The 2009 Simulated Car Racing Championship

Transcripción

The 2009 Simulated Car Racing
Championship
Daniele Loiacono, Julian Togelius, and Pier Luca Lanzi
Simulated Car Racing Championship @ CIG-2009
2009 Simulate Car Racing
Championship
The goal is to submit a learned or developed controller for
TORCS, an open source racing simulator, that is able to drive
fast alone and in presence of opponents
Championship involves 9 races and will be run during 3
Conferences
IEEE CEC-2009, Trondheim (Norway), May 18th – May
21st
ACM GECCO-2009, Montreal (Canada), July 8th – 12th
IEEE CIG-2009, Milan (Italy), September 7th – 11th
Winners awarded on the basis of their scoring in each
conference competition.
At the end, the team with highest overall score will be the
winner the championship
Motivations
Motivations
Simulated Car Racing is a funny and exciting competition
It is possible to see and play with the entries of this
competition
It looks really attractive to students and people outside the
field
Goals of Simulated Car Racing
Proposing a challenging competition:
not designed with Computational Intelligence in mind
computationally expensive
noisy and “not completely” deterministic
more similar to a real-world problem
Proposing a relevant game-based competition:
more representative of commercial games AI
real-time
dealing with a lot of practical issues
a lot of programmed AI available for comparison
human players can interact with AI
The Open Racing Car
Simulator
The Open Racing Car Simulator
TORCS is a state of the art open source simulator written in C++
Main features
Sophisticated dynamics
Provided with several
cars, tracks, and
controllers
Active community of
users and developers
Easy to develop your
own controller
OS Support
Linux: binaries and building from sources
Windows: binaries and “limited” bulding from sources support
OSX: legacy binaries and no building from sources support Simulated Car Racing Championship @ CIG-2009
Competition API
To make TORCS more easy to use we
developed an API based on socket (UDP)
Values of sensors and effectors are sent
through UDP
3 components
Torcs Patch
Server Bot (C++)
Client API (C++ and Java)
TORCS
Patch
Server BOT
UDP
Client
Client
Controlller
Controlller
Sensors
Rangefinders for…
…edges of the track
…opponents
Speed, RPM, fuel, damage, angle with track, distance race,
position on track, etc.
Effectors
Basically 4 effectors
Steering wheel [-1,+1]
Gas pedal [0, +1]
Brake pedal [0,+1]
Gearbox {-1,0,1,2,3,4,5,6}
Submissions
Entries submitted
CEC-2009
Luigi Cardamone, Politecnico di Milano (champ CIG-2008)
Diego Pérez & Yago Sáez, University Carlos III, Madrid
Jan Quadflieg, TU Dortmund
Thies Lönneker & Martin V. Butz, University of Würzburg
Enrique Onieva & David A. Pelta., Consejo Superior de
Investigaciones Cientificas & Universidad de Granada
Chung Cheng Chiu, Academia Sinica
GECCO-2009
Jorge Muñoz, University Carlos III, Madrid
Bernardi, Ciambelli, Fiocchetti, Manfucci and Pizzo, University of
Perugia
Wong Ka Chun, The Chinese University of Hong Kong
Witold Szymaniak, Poznan University of Technology
CIG-2009
Marc Ebner and Thorsten Tiede, Eberhard Karls Universität,
Tübingen
Wolf-Dieter Beelitz, BHR Engineering Ltd., Pforzheim
