2012 Simulated Car Racing Championship @ GECCO-2012
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2012 Simulated Car Racing Championship @ GECCO-2012

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Second leg of the 2012 Simulated Car Racing Championship held during GECCO-2012 ...

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 Milano

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2012 Simulated Car Racing Championship @ GECCO-2012 Presentation Transcript

  • 1. The 2012 Simulated Car Racing Championship @ GECCO-2012 Daniele Loiacono, