Merge pull request #22 from asiddharth/master

Include defense actions, update high level feature space, add sarsa/hand coded agents

doc/manual.tex

@@ -289,8 +289,8 @@ features.
 \item{\textbf{Y position} - The agent’s y-position on the field. See
   Figure \ref{fig:playfieldCoords}.}
 \item{\textbf{Orientation} - The global direction that the agent is facing.}
-\item{\textbf{Ball Proximity} - Agent's proximity to the ball.}
-\item{\textbf{Ball Angle} - The global angle to the ball. A relative angle to the ball can be determined by subtracting the agent's orientation (feature 2).}
+\item{\textbf{Ball X} - The ball's x-position on the field.}
+\item{\textbf{Ball Y} - The ball's y-position on the field.}
 \item{\textbf{Able to Kick} - Boolean indicating if the agent can kick the ball.}
 \item{\textbf{Goal Center Proximity} - Agent's proximity to the center of the goal.}
 \item{\textbf{Goal Center Angle} - Angle from the agent to the center of the goal.}
@@ -311,11 +311,11 @@ features.
   angle available to pass to teammate i. Shown as $\theta_p$ in Figure
   \ref{fig:openAngle}. If teammates are present but not detected, this
   feature is considered invalid and given the value of -2.}
-\item [$3T$] {\textbf{Proximity, Angle, and Uniform Number of
-    Teammates} - For each teammate i: the proximity, angle, and
+\item [$3T$] {\textbf{X, Y, and Uniform Number of
+    Teammates} - For each teammate: the x-position, y-position and
   uniform number of that teammate.}
-\item [$3O$] {\textbf{Proximity, Angle, and Uniform Number of
-    Opponents} - For each opponent: the proximity, angle, and
+\item [$3O$] {\textbf{X, Y, and Uniform Number of
+    Opponents} - For each opponent: the x-position, y-position and
   uniform number of that opponent.}
 \end{enumerate}
 
@@ -562,6 +562,15 @@ 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.}
+
 \end{itemize}
 
 \subsection{Special Actions}

example/make_hand_coded_defense_agent_executable.sh

+# Run this file to create an executable of hand_coded_defense_agent.cpp
+g++ -c hand_coded_defense_agent.cpp -I ../src/ -std=c++0x -pthread
+g++ -L ../lib/ hand_coded_defense_agent.o -lhfo -pthread -o hand_coded_defense_agent  -Wl,-rpath,../lib

example/sarsa/Makefile

-#Directories
-FA_DIR = ./funcapprox
-POLICY_DIR = ./policy
-HFO_SRC_DIR = ../../src
-HFO_LIB_DIR = ../../lib
-
-#Includes
-INCLUDES = -I$(FA_DIR) -I$(POLICY_DIR) -I$(HFO_SRC_DIR)
-
-#Libs
-FA_LIB = funcapprox
-POLICY_LIB = policyagent
-
-#Flags
-CXXFLAGS = -g -Wall -std=c++11 -pthread
-LDFLAGS = -l$(FA_LIB) -l$(POLICY_LIB) -lhfo -pthread
-LDLIBS = -L$(FA_DIR) -L$(POLICY_DIR) -L$(HFO_LIB_DIR)
-LINKEROPTIONS = -Wl,-rpath,$(HFO_LIB_DIR)
-
-#Compiler
-CXX = g++
-
-#Sources
-SRC = high_level_sarsa_agent.cpp
-
-#Objects
-OBJ = $(SRC:.cpp=.o)
-
-#Target
-TARGET = high_level_sarsa_agent
-
-#Rules 	
-
-.PHONY: $(FA_LIB)
-
-all: $(TARGET)
-
-.cpp.o:
-	$(CXX) $(CXXFLAGS) $(INCLUDES) -c -o $@ $(@F:%.o=%.cpp)
-
-$(FA_LIB):
-	$(MAKE) -C $(FA_DIR)
-
-$(POLICY_LIB):
-	$(MAKE) -C $(POLICY_DIR)
-
-$(TARGET): $(FA_LIB) $(POLICY_LIB) $(OBJ)
-	$(CXX) $(OBJ) $(CXXFLAGS) $(LDLIBS) $(LDFLAGS) -o $(TARGET) $(LINKEROPTIONS) 
-
-cleanfa:
-	$(MAKE) clean -C $(FA_DIR)
-
-cleanpolicy:
-	$(MAKE) clean -C $(POLICY_DIR)
-
-clean: cleanfa cleanpolicy
-	rm -f $(TARGET) $(OBJ) *~
-

example/sarsa/funcapprox/Makefile

-#Flags
-CXXFLAGS = -g -O3 -Wall
-
-#Compiler
-CXX = g++
-
-#Sources
-SRCS = FuncApprox.cpp tiles2.cpp CMAC.cpp
-
-#Objects
-OBJS = $(SRCS:.cpp=.o)
-
-#Target
-TARGET = libfuncapprox.a
-
-#Rules 	
-
-all: $(TARGET)
-
-.cpp.o:
-	$(CXX) $(CXXFLAGS) -c -o $@ $(@F:%.o=%.cpp)
-
-$(TARGET): $(OBJS)
-	ar cq $@ $(OBJS)
-
-clean:
-	rm -f $(TARGET) $(OBJS) *~
-

example/sarsa/policy/Makefile

-#Directories
-FA_DIR = ../funcapprox
-
-#Includes
-INCLUDES = -I$(FA_DIR)
-
-#Flags
-CXXFLAGS = -g -O3 -Wall
-
-#Compiler
-CXX = g++
-
-#Sources
-SRCS = PolicyAgent.cpp SarsaAgent.cpp
-
-#Objects
-OBJS = $(SRCS:.cpp=.o)
-
-#Target
-TARGET = libpolicyagent.a
-
-#Rules 	
-
-all: $(TARGET)
-
-.cpp.o:
-	$(CXX) $(CXXFLAGS) $(INCLUDES) -c -o $@ $(@F:%.o=%.cpp)
-
-$(TARGET): $(OBJS)
-	ar cq $@ $(OBJS)
-
-clean:
-	rm -f $(TARGET) $(OBJS) *~
-

example/sarsa_defense/high_level_sarsa_defense_agent.cpp

+#include <iostream>
+#include <vector>
+#include <HFO.hpp>
+#include <cstdlib>
+#include <thread>
+#include "SarsaAgent.h"
+#include "CMAC.h"
+#include <unistd.h>
+
+// Before running this program, first Start HFO server:
+// $./bin/HFO --offense-agents numAgents
+
+void printUsage() {
+  std::cout<<"Usage:123 ./high_level_sarsa_agent [Options]"<<std::endl;
+  std::cout<<"Options:"<<std::endl;
+  std::cout<<"  --numAgents <int>        Number of SARSA agents"<<std::endl;
+  std::cout<<"                           Default: 0"<<std::endl;
+  std::cout<<"  --numEpisodes <int>      Number of episodes to run"<<std::endl;
+  std::cout<<"                           Default: 10"<<std::endl;
+  std::cout<<"  --basePort <int>         SARSA agent base port"<<std::endl;
+  std::cout<<"                           Default: 6000"<<std::endl;
+  std::cout<<"  --learnRate <float>      Learning rate of SARSA agents"<<std::endl;
+  std::cout<<"                           Range: [0.0, 1.0]"<<std::endl;
+  std::cout<<"                           Default: 0.1"<<std::endl;
+  std::cout<<"  --suffix <int>           Suffix for weights files"<<std::endl;
+  std::cout<<"                           Default: 0"<<std::endl;
+  std::cout<<"  --noOpponent             Sets opponent present flag to false"<<std::endl;
+  std::cout<<"  --step                   Sets the persistent step size"<<std::endl;
+  std::cout<<"  --eps                    Sets the exploration rate"<<std::endl;
+  std::cout<<"  --numOpponents           Sets the number of opponents"<<std::endl;
+  std::cout<<"  --weightId               Sets the given Id for weight File"<<std::endl;
+  std::cout<<"  --help                   Displays this help and exit"<<std::endl;
+}
+
+// Returns the reward for SARSA based on current state
+double getReward(hfo::status_t status) {
+  double reward;
+  if (status==hfo::GOAL) reward = -1;
+  else if (status==hfo::CAPTURED_BY_DEFENSE) reward = 1;
+  else if (status==hfo::OUT_OF_BOUNDS) reward = 1;
+  else reward = 0;
+  return reward;
+}
+
+// Fill state with only the required features from state_vec
+void purgeFeatures(double *state, const std::vector<float>& state_vec,
+                   int numTMates, int numOpponents, bool oppPres) {
+
+  int stateIndex = 0;
+
+  // If no opponents ignore features Distance to Opponent
+  // and Distance from Teammate i to Opponent are absent
+  int tmpIndex = oppPres ? (9 + 3 * numTMates) : (9 + 2 * numTMates);
+
+  for(int i = 0; i < state_vec.size(); i++) {
+
+    // Ignore first six featues
+    if(i == 5 || i==8) continue;
+    if(i>9 && i<= 9+numTMates) continue; // Ignore Goal Opening angles, as invalid
+    if(i<= 9+3*numTMates && i > 9+2*numTMates) continue; // Ignore Pass Opening angles, as invalid
+    // Ignore Uniform Number of Teammates and opponents
+    int temp =  i-tmpIndex;
+    if(temp > 0 && (temp % 3 == 0) )continue;
+    //if (i > 9+6*numTMates) continue;
+    state[stateIndex] = state_vec[i];
+    stateIndex++;
+  }
+}
+
+// Convert int to hfo::Action
+hfo::action_t toAction(int action, const std::vector<float>& state_vec) {
+hfo::action_t a;
+  switch (action) {
+        case 0: a = hfo::MOVE; break;
+        case 1: a = hfo::REDUCE_ANGLE_TO_GOAL; break;
+        case 2: a = hfo::GO_TO_BALL; break;
+        case 3: a = hfo::NOOP; break;
+        case 4: a = hfo::DEFEND_GOAL; break;
+        default : a = hfo::MARK_PLAYER; break;
+  }
+    return a;
+}
+
+void offenseAgent(int port, int numTMates, int numOpponents, int numEpi, double learnR,
+                  int suffix, bool oppPres, double eps, int step, std::string weightid) { 
+
+  // Number of features
+  int numF = oppPres ? (8 + 3 * numTMates + 2*numOpponents) : (3 + 3 * numTMates);
+  // Number of actions
+  int numA = 5 + numOpponents; //DEF_GOAL+MOVE+GTB+NOOP+RATG+MP(unum)
+
+  // Other SARSA parameters
+  eps = 0.01;
+  double discFac = 1;
+  double lambda=0.9375;
+  // Tile coding parameter
+  double resolution = 0.1;
+
+  double range[numF];
+  double min[numF];
+  double res[numF];
+  for(int i = 0; i < numF; i++) {
+      min[i] = -1;
+      range[i] = 2;
+      res[i] = resolution;
+  }
+
+  // Weights file
+  char *wtFile;
+  std::string s = "weights_" + std::to_string(port) +
+                  "_" + std::to_string(numTMates + 1) +
+                  "_" + std::to_string(suffix) + 
+                  "_" + std::to_string(step) +
+                   "_" + weightid;
+  wtFile = &s[0u];
+
+  CMAC *fa = new CMAC(numF, numA, range, min, res);
+  SarsaAgent *sa = new SarsaAgent(numF, numA, learnR, eps, lambda, fa, wtFile, wtFile);
+
+  hfo::HFOEnvironment hfo;
+  hfo::status_t status;
+  hfo::action_t a;
+  double state[numF];
+  int action = -1;
+  double reward;
+  int no_of_offense = numTMates + 1;
+  hfo.connectToServer(hfo::HIGH_LEVEL_FEATURE_SET,"../../bin/teams/base/config/formations-dt",port,"localhost","base_right",false,"");
+
+
+  for (int episode=0; episode < numEpi; episode++) {
+    int count = 0;
+    status = hfo::IN_GAME;
+    action = -1;
+    int count_steps = 0;
+    double unum = -1;
+    const std::vector<float>& state_vec = hfo.getState();
+    int num_steps_per_epi = 0;
+    while (status == hfo::IN_GAME) {
+          num_steps_per_epi++;
+      //std::cout << "::::::"<< hfo::ActionToString(a) <<" "<<count_steps <<std::endl;  
+      if (count_steps != step && action >=0 && (a != hfo :: MARK_PLAYER ||  unum>0)) {
+          count_steps ++;
+          if (a == hfo::MARK_PLAYER) {
+              hfo.act(a,unum);
+              //std::cout << "MARKING" << unum <<"\n";
+          } else {
+              hfo.act(a);
+          }
+          status = hfo.step();
+          continue;
+          
+      } else {
+          count_steps = 0;
+      }
+      
+      if(action != -1) {
+        reward = getReward(status);
+        sa->update(state, action, reward, discFac);
+      }
+
+      // Fill up state array
+      purgeFeatures(state, state_vec, numTMates, numOpponents, oppPres);
+
+          // Get raw action
+      action = sa->selectAction(state);
+
+      // Get hfo::Action
+      a = toAction(action, state_vec);
+      if (a== hfo::MARK_PLAYER) {
+           unum = state_vec[(state_vec.size()-1 - (action-5)*3)];
+           hfo.act(a,unum);
+        } else {
+           hfo.act(a);
+        }
+        std::string s = std::to_string(action);
+        for (int state_vec_fc=0; state_vec_fc < state_vec.size(); state_vec_fc++) {
+            s+=std::to_string(state_vec[state_vec_fc]) + ",";
+        }
+      s+="UNUM" +std::to_string(unum) +"\n";;
+      status = hfo.step();
+     // std::cout <<s;
+    }
+    //std :: cout <<":::::::::::::" << num_steps_per_epi<< " "<<step << " "<<"\n";
+    // End of episode
+    if(action != -1) {
+      reward = getReward(status);
+      sa->update(state, action, reward, discFac);
+      sa->endEpisode();
+    }
+  }
+  
+  delete sa;
+  delete fa;
+}
+
+int main(int argc, char **argv) {
+
+  int numAgents = 0;
+  int numEpisodes = 10;
+  int basePort = 6000;
+  double learnR = 0.1;
+  int suffix = 0;
+  bool opponentPresent = true;
+  int numOpponents = 0;
+  double eps = 0.01;
+  int step = 10;
+  std::string weightid;
+  for (int i = 0; i<argc; i++) {
+      std::string param = std::string(argv[i]);
+      std::cout<<param<<"\n";
+  }
+  for(int i = 1; i < argc; i++) {
+    std::string param = std::string(argv[i]);
+    if(param == "--numAgents") {
+      numAgents = atoi(argv[++i]);
+    }else if(param == "--numEpisodes") {
+      numEpisodes = atoi(argv[++i]);  
+    }else if(param == "--basePort") {
+      basePort = atoi(argv[++i]);
+    }else if(param == "--learnRate") {
+      learnR = atof(argv[++i]);
+      if(learnR < 0 || learnR > 1) {
+        printUsage();
+        return 0;
+      }
+    }else if(param == "--suffix") {
+      suffix = atoi(argv[++i]);
+    }else if(param == "--noOpponent") {
+      opponentPresent = false;
+    }else if(param=="--eps"){
+        eps=atoi(argv[++i]);
+    }else if(param=="--numOpponents"){
+        numOpponents=atoi(argv[++i]);
+    }else if(param=="--step"){
+        step=atoi(argv[++i]);
+    }else if(param=="--weightId"){
+        weightid=std::string(argv[++i]);
+    }else {
+      printUsage();
+      return 0;
+    }
+  }
+  int numTeammates = numAgents; //using goalie npc
+  std::thread agentThreads[numAgents];
+  for (int agent = 0; agent < numAgents; agent++) {
+    agentThreads[agent] = std::thread(offenseAgent, basePort + agent,
+                                      numTeammates, numOpponents, numEpisodes, learnR,
+                                      suffix, opponentPresent, eps, step, weightid);
+    usleep(500000L);
+  }
+  for (int agent = 0; agent < numAgents; agent++) {
+    agentThreads[agent].join();
+  }
+  return 0;
+}
+
+

example/sarsa/policy/SarsaAgent.cpp → example/sarsa_libraries/policy/SarsaAgent.cpp

 #include "SarsaAgent.h"
 
-SarsaAgent::SarsaAgent(int numFeatures, int numActions, double learningRate, double epsilon, FunctionApproximator *FA, char *loadWeightsFile, char *saveWeightsFile):PolicyAgent(numFeatures, numActions, learningRate, epsilon, FA, loadWeightsFile, saveWeightsFile){
-
+//add lambda as parameter to sarsaagent
+SarsaAgent::SarsaAgent(int numFeatures, int numActions, double learningRate, double epsilon, double lambda, FunctionApproximator *FA, char *loadWeightsFile, char *saveWeightsFile):PolicyAgent(numFeatures, numActions, learningRate, epsilon, FA, loadWeightsFile, saveWeightsFile){
+  this->lambda = lambda;
   episodeNumber = 0;
   lastAction = -1;
-
+  //have memory for lambda
 }
 
 void SarsaAgent::update(double state[], int action, double reward, double discountFactor){
@@ -34,7 +35,7 @@ void SarsaAgent::update(double state[], int action, double reward, double discou
 
     FA->updateWeights(delta, learningRate);
     //Assume gamma, lambda are 0.
-    FA->decayTraces(0);
+    FA->decayTraces(discountFactor*lambda);//replace 0 with gamma*lambda
 
     for(int i = 0; i < getNumFeatures(); i++){
       lastState[i] = state[i];
@@ -59,8 +60,8 @@ void SarsaAgent::endEpisode(){
     double delta = lastReward - oldQ;
 
     FA->updateWeights(delta, learningRate);
-    //Assume lambda is 0.
-    FA->decayTraces(0);
+    //Assume lambda is 0. this comment looks wrong.
+    FA->decayTraces(0);//remains 0
   }
 
   if(toSaveWeights && (episodeNumber + 1) % 5 == 0){

example/sarsa/policy/SarsaAgent.h → example/sarsa_libraries/policy/SarsaAgent.h

@@ -12,10 +12,11 @@ class SarsaAgent:public PolicyAgent{
   double lastState[MAX_STATE_VARS];
   int lastAction;
   double lastReward;
+  double lambda;
 
  public:
 
-  SarsaAgent(int numFeatures, int numActions, double learningRate, double epsilon, FunctionApproximator *FA, char *loadWeightsFile, char *saveWeightsFile);
+  SarsaAgent(int numFeatures, int numActions, double learningRate, double epsilon, double lambda, FunctionApproximator *FA, char *loadWeightsFile, char *saveWeightsFile);
 
   int  argmaxQ(double state[]);
   double computeQ(double state[], int action);

example/sarsa/high_level_sarsa_agent.cpp → example/sarsa_offense/high_level_sarsa_agent.cpp

@@ -56,7 +56,7 @@ void purgeFeatures(double *state, const std::vector<float>& state_vec,
     // Ignore Angle and Uniform Number of Teammates
     int temp =  i-tmpIndex;
     if(temp > 0 && (temp % 3 == 2 || temp % 3 == 0)) continue;
-
+    if (i > 9+6*numTMates) continue;
     state[stateIndex] = state_vec[i];
     stateIndex++;
   }
@@ -107,9 +107,9 @@ void offenseAgent(int port, int numTMates, int numEpi, double learnR,
                   "_" + std::to_string(numTMates + 1) +
                   "_" + std::to_string(suffix);
   wtFile = &s[0u];
-
+  double lambda = 0;
   CMAC *fa = new CMAC(numF, numA, range, min, res);
-  SarsaAgent *sa = new SarsaAgent(numF, numA, learnR, eps, fa, wtFile, wtFile);
+  SarsaAgent *sa = new SarsaAgent(numF, numA, learnR, eps, lambda, fa, wtFile, wtFile);
 
   hfo::HFOEnvironment hfo;
   hfo::status_t status;

hfo/hfo.py

@@ -26,7 +26,7 @@ LOW_LEVEL_FEATURE_SET, HIGH_LEVEL_FEATURE_SET = range(2)
   NOOP(): Do Nothing
   QUIT(): Quit the game '''
 DASH, TURN, TACKLE, KICK, KICK_TO, MOVE_TO, DRIBBLE_TO, INTERCEPT, \
-    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT = range(15)
+    MOVE, SHOOT, PASS, DRIBBLE, CATCH, NOOP, QUIT, REDUCE_ANGLE_TO_GOAL,MARK_PLAYER,DEFEND_GOAL,GO_TO_BALL = range(19)
 
 ''' Possible game status
   [IN_GAME] Game is currently active

src/agent.cpp

@@ -74,6 +74,7 @@
 #include <rcsc/param/param_map.h>
 #include <rcsc/param/cmd_line_parser.h>
 
