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Commit 63f3a046 authored by drallensmith's avatar drallensmith
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Updates to manual (particularly for action chart); next exploration step is non-fullstate

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doc/manual.pdf
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doc/manual.tex
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...@@ -435,7 +435,7 @@ Landmark features encode the relative angle and proximity of the agent ...@@ -435,7 +435,7 @@ Landmark features encode the relative angle and proximity of the agent
to a landmark of interest. Each landmark feature consists of three to a landmark of interest. Each landmark feature consists of three
floating point values, two to encode the agent's relative angle to the floating point values, two to encode the agent's relative angle to the
landmark and one to encode the landmark's proximity. Note that if the landmark and one to encode the landmark's proximity. Note that if the
agent's self position is invalid, then the landmark feature values are agent's self position is invalid, the landmark feature values are
zeroed. zeroed.
\subsubsection{Player Features} \subsubsection{Player Features}
...@@ -451,7 +451,7 @@ In the low-level feature space, unknown uniform numbers, or \textit{unums}, ...@@ -451,7 +451,7 @@ In the low-level feature space, unknown uniform numbers, or \textit{unums},
are encoded as -1, while known ones are encoded as $\frac{unum}{100}$, thus are encoded as -1, while known ones are encoded as $\frac{unum}{100}$, thus
remaining well within the $[-1, 1]$ range. (Note that roundoff error may need remaining well within the $[-1, 1]$ range. (Note that roundoff error may need
to be allowed for when converting these back to integers, such as for use in to be allowed for when converting these back to integers, such as for use in
high-level actions; e.g., 0.0799 will need to be converted back to 8.) high-level actions; \textit{e.g.}, 0.0799 will need to be converted back to 8.)
Uniform number features, a later addition to the low-level feature space, Uniform number features, a later addition to the low-level feature space,
are positioned after all other features to hopefully ensure compatibility are positioned after all other features to hopefully ensure compatibility
with older programs. with older programs.
...@@ -490,8 +490,8 @@ low-level features: ...@@ -490,8 +490,8 @@ low-level features:
\itemrange{2}{\textbf{Penalty Box Center} [Landmark] Center of the penalty box line.} \itemrange{2}{\textbf{Penalty Box Center} [Landmark] Center of the penalty box line.}
\itemrange{2}{\textbf{Penalty Box Top} [Landmark] Top corner of the penalty box.} \itemrange{2}{\textbf{Penalty Box Top} [Landmark] Top corner of the penalty box.}
\itemrange{2}{\textbf{Penalty Box Bot} [Landmark] Bottom corner of the penalty box.} \itemrange{2}{\textbf{Penalty Box Bot} [Landmark] Bottom corner of the penalty box.}
\itemrange{2}{\textbf{Center Field} [Landmark] The left middle point of the \itemrange{2}{\textbf{Center Field} [Landmark] The left middle point of the RoboCup field
HFO play area.} (note that this is \textbf{not} the center of the 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] Bottom right corner HFO Playfield.} \itemrange{2}{\textbf{Corner Bot Right} [Landmark] Bottom right corner HFO Playfield.}
...@@ -610,29 +610,29 @@ below the table for the action abbreviations and notes. ...@@ -610,29 +610,29 @@ below the table for the action abbreviations and notes.
