Demolition Derby 2012 - GECCO Competition Report

07/2012, Martin V. Butz

Institute of Computer ScienceChair of Cognitive Modeling

Demolition Derby 2012Based on TORCS: The Open Racing Car Simulator

Demolition Derby 2012http://cm.inf.uni-tuebingen.de/competitions

• Organized by: - Martin V. Butz, University of Tübingen, Germany

• Supported by: - Andreas Alin, University of Tübingen, Germany- Dennis Schwartz, University of Tübingen, Germany

• And with previous help by: - Matthias J. Linhardt, University of Bamberg, Germany- Daniele Loiacono, Politecnico di Milano, Italy- Luigi Cardamone, Politecnico di Milano, Italy- Pier Luca Lanzi, Politecnico di Milano, Italy

http://cm.inf.uni-tuebingen.de/competitions

http://cm.inf.uni-tuebingen.de/competitions

Demolition Derby: Purpose

• Optimize opponent interactionsopponent interactions- Avoid being hit – run away when necessary- Try to hit others at the right moment.

• Enables (co-)optimization of interaction behavior(co-)optimization of interaction behavior. - Fitness may be based on damage caused to other cars.- Co-development of two or more competitors is possible

(possibly with different approaches).- Can do policy-gradient-based optimization

• Various strategy components strategy components are relevant- Avoidance optimization- Chasing others optimization- Forwards & backwards steering control- Opponent monitoring- Meta-strategies

3

Goal & Setup

• Goal:Wreck all opponent cars by Wreck all opponent cars by crashing into them without gettingcrashing into them without gettingwrecked yourself.wrecked yourself.

• Setup: Local sensor information Local sensor information as in the Simulated Car Racing Competition.

• Sensors: - Simulated distances sensorsSimulated distances sensors (noiseless).

Surrounding 36 opponent sensors with a range of 300m. 19 track sensors with a rang of 200m.

- Other sensors Current damage of own car. Damage produced on other cars. Status of car (speed, wheels, gear…). Relative position on track.

- Damage model: Cars do not take any damage when colliding with walls. Cars do not take any damage in the front when colliding with each other. Cars only take damage when their rear is hit by another car.

4

Winner Determination

• ArenaArena: Large circular track (surface: asphalt; length: 640m, width: 90m)• Qualifying

- 1-vs-1 matches evaluating all against all (winner = 1 point = less damage)

- Eight best controllers qualify for the final showdown.• Final demolition derby matches:

- The best eight controllers fight each other.- Ten matches are played.- Car that wins most often wins the competition.- Alternative scoring with rank-based points is also considered.

5

Additional Goodies for a Quick Start

• Basic controller clients for Java and C++, to easily add additional functionality.

• COBOSTAR client in Java- With opponent monitor that tracks opponents over time.- With simple crashing strategy that targets closest car in range.

• Evolvable client setup that - receives caused damage signal,- applies CMA evolution strategy-based optimization,- runs continuously with or (even faster) without visualization for

as many generations as desired.

Last Years Entries

• Base Client- Dep. of Computer Science- University of Würzburg, Germany

• DemoStar- Thies Lönneker, Dep. of Computer Science- University of Würzburg, Germany

• Spartiat- Zygmunt Horodyski, Piłsudskiego 39/1- 66-530 Drezdenko, Poland

This Year’s NEW Entries

• JustDeterminedJustDetermined- Brian J Tellier- University of Southern Maine (USMUSM), Portland, ME, USA

• KevinCarKevinCar- Kevin Knowlton- University of Southern Maine (USMUSM), Portland, ME, USA

• SEALbotSEALbot- Anderson Rocha Tavares & Gabriel de Oliveira Ramos & Renato de

Pontes Pereira & Sérgio Montazzolli Silva & Ana L. C. Bazzan- Universidade Federal do Rio Grande do Sul (UFRGSUFRGS), Porto Alegre,

Brasil

• SloppyJalopySloppyJalopy- David Gagne- University of Southern Maine (USMUSM), Portland, ME, USA

• WSI-Client 2012WSI-Client 2012- Wilhelm-Schickard-Institut of Computer Science- University of Tübingen, Germany

8 © 2012 University of Tuebingen

• Chase Opponent – try to crash• Avoidance not considered. Avoidance not considered.

• Challenges tackled:- Opponent Tracking

Use local distance sensors Also use global information (track location)

- DemoStar Agility: CMA-ES-based optimization of turning.

