Merge pull request #57 from DurgeshSamant/master

HLFS + Sarsa Agent

example/sarsa_offense/high_level_sarsa_agent.py

@@ -8,10 +8,6 @@ import sys, os
 sys.path.append(os.path.join(os.path.dirname(__file__), '..', 'sarsa_libraries','python_wrapper'))
 from py_wrapper import *
 
-NA=0      #Number of actions
-NOT=0     #Number of teammates
-NF=0      #Number of features
-
 def getReward(s):
   reward=0
   #--------------------------- 
@@ -44,7 +40,7 @@ def purge_features(state):
   tmpIndex= 9 + 3*NOT
   for i in range(len(state)):
     # Ignore first six features and teammate proximity to opponent(when opponent is absent)and opponent features
-    if(i < 6 or i>9+6*NOT or (args.numOpponents==0 and ((i>9+numTMates and i<=9+2*numTMates) or i==9)) ): 
+    if(i < 6 or i>9+6*NOT or (NOO==0 and ((i>9+NOT and i<=9+2*NOT) or i==9)) ): 
       continue;
     #Ignore Angle and Uniform Number of Teammates
     temp =  i-tmpIndex;
@@ -71,7 +67,8 @@ if __name__ == '__main__':
   hfo = HFOEnvironment()
   #now connect to the server
   hfo.connectToServer(HIGH_LEVEL_FEATURE_SET,'bin/teams/base/config/formations-dt',args.port,'localhost','base_left',False)
-  global NF,NA, NOT
+  global NF,NA,NOT,NOO
+  NOO=args.numOpponents
   if args.numOpponents >0: 
     NF=4+4*args.numTeammates
   else:
@@ -85,7 +82,7 @@ if __name__ == '__main__':
   Min=[-1]*NF
   Res=[resolution]*NF
   #Sarsa Agent Parameters
-  wt_filename="weights_"+str(NOT+1)+"v"+str(args.numOpponents)+'_'+str(args.suffix)
+  wt_filename="weights_"+str(NOT+1)+"v"+str(NOO)+'_'+str(args.suffix)
   discFac=1
   Lambda=0
   eps=0.01

example/simulate_python_sarsa_agents.sh

@@ -37,7 +37,7 @@ output_path=$agent_path
 agent_filename="high_level_sarsa_agent.py"
 
 #start the server
-stdbuf -oL ./bin/HFO --port=$port --no-logging --offense-agents=$oa --defense-npcs=$da --trials=$trials --defense-team=base  --headless --fullstate  > $log_dir/"$oa"v"$da""_sarsa_py_agents.log" &
+stdbuf -oL ./bin/HFO --port=$port --no-logging --offense-agents=$oa --defense-npcs=$da --trials=$trials --defense-team=base --fullstate  --headless > $log_dir/"$oa"v"$da""_sarsa_py_agents.log" &
 
 #each agent is a seperate process
 for n in $(seq 1 $oa)
@@ -48,7 +48,7 @@ do
     fname+=".txt"
     logfile=$log_dir/$fname
     rm $logfile
-    $python $agent_path/$agent_filename --port=$port --numTeammates=`expr $oa - 1` --numOpponents=$da --numEpisodes=$trials &> $log_dir/$fname &
+    $python $agent_path/$agent_filename --port=$port --numTeammates=`expr $oa - 1` --numOpponents=$da --numEpisodes=$trials --suffix=$n &> $log_dir/$fname &
 done
     
 # The magic line

src/highlevel_feature_extractor.cpp

@@ -30,8 +30,8 @@ HighLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
   const SelfObject& self = wm.self();
   const Vector2D& self_pos = self.pos();
   const float self_ang = self.body().radian();
-  const PlayerCont& teammates = wm.teammates();
-  const PlayerCont& opponents = wm.opponents();
+  const PlayerPtrCont& teammates = wm.teammatesFromSelf();
+  const PlayerPtrCont& opponents = wm.opponentsFromSelf();
   float maxR = sqrtf(SP.pitchHalfLength() * SP.pitchHalfLength()
                      + SP.pitchHalfWidth() * SP.pitchHalfWidth());
   // features about self pos
@@ -89,10 +89,10 @@ HighLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
 
