RoboCup Keepaway benchmark player framework

Concurrent HAMQ Learning

This ongoing project demonstrates a concurrent partial program approach to the RoboCup Keepaway task. More details can be found in:

• Efficient Reinforcement Learning with Hierarchies of Machines by Leveraging Internal Transitions, Aijun Bai, and Stuart Russell,
  Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence (IJCAI), Melbourne, Australia, August 19 - 25, 2017. [pdf] [bib]
• Concurrent Hierarchical Reinforcement Learning for RoboCup Keepaway, Aijun Bai, Stuart Russell, and Xiaoping Chen,
  RoboCup-2017: Robot Soccer World Cup XX, Lecture Notes in Artificial Intelligence (RoboCup), Springer Verlag, Berlin, 2017. [pdf] [bib]

Before learning

After learning

Install

• sudo add-apt-repository ppa:gnurubuntu/rubuntu
• sudo apt update
• sudo apt install rcssserver rcssmonitor rcsslogplayer
• git clone https://github.com/aijunbai/keepaway
• cd keepaway
• make release

Usages

• Train a group of keepers using SARSA: ./train.sh [-g GAMMA] [-L LAMBDA] [-A ALPHA] [-I INITIALWEIGHT] [-l] [-f] [-m] [-s]
  • -g GAMMA: specify the discount factor [default: 1.0]
  • -L GAMMA: specify the Lambda constant [default: 0.5]
  • -A ALPHA: specify the learning rate [default: 0.125]
  • -I INITIALWEIGHT: spefify the initial weight for inner Q tables [default: 0.5]
  • -l: turn on logging for keepaway_player and ``rcssserver``` [default: false]
  • -f: turn on fullstate perception within rcssserver [default: true]
  • -m: launch a monitor, technically rcsssmonitor [default: true]
  • -s: turn on synch mode within rcssserver [default: true]
• Evaluate a learned policy by simulation: ./evaluate.sh QFILE
  • QFILE: learned Q file for keepers
• Train a set of groups simultaneously with random hyperparameters: ./batch-train.sh
• Evaluate a set of learned policies simultaneously: ./batch-evaluate.sh QFILES...

One learned policy is included in the data directory for reference. It can be evaluated by running: ./evaluate.sh data/keeper_Q_g1._l0.227_a0.09_w0.346_fsm.gz

Related Project

• HAMQ and HAMQ-INT on standard Taxi domain: https://github.com/aijunbai/taxi

Old READMEs

This project is intended as a public but unofficial repository for updates to the Keepaway benchmark player framework created at UT Austin by Gregory Kuhlmann and Peter Stone.

The intention is that this project can serve as a source for updates and compatibility with ongoing changes to the RoboCup Soccer Server. However, no promises are made as to the fitness of this software for any purpose whatsoever.

I have also modified the launch scripts to expect working with in-place builds of rcss tools rather than system installed ones. The latter might still work, but I haven't checked on that. I expect sibling dirs to keepaway called rcssmonitor_qt4 and rcssserver. Use the keepaway.py launch script for most convenience. I haven't done much to maintain the original keepaway.sh. As an example, to kick off with default settings and see the action, run like so (if your system has python and knows shebangs):

./keepaway.py --monitor

The original README from Gregory Kuhlmann and Peter Stone follows. Following that is the original README for the learning code, including the list of contributors to that code base. See these READMEs also for papers to reference when using this code.

Also included in this combined code base is the Tile Coding Software version 2 from Richard S. Sutton, included with permission from him. This software, as well as more recent versions, is also available directly from the author (http://webdocs.cs.ualberta.ca/~sutton/tiles2.html).

The combined, updated code base has also included assistance from Stephen Kelly (initial integration of learning code) and Luiz Celiberto (my updates in support of latest rcss and gcc checked against his), among others.

I have also made some minimal changes to support dynamic loading of shared library code for agent behavior, thus avoiding the need to change the original code. See the "ext=" hackery in main.cc for more details.

• Tom Palmer

---

README for Keepaway

This package contains the source code for the Keepaway benchmark player framework and the source code for some keepaway utility programs. The framework includes all low- and mid-level keepaway behaviors. A few example high-level policies are included. Not included is any learning code. However, the framework was designed to make it easy to insert your own learning code. Also, not included is the soccer simulator (see REQUIREMENTS).