- DemoStar Recovery: Escape stuck situations Stuck Face-to-face Stuck at wall.

Last Year: Demo Star Approach


This Year: Strategy Improvements

• Simple approach from Uni Tübingen to increase the challenge: - Modified Base-Client that avoids attacks early in the game

(“cowered car”).Approaches by new entries: • USM: Rule-based agents with higher-level rules and control

strategies: - Conditions:

Ahead, Close Ahead, Behind, Advantage, Edge, Wounded, No Change, Duel, Turning

- Actions: Ram, Run, Bait, Get Clear, U-Turn, Circle Track

• UFRGS: Fuzzy rule-based agent:- Four behavioral strategies:

Stuck, Evade, Attack (front, side), Look for Opponents

- Scoring mechanism for selecting behavior and opponent- Fuzzy rules make decisions


USM: Rule-based agents

JustDeterminedJustDetermined

KevinCarKevinCar

SloppyJalopySloppyJalopy


Gagne, Knowlton, Tellier, and Congdon, GECCO 2012

USM Rule-Based Agents

Agent behaviors are determined using a rule-based approach

No learning for the entries here, but this approach is designed for EC learning Conditions and actions are drawn from a discrete

“vocabulary” of pre-designed options Each rule is a condition-action vector

Conflict resolution: Rule order here (but specificity is usually helpful)


USM Rule-Based Agents

Abstractions interface between game and rules Low-level game sensors are abstracted to high-level rule

conditions High-level rule actions are translated to low-level game

controls

Agent

Gamecontrols

outputs

sensors

inputs

low-leveldetails

low-leveldetails

high-levelabstractions

high-levelabstractions

conditions actions

Congdon, Genetic Algorithms and NonCoding DNAGagne, Knowlton, Tellier, and Congdon, GECCO 2012

Conditions – Input AbstractionsCondition TRUE when…

Ahead An enemy is ahead and within 100 m

Close Ahead Any enemy is ahead and within 20 m

Behind An enemy is behind and within 100 m

Advantage Opponent has 2000 more damage than agent

Edge Agent is near the track edge

Wounded Agent has more than 7,000 damage

No ChangeAgent has been doing the same thing

for a long time

Duel There is only one other opponent

Turning Agent has started a U-turn, but has not finished

Ahead

Behind


Actions – Output Abstractions as Pictures

Action Pictorial Description

Ram Agent SMASH!

Run

Bait

Get Clear

U-Turn

Circle Track


Action Description

Ram • Steer toward opponent• Slow down if necessary.• Otherwise, full acceleration.

Run • Steer away from opponent• Circle the track• Full acceleration

Bait • Circle the track• Speed limit 110 kph• When opponent is close, swerve

Get Clear • Turn away from track edge• If very close to edge, back up

U-Turn • Cut wheel hard left or right (coin flip)• Keep wheel cut for 100 steps

Circle Track • Stay centered and in line with track axis• Speed limit 110 kph

Actions – Output Abstractions in English


Sloppy Jalopy Entry – Rule Set

Conditions Action

Ahead Close Ahead

Behind

Advantage Edge Wounded No Change Duel Turning

F * * * T * * * Get Clear

* * * F * F T * U-Turn

* * * * F T * F Run

* * * T F * * T Run

* * T * F F * F Bait

T * F * * * * F Ram

T * * * * F F T Ram

* * T F F * F T Bait

* * * * * * F * Circle Track

‘*’ Means any state satisfies this condition (Don’t Care). Grayed-out conditions are ignored by this agent.


Sloppy Jalopy Behavior

SJ runs away when it’s wounded or winning a duel by a margin.

Rams only when there is nobody behind it. Tries to score mainly by baiting opponents. Is more timid in multiplayer, more aggressive in a

duel.Does a U-Turn if it’s been doing one thing for a

while.Circle track by default.


Crash and Segfault Entry – Rule SetConditions Action

Ahead Close Ahead

Behind


F F * * T * * * * Get Clear

* F T * F * F * F Run

T F F T F * * * * Run

T F F F * * * * F Ram

F F F T F * * * * Circle Track

* T * * * * * * * Ram

* F T * F * T * * U-Turn

F F F F F * F * F Circle Track

F F F F F * T * * U-Turn

F F * F F * * * T U-Turn



Crash and Segfault BehaviorWill always attempt to ram if an opponent is close

ahead.Runs away if an opponent is behind it.Runs away if it has a damage advantage in a

duel.Attempts to ram if there is an opponent ahead

and it isn't running.Will make a U-turn if it has gone a complete lap

around the track while either running or circling. If no other action is called for, will circle the track

to try to find opponents.


