+ > ./bin/HFO --log-dir /path/to/new/dir +
Note that the logs can become quite large for a prolonged series of
episodes.
\section{Making Videos}
It is possible to make videos from logs by saving frames from
SoccerWindow2. It helps to full-screen SoccerWindow2 before making a
......@@ -197,9 +200,9 @@ A seed may be specified as follows:\\
This seed will determine the placement of the players and the ball at
the beginning of each episode. Due to non-determinism in the player
policies, it is not sufficient to precisely replicate full games. It
policies, it is \textbf{not} sufficient to precisely replicate full games. It
\textit{only} replicates the starting conditions for each episode. The
player's behavior, observations, and physics all proceed
players' behavior, observations, and physics all proceed
stochastically.
\section{Player On Ball}
......@@ -491,8 +494,8 @@ low-level features:
HFO play area.}
\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 +509,21 @@ 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
......@@ -579,14 +586,13 @@ faithfully report which action spaces were used.
combination of short kicks and moves.}
\item{\textbf{Catch}(): This goalie-specific action may be used to
catch the ball.}
\item {\textbf{Reduce\_Angle\_To\_Goal} (): Moves the agent to a point on the field, such that the kicker has the least open angle to the goal. }
\item {\textbf{Defend\_Goal} () : Moves the agent to a point on a fixed line on the field, such that the kicker has the least open angle to the goal.}
\item {\textbf{Go\_To\_Ball} (): Makes the agent go towards the ball.}
\item {\textbf{Mark\_Player} (uniform\_number): Moves the agent so as to mark the player with the specified uniform number.}
\item{\textbf{Reduce\_Angle\_To\_Goal}(): Moves the agent to a point on the field,
such that the kicker has the least open angle to the goal. }
\item{\textbf{Defend\_Goal}(): Moves the agent to a point on a fixed line on the field,
such that the kicker has the least open angle to the goal.}
\item{\textbf{Go\_To\_Ball}(): Makes the agent go towards the ball.}
\item{\textbf{Mark\_Player}(uniform\_number): Moves the agent so as to mark the player
with the specified uniform number.}
\end{itemize}
......@@ -597,11 +603,51 @@ faithfully report which action spaces were used.
terminate the HFO environment.}
\end{itemize}
\subsection{Applicable Actions}
The Special Actions are always applicable (potentially appropriate). The below table indicates whether
other actions are applicable (only if there are no ``N''s indicated); check
below the table for the action abbreviations and notes.
\begin{center}
{\footnotesize
\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? & N? & Y & ? & N & N & N & N \\
Self velocity invalid & N & Y? & Y? & Y? & ? & N & N & N & N & ? & ? & Y & Y & N & N & N & N \\
Ball position invalid & Y & Y & Y? & N & N & Y & N & N & N & N & N & Y? & N & N & N & N & N \\
Ball velocity invalid & Y & Y & Y & ? & ? & Y & Y & N? & ? & N & N? & Y? & Y? & Y & Y & Y & Y \\
Teammate loc invalid & Y & Y & Y & Y & Y & Y & Y & Y & N & Y & N & Y? & Y & Y & Y & Y & Y \\
Team. unum invalid & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & N & Y & Y & Y & Y & Y & Y \\
Opponent loc invalid & Y & Y & Y & Y & Y & Y & Y? & Y & N & Y? & Y & Y? & Y & Y & Y & Y & N \\
Opp. unum invalid & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & N \\
\hline
Ball kickable & Y & Y & Y & Y & Y & Y & Y & ? & * & Y & Y & Y & Y & ? & ? & ? & Y \\
Ball not kickable & Y & Y & Y & N & N & Y & Y & Y & Y & N & N & N & Y & Y & Y & Y & Y \\
\hline
Frozen & N & N & N & N & N & N & N? & N & N? & N & N & Y & N? & N & N & N & N \\
Colliding w/ball & Y & ? & ? & ? & ? & Y? & ? & N? & ? & ? & ? & ? & ? & ? & ? & ? & ? \\
Colliding w/player & Y & ? & ? & N? & N? & Y? & ? & N? & ? & ? & ? & Y? & ? & ? & ? & ? & ? \\
Colliding w/post & Y & ? & N? & N? & N? & Y? & ? & N? & ? & ? & ? & ? & ? & ? & ? & ? & ? \\
\hline
Offense & Y & Y & N & Y & Y & Y & Y & Y & Y & Y & Y & Y & N & N & N & Y & N \\
Defense, not goalie & Y & Y & Y & N? & N? & Y & N & Y & Y & N & N & N & N & Y & ? & Y & Y \\
Goalie (defense) & Y & Y & Y? & N? & N? & Y & N & Y & ? & N & N & N & Y & ? & ? & ? & ? \\
\end{tabular}
}
\end{center}
*: The Move command is not recommended for offensive players able to kick the ball, but can work for defensive players (for triggering a tackle).\\
\begin{itemize}[noitemsep]
\item{Da:\,Dash; Tu:\,Turn; Ta:\,Tackle; K:\,Kick}
\item{KT:\,Kick\_To; MT:\,Move\_To; DT:\,Dribble\_To; I:\,Intercept}
\item{M:\,Move; S:\,Shoot; P:\,Pass; Dr:\,Dribble; C:\,Catch; RG:\,Reduce\_Angle\_To\_Goal; DG:\,Defend\_Goal; G:\,Go\_To\_Ball; MP:\,Mark\_Player}
\end{itemize}
\section{Developing a New Agent}
New agents may be developed in C++ or Python. In Python, as long as
the hfo interface has been installed, the agent needs only to
\verb+from hfo import *+. In C++ it is necessary to
either \verb+from hfo import *+ or \verb+import hfo+. In C++ it is necessary to
\verb+#include <HFO.hpp>+ and also to link against the shared object
library \verb+lib/libhfo.so+ when compiling:
......
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