2013 Simulated Car Racing @ GECCO-2013
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Transcript of 2013 Simulated Car Racing @ GECCO-2013
GECCO 2013 Simulated Car Racing Competition
GECCO 2013 Simulated Car Racing Competition Daniele Loiacono and Pier Luca Lanzi
GECCO 2013 Simulated Car Racing Competition
SCR in a nutshell
q Develop a driver for TORCS " hand-coded, " learned, " evolved, " …
q Three races on three unknown tracks q Each race has the following structure:
" Warm-up: each driver can explore the track and learn something useful
" Qualifiers: each driver races alone against the clock (the best 8 drivers move to the race)
" Actual race: all the drivers race together q Drivers are scored based on their final position in the races,
best lap-time, receiving the least amount of damages.
Competition Framework
GECCO 2013 Simulated Car Racing Competition
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
GECCO 2013 Simulated Car Racing Competition
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
Competitors
GECCO 2013 Simulated Car Racing Competition
SCR 2013 Entrants
q State of the art: AUTOPIA, Madrid and Granada, Spain q Entries
" EVOR, University of Adelaide, Australia " Ahoora, University of Adelaide, Australia " GAZZELLE, Indiana University South Bend, USA " GRN Driver, University of Toulouse, France " ICER-IDDFS, Ritsumeikan University, Japan " Mr.Racer, TU Dortmund, Germany " Presto AI, Uwe Kadritzke, Germany " SnakeOil, Chris X Edwards, Switzerland
GECCO 2013 Simulated Car Racing Competition
Industrial Computer Science Department. Centro de Automática y Robótica Consejo Superior de Investigaciones Científicas Madrid, Spain Contact:E. Onieva ([email protected])
AUTOPIA
GECCO 2013 Simulated Car Racing Competition
AUTOPIA
q Fuzzy Architecture based on three basic modules for gear, steering and speed control " optimized with a genetic algorithm
q Learning in the warm-up stage:
" Maintain a vector with as many real values as tracklength in meters.
" Vector initialized to 1.0 " If the vehicle goes out of the track or suffers damage
then multiply vector positions from 250 meters before the current position by 0.95.
q During the race the vector is multiplied by F to make the driver more cautious in function of the damage: " F=1-0.02*round(damage/1000)
GECCO 2013 Simulated Car Racing Competition
EVOR (Evolutionary Racer)
Samadhi Nallaperuma, Frank Naumann (supervisor) University of Adelaide, Austrailia
GECCO 2013 Simulated Car Racing Competition
EVOR (Evolutionary Racer)
q Build a track model during the Warm-up stage q A (1+1)EA is used to evolve a controller, optimizing control
values q Fitness is based on the evaluation of the racing line with
respect to the track model
GECCO 2013 Simulated Car Racing Competition
Ahoora Driver
Mohammad reza Bonyadi, Samadhi Nallaperuma, Zbigniew Michalewicz, and Frank Neumann University of Adelaide, Australia
GECCO 2013 Simulated Car Racing Competition
Ahoora Driver
q Four main parameterized modules: " Steer controller " Speed controller " Opponent manager " Stuck manager
q Parameters have been set using an evolutionary algorithm (a continuous space evolutionary method) for several tracks with known friction
q During competition, parameters are adapted based on " The estimated friction " Trial and error (adaptively based on number of failures,
e.g. out of the track) q Additional features: jump detection and management (in
steer and speed modules)
GECCO 2013 Simulated Car Racing Competition
THE GAZELLE - Adaptive Car Pilot
Dana Vrajitoru and Kholah Albelihi Indiana University South Bend
GECCO 2013 Simulated Car Racing Competition
The GAZELLE Adaptive Car Pilot
q Mainly based on programmed heuristics q Four modules:
" Target direction " Target speed " Opponent detection " Trouble spots handling
q Depending on the current state, the opponent detection module might rise some flag to change the behaviors of other modules
GECCO 2013 Simulated Car Racing Competition
GRN Driver
Stéphane Sanchez & Sylvain Cussat-Blanc
University of Toulouse FRANCE
GECCO 2013 Simulated Car Racing Competition
GRN Driver
q A Gene Regulatory Network (GRN) regulates the car steering and throttle " Proteins are encoded in a genome and are evolved by a
standard GA (optimization on 3 tracks, normal+mirrored for longest distance)
" This approach is naturally adaptative and resistant to noise (no noise filter implemented)
q Scripted recovery behavior and driving assistance (traction control
and ABS) q Modification of the GRN perception to learn braking zones of the
track during warm up and to handle opponents during the race
Track sensor 3 Track sensor 5 Track sensor 7 Track sensor 8 Track sensor 9 Track sensor 10 Track sensor 11 Track sensor 13 Track sensor 15