\begin{center} \begin{center}
{\footnotesize {\footnotesize
\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? & N? & Y & ? & N & N & N & N \\ 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 \\ 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 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 \\ 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 \\ 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 \\ 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 \\ 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 \\ Opp. unum invalid & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & N \\
\hline \hline
Ball kickable & Y & Y & Y & Y & Y & Y & Y & N & * & Y & Y & Y & Y & ? & ? & N & Y \\ Ball kickable & Y & Y & Y & Y & Y & N & Y & N & * & Y & Y & Y & Y & ? & ? & N & Y \\
Ball not kickable & Y & Y & Y & N & N & Y & Y & Y & Y & N & N & N & 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 \hline
Frozen & N & N & N & N & N & N & N? & N & N? & N & N & Y & N? & N & N & N & N \\ Frozen & N & N & N & N & N & N & N? & N & N? & N & N & Y & N? & N & N & N & N \\
Colliding w/ball & Y & Y & ? & N & Y & Y & Y & Y & ? & ? & ? & ? & ? & ? & ? & N & ? \\ Colliding w/ball & Y & Y & ? & N & Y & N & Y & Y & Y & ? & Y & Y & ? & ? & ? & N & ? \\
Colliding w/player & Y & Y? & ? & N? & N? & Y? & ? & Y? & ? & ? & ? & Y? & ? & ? & ? & Y? & ? \\ Colliding w/player & Y & Y & ? & Y & Y & Y & Y & Y & Y & ? & N & Y & ? & ? & ? & Y & ? \\
Colliding w/post & Y & Y & N? & N? & N? & Y & Y & Y & Y & ? & ? & Y & ? & Y & Y & Y & Y \\ Colliding w/post & Y & Y & N? & Y & Y & Y & N & Y & Y & ? & N & Y & ? & Y & Y & Y & Y \\
\hline \hline
Offense & Y & Y & N & Y & Y & Y & Y & Y & Y & Y & Y & Y & N & N & N & Y & N \\ 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 \\ 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 & ? & ? & ? & ? \\ Goalie (defense) & Y & Y & Y & N & N & Y & N & Y & ? & N & N & N & Y & ? & ? & ? & N \\
\end{tabular} \end{tabular}
} }
\end{center} \end{center}
...@@ -647,8 +647,8 @@ Goalie (defense) & Y & Y & Y? & N? & N? & Y & N & Y & ? & N & N & ...@@ -647,8 +647,8 @@ Goalie (defense) & Y & Y & Y? & N? & N? & Y & N & Y & ? & N & N &
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 only needs to the hfo interface has been installed, the agent only needs to
\verb+import hfo+ (or \verb+from hfo import *+). In C++ it is necessary to \verb+import hfo+ (or \verb+from hfo import *+). In C++, it is necessary to
\verb+#include <HFO.hpp>+ and also to link against the shared object \verb+#include <HFO.hpp>+ and also link against the shared object
library \verb+lib/libhfo.so+ when compiling: library \verb+lib/libhfo.so+ when compiling:
\begin{verbatim} \begin{verbatim}
......
example/explore_offense_actions_fullstate.py
View file @ 63f3a046
...@@ -624,15 +624,6 @@ def evaluate_previous_action(hfo_env, ...@@ -624,15 +624,6 @@ def evaluate_previous_action(hfo_env,
return return
bit_list, self_dict, goal_dict, ball_dict = filter_low_level_state(state) bit_list, self_dict, goal_dict, ball_dict = filter_low_level_state(state)
action_status = hfo_env.getLastActionStatus(namespace.action) action_status = hfo_env.getLastActionStatus(namespace.action)
if action_status == hfo.ACTION_STATUS_UNKNOWN:
print(
"Last action {0!s} (prestate bit_list {1!s}, current bit list {2!s}) gave status {3:n}".format(
hfo_env.actionToString(namespace.action),
"".join(map(str,map(int,namespace.prestate_bit_list))),
"".join(map(str,map(int,bit_list))), action_status),
file=sys.stderr)
sys.stderr.flush()
return
action_string = hfo_env.actionToString(namespace.action) action_string = hfo_env.actionToString(namespace.action)
if namespace.action_params: if namespace.action_params:
...@@ -740,9 +731,9 @@ def evaluate_previous_action(hfo_env, ...@@ -740,9 +731,9 @@ def evaluate_previous_action(hfo_env,