Types of entries
Mainly evolved/Learned
Luigi Cardamone, Politecnico di Milano (champ CIG-2008)
Bernardi, Ciambelli, Fiocchetti, Manfucci and Pizzo, University of Perugia
Witold Szymaniak, Poznan University of Technology
Marc Ebner and Thorsten Tiede, Eberhard Karls Universität, Tübingen
Programmed behaviors developed with a significant CI contribute
Thies Lönneker & Martin V. Butz, University of Würzburg
Jan Quadflieg, TU Dortmund
Diego Pérez & Yago Sáez, University Carlos III, Madrid
Mainly programmed
Enrique Onieva & David A. Pelta., Consejo Superior de Investigaciones
Cientificas & Universidad de Granada
Wolf-Dieter Beelitz, BHR Engineering Ltd., Pforzheim
Chung Cheng Chiu, Academia Sinica
Jorge Muñoz, University Carlos III, Madrid
C. Guse and D. Vrajitorum, Indiana University South Ben
Wong Ka Chun, The Chinese University of Hong Kong
Championship standings
Competitor
CEC-2009 GECCO-2009 CIG-2009
Onieva&Pelta
22
32
?
COBOSTAR
28.5
16.5
?
Luigi (Champ2008)
20
23
?
Perez&Saez
16
11
?
Mr. Racer
19
0
?
Redjava
14
0
?
Epic
0
13
?
Simplicity
0
12.5
?
DRT
0
11
?
Jorge Muñoz
0
8.5
?
Witold
0
0
?
Total
54
45
43
27
19
14
13
12.5
11
8.5
0
First evaluation stage
Scoring process: first stage
Scoring process involves three tracks (unknown to the
competitors):
Buzzard-Raceway
Forza
Migrants
Only a controller at once is tested and performance is
defined as the distance covered within 10000 game tics
First Stage: Buzzard-Raceway
DRT
Witek Witold
Epic
Perez&Saez
Ebner&Tiede
Simplicity
Luigi (Champ2008)
Wolf-Dieter
Redjava
Jorge Fuentes
COBOSTAR
Onieva&Pelta
Mr. Racer
0
2000
4000
6000
8000
10000
First Stage: Forza
DRT
Witek Witold
Epic
Perez&Saez
Ebner&Tiede
Simplicity
Luigi (Champ2008)
Wolf-Dieter
Redjava
Jorge Fuentes
COBOSTAR
Onieva&Pelta
Mr. Racer
0
2000
4000
6000
8000
10000
12000
14000
First Stage: Migrants
DRT
Witek Witold
Epic
Perez&Saez
Ebner&Tiede
Simplicity
Luigi (Champ2008)
Wolf-Dieter
Redjava
Jorge Fuentes
COBOSTAR
Onieva&Pelta
Mr. Racer
0
2000
4000
6000
8000
10000
12000
First stage: summary
Rank
1
2
3
4
5
6
7
8
9
10
11
Competitor
COBOSTAR
Onieva&Pelta
Jorge Muñoz
Mr. Racer
Wolf-Dieter
Redjava
Luigi (Champ2008)
Perez&Saez
Ebner&Tiede
Simplicity
Witek Witold
Forza Buzzard Migrants
6
10
10
8
8
8
5
5
6
10
4
0
3
6
5
4
2
4
2
3
2
0
0
3
0
1
1
1
0
0
0
0
0
Total
26
24
16
14
14
10
7
3
2
1
0
COBOSTAR and Onieve&Pelta
Clearly the fastest controllers…
… but also the most reliable
In each track the performances of best controllers are very close
COBOSTAR outperfoms Berniw (one of the best programmed
controller provided with TORCS) on two tracks
Diego Pérez et al.
University Carlos III, Madrid
th
8
CIG-2008 Champ
Luigi Cardamone
Politecnico di Milano
th
7
Redjava
Chung Cheng Chiu
Academia Sinica, Taipei
th
6
Wolf-Dieter Beelitz, BHR
Engineering Ltd., Pforzheim
th
5
Mr Racer
Jan Quadflieg
th TU Dortmund
4
Jorge Muñoz
University Carlos III, Madrid
rd
3
Enrique Onieva
Consejo Superior de Investigaciones
Cientificas, La Poveda-Arganda del Rey, Madrid
David A. Pelta
Universidad de Granada
nd
2
COBOSTAR
Thies Lönneker and Martin V. Butz
University of Würzburg
http://www.coboslab.psychologie.uni-wuerzburg.de
st
1
Final evaluation stage
The final stage
