2012 Simulated Car Racing Championship @ GECCO-2012
-
Upload
daniele-loiacono -
Category
Technology
-
view
674 -
download
1
description
Transcript of 2012 Simulated Car Racing Championship @ GECCO-2012
2012 Simulated Car Racing Championship @ GECCO-2012
The 2012 Simulated Car Racing Championship @ GECCO-2012 Daniele Loiacono, Luigi Cardamone, and Pier Luca Lanzi
2012 Simulated Car Racing Championship @ GECCO-2012
2012 Simulated Car Racing Championship 9 races during 3 conferences
Develop a driver for TORCS (hand-coded, learned, evolved, …)
Drivers will be awarded based on their score in each conference competition
At the end, the team with highest overall score wins the championship
2012 Simulated Car Racing Championship @ GECCO-2012
Roadmap of the 2012 Championship
1. EVO*-2012, Malaga (Spain) April 11-13, 2012
2. ACM GECCO-2012, Philadelphia (US) July 7-11, 2012
3. IEEE CIG-2012, Granada (Spain) September 11-14, 2012
2012 Simulated Car Racing Championship @ GECCO-2012
Motivations
q Proposing a relevant game-based competition " more representative of commercial games AI " more similar to a real-world problem
q Proposing a funny and exciting competition " you can see and play with the entries of this competition " human players can interact with AI " a lot of programmed AI available for comparison
q Proposing a challenging competition " computationally expensive " real-time " on-line learning " noisy sensors
The Open Racing Car Simulator
2012 Simulated Car Racing Championship @ GECCO-2012
The Open Racing Car Simulator & the Competition Software
TORCS
BOT BOT BOT
TORCS PATCH
SBOT SBOT SBOT
BOT BOT BOT
UDP UDP UDP q The competition server
q Separates the bots from TORCS q Build a well-defined sensor model q Works in real-time
2012 Simulated Car Racing Championship @ GECCO-2012
Sensors and actuators
q Rangefinders for edges on the track and opponents (with noise) q Speed, RPM, fuel, damage, angle with track, distance race, position
on track, etc.
q Six effectors: steering wheel [-1,+1], gas pedal [0, +1], brake pedal [0,+1], gearbox {-1,0,1,2,3,4,5,6}, clutch [0,+1], focus direction
2012 Simulated Car Racing Championship @ GECCO-2012
What is the structure of a race?
Three stages: warm up, qualifiers, actual race
During warm-up, each driver can explore the track and learn something useful
During qualifiers, each driver races alone against the clock (the best 8 drivers move to the race)
During the race all the drivers race together
Competitors
2012 Simulated Car Racing Championship @ GECCO-2012
The competitors
q Three entries: " Ho Duc Thang, University of Nottingham " BFB4 - Sejong Univ, Korea " Mr. Racer, TU Dortmund
q Three reference entries (selected from the top entries of the past championship) : " Mariscal & Fernández, Málaga University " Ready2Win, Slovak University of Technology – FIIT " AUTOPIA, Madrid and Granada
2012 Simulated Car Racing Championship @ GECCO-2012
Ho Duc Thang University of Nottingham
2012 Simulated Car Racing Championship @ GECCO-2012
Ho Duc Thang
q Hybrid fuzzy controller with a module to learn the model track as the car drives, a module to perform some simple plannings based on the modelled segments of the track and a fuzzy controller which actually drives the car.