+#include <algorithm>    // std::sort
 #include <iostream>
 #include <fstream>
 #include <sstream>
@@ -81,10 +82,12 @@
 #include <cstdlib>
 #include <stdio.h>
 #include <stdlib.h>
+#include <string>
 #include <unistd.h>
 #include <sys/types.h>
 #include <sys/socket.h>
 #include <netinet/in.h>
+#include <vector>
 #include <poll.h>
 
 using namespace rcsc;
@@ -302,6 +305,18 @@ void Agent::actionImpl() {
       std::cout << "Got quit from agent." << std::endl;
       handleExit();
       return;
+    case REDUCE_ANGLE_TO_GOAL:
+      this->doReduceAngleToGoal();
+      break;
+    case MARK_PLAYER:
+      this->doMarkPlayer(int(params[0]));
+      break;
+    case DEFEND_GOAL:
+      this->doDefendGoal();
+      break;
+    case GO_TO_BALL:
+      this->doGoToBall();
+      break;
     default:
       std::cerr << "ERROR: Unsupported Action: "
                 << requested_action << std::endl;
@@ -777,6 +792,171 @@ Agent::doMove()
 }
 
 /*-------------------------------------------------------------------*/
+/*!
+ * This Action marks the player with the specified uniform number.
+*/
+bool Agent::doMarkPlayer(int unum) {
+  const WorldModel & wm = this->world();
+  Vector2D kicker_pos = Vector2D :: INVALIDATED;
+  Vector2D player_pos =  Vector2D :: INVALIDATED;
+  int kicker_unum = -1;
+  const PlayerPtrCont::const_iterator o_end = wm.opponentsFromSelf().end();
+  int count = 0;
+  for ( PlayerPtrCont::const_iterator it = wm.opponentsFromSelf().begin(); it != o_end; ++it ) {
+      if ( (*it)->distFromBall() < 5 ) {
+          kicker_pos = (*it)->pos();
+          kicker_unum = (*it)->unum();
+      }
+  }
+
+  for ( PlayerPtrCont::const_iterator it = wm.opponentsFromSelf().begin(); it !=  o_end; ++it ) {
+	  if ( (*it)-> unum() == unum ) {
+           player_pos = (*it)->pos();
+      }
+  }
+
+  if (!player_pos.isValid()) {
+      //Player to be marked not found
+      return false;
+  }
+  if (!kicker_pos.isValid()) {
+      //Kicker not found
+      return false;
+  }
+  if (unum == kicker_unum || kicker_pos.equals(player_pos)) {
+    //Player to be marked is kicker
+    return false;
+  }
+  double x = player_pos.x + (kicker_pos.x - player_pos.x)*0.1;
+  double y = player_pos.y + (kicker_pos.y - player_pos.y)*0.1;
+  Body_GoToPoint(Vector2D(x,y), 0.25, ServerParam::i().maxDashPower()).execute(this);
+  return true;
+}
+
+/*-------------------------------------------------------------------*/
+/*!
+ *
+ * This action cuts off the angle between the shooter and the goal the players always move to a dynamic line in between the kicker and the goal.
+ */
+
+/* Comparator for sorting teammated based on y positions.*/
+bool compare_y_pos (PlayerObject* i, PlayerObject* j) {
+  return i->pos().y < j->pos().y;
+}
+
+bool Agent::doReduceAngleToGoal() {
+  const WorldModel & wm = this->world();
+  Vector2D goal_pos1( -ServerParam::i().pitchHalfLength(), ServerParam::i().goalHalfWidth() );
+  Vector2D goal_pos2( -ServerParam::i().pitchHalfLength(), -ServerParam::i().goalHalfWidth() );
+
+  const PlayerPtrCont::const_iterator o_end = wm.opponentsFromSelf().end();
+
+  Vector2D ball_pos = wm.ball().pos();
+  double nearRatio = 0.9;
+  const PlayerPtrCont::const_iterator o_t_end = wm.teammatesFromSelf().end();
+
+  std::vector<PlayerObject*> teammatesBetweenBallAndGoal;
+  Vector2D self_pos = wm.self().pos();
+  Line2D goal_line_1 (goal_pos1, ball_pos);
+  Line2D goal_line_2 (goal_pos2, ball_pos);
+  Vector2D max_angle_end_pt1 = goal_pos2;
+  Vector2D max_angle_end_pt2 = goal_pos1;
+
+  //filter out points not lie in the cone
