def step(self, action_single):
# advances the simulator by step_len number of steps. Returns a list of
# [observation (object), reward (float), done (bool), info (dict)]
# Actions must be integeres in the range [0, 18)
self.steps_since_reset += 1
self.game_sim.giveCommands([playeraction.Action(action_single)])
for i in range(self.step_len):
self.game_sim.step()
goal = self.goalScored()
# If a goal is scored return instantly
if goal != 0:
return [
self.getState(),
self.game_sim.getSingeplayerReward(), True, {}
]
# If no goal consider it a tie.
if self.steps_since_reset >= self.max_steps:
return [
self.getState(),
self.game_sim.getSingeplayerReward(), True, {}
]
else:
return [self.getState(), 0.0, False, {}]
def getAction(self, frame):
frame_tensor = torch.FloatTensor(frame.posToNp(self.team, 0, self.accepts_normalised))
# frame_tensor = frame_tensor.cuda()
#if torch.cuda.is_available():
output = self.network(frame_tensor)
win_prob = output[-1]
action_pred_data = output[0:-1]
if not self.value_is_prob:
#win_prob = torch.nn.Sigmoid()(win_prob)
win_prob = (win_prob + 1.0)/2
#if torch.cuda.is_available():
# movepred = movepred.cpu()
action_data = []
if self.method == "random":
for i in range(len(action_pred_data)):
if len(action_pred_data[i]) == 1:
p = action_pred_data[i].detach().numpy()[0]
action_data.append(np.random.choice([False, True], p = [1 - p, p]))
else:
action_data.append(np.random.choice(len(action_pred_data[i]), p = action_pred_data[i].detach().numpy()))
elif self.method == "max":
for i in range(len(action_pred_data)):
action_data.append(np.argmax(action_pred_data[i].detach().numpy()))
else:
raise ValueError
action = playeraction.Action(*action_data)
if self.team == "red":
pass
elif self.team == "blue":
action = action.flipped()
else:
raise ValueError
if self.debug_surf:
move_probs = []
if len(action_pred_data) == 1:
temp = action_pred_data[0].detach().numpy()
for i in range(len(temp)):
if i % 2 == 0:
move_probs.append(temp[i])
else:
move_probs[i // 2] = (move_probs[i // 2] + temp[i]) / 2
move_probs = np.array(move_probs)
elif len(action_pred_data) == 2:
move_probs = action_pred_data[0].detach().numpy()
else:
raise ValueError
if self.team == "blue":
move_probs = move_probs[[0,5,6,7,8,1,2,3,4]]
self.debug_surf.drawMove(move_probs, action.dir_idx, self.team, float(win_prob))
return action
def getAction(self, frame=None):
# Ignore frame
_ = frame
# Returns raw action of the agent based on the key presses queried from
# the gui. Returns (dir_idx, kicking_state)
movements = [self.gui.isKeyPressed(key) for key in self.movement_keys]
movements[0], movements[2] = movements[2], movements[0]
raw_action = playeraction.binaryToRaw(*movements,
self.gui.isKeyPressed(self.kick))
action = playeraction.Action(*raw_action)
return action
def reset(self, reset_type):
if reset_type == "random":
# positional parameters
self.pos = np.array([gameparams.pitchcornerx + (np.random.random_sample())*580, gameparams.pitchcornery + (np.random.random_sample())*200]).astype(float)
elif reset_type == "default":
self.pos = self.default_position
else:
raise ValueError("Passed a wrong reset type to a player")
self.vel = np.zeros(2)
self.kick_count = 0
# Set the action to default action state
self.current_action = playeraction.Action()
def __init__(self, team, initial_position, initial_velocity = np.zeros(2), initial_acceleration = np.zeros(2), ):
# Initialise positional parameters, basic properties of the object
Entity.__init__(self, initial_position, initial_velocity, initial_acceleration,
gameparams.playerradius, gameparams.playerbouncing)
# Set the not random reset position
self.default_position = initial_position
# Initialise current action + can_kick which presents kick-spamming
self.current_action = playeraction.Action()
self.can_kick = True
# Records the number of kicks the ball has made, used for reward shaping
self.kick_count = 0
# player properties
self.team = team
self.mass = 1 / gameparams.playerinvmass
def getAction(self, frame=None):
# Ignore frame
_ = frame
# Returns raw action of the agent based on the key presses queried from
# the gui. Returns (dir_idx, kicking_state)
return playeraction.Action(0)