q All the modelling, planning and driving are done during the race, the warm-up stage is not exploited
q No opponent handling
2012 Simulated Car Racing Championship @ GECCO-2012
Kyung-Joong Kim Jun-ho Seo Tae-seong Kim Sejong Univ, Korea
BFB4
2012 Simulated Car Racing Championship @ GECCO-2012
BFB4
q Programmed Behavior and NN used to " Simple approach for steering and accelerating
q Jump Detection " When the Z-Sensor is more than 0.4 " While the car is jumping and landing(few times, 10 tick
count), the steer of car is fixed to forward
q Opponent avoidance: " Just brake if the opponent is approached on a straight " Modify the normal steering when the opponent is
approached in a bend
2012 Simulated Car Racing Championship @ GECCO-2012
Jan Quadflieg, Tim Delbruegger and Mike Preuss TU Dortmund
Mr Racer
2012 Simulated Car Racing Championship @ GECCO-2012
Mr. Racer 2012
q Joined effort of Jan Quadflieg, Tim Delbruegger and Mike Preuss
q Variables learned offline with the CMA-ES, now including optimized settings for recovery , the clutch and…
q NEW: Parameters of the opponent handling module have been optimized
q Optimization of the opponent handling will hopefuly result in a CIG competition paper
2012 Simulated Car Racing Championship @ GECCO-2012
Noise Handling
1. Low pass filter on sensor values
2. 2 Regression polynoms are fitted to each side
3. Resample the polygons 4. Calculate our measure (see
CIG paper 2010) 5. Low pass filter on the last
measurements
2012 Simulated Car Racing Championship @ GECCO-2012
Online Learning during Warmup
q We learn a model of the racetrack q One of two parameter sets is chosen q Target speeds for all corners are then fine tuned q All information is saved at the end of the warmup q And later used during qualifying and the race
2012 Simulated Car Racing Championship @ GECCO-2012
Opponent Handling
q Noise filtering with a lowpass filter q Observer module interprets filtered sensor readings q This leads to a recommended speed and an overtaking line
(created on the fly!) q Planning module incorporates recommended target speed
and overtaking line into the plan
Qualifying
2012 Simulated Car Racing Championship @ GECCO-2012
Scoring process: Warm-up & Qualifying
q Scoring process involves three tracks: " Emero(city track) " Kerameikos (mountain track) " Mikegrady (hill track)
q The tracks are not distributed with TORCS: " Generated using the Interactive Track Generator for
TORCS and Speed Dreams available at: • http://trackgen.pierlucalanzi.net
" The competitors cannot know the tracks q Each controller raced for 100000 game ticks in the warm-up
stage and then its performance is computed in the qualifying stage as the distance covered within 10000 game ticks
Emero
2012 Simulated Car Racing Championship @ GECCO-2012
Qualifying: Emero
0 2000 4000 6000 8000 10000 12000
Autopia
BFB4
Ho
Mariscal&Fernandez
Mr. Racer
Ready2Win
NO-‐NOISY NOISY
Dirt-1
Kerameikos
2012 Simulated Car Racing Championship @ GECCO-2012
Qualifying: Kerameikos
0 2000 4000 6000 8000 10000 12000
Autopia
BFB4
Ho
Mariscal&Fernandez
Mr. Racer
Ready2Win
NO-‐NOISY
NOISY
Dirt-1
Mikegrady
2012 Simulated Car Racing Championship @ GECCO-2012
Qualifying: Mikegrady
0 2000 4000 6000 8000 10000 12000 14000
Autopia
BFB4
Ho
Mariscal&Fernandez
Mr. Racer
Ready2Win
NO-‐NOISY
NOISY
2012 Simulated Car Racing Championship @ GECCO-2012
Qualifying summary (scores with noise)
Driver Emero Kerameikos Mikegrady Total AUTOPIA 10 10 8 28 Ho Duc Thang 5 8 10 23 Ready2Win 8 6 6 20 Mr. Racer 6 5 5 16 Mariscal & Fernandez 4 4 4 12 BFB4 3 3 3 9
2012 competitors
2012 Simulated Car Racing Championship @ GECCO-2012
What about the qualifying results?
AUTOPIA still the fastest controller… …but Driver Ho is now very close
Almost all the controllers deal very well with
noise
Races
2012 Simulated Car Racing Championship @ GECCO-2012
Three Tracks
For each track we run 6 races with different starting grids
Each race is scored using the F1 point system
(10 to first, 8 to second, 6 to third, …)
Two points to the controller with lesser damage
Two points for the fastest lap of the race
2012 Simulated Car Racing Championship @ GECCO-2012
And the winner is…
Mr. Racer
TU Dortmund
2012 Simulated Car Racing Championship @ GECCO-2012
Competitor Emero Kerameikos Mikegrady Total Autopia 12 14 9 35 Ready2Win 6 6 8 20 Mariscal&Fernandez 6,5 7 5 18.5 Mr. Racer 6 5,5 6,5 18 Ho 5 3 5 13 BFB4 3,5 4 3,5 11
Final Results
Next leg @ CIG-2012 in Granada (Spain)
Compe&tor Evo* Gecco CIG Total Autopia 39 35 ? 74 Ready2Win 19 20 ? 39 Mariscal&Fernandez 20 18,5 ? 38.5 Mr. Racer 16.5 18 ? 34.5 Ho 0 13 ? 13 BFB4 0 11 ? 11
Championship
Thank you! SCR Contacts Official Webpage http://games.ws.dei.polimi.it/competitions/scr/ Email [email protected] Google Group http://groups.google.com/group/racingcompetition