+  for (PlayerPtrCont::const_iterator it1 = wm.teammatesFromSelf().begin(); it1 != o_t_end; ++it1 ) {
+      Vector2D teammate_pos = (*it1)->pos();
+      double y1 = goal_line_1.getY(teammate_pos.x);
+      double y2 = goal_line_2.getY(teammate_pos.x);
+      //check x coordinate
+      if (teammate_pos.x >= ball_pos.x ) {
+          continue;
+      }
+      // check y coordinate
+
+      if (teammate_pos.y <= ((y1>y2)?y2:y1) || teammate_pos.y >= ((y1>=y2)?y1:y2)) {
+          continue;
+      }
+
+      //push into vector if it passes both tests
+      teammatesBetweenBallAndGoal.push_back(*it1);
+  }
+
+  sort(teammatesBetweenBallAndGoal.begin(), teammatesBetweenBallAndGoal.end(), compare_y_pos);
+  double max_angle = 0;
+
+  /* find max angle and choose endpoints*/
+  for (int i = 0; i < teammatesBetweenBallAndGoal.size() + 1; i++) {
+      Vector2D first_pos = Vector2D::INVALIDATED;
+      if (i == 0) {
+          first_pos = goal_pos2;
+      } else {
+          first_pos = teammatesBetweenBallAndGoal[i-1] -> pos();
+      }
+      Vector2D second_pos = Vector2D::INVALIDATED;
+      if ( i== teammatesBetweenBallAndGoal.size()) {
+          second_pos = goal_pos1;
+      } else {
+          second_pos = teammatesBetweenBallAndGoal[i] -> pos();
+      }
+
+      double angle1 = atan2(ball_pos.y - first_pos.y, ball_pos.x - first_pos.x);
+      double angle2 = atan2(ball_pos.y - second_pos.y, ball_pos.x - second_pos.x);
+      AngleDeg open_angle;
+      double open_angle_value = fabs(open_angle.normalize_angle(open_angle.rad2deg(angle1-angle2)));
+      if ( open_angle_value > max_angle) {
+          max_angle = open_angle_value;
+          max_angle_end_pt1 = first_pos;
+          max_angle_end_pt2 = second_pos;
+      }
+  }
+
+  /*Calculate and go to target point */
+  Vector2D targetLineEnd1 = max_angle_end_pt1*(1-nearRatio) + ball_pos*nearRatio;
+  Vector2D targetLineEnd2 = max_angle_end_pt2*(1-nearRatio) + ball_pos*nearRatio;
+  double dist_to_end1 = targetLineEnd1.dist2(ball_pos);
+  double dist_to_end2 = targetLineEnd2.dist2(ball_pos);
+  double ratio = dist_to_end2/(dist_to_end1+dist_to_end2);
+  Vector2D target = targetLineEnd1 * ratio + targetLineEnd2 * (1-ratio);
+  Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this);
+  return true;
+}
+
+/*-------------------------------------------------------------------*/
+
+/*!
+ *
+ * This action cuts off the angle between the shooter and the goal the players always moves on a fixed line.
+ */
+
+bool Agent::doDefendGoal() {
+  const WorldModel & wm = this->world();
+  Vector2D goal_pos1( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), ServerParam::i().goalHalfWidth() );
+  Vector2D goal_pos2( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), -ServerParam::i().goalHalfWidth() );
+  Vector2D ball_pos = wm.ball().pos();
+  double dist_to_post1 = goal_pos1.dist2(ball_pos);
+  double dist_to_post2 = goal_pos2.dist2(ball_pos);
+  double ratio = dist_to_post2/(dist_to_post1+dist_to_post2);
+  Vector2D target = goal_pos1 * ratio + goal_pos2 * (1-ratio);
+  Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this);
+  return true;
+}
+
+/*-------------------------------------------------------------------*/
+
+/*!
+ *
+ * This action makes the agent head directly head towards the ball.
+ */
+
+
+bool Agent::doGoToBall() {
+  const WorldModel & wm = this->world();
+  Body_GoToPoint(wm.ball().pos(), 0.25, ServerParam::i().maxDashPower()).execute(this);
+  return true;
+}
+
+/*-------------------------------------------------------------------*/
+
 /*!
 