if namespace.prestate_bit_list[4]: if namespace.prestate_bit_list[4]:
if not bit_list[4]: if not bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_BAD action_status_observed = hfo.ACTION_STATUS_BAD
elif namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision elif (namespace.intent != INTENT_GOAL_COLLISION) and namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_bit_list[2] and (not bit_list[2]): # ball collision elif (namespace.intent != INTENT_BALL_COLLISION) and namespace.prestate_bit_list[2] and (not bit_list[2]): # ball collision
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.prestate_self_dict['x_pos'] is not None) and (self_dict['x_pos'] is not None): elif (namespace.prestate_self_dict['x_pos'] is not None) and (self_dict['x_pos'] is not None):
dist_before = get_dist_real(namespace.prestate_self_dict['x_pos'], dist_before = get_dist_real(namespace.prestate_self_dict['x_pos'],
...@@ -759,9 +750,9 @@ def evaluate_previous_action(hfo_env, ...@@ -759,9 +750,9 @@ def evaluate_previous_action(hfo_env,
action_status_observed = hfo.ACTION_STATUS_BAD action_status_observed = hfo.ACTION_STATUS_BAD
elif bit_list[4]: elif bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision elif (namespace.intent != INTENT_GOAL_COLLISION) and namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_bit_list[2] and (not bit_list[2]): # ball collision elif (namespace.intent != INTENT_BALL_COLLISION) and namespace.prestate_bit_list[2] and (not bit_list[2]): # ball collision
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_ball_dict['dist'] > ball_dict['dist']: elif namespace.prestate_ball_dict['dist'] > ball_dict['dist']:
action_status_observed = hfo.ACTION_STATUS_MAYBE action_status_observed = hfo.ACTION_STATUS_MAYBE
...@@ -799,7 +790,7 @@ def evaluate_previous_action(hfo_env, ...@@ -799,7 +790,7 @@ def evaluate_previous_action(hfo_env,
action_status_guessed = action_status action_status_guessed = action_status
else: else:
action_status_guessed = action_status_observed action_status_guessed = action_status_observed
if action_status != action_status_observed: if (action_status != action_status_observed) and (action_status != hfo.ACTION_STATUS_UNKNOWN):
print( print(
"{0!s}: Difference between feedback ({1!s}), observed ({2!s}) action_status (prestate bit_list {3!s}, current bit list {4!s})".format( "{0!s}: Difference between feedback ({1!s}), observed ({2!s}) action_status (prestate bit_list {3!s}, current bit list {4!s})".format(
action_string, action_string,
...@@ -810,7 +801,7 @@ def evaluate_previous_action(hfo_env, ...@@ -810,7 +801,7 @@ def evaluate_previous_action(hfo_env,
file=sys.stderr) file=sys.stderr)
sys.stderr.flush() sys.stderr.flush()
if (action_status_guessed != hfo.ACTION_STATUS_MAYBE) and (not namespace.checking_intent): if (action_status_guessed == hfo.ACTION_STATUS_BAD) and (not namespace.checking_intent):
# unexpected lack of success # unexpected lack of success
print( print(
"Unexpected lack of success for last action {0!s} (prestate bit_list {1!s}, current bit list {2!s})".format( "Unexpected lack of success for last action {0!s} (prestate bit_list {1!s}, current bit list {2!s})".format(
...@@ -1006,20 +997,32 @@ def do_intent(hfo_env, ...@@ -1006,20 +997,32 @@ def do_intent(hfo_env,
goal_dict['x_pos'],goal_dict['y_pos']), goal_dict['x_pos'],goal_dict['y_pos']),
file=sys.stderr) file=sys.stderr)
sys.stderr.flush() sys.stderr.flush()
hfo_env.act(*save_action_prestate(action=hfo.DASH, if not bit_list[4]:
action_params=[80, goal_rel_angle], hfo_env.act(*save_action_prestate(action=hfo.DASH,
**prestate_dict)) action_params=[80, goal_rel_angle],
**prestate_dict))
else:
hfo_env.act(*save_action_prestate(action=hfo.DRIBBLE_TO,
action_params=[(self_dict['x_pos']+
