RoboCup 2D Half Field Offense

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.

Dependencies

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

Install

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

Python Install [required for python interface]

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

Demos

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

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

C++ Agent

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";
}

Python Agent

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

Documentation

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

sanketloke / HFO