 */

src/agent.h

@@ -84,6 +84,13 @@ protected:
   bool doMove();
   bool doForceKick();
   bool doHeardPassReceive();
+  bool doMarkPlayer(int unum);
+  bool doMarkPlayerNearIndex(int near_index);
+  bool doReduceAngleToGoal();
+  bool doDefendGoal();
+  bool doGoToBall();
+  bool doNewAction1();
+
 
   Communication::Ptr M_communication;
   FieldEvaluator::ConstPtr M_field_evaluator;

src/common.hpp

@@ -33,7 +33,11 @@ enum action_t
   DRIBBLE,    // [High-Level] Dribble(): Offensive dribble
   CATCH,      // [High-Level] Catch(): Catch the ball (Goalie only!)
   NOOP,       // Do nothing
-  QUIT        // Special action to quit the game
+  QUIT,        // Special action to quit the game
+  REDUCE_ANGLE_TO_GOAL, // [High-Level] Reduce_Angle_To_Goal : Reduces the shooting angle
+  MARK_PLAYER, 			// [High-Level] Mark_Player(opponent_unum [0,11]) : Moves to the position in between the kicker and a given player
+  DEFEND_GOAL,
+  GO_TO_BALL
 };
 
 // Status of a HFO game
@@ -105,6 +109,14 @@ inline int NumParams(const action_t action) {
      return 0;
    case QUIT:
      return 0;
+   case REDUCE_ANGLE_TO_GOAL:
+     return 0;
+   case MARK_PLAYER:
+     return 1;
+   case DEFEND_GOAL:
+     return 0;
+   case GO_TO_BALL:
+     return 0;
  }
  std::cerr << "Unrecognized Action: " << action << std::endl;
  return -1;
@@ -145,6 +157,14 @@ inline std::string ActionToString(action_t action) {
       return "No-op";
     case QUIT:
       return "Quit";
+    case REDUCE_ANGLE_TO_GOAL:
+      return "Reduce_Angle_To_Goal";
+    case MARK_PLAYER:
+      return "Mark_Player";
+    case DEFEND_GOAL:
+      return "Defend_Goal";
+    case GO_TO_BALL:
+      return "Go_To_Ball";
     default:
       return "Unknown";
   }

src/highlevel_feature_extractor.cpp

@@ -55,10 +55,13 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
   // Features about the ball
   Vector2D ball_pos = wm.ball().pos();
   angleDistToPoint(self_pos, ball_pos, th, r);
-  // Feature[3]: Dist to ball
-  addNormFeature(r, 0, maxR);
-  // Feature[4]: Ang to ball
-  addNormFeature(th, -M_PI, M_PI);
+  // Feature[3] and [4]: (x,y) postition of the ball
+  if (playingOffense) {
+    addNormFeature(ball_pos.x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
+  } else {
+    addNormFeature(ball_pos.x, -SP.pitchHalfLength()-tolerance_x, tolerance_x);
+  }
+  addNormFeature(ball_pos.y, -SP.pitchHalfWidth() - tolerance_y, SP.pitchHalfWidth() + tolerance_y);
   // Feature[5]: Able to kick
   addNormFeature(self.isKickable(), false, true);
 
@@ -131,14 +134,17 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
     addFeature(FEAT_INVALID);
   }
 
-  // Features [9+3T - 9+6T]: dist, angle, unum of teammates
+  // 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;
     if (valid(teammate) && detected_teammates < numTeammates) {
-      angleDistToPoint(self_pos, teammate.pos(), th, r);
-      addNormFeature(r,0,maxR);
-      addNormFeature(th,-M_PI,M_PI);
+      if (playingOffense) {
+        addNormFeature(teammate.pos().x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
+      } else {
+        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());
       detected_teammates++;
     }
@@ -150,14 +156,17 @@ const std::vector<float>& HighLevelFeatureExtractor::ExtractFeatures(
     addFeature(FEAT_INVALID);
   }
 
-  // Features [9+6T - 9+6T+3O]: dist, angle, unum of opponents
+  // 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;
     if (valid(opponent) && detected_opponents < numOpponents) {
-      angleDistToPoint(self_pos, opponent.pos(), th, r);
-      addNormFeature(r,0,maxR);
-      addNormFeature(th,-M_PI,M_PI);
+      if (playingOffense) {
+        addNormFeature(opponent.pos().x, -tolerance_x, SP.pitchHalfLength() + tolerance_x);
+      } else {
+        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());
       detected_opponents++;
     }