(2*(goal_dict['x_pos']-
self_dict['x_pos']))),
(self_dict['y_pos']+
(2*(goal_dict['y_pos']-
self_dict['y_pos'])))],
**prestate_dict))
return return
poss_actions_list.append(hfo.MOVE_TO) poss_actions_list.append(hfo.DRIBBLE_TO)
if not bit_list[4]:
poss_actions_list.append(hfo.MOVE_TO)
if goal_rel_angle is not None: if goal_rel_angle is not None:
if abs(goal_rel_angle) > 0.5: if abs(goal_rel_angle) > 0.5:
poss_actions_list.append(hfo.TURN) poss_actions_list.append(hfo.TURN)
if abs(goal_rel_angle) < 1.0: if (abs(goal_rel_angle) < 1.0) and ((not bit_list[4]) or (goal_dict['dist'] < 0.36)):
poss_actions_list.append(hfo.DASH) poss_actions_list.append(hfo.DASH)
action = determine_which_action(poss_actions_list, namespace, bit_list) action = determine_which_action(poss_actions_list, namespace, bit_list)
if (action == hfo.TURN): if (action == hfo.TURN):
...@@ -1030,6 +1033,15 @@ def do_intent(hfo_env, ...@@ -1030,6 +1033,15 @@ def do_intent(hfo_env,
hfo_env.act(*save_action_prestate(action=hfo.MOVE_TO, hfo_env.act(*save_action_prestate(action=hfo.MOVE_TO,
action_params=[goal_dict['x_pos'], goal_dict['y_pos']], action_params=[goal_dict['x_pos'], goal_dict['y_pos']],
**prestate_dict)) **prestate_dict))
elif (action == hfo.DRIBBLE_TO):
if bit_list[4] and (get_dist_real(self_dict['x_pos'],self_dict['y_pos'],
goal_dict['x_pos'],goal_dict['y_pos']) <= 0.36):
x_pos_desired = get_x_normalized(get_x_unnormalized(goal_dict['x_pos'])+0.35)
else:
x_pos_desired = get_x_normalized(get_x_unnormalized(goal_dict['x_pos'])-0.35)
hfo_env.act(*save_action_prestate(action=hfo.DRIBBLE_TO,
action_params=[x_pos_desired, goal_dict['y_pos']],
**prestate_dict))
elif (action == hfo.DASH): elif (action == hfo.DASH):
hfo_env.act(*save_action_prestate(action=hfo.DASH, hfo_env.act(*save_action_prestate(action=hfo.DASH,
action_params=[80, goal_rel_angle], action_params=[80, goal_rel_angle],
...@@ -1104,8 +1116,11 @@ def do_next_action(hfo_env, ...@@ -1104,8 +1116,11 @@ def do_next_action(hfo_env,
# figure out what to do next # figure out what to do next
if not (bit_list[2] or bit_list[3]): if not (bit_list[3]):
poss_intent_set = set([INTENT_BALL_KICKABLE,INTENT_BALL_COLLISION,INTENT_GOAL_COLLISION]) if bit_list[0]:
poss_intent_set = set([INTENT_GOAL_COLLISION])
else:
poss_intent_set = set([INTENT_BALL_KICKABLE,INTENT_BALL_COLLISION,INTENT_GOAL_COLLISION])
if not bit_list[5]: if not bit_list[5]:
poss_intent_set.remove(INTENT_BALL_KICKABLE) poss_intent_set.remove(INTENT_BALL_KICKABLE)
poss_intent_set.remove(INTENT_BALL_COLLISION) poss_intent_set.remove(INTENT_BALL_COLLISION)
...@@ -1131,10 +1146,10 @@ def do_next_action(hfo_env, ...@@ -1131,10 +1146,10 @@ def do_next_action(hfo_env,
## actions_want_check = set([hfo.INTERCEPT, hfo.GO_TO_BALL]) ## actions_want_check = set([hfo.INTERCEPT, hfo.GO_TO_BALL])
## if bit_list[2] or bit_list[3]: ## if bit_list[2] or bit_list[3]:
## actions_want_check |= set([hfo.KICK, hfo.KICK_TO]) ## actions_want_check |= set([hfo.KICK, hfo.KICK_TO])
elif bit_list[2]: # colliding with ball ## elif bit_list[2]: # colliding with ball
actions_want_check = set([hfo.GO_TO_BALL]) ## actions_want_check = set([hfo.GO_TO_BALL])
if bit_list[3]: # colliding with goal ## if bit_list[3]: # colliding with goal
actions_want_check |= set([hfo.KICK, hfo.KICK_TO, hfo.DRIBBLE_TO]) ## actions_want_check |= set([hfo.KICK, hfo.KICK_TO, hfo.DRIBBLE_TO])
else: # colliding with goal else: # colliding with goal
actions_want_check = set([hfo.KICK, hfo.KICK_TO, hfo.DRIBBLE_TO]) actions_want_check = set([hfo.KICK, hfo.KICK_TO, hfo.DRIBBLE_TO])
......
example/explore_offense_actions_fullstate.twoplayer.py 0 → 100755
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example/explore_offense_actions_fullstate.twoplayer.v2.py 0 → 100755
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