   // Features[9 - 9+T]: teammate's open angle to goal
   int detected_teammates = 0;
-  for (PlayerCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
-    const PlayerObject& teammate = *it;
+  for (PlayerPtrCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
+    const PlayerObject* teammate = *it;
     if (valid(teammate) && detected_teammates < numTeammates) {
-      addNormFeature(calcLargestGoalAngle(wm, teammate.pos()), 0, M_PI);
+      addNormFeature(calcLargestGoalAngle(wm, teammate->pos()), 0, M_PI);
       detected_teammates++;
     }
   }
@@ -104,10 +104,10 @@ HighLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
   // Features[9+T - 9+2T]: teammates' dists to closest opps
   if (numOpponents > 0) {
     detected_teammates = 0;
-    for (PlayerCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
-      const PlayerObject& teammate = *it;
+    for (PlayerPtrCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
+      const PlayerObject* teammate = *it;
       if (valid(teammate) && detected_teammates < numTeammates) {
-        calcClosestOpp(wm, teammate.pos(), th, r);
+        calcClosestOpp(wm, teammate->pos(), th, r);
         addNormFeature(r, 0, maxR);
         detected_teammates++;
       }
@@ -124,10 +124,10 @@ HighLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
 
   // Features [9+2T - 9+3T]: open angle to teammates
   detected_teammates = 0;
-  for (PlayerCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
-    const PlayerObject& teammate = *it;
+  for (PlayerPtrCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
+    const PlayerObject* teammate = *it;
     if (valid(teammate) && detected_teammates < numTeammates) {
-      addNormFeature(calcLargestTeammateAngle(wm, self_pos, teammate.pos()),0,M_PI);
+      addNormFeature(calcLargestTeammateAngle(wm, self_pos, teammate->pos()),0,M_PI);
       detected_teammates++;
     }
   }
@@ -138,16 +138,16 @@ HighLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
 
   // Features [9+3T - 9+6T]: x, y, unum of teammates
   detected_teammates = 0;
-  for (PlayerCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
-    const PlayerObject& teammate = *it;
+  for (PlayerPtrCont::const_iterator it=teammates.begin(); it != teammates.end(); ++it) {
+    const PlayerObject* teammate = *it;
     if (valid(teammate) && detected_teammates < numTeammates) {
       if (playingOffense) {
-        addNormFeature(teammate.pos().x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
+        addNormFeature(teammate->pos().x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
       } else {
-        addNormFeature(teammate.pos().x, -SP.pitchHalfLength()-tolerance_x, tolerance_x);
+        addNormFeature(teammate->pos().x, -SP.pitchHalfLength()-tolerance_x, tolerance_x);
       }
-      addNormFeature(teammate.pos().y, -tolerance_y - SP.pitchHalfWidth(), SP.pitchHalfWidth() + tolerance_y);
-      addFeature(teammate.unum());
+      addNormFeature(teammate->pos().y, -tolerance_y - SP.pitchHalfWidth(), SP.pitchHalfWidth() + tolerance_y);
+      addFeature(teammate->unum());
       detected_teammates++;
     }
   }
@@ -160,16 +160,16 @@ HighLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
 
   // Features [9+6T - 9+6T+3O]: x, y, unum of opponents
   int detected_opponents = 0;
-  for (PlayerCont::const_iterator it = opponents.begin(); it != opponents.end(); ++it) {
-    const PlayerObject& opponent = *it;
+  for (PlayerPtrCont::const_iterator it = opponents.begin(); it != opponents.end(); ++it) {
+    const PlayerObject* opponent = *it;
     if (valid(opponent) && detected_opponents < numOpponents) {
       if (playingOffense) {
-        addNormFeature(opponent.pos().x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
+        addNormFeature(opponent->pos().x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
       } else {
-        addNormFeature(opponent.pos().x, -SP.pitchHalfLength()-tolerance_x, tolerance_x);
+        addNormFeature(opponent->pos().x, -SP.pitchHalfLength()-tolerance_x, tolerance_x);
       }
-      addNormFeature(opponent.pos().y, -tolerance_y - SP.pitchHalfWidth(), SP.pitchHalfWidth() + tolerance_y);
-      addFeature(opponent.unum());
+      addNormFeature(opponent->pos().y, -tolerance_y - SP.pitchHalfWidth(), SP.pitchHalfWidth() + tolerance_y);
+      addFeature(opponent->unum());
       detected_opponents++;
     }
   }
@@ -190,3 +190,13 @@ HighLevelFeatureExtractor::ExtractFeatures(const rcsc::WorldModel& wm,
   // checkFeatures();
   return feature_vec;
 }
+
+bool HighLevelFeatureExtractor::valid(const rcsc::PlayerObject* player) {
+  if (!player) {return false;} //avoid segfaults
+  const rcsc::Vector2D& pos = player->pos();
+  if (!player->posValid()) {
+    return false;
+  }
+  return pos.isValid();
+}
+

src/highlevel_feature_extractor.h

@@ -23,6 +23,10 @@ public:
   virtual const std::vector<float>& ExtractFeatures(const rcsc::WorldModel& wm,
 						    bool last_action_status);
 
+  //override FeatureExtractor::valid
+  //this method takes a pointer instead of a reference
+  static bool valid(const rcsc::PlayerObject* player);
+
 protected:
   // Number of features for non-player objects.
   const static int num_basic_features = 10;