def kick_to_pos(self, pos: tuple, features: DiscFeatures1Teammate,
game_interface: HFOAttackingPlayer):
""" The agent kicks to position expected """
hfo_action = (KICK_TO, pos[0], pos[1], 2)
status, observation = game_interface.step(hfo_action,
features.has_ball())
# Update features:
features.update_features(observation)
def move_to_pos(self, pos: tuple, features: DiscFeatures1Teammate,
game_interface: HFOAttackingPlayer):
""" The agent keeps moving until reach the position expected """
curr_pos = features.get_pos_tuple(round_ndigits=1)
while pos != curr_pos:
hfo_action = (MOVE_TO, pos[0], pos[1])
status, observation = game_interface.step(hfo_action,
features.has_ball())
# Update features:
features.update_features(observation)
curr_pos = features.get_pos_tuple(round_ndigits=1)
def pass_ball(self, game_interface: HFOAttackingPlayer,
features: DiscFeatures1Teammate):
""" Tries to use the PASS action, if it fails, Kicks in the direction
of the teammate"""
attempts = 0
while game_interface.in_game() and features.has_ball():
if attempts > 2:
break
elif attempts == 2:
# Failed to pass 2 times
# print("Failed to PASS two times. WILL KICK")
hfo_action = (KICK_TO, features.teammate_coord[0],
features.teammate_coord[1], 1.5)
else:
hfo_action = (PASS, 11)
_, obs = game_interface.step(hfo_action, features.has_ball())
features.update_features(obs)
attempts += 1
return game_interface.get_game_status(), \
game_interface.get_observation_array()
def shoot_ball(self, game_interface: HFOAttackingPlayer,
features: DiscFeatures1Teammate):
""" Tries to shoot, if it fail, kicks to goal randomly """
attempts = 0
# while game_interface.in_game() and features.has_ball():
# if attempts > 3:
# break
# elif attempts == 3:
# # Failed to kick four times
# # print("Failed to SHOOT 3 times. WILL KICK")
# y = 0 # TODO random.choice([0.17, 0, -0.17])
# hfo_action = (KICK_TO, 0.9, y, 2)
# else:
# hfo_action = (SHOOT,)
# _, obs = game_interface.step(hfo_action, features.has_ball())
# features.update_features(obs)
# attempts += 1
hfo_action = (KICK_TO, 0.9, 0, 2)
_, obs = game_interface.step(hfo_action, features.has_ball())
features.update_features(obs)
return game_interface.get_game_status(), \
game_interface.get_observation_array()
def move_agent(self, action_name, game_interface: HFOAttackingPlayer,
features: DiscFeatures1Teammate):
""" Agent Moves/Dribbles in a specific direction """
# print("move_agent!")
if "SHORT" in action_name:
num_repetitions = 10
elif "LONG" in action_name:
num_repetitions = 20
else:
raise ValueError("ACTION NAME is WRONG")
# Get Movement type:
if "MOVE" in action_name:
action = MOVE_TO
elif "DRIBBLE" in action_name:
action = DRIBBLE_TO
else:
raise ValueError("ACTION NAME is WRONG")
if "UP" in action_name:
action = (action, features.agent_coord[0], -0.9)
elif "DOWN" in action_name:
action = (action, features.agent_coord[0], 0.9)
elif "LEFT" in action_name:
action = (action, -0.8, features.agent_coord[1])
elif "RIGHT" in action_name:
action = (action, 0.8, features.agent_coord[1])
else:
raise ValueError("ACTION NAME is WRONG")
attempts = 0
while game_interface.in_game() and attempts < num_repetitions:
status, observation = game_interface.step(action,
features.has_ball())
features.update_features(observation)
attempts += 1
return game_interface.get_game_status(), \
game_interface.get_observation_array()
def execute_action(self, action_idx: int,
game_interface: HFOAttackingPlayer,
features: DiscFeatures1Teammate):
""" Receiving the idx of the action, the agent executes it and
returns the game status """
action_name = self.map_action_to_str(action_idx, features.has_ball())
# KICK/SHOOT to goal
if action_name == "KICK_TO_GOAL":
status, observation = self.shoot_ball(game_interface, features)
# PASS ball to teammate
elif action_name == "PASS":
status, observation = self.pass_ball(game_interface, features)
# MOVE/DRIBBLE
elif "MOVE" in action_name or "DRIBBLE" in action_name:
status, observation = self.move_agent(action_name, game_interface,
features)
# DO NOTHING
elif action_name == "NOOP":
status, observation = self.do_nothing(game_interface, features)
else:
raise ValueError("Action Wrong name")
# Update Features:
features.update_features(observation)
return status
def __init__(self, num_opponents: int, num_teammates: int,
port: int = 6000):
# Game Interface:
self.game_interface = HFOAttackingPlayer(num_opponents=num_opponents,
num_teammates=num_teammates,
port=port)
self.game_interface.connect_to_server()
# Features Interface:
self.features = DiscFeatures1Teammate(num_op=num_opponents,
num_team=num_teammates)
# Actions Interface:
self.actions = Actions()
# Agent instance:
self.agent = QAgent(num_features=self.features.num_features,
num_actions=self.actions.get_num_actions(),
learning_rate=0.1, discount_factor=0.9, epsilon=0.8)
def no_ball_action(self, game_interface: HFOAttackingPlayer,
features: DiscFeatures1Teammate) -> int:
action = (MOVE, )
status, observation = game_interface.step(action, features.has_ball())
features.update_features(observation)
return status
def do_nothing(self, game_interface: HFOAttackingPlayer,
features: DiscFeatures1Teammate):
action = (NOOP, )
status, observation = game_interface.step(action, features.has_ball())
return status, observation
parser.add_argument('--port', type=int, default=6000)
parser.add_argument('--num_games', type=int, default=1)
args = parser.parse_args()
port = args.port
num_games = args.num_games
NUM_TEAMMATES = 0
NUM_OPPONENTS = 1
# Game Interface:
game_interface = HFOAttackingPlayer(num_opponents=NUM_OPPONENTS,
num_teammates=NUM_TEAMMATES, port=port)
game_interface.connect_to_server()
# Features Interface:
features = DiscFeatures1Teammate(num_op=NUM_OPPONENTS,
num_team=NUM_TEAMMATES)
# Actions Interface:
actions = Actions()
for ep in range(num_games):
# Update features:
features.update_features(game_interface.get_state())
# Set up gaming conditions:
actions.dribble_to_pos((-0.5, -0.7), features, game_interface)
# Start learning loop
status = IN_GAME
prev_action_idx = None
while game_interface.in_game():
if features.has_ball():