JustDetermined Entry – Rule Set

Conditions Action

Ahead Close Ahead

Behind


* * * * T * * * * Get Clear

* * T * * * * * * U-Turn

T * F * F * * * * Ram

* * F T F * * * * Run

F * F * F * * * * Circle Track



JustDetermined Behavior

Basic wall detection to avoid wallsOpponent is its main focus when opponent is in

front of the controller If an opponent is behind the controller, it will turn

around as fast as possible to hit the opponentWhen no opponent is near, the controller circles

the track to maintain speed


Future Work

Further evaluation of agents against a wider variety of drivers.

This basic approach is designed as a step towards using EC on the rule sets.

In addition to evolving the rule sets, parameters such as “close” can benefit from EC to refine these values.

UFRGS: Fuzzy rule-based agent

SEAL-Bot


Results - Scoring

• Preliminary 1 vs. 1 MatchesPreliminary 1 vs. 1 Matches- More matches won – participate in final showdown matches- Eight qualify – therefore, all qualify (eight entries in total)

• Final showdown matchesFinal showdown matches- 10 matches- Controller that wins the most matches wins the competition. - Alternative point scoring also reported.


Preliminary 1 vs. 1 MatchesPreliminary 1 vs. 1 Matches


BaseClient

BaseClient Spartiat WonBaseClient DemoStar LostBaseClient WSI-Client 2012 LostBaseClient KevinCar LostBaseClient SEALbot LostBaseClient SloppyJalopy WonBaseClient JustDetermined WonMatches Won: 3

Spartiat

Spartiat BaseClient LostSpartiat DemoStar TieSpartiat WSI-Client 2012 WonSpartiat KevinCar LostSpartiat SEALbot LostSpartiat SloppyJalopy LostSpartiat JustDetermined WonMatches Won: 2

DemoStar

DemoStar BaseClient WonDemoStar Spartiat TieDemoStar WSI-Client 2012 TieDemoStar KevinCar LostDemoStar SEALbot WonDemoStar SloppyJalopy WonDemoStar JustDetermined TieMatches Won: 3

WSI-Client 2012

WSI-Client 2012 BaseClient WonWSI-Client 2012 Spartiat LostWSI-Client 2012 DemoStar TieWSI-Client 2012 KevinCar LostWSI-Client 2012 SEALbot TieWSI-Client 2012 SloppyJalopy WonWSI-Client 2012 JustDetermined WonMatches Won: 3

KevinCar

KevinCar BaseClient WonKevinCar Spartiat WonKevinCar DemoStar WonKevinCar WSI-Client 2012 WonKevinCar SEALbot TieKevinCar SloppyJalopy WonKevinCar JustDetermined WonMatches Won: 6

SEALbot

SEALbot BaseClient WonSEALbot Spartiat WonSEALbot DemoStar LostSEALbot WSI-Client 2012 TieSEALbot KevinCar TieSEALbot SloppyJalopy TieSEALbot JustDetermined WonMatches Won 3

SloppyJalopy

SloppyJalopy BaseClient LostSloppyJalopy Spartiat WonSloppyJalopy DemoStar LostSloppyJalopy WSI-Client 2012 LostSloppyJalopy KevinCar LostSloppyJalopy SEALbot TieSloppyJalopy JustDetermined LostMatches Won: 1

JustDetermined

JustDetermined BaseClient LostJustDetermined Spartiat LostJustDetermined DemoStar TieJustDetermined WSI-Client 2012 LostJustDetermined KevinCar LostJustDetermined SEALbot LostJustDetermined SloppyJalopy WonMatches Won: 1

Preliminary 1 vs. 1 MatchesPreliminary 1 vs. 1 Matches

Ranking in Preliminaries….

1. KevinCar 62. BaseClient 3

DemoStar 3SEALbot 3WSI-Client 2012 3

6. Spartiat 27. SloppyJalopy 1

JustDetermined 1


Final Show-Down

• All eights controllers run against each other

• 10 runs.

• If one controllers is our (full damage) all other damages are reset to zero!

• Results: - Close but there is a clear winner…



And the Winner is…


Run 1 Points1st WSI-Client 2012 72nd SloppyJalopy 63rd SEALbot 54th KevinCar 45th BaseClient 36th DemoStar 2

7th JustDetermined 18th Spartiat 0

Run 21st SEALbot 72nd BaseClient 63rd WSI-Client 2012 54th KevinCar 45th SloppyJalopy 36th JustDetermined 2

7th Spartiat 18th DemoStar 0

Run 31st JustDetermined 7

2nd KevinCar 6

3rd SloppyJalopy 54th WSI-Client 2012 45th DemoStar 36th BaseClient 2

7th Spartiat 18th SEALbot 0

Run 4

1st SEALbot 72nd SloppyJalopy 63rd KevinCar 54th DemoStar 45th WSI-Client 2012 36th BaseClient 2


Run 51st KevinCar 72nd BaseClient 63rd SEALbot 54th SloppyJalopy 45th WSI-Client 2012 36th DemoStar 2

7th Spartiat 18th JustDetermined 0

Run 6 Points1st BaseClient 72nd SloppyJalopy 63rd DemoStar 54th JustDetermined 45th SEALbot 36th Spartiat 2

7th WSI-Client 2012 18th KevinCar 0

Run 71st KevinCar 72nd BaseClient 63rd SEALbot 54th WSI-Client 2012 45th SloppyJalopy 36th DemoStar 2


Run 81st SEALbot 7

2nd SloppyJalopy 6

3rd BaseClient 54th KevinCar 45th DemoStar 36th JustDetermined 2

7th Spartiat 18th WSI-Client 2012 0

Run 9

1st SEALbot 72nd SloppyJalopy 63rd WSI-Client 2012 54th DemoStar 45th Spartiat 36th KevinCar 2

7th BaseClient 18th JustDetermined 0

And the Winner is…


Run 1 Points1st WSI-Client 2012 72nd SloppyJalopy 63rd SEALbot 54th KevinCar 45th BaseClient 36th DemoStar 2


Run 21st SEALbot 72nd BaseClient 63rd WSI-Client 2012 54th KevinCar 45th SloppyJalopy 36th JustDetermined 2

7th Spartiat 18th DemoStar 0

Run 31st JustDetermined 7

2nd KevinCar 6

3rd SloppyJalopy 54th WSI-Client 2012 45th DemoStar 36th BaseClient 2

7th Spartiat 18th SEALbot 0

Run 4

1st SEALbot 72nd SloppyJalopy 63rd KevinCar 54th DemoStar 45th WSI-Client 2012 36th BaseClient 2


Run 51st KevinCar 72nd BaseClient 63rd SEALbot 54th SloppyJalopy 45th WSI-Client 2012 36th DemoStar 2


Run 6 Points1st BaseClient 72nd SloppyJalopy 63rd DemoStar 54th JustDetermined 45th SEALbot 36th Spartiat 2

7th WSI-Client 2012 18th KevinCar 0

Run 71st KevinCar 72nd BaseClient 63rd SEALbot 54th WSI-Client 2012 45th SloppyJalopy 36th DemoStar 2


Run 81st SEALbot 7

2nd SloppyJalopy 6

3rd BaseClient 54th KevinCar 45th DemoStar 36th JustDetermined 2

7th Spartiat 18th WSI-Client 2012 0

Run 9

1st SEALbot 72nd SloppyJalopy 63rd WSI-Client 2012 54th DemoStar 45th Spartiat 36th KevinCar 2

7th BaseClient 18th JustDetermined 0

Run 10

1st SEALbot 7

2nd JustDetermined 6

3rd SloppyJalopy 5

4th KevinCar 4

5th WSI-Client 2012 3

6th BaseClient 2

7th Spartiat 1

8th DemoStar 0

And the Winner is....

SEALbotAnderson Rocha Tavares

Anderson Rocha Tavares & Gabriel de Oliveira Ramos & Renato de Pontes Pereira & Sérgio Montazzolli Silva & Ana L. C. Bazzan

Universidade Federal do Rio Grande do Sul (UFRGSUFRGS), Porto AlegreBrasil

Final Scores and Rankings


Rank Name # of Wins Points

1 SEALbot 5 53

3 KevinCar 2 43

4 BaseClient 1 40

5 WSI-Client 2012 1 35

6 JustDetermined 1 32

2 SloppyJalopy 0 50

7 DemoStar 0 25

8 Spartiat 0 11

Thank you for the Thank you for the attention!attention!

Institute of Computer ScienceChair of Cognitive Modeling

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Demolition Derby 2012 - GECCO Competition Report

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