The framework was created by

Gregory Kuhlmann and Peter Stone

in the Department of Computer Sciences at the University of Texas at Austin: http://www.cs.utexas.edu/~AustinVilla/sim/keepaway/

Copyright 2004 Gregory Kuhlmann, Peter Stone All Rights Reserved

This package was created as part of our research using the keepaway domain. The following is a list of selected publications:

Keepaway Soccer: From Machine Learning Testbed to Benchmark. Peter Stone, Gregory Kuhlmann, Matthew E. Taylor, and Yaxin Liu. In Itsuki Noda, Adam Jacoff, Ansgar Bredenfeld, and Yasutake Takahashi, editors, RoboCup-2005: Robot Soccer World Cup IX, Springer Verlag, Berlin, 2006.

Reinforcement Learning for RoboCup-Soccer Keepaway. Peter Stone, Richard S. Sutton, and Gregory Kuhlmann. Adaptive Behavior, 2005.

These and other keepaway papers can be found here: http://www.cs.utexas.edu/~pstone/Papers/bib2html/

We ask that you please cite these papers if you publish work that builds off of this framework.

The players are built upon version 3.3 of the UvA Basic team that is publicly available from: http://staff.science.uva.nl/~jellekok/robocup/2003/index_en.html

The communication code is based on: saymsglib - a library to generate and parse messages in the Coachable agent communication standard created by Carnegie Mellon University. It is described here: http://www-2.cs.cmu.edu/~robosoccer/simulator/comm_standard.html

We provide this code as-is with no support implied. It has been tested under Debian Linux 3.1 (testing)

REQUIREMENTS:

The RoboCup Soccer Server, available from: http://sserver.sf.net

The following package versions are strongly recommended: rcssbase 9.4.5 rcssserver 9.4.5 rcssmonitor 9.3.7

Gnuplot (optional)

FILES and DIRECTORIES:

README        - This file
COPYING       - GNU Public License
keepaway.sh   - script to start players
player/       - keepaway player source code
logs/         - dir to store generated log files (initially empty)
weights/      - dir to store learned weights (initially empty)
tools/        - some useful utilities for keepaway experiments

INSTALLATION:

In player/:

make depend
make

In tools/:

make

(copy all binaries to some directory in your PATH)

USAGE:

(Modify "keepaway_dir" in keepaway.sh to match installation dir)

./keepaway.sh

To view players:

monitor

To stop:

killserver

---

README for Keepaway learning code

This package contains the learning code to accompany the Keepaway benchmark player framework.

This is a particular snapshot of the code, and different published results have used different learning algorithms. We don't guarantee that this particular instantiation will line up with all of the published papers using keepaway. Variations on the learning algorithm are described in the papers indexed here: http://www.cs.utexas.edu/~pstone/Papers/bib2html/

We provide this code as-is with no support implied. This code has not been tested and we make no guarantees that it will even compile.

The learning code was created by

Peter Stone Gregory Kuhlmann Matthew E. Taylor Yaxin Liu and Shivaram Kalyanakrishnan

in the Department of Computer Sciences at the University of Texas at Austin: http://www.cs.utexas.edu/~AustinVilla/sim/keepaway/

This package was created as part of our research using the keepaway domain. The following is a list of selected publications:

Keepaway Soccer: From Machine Learning Testbed to Benchmark. Peter Stone, Gregory Kuhlmann, Matthew E. Taylor, and Yaxin Liu. In Itsuki Noda, Adam Jacoff, Ansgar Bredenfeld, and Yasutake Takahashi, editors, RoboCup-2005: Robot Soccer World Cup IX, Springer Verlag, Berlin, 2006. To appear.

Reinforcement Learning for RoboCup-Soccer Keepaway. Peter Stone, Richard S. Sutton, and Gregory Kuhlmann. Adaptive Behavior, 2005.

We ask that you please cite these papers if you publish work that builds off of this code.

The players are built upon version 3.3 of the UvA Basic team that is publicly available from: http://staff.science.uva.nl/~jellekok/robocup/2003/index_en.html

The communication code is based on: saymsglib - a library to generate and parse messages in the Coachable agent communication standard created by Carnegie Mellon University. It is described here: http://www-2.cs.cmu.edu/~robosoccer/simulator/comm_standard.html

REQUIREMENTS:

The Keepaway Player Framework http://www.cs.utexas.edu/~AustinVilla/sim/keepaway/

The RoboCup Soccer Server, available from: http://sserver.sf.net