Speed X Speed Y
GRN Le; steer
Right steer
Accelerator
Brake
Steer=(le;-‐right)/(le;+right)
accelbrake=(accel-‐brake)/(accel+brake)
Normalized in [0,1]
GECCO 2013 Simulated Car Racing Competition
Tetsuo Shirakawa, Show Nakamura, and Ruck Thawonmas Intelligent Computer Entertainment Laboratory Ritsumeikan University
ICER-IDDFS
GECCO 2013 Simulated Car Racing Competition
q Based on iterative deepening depth-first search for path finder and accelerator control " Select the path having the
highest evaluation points " If such a path cannot be found,
use a default module implemented according to our understanding (J) of Autopia’s one
q Warm-up " Slow at the first loop to learn the track " Then, try both dirt and road parameters
and select the better one " Slow the speed down at every past
accident location, if any q Use simple rules to avoid a crash
with another car q Implement a rule to regain the car’s
balance when losing it
IDDFS
GECCO 2013 Simulated Car Racing Competition
Jan Quadflieg, Tim Delbruegger, Kai Verlage and Mike Preuss TU Dortmund
Mr. Racer
GECCO 2013 Simulated Car Racing Competition
Mr. Racer 2013
q Main features " 2 * 28 Parameters learned offline with the CMA-ES " Noise handling with low pass filtering and regression " One parameter set for tarmac tracks, one for dirt tracks " Completely new opponent handling (based on bachelor thesis of
Kai Verlage) q On-line learning during the warm-up
" Track model " Choice of parameters set " Tuning of target speed for all corners
q Opponent handiling " A module recommends overtaking lines, blocking lines or target
speeds depending on the current situation " Recommendations become more defensive depending on
damage " Planning module incorporates recommended target speed and
racing line into the plan
Presto AI
SCR Competition Entry 2013
Uwe Kadritzke
Presto AI
l Pure Heuristics l Use of Physical Laws, e.g. Centripetal Force l Inspired by Bernhard Wymann (BT Driver) l Unfinished, buggy
Main Areas of Attention l Steering l Speed Control l Dealing with Noise
GECCO 2013 Simulated Car Racing Competition
SnakeOil
Chris X Edwards
GECCO 2013 Simulated Car Racing Competition
SnakeOil
q Main goal was to develop a library to encourage Python programmers to enter the SCR. It's quite easy to use to develop your own bot.
q Mapped a complete turn by turn track description. q Created a route plan for where to be at every point on the
track... but that didn't work and probably can't without a heroic effort. It's harder than it first seems.
q Used the track feature map to mark trouble spots and show more caution there while racing.
q Ready to be optimized with evolutionary algorithms
Qualifying
GECCO 2013 Simulated Car Racing Competition
Scoring process: Warm-up & Qualifying
q Scoring process involves three tracks: " Alsoujlak (hill track) " Arraias (desert track) " Sancassa (city 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
Alsoujlak
GECCO 2013 Simulated Car Racing Competition
Qualifying: Alsoujlak
0.00 2000.00 4000.00 6000.00 8000.00 10000.00 12000.00
MrRacer
ICER-‐IDDFS
AUTOPIA
GRNDriver
Presto AI
SnakeOil
EVOR
GAZELLE
Ahoora
Arraias
GECCO 2013 Simulated Car Racing Competition
Qualifying: Arraias
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
MrRacer
ICER-‐IDDFS
AUTOPIA
GRNDriver
Presto AI
SnakeOil
EVOR
GAZELLE
Ahoora
Sancassa
GECCO 2013 Simulated Car Racing Competition
Qualifying: Sancassa
0 2000 4000 6000 8000 10000 12000
MrRacer
ICER-‐IDDFS
AUTOPIA
GRNDriver
Presto AI
SnakeOil
EVOR
GAZELLE
Ahoora
GECCO 2013 Simulated Car Racing Competition
Qualifying summary (scores with noise)
Competitor Alsoujlak Arraias Sancassa Total
AUTOPIA 6 10 10 26
MrRacer 10 5 6 21
ICER-IDDFS 8 4 8 20
GRNDriver 5 8 4 17
SnakeOil 3 6 3 12
Presto AI 4 0 5 9
EVOR 2 2 2 6
GAZELLE 1 3 1 5
Ahoora 0 1 0 1
Evolutionary Approaches
GECCO 2013 Simulated Car Racing Competition
Qualifying summary (scores with noise)
Competitor Alsoujlak Arraias Sancassa Total
AUTOPIA 6 10 10 26
MrRacer 10 5 6 21
ICER-IDDFS 8 4 8 20
GRNDriver 5 8 4 17
SnakeOil 3 6 3 12
Presto AI 4 0 5 9
EVOR 2 2 2 6
GAZELLE 1 3 1 5
Ahoora 0 1 0 1
Removed from the race
Races
GECCO 2013 Simulated Car Racing Competition
Three Tracks
For each track we run 8 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
GECCO 2013 Simulated Car Racing Competition
Competitor Alsoujlak Arraias Sancassa Total
AUTOPIA 12 13 13 38
MrRacer 9 5.5 6 20.5
ICER-IDDFS 6 5 8 19
GRNDriver 5 5.5 4 14.5
SnakeOil 3 7 3.5 13.5
Presto AI 3 1 5 9
EVOR 3 4 1 8
GAZELLE 1.5 3 2 6.5
Final Results
Mr. Racer is the winner of GECCO-2013 SCR
Thank you! SCR Contacts Official Webpage http://scr.geccocompetitions.com Email [email protected] Google Group http://groups.google.com/group/racingcompetition