2012 simulated car racing championship @ gecco-2012
DESCRIPTION
Second leg of the 2012 Simulated Car Racing Championship held during GECCO-2012 More information at http://games.ws.dei.polimi.it/competitions/scr/ http://groups.google.com/group/racingcompetition http://www.geccocompetitions.com Organizers Daniele Loiacono, Politecnico di Milano Luigi Cardamone, Politecnico di Milano Pier Luca Lanzi, Politecnico di MilanoTRANSCRIPT
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2012 Simulated Car Racing Championship @ GECCO-2012
The 2012 Simulated Car Racing Championship @ GECCO-2012 Daniele Loiacono, Luigi Cardamone, and Pier Luca Lanzi
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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
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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
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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
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The Open Racing Car Simulator
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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
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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
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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
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Competitors
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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
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2012 Simulated Car Racing Championship @ GECCO-2012
Ho Duc Thang University of Nottingham
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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
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2012 Simulated Car Racing Championship @ GECCO-2012
Kyung-Joong Kim Jun-ho Seo Tae-seong Kim Sejong Univ, Korea
BFB4
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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
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2012 Simulated Car Racing Championship @ GECCO-2012
Jan Quadflieg, Tim Delbruegger and Mike Preuss TU Dortmund
Mr Racer
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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
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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
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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
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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
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Qualifying
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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
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Emero
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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
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Dirt-1
Kerameikos
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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
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Dirt-1
Mikegrady
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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
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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
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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
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Races
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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
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2012 Simulated Car Racing Championship @ GECCO-2012
And the winner is…
Mr. Racer
TU Dortmund
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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)
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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
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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