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Google Research Football

This repository contains a RL environment based on open-source game Gameplay Football. It was created by Google Brain team for research purposes.

This is not an official Google product.

We'd like to thank Bastiaan Konings Schuiling, who authored and opensourced the original version of this game.

For more information, please look at our paper (github). Mailing list: https://groups.google.com/forum/#!forum/google-research-football

Installation

Currently we're supporting only Linux and Python3. You can either install the code from github (newest version) or from pypi (stable version).

  1. Install required apt packages with sudo apt-get install git cmake build-essential libgl1-mesa-dev libsdl2-dev libsdl2-image-dev libsdl2-ttf-dev libsdl2-gfx-dev libboost-all-dev libdirectfb-dev libst-dev mesa-utils xvfb x11vnc libsqlite3-dev glee-dev libsdl-sge-dev python3-pip

  2. Install gfootball python package from pypi:

- Use `pip3 install gfootball[tf_cpu] --process-dependency-links` if you want to use CPU version of TensorFlow.
- Use `pip3 install gfootball[tf_gpu] --process-dependency-links` if you want to use GPU version of TensorFlow.
- This command can run for couple of minutes, as it compiles the C++ environment in the background.

OR install gfootball python package (run the commands from the main project directory):

- `git clone https://github.com/google-research/football.git`
- `cd football`
- Use `pip3 install .[tf_cpu] --process-dependency-links` if you want to use CPU version of TensorFlow.
- Use `pip3 install .[tf_gpu] --process-dependency-links` if you want to use GPU version of TensorFlow.
- This command can run for couple of minutes, as it compiles the C++ environment in the background.

Running experiments

  • To run example PPO experiment on academy_empty_goal scenario, run python3 -m gfootball.examples.run_ppo2 --level=academy_empty_goal_close
  • To run on academy_pass_and_shoot_with_keeper scenario, run python3 -m gfootball.examples.run_ppo2 --level=academy_pass_and_shoot_with_keeper

In order to train with nice replays being saved, run python3 -m gfootball.examples.run_ppo2 --dump_full_episodes=True --render=True

Playing game yourself

Run python3 -m gfootball.play_game. By default it starts the base scenario and the home player is controlled by the keyboard. Different types of players are suported (game pad, external bots, agents...). For possible options run python3 -m gfootball.play_game -helpfull.

Please note that playing the game is implemented through environment, so human-controlled players use the same interface as the agents. One important fact is that there is a single action per 100 ms reported to the environment, which might cause lag effect when playing.

Multiagent support

Using play_game script (see 'Playing game yourself' section for details) it is possible to set up a game played between multiple agents. home_players and away_players command line parameters are the comma separated list of players on the home and away teams, respectively. For example, to play yourself using gamepad with two lazy bots on your team against three bots you can run python3 -m gfootball.play_game --home_players=gamepad,lazy,lazy --away_players=bot,bot,bot.

You can implement your own player by adding its implementation to the env/players directory (no other changes are needed). Have a look at existing players code for example implementation.

Keyboard mapping

The game defines following keyboard mapping:

  • ARROW UP - run to the top.
  • ARROW DOWN - run to the bottom.
  • ARROW LEFT - run to the left.
  • ARROW RIGHT - run to the right.
  • S - short pass in attack mode, pressure in the defence mode.
  • A - high pass in attack mode, sliding in the defence mode.
  • D - shot in the attack mode, team pressure in the defence mode.
  • W - long pass in the attack mode, goal keeper pressure in the defence mode.
  • Q - switch active player on defence mode.
  • C - dribble in the attack mode.
  • E - sprint.

Running in Docker

CPU version

  1. Build with docker build --build-arg DOCKER_BASE=ubuntu:18.04 --build-arg DEVICE=cpu . -t gfootball
  2. Enter the image with docker run -it gfootball bash

GPU version

  1. Build with docker build --build-arg DOCKER_BASE=tensorflow/tensorflow:1.12.0-gpu-py3 --build-arg DEVICE=gpu . -t gfootball
  2. Enter the image with nvidia-docker run -it gfootball bash

After entering the image, you can run sample training with python3 -m gfootball.examples.run_ppo2. Unfortunately, rendering is not supported inside the docker.

Observations

Environment exposes following observations:

  • Ball information:
    • ball - [x, y, z] position of the ball.
    • ball_direction - [x, y, z] ball movement vector.
    • ball_rotation - [x, y, z] rotation angles in radians.
    • ball_owned_team - {-1, 0, 1}, -1 = ball not owned, 0 = home team, 1 = away team.
    • ball_owned_player - {0..N-1} integer denoting index of the player owning the ball.
  • Home team:
    • home_team - N-elements vector with [x, y] positions of players.
    • home_team_direction - N-elements vector with [x, y] movement vectors of players.
    • home_team_tired_factor - N-elements vector of floats in the range {0..1}. 0 means player is not tired at all.
    • home_team_yellow_card - N-elements vector of integers denoting number of yellow cards a given player has (0 or 1).
    • home_team_active - N-elements vector of Bools denoting whether a given player is playing the game (False means player got a red card).
    • home_team_roles - N-elements vector denoting roles of players. The meaning is:
      • 0 = e_PlayerRole_GK - goalkeeper,
      • 1 = e_PlayerRole_CB - centre back,
      • 2 = e_PlayerRole_LB - left back,
      • 3 = e_PlayerRole_RB - right back,
      • 4 = e_PlayerRole_DM - defence midfield,
      • 5 = e_PlayerRole_CM - central midfield,
      • 6 = e_PlayerRole_LM - left midfield,
      • 7 = e_PlayerRole_RM - right midfield,
      • 8 = e_PlayerRole_AM - attack midfield,
      • 9 = e_PlayerRole_CF - central front,
  • Away team:
    • away_team - same as for home team.
    • away_team_direction - same as for home team.
    • away_team_tired_factor - same as for home team.
    • away_team_yellow_card - same as for home team.
    • away_team_active - same as for home team.
    • away_team_roles - same as for home team.
  • Controlled player information:
    • active - {0..N-1} integer denoting index of the controlled player.
    • sticky_actions - 11-elements vector of 0s or 1s denoting whether corresponding actions are active:
      • game_left
      • game_top_left
      • game_top
      • game_top_right
      • game_right
      • game_bottom_right
      • game_bottom
      • game_bottom_left
      • game_sprint
      • game_keeper_rush
      • game_dribble
  • Match state:
    • score - pair of integers denoting number of goals for home and away teams, respectively.
    • steps_left - how many steps are left till the end of the match.
    • game_mode - current game mode, one of:
      • 0 = e_GameMode_Normal
      • 1 = e_GameMode_KickOff
      • 2 = e_GameMode_GoalKick
      • 3 = e_GameMode_FreeKick
      • 4 = e_GameMode_Corner
      • 5 = e_GameMode_ThrowIn
      • 6 = e_GameMode_Penalty
  • Screen:
    • frame - three 1280x720 vectors of RGB pixels representing rendered screen. It is only exposed when rendering is enabled (render flag).

Where N is the number of players on the team. X coordinates are int the range [-1, 1]. Y coordinates are int the range [-0.42, 0.42]. Speed vectors represent change in the possition of the object within a single step.

Scenarios

We provide two sets of scenarios/levels:

  • Football Benchmarks

    • 11_vs_11_stochastic - full 90 minutes football game (medium difficulty)
    • 11_vs_11_easy_stochastic - full 90 minutes football game (easy difficulty)
    • 11_vs_11_hard_stochastic - full 90 minutes football game (hard difficulty)

  • Football Academy - with a total of 11 scenarios

    • academy_empty_goal_close - Our player starts inside the box with the ball, and needs to score against an empty goal.
    • academy_empty_goal - Our player starts in the middle of the field with the ball, and needs to score against an empty goal.
    • academy_run_to_score - Our player starts in the middle of the field with the ball, and needs to score against an empty goal. Five opponent players chase ours from behind.
    • academy_run_to_score_with_keeper - Our player starts in the middle of the field with the ball, and needs to score against a keeper. Five opponent players chase ours from behind.
    • academy_pass_and_shoot_with_keeper - Two of our players try to score from the edge of the box, one is on the side with the ball, and next to a defender. The other is at the center, unmarked, and facing the opponent keeper.
    • academy_run_pass_and_shoot_with_keeper - Two of our players try to score from the edge of the box, one is on the side with the ball, and unmarked. The other is at the center, next to a defender, and facing the opponent keeper.
    • academy_3_vs_1_with_keeper - Three of our players try to score from the edge of the box, one on each side, and the other at the center. Initially, the player at the center has the ball, and is facing the defender. There is an opponent keeper.
    • academy_corner - Standard corner-kick situation, except that the corner taker can run with the ball from the corner.
    • academy_counterattack_easy - 4 versus 1 counter-attack with keeper; all the remaining players of both teams run back towards the ball.
    • academy_counterattack_hard - 4 versus 2 counter-attack with keeper; all the remaining players of both teams run back towards the ball.
    • academy_single_goal_versus_lazy - Full 11 versus 11 game, where the opponents cannot move but they can only intercept the ball if it is close enough to them. Our centerback defender has the ball at first.

You can add your own scenarios by adding a new file to the gfootball/scenarios/ directory. Have a look at existing scenarios for example.

Trace dumps

GFootball environment supports recording of scenarios for later watching or analysis. Each trace dump consists of a picked episode trace (observations, reward, additional debug info) and optionally an AVI file with rendered episode. Picked episode trace can be played back later on using replay.py script. By default trace dumps are disabled to not occupy disk space. They are controlled by the following set of flags:

  • dump_full_episodes - should trace for each entire episode be recorded.
  • dump_scores - should sampled traces for scores be recorded.
  • tracesdir - directory in which trace dumps are saved.
  • write_video - should video be recorded together with the trace. If rendering is disabled (render config flag), video contains a simple episode animation.

Frequent Problems & Solutions

Rendering not working / "OpenGL version not equal to or higher than 3.2"

Solution: set environment variables for MESA driver, like this:

MESA_GL_VERSION_OVERRIDE=3.2 MESA_GLSL_VERSION_OVERRIDE=150 python3 -m gfootball.play_game

process-dependency-links flag not found

See: google-research#1

Building docker image under MacOS

You may need to increase memory for building. Go to docker menu, then Preferences, then Advanced/Memory and set memory to 4GB.

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