Half Field Offense in RoboCup 2D Soccer is a subtask in RoboCup simulated soccer, modeling a situation in which the offense of one team has to get past the defense of the opposition in order to shoot goals. This repository offers the ability to quickly and easily interface your learning agent with the HFO domain. Interfaces are provided for C++ and Python.

• Boost-system, filesystem
• Qt4 [Required for SoccerWindow2 visualizer]: To not build the visualizer, add cmake flag -DBUILD_SOCCERWINDOW=False

• Python 2.7 or 3.2+ (tested with 2.7 and 3.5)
• numpy

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=RelwithDebInfo ..
make -j4
make install

Note: There is no need for 'sudo' with 'make install' - the files will be installed below the starting directory.

From the main HFO directory: pip install [--user] .

From the main HFO directory:

./example/passing_agents.sh

Start a 1v1 game played by Agent2D:

./bin/HFO --offense-npcs=1 --defense-npcs=1 --no-sync

Start an example agent on the empty goal task. This agent will move forwards slowly. First start the server: ./bin/HFO --offense-agents=1 --no-sync & and then connect the agent: ./example/hfo_example_agent

Or do both in a single command:

(./bin/HFO --offense-agents=1 --no-sync &) && ./example/hfo_example_agent

Example agents are provided in the example directory. Below are two minimal examples:

HFOEnvironment hfo;
hfo.connectToServer(...);
for (int episode=0; episode<5; episode++) {
  status_t status = IN_GAME;
  while (status == IN_GAME) {
    const std::vector<float>& feature_vec = hfo.getState();
    hfo.act(DASH, 20.0, 0.0);
    status = hfo.step();
  }
  cout << "Episode " << episode << " ended";
}

hfo = hfo.HFOEnvironment()
hfo.connectServer(...)
for episode in range(5): # replace with xrange(5) for Python 2.X
  status = IN_GAME
  while status == IN_GAME:
    features = hfo.getState()
    hfo.act(DASH, 20.0, 0.0)
    status = hfo.step()
  print 'Episode', episode, 'ended'

The state and action spaces provided by the HFO domain are documented in the manual.