Commit 90625ed0 authored by Matthew Hausknecht's avatar Matthew Hausknecht

Small changes to manual.

parent b63f9b29
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...@@ -100,9 +100,14 @@ call:\\ ...@@ -100,9 +100,14 @@ call:\\
\noindent \verb+ > hfo.connectToServer(FEATURE_SET, port, etc);+\\ \noindent \verb+ > hfo.connectToServer(FEATURE_SET, port, etc);+\\
The arguments to this function are provided by the HFO executable for The arguments to this function are provided by the HFO executable for
each player upon starting the game:\\ each player upon starting the game. For example
\verb|./bin/HFO --offense-agents=1| prints all the information needed
to connect the offensive player:\\
\noindent \verb+ Waiting for player-controlled agent base_left-0: config_dir=/home/matthew/projects/HFO/bin/teams/base/config/formations-dt, uniform_number=11, server_port=6000, server_addr=localhost, team_name=base_left, play_goalie=False+\\ \noindent \verb+Waiting for player-controlled agent base_left-0: +\\
\noindent \verb+ config_dir=HFO/bin/teams/base/config/formations-dt,+\\
\noindent \verb+ uniform_number=11, server_port=6000, server_addr=localhost,+\\
\noindent \verb+ team_name=base_left, play_goalie=False+\\
By default, the server starts on port 6000, but may be changed as follows:\\ By default, the server starts on port 6000, but may be changed as follows:\\
...@@ -261,22 +266,6 @@ are encoded a floating point values and normalized to the range of ...@@ -261,22 +266,6 @@ are encoded a floating point values and normalized to the range of
[-1,1]. Invalid features are given a value of -2. The features are as [-1,1]. Invalid features are given a value of -2. The features are as
follows: follows:
\begin{figure}[htp]
\centering
\includegraphics[width=.7\textwidth]{figures/playfieldCoords}
\caption{\textbf{Normalized Coordinates in the HFO play field}:
These coordinates are used for reporting the agent's position in
the high-level feature set as well specifying targets for the
mid-level actions (Section \ref{sec:mid_level_actions}). The
red-rectangle shows the boundaries of the reported positions,
which exceed the play field boundaries by 10\% in each
direction. Positions exceeding this rectangle are bounded (via
min/max) to the edges of the rectangle. All distance features are
normalized against the max HFO distance shown in orange.}
\label{fig:playfieldCoords}
\end{figure}
\newpage
\subsubsection{High Level State Feature List} \subsubsection{High Level State Feature List}
Let $T$ denote the number of teammates in the HFO game. Then there are Let $T$ denote the number of teammates in the HFO game. Then there are
a total of $9 + 5T$ high-level features with an additional $T+1$ a total of $9 + 5T$ high-level features with an additional $T+1$
...@@ -317,6 +306,21 @@ features if at least one opponent is present. ...@@ -317,6 +306,21 @@ features if at least one opponent is present.
uniform number of that teammate.} uniform number of that teammate.}
\end{enumerate} \end{enumerate}
\begin{figure}[htp]
\centering
\includegraphics[width=.7\textwidth]{figures/playfieldCoords}
\caption{\textbf{Normalized Coordinates in the HFO play field}:
These coordinates are used for reporting the agent's position in
the high-level feature set as well specifying targets for the
mid-level actions (Section \ref{sec:mid_level_actions}). The
red-rectangle shows the boundaries of the reported positions,
which exceed the play field boundaries by 10\% in each
direction. Positions exceeding this rectangle are bounded (via
min/max) to the edges of the rectangle. All distance features are
normalized against the max HFO distance shown in orange.}
\label{fig:playfieldCoords}
\end{figure}
\begin{figure}[htp] \begin{figure}[htp]
\centering \centering
\includegraphics[width=.5\textwidth]{figures/openAngle} \includegraphics[width=.5\textwidth]{figures/openAngle}
...@@ -327,7 +331,6 @@ features if at least one opponent is present. ...@@ -327,7 +331,6 @@ features if at least one opponent is present.
\label{fig:openAngle} \label{fig:openAngle}
\end{figure} \end{figure}
\newpage
\subsection {Low Level Feature Set} \subsection {Low Level Feature Set}
The state features used by HFO are designed with the mindset of The state features used by HFO are designed with the mindset of
providing an overcomplete, basic, egocentric viewpoint. The features providing an overcomplete, basic, egocentric viewpoint. The features
...@@ -425,7 +428,7 @@ are used to encode each player feature. ...@@ -425,7 +428,7 @@ are used to encode each player feature.
\subsubsection{Other Features} \subsubsection{Other Features}
Some features, such as the agent's stamina, do not fall into any of Some features, such as the agent's stamina, do not fall into any of
the above categories. These features are referred to as \textit{other the above categories. These features are referred to as \textit{other
features}. features} and are normalized in the range $[-1, 1]$.
\subsubsection{Low Level State Feature List} \subsubsection{Low Level State Feature List}
Let $T$ denote the number of teammates and $O$ denote the number of Let $T$ denote the number of teammates and $O$ denote the number of
......
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