Who is the best controller in presence of opponents?
In the final stage we compared all the entries with the
previous CIG-2008 champion
For each track we run 5 races with random starting grids
The final score is computed as the median of the 5 races
using the F1 point system (10 to first, 8 to second, 6 to third
5, 4, 3 to the last)
In addition two 2-points bonus are awarded to
The controller that reported less damages at the end of
the race
The controller that achieved the fastest lap of the race
The Final Stage: Buzzard-Raceway
Competitor
Buzzard
COBOSTAR
11
Onieva&Pelta
9
Jorge Muñoz
6
Luigi (Champ 2008)
4.5
Wolf-Dieter
4
Mr. Racer
3.5
Perez & Saez
3
Redjava
2.5
Forza
Migrant
Total
11
9
6
4.5
4
3.5
3
2.5
The Final Stage: Forza
Competitor
Buzzard
Onieva&Pelta
9
COBOSTAR
11
Jorge Muñoz
6
Mr. Racer
3.5
Wolf-Dieter
4
Luigi (champ 2008)
4.5
Redjava
2.5
Perez & Saez
3
Forza
Migrant
12
7
3.5
6
5.5
4
4
2.5
Total
21
18
9.5
9.5
9.5
8.5
6.5
5.5
The Final Stage: Migrants
Competitor
Buzzard
COBOSTAR
11
Onieva&Pelta
9
Wolf-Dieter
4
Jorge Muñoz
6
Luigi (champ 2008)
4.5
Mr. Racer
3.5
Redjava
2.5
Perez & Saez
3
Forza
7
12
5.5
3.5
4
6
4
2.5
Migrant
12
8
6
5
4
2.5
4
4
Total
30
29
15.5
14.5
12.5
12
10.5
9.5
COBOSTAR is the winner of CIG-2009 Car Racing Competition!
Championship 2009
Competitor
CEC-2009 GECCO-2009 CIG-2009
Total
Onieva&Pelta
22
32
29
83
COBOSTAR
28.5
16.5
30
75
Luigi (Champ2008)
20
23
12.5
55.5
Perez&Saez
16
11
9.5
36.5
Mr. Racer
19
0
12
31
Redjava
14
0
10.5
24.5
Onieva
& Pelta winners of 2009 Simulated
Car Racing
Jorge Muñoz
8.5
14.5 Championship!
23
Wolf-Dieter
15.5
15.5
Epic
13
0
13
Simplicity
12.5
0
12.5
DRT
11
0
11
Witold
0
0
0
Ebner&Tiede
0
0
Conclusions (1)
Really a lot of improvement from the first edition of TORCSbased competition at WCCI-2008 (June, 2008)
WCCI-2008
CIG-2009
Conclusions (2)
Pool of competitors is getting bigger and competition is
getting more and more difficult
The best controllers are at the same fast and very reliable:
they are able to win even from the last position of the
starting grid
Many controllers improved their opponent
avoidance/overtaking behavior
The best controllers among the submitted ones are
competitive with the programmed controllers in the game!
What about CI?
Learn or evolve a controller from scratch does not seem to
lead to the best performance
The winner is actually mainly programmed
However most of the controllers involves CI:
Parameters optimization
Learning target speed/trajectory
Learning complex behaviors (?)
What next?
We plan to organize again this competition next year keeping
the championship formula
We are definitely interested in performances but we also
wish to see novel approaches and CI-relevant works:
Introducing a training stage to encourage learning
Improving sensory inputs to be competitive with
“professional” TORCS controller
Evaluating controllers also on specific tasks (e.g., race
start, overtaking, etc.) as a part of the competition
Simulated Car Racing requires a big effort… how to keep
people interested?
Awards and prizes at major conferences
Dissemination of results
Thank You! Any Question?

The 2009 Simulated Car Racing Championship

Transcripción

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