2012 simulated car racing championship @ cig-2012
DESCRIPTION
Third leg of the 2012 Simulated Car Racing Championship held during CIG-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 @ CIG-2012
The 2012 Simulated Car Racing Championship @ CIG-2012 Daniele Loiacono, Luigi Cardamone, and Pier Luca Lanzi
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2012 Simulated Car Racing Championship @ CIG-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 @ CIG-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 @ CIG-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 @ CIG-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 @ CIG-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 @ CIG-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 @ CIG-2012
The competitors
q Four entries in 2012: " Ho Duc Thang, University of Nottingham " BFB4, Sejong Univ, Korea " Mr. Racer, TU Dortmund " Smile Sheep, Taiwan National Chiao Tung University
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 @ CIG-2012
Ho Duc Thang University of Nottingham
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2012 Simulated Car Racing Championship @ CIG-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 @ CIG-2012
Kyung-Joong Kim Jun-ho Seo Tae-seong Kim Sejong Univ, Korea
BFB4
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2012 Simulated Car Racing Championship @ CIG-2012
BFB4
q Scripted approach " 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 @ CIG-2012
Jan Quadflieg, Tim Delbruegger and Mike Preuss TU Dortmund
Mr Racer
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2012 Simulated Car Racing Championship @ CIG-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 @ CIG-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 @ CIG-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 @ CIG-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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2012 Simulated Car Racing Championship @ CIG-2012
吳晞浩(Si-Hao Wu) 李揚(Yang Lee) 李懷哲(Wiser Lee) Advisor: 王才沛(Tsaipei Wang) Taiwan National Chiao Tung University
Smile Sheep
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2012 Simulated Car Racing Championship @ CIG-2012
Smile Sheep
q Steering heuristics " drive toward the track sensor with biggest distance " small corection toward middle of the track to avoid
borders q Speed control heuristics
" Full accelerating when central sensor is clear for >99m " Slow down when car is too fast
q Recovery policy heuristics " identify stuck condition with heuristics " drive backward and get the car parallel to the track
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2012 Simulated Car Racing Championship @ CIG-2012
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2012 Simulated Car Racing Championship @ CIG-2012
Mariscal & Fernández
q General approach: expert systems improved by multi-objectives evolutionary computation techniques " Maximize distance. " Minimize damage
q Steering based on a simple rule follow the track sensor with biggest distance.
q Overtaking based on simple rules and expert systems
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2012 Simulated Car Racing Championship @ CIG-2012
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2012 Simulated Car Racing Championship @ CIG-2012
Ready2Win
q Modular architecture: " Driving module:
• The speed is computed using the maximum braking distance
" Overtaking module " Recovery module " ABS module
q Track learning during the warm-up: " First lap, driven slow, to identify turns (start, end, entry
position, curvature) and learn the track model " Other laps, speed adaptation:
• Increasing according to lateral speed • Reducing when the car goes off-road
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2012 Simulated Car Racing Championship @ CIG-2012
Industrial Computer Science Department. Centro de Automática y Robótica Consejo Superior de Investigaciones Científicas Madrid, Spain Contact:E. Onieva ([email protected])
AUTOPIA
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2012 Simulated Car Racing Championship @ CIG-2012
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)
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Qualifying
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2012 Simulated Car Racing Championship @ CIG-2012
Scoring process: Warm-up & Qualifying
q Scoring process involves three tracks: " IllSchwang (desert track) " Noceda (city track) " Sehnor (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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2012 Simulated Car Racing Championship @ CIG-2012
Illschwang
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2012 Simulated Car Racing Championship @ CIG-2012
Qualifying: Ilschwang
10891.4
10808.2
10701.6
10010.1
5066.24
6998.2
7765.42
0 2000 4000 6000 8000 10000 12000
Mr. Racer
Ho Duc Thang
Autopia
Ready2Win
Mariscal & Fernandez
BFB4
SmileSheep
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2012 Simulated Car Racing Championship @ CIG-2012
Noceda
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2012 Simulated Car Racing Championship @ CIG-2012
Qualifying: Noceda
12233.2
11738.82
11648.9
9405.52
11265.2
9658.8
0 2000 4000 6000 8000 10000 12000 14000
Mr. Racer
Ho Duc Thang
AUTOPIA
Ready2Win
Mariscal & Fernandez
BFB4
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2012 Simulated Car Racing Championship @ CIG-2012
Sehnor
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2012 Simulated Car Racing Championship @ CIG-2012
Qualifying: Sehnor
10483
10280.7
9646.59
9413.6
9610.96
9043.72
8683.94
0 2000 4000 6000 8000 10000 12000
Mr. Racer
Autopia
Ho
Ready2Win
Mariscal & Fernandez
BFB4
SmileSheep
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2012 Simulated Car Racing Championship @ CIG-2012
Qualifying summary (scores with noise)
Driver Illschwang Noceda Sehnor Total
Mr. Racer 10 10 10 30 Ho Duc Thang 8 8 6 22 AUTOPIA 6 6 8 20 Ready2Win 5 3 4 12 Mariscal&Fernandez 2 5 5 12 BFB4 3 4 3 10 SmileSheep 4 2 2 8
CI Approaches
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2012 Simulated Car Racing Championship @ CIG-2012
What about the qualifying results?
Since 2009 AUTOPIA is not the
fastest controller for the first time!
Top controllers clearly better than others
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Races
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2012 Simulated Car Racing Championship @ CIG-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 @ CIG-2012
Final Results
Mr. Racer is winner of SCR@CIG 2012
Driver Illschwang Noceda Sehnor Total
Autopia 10 12 10 32 Mr. Racer 10 6 10 26 Ready2Win 8 3 6 17 SmileSheep 5 5 5 15 Mariscal&Fernandez 4 6 4 14 BFB4 3 5 4 12 Ho 2 2 2 6
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What about the race results?
Qualifying and final results are similar: the only excepFon is driver Ho
Some drivers were not able to complete the
race
Further analysis will be performed to have more insight on these results!
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CompeGtor Evo* Gecco CIG Total AUTOPIA 39 35 32 96 Mr. Racer 16.5 18 26 60.5 Ready2Win 19 20 17 56 Mariscal & Fernandez 20 18,5 14 52.5 BFB4 -‐ 11 12 23 Ho Duc Thang -‐ 13 6 19 Smile Sheep -‐ -‐ 15 15
Final Standings Championship
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CompeGtor Evo* Gecco CIG Total AUTOPIA 39 35 32 96 Mr. Racer 16.5 18 26 60.5 Ready2Win 19 20 17 56 Mariscal & Fernandez 20 18,5 14 52.5 BFB4 -‐ 11 12 23 Ho Duc Thang -‐ 13 6 19 Smile Sheep -‐ -‐ 15 15
Final Standings Championship
Mr. Racer WINNER of 2012 Simulated Car
Racing Championship
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We wait for you…
www.geccocompetitions.com
[email protected] @geccocomp /geccocompetitions
…next year!