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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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doc/manual.tex
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...@@ -11,7 +11,7 @@ ...@@ -11,7 +11,7 @@
\renewcommand*{\labelenumi}{\theenumi} \renewcommand*{\labelenumi}{\theenumi}
\usepackage{hyperref,graphicx} \usepackage{hyperref,graphicx}
\usepackage{fullpage} \usepackage[cm]{fullpage}
\usepackage{enumitem} \usepackage{enumitem}
\usepackage{subcaption} \usepackage{subcaption}
...@@ -153,6 +153,9 @@ visualizer. \\ ...@@ -153,6 +153,9 @@ visualizer. \\
\noindent To change the logging directory:\\ \noindent To change the logging directory:\\
\verb+ > ./bin/HFO --log-dir /path/to/new/dir + \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} \section{Making Videos}
It is possible to make videos from logs by saving frames from It is possible to make videos from logs by saving frames from
SoccerWindow2. It helps to full-screen SoccerWindow2 before making a SoccerWindow2. It helps to full-screen SoccerWindow2 before making a
...@@ -197,9 +200,9 @@ A seed may be specified as follows:\\ ...@@ -197,9 +200,9 @@ A seed may be specified as follows:\\
This seed will determine the placement of the players and the ball at 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 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 \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. stochastically.
\section{Player On Ball} \section{Player On Ball}
...@@ -491,8 +494,8 @@ low-level features: ...@@ -491,8 +494,8 @@ low-level features:
HFO play area.} HFO play area.}
\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 +509,21 @@ low-level features: ...@@ -506,17 +509,21 @@ 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
...@@ -579,14 +586,13 @@ faithfully report which action spaces were used. ...@@ -579,14 +586,13 @@ faithfully report which action spaces were used.
combination of short kicks and moves.} combination of short kicks and moves.}
\item{\textbf{Catch}(): This goalie-specific action may be used to \item{\textbf{Catch}(): This goalie-specific action may be used to
catch the ball.} 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{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,
\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.} 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{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{Mark\_Player} (uniform\_number): Moves the agent so as to mark the player with the specified uniform number.}
\end{itemize} \end{itemize}
...@@ -597,11 +603,51 @@ faithfully report which action spaces were used. ...@@ -597,11 +603,51 @@ faithfully report which action spaces were used.
terminate the HFO environment.} terminate the HFO environment.}
\end{itemize} \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} \section{Developing a New Agent}
New agents may be developed in C++ or Python. In Python, as long as 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 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 \verb+#include <HFO.hpp>+ and also to link against the shared object
library \verb+lib/libhfo.so+ when compiling: library \verb+lib/libhfo.so+ when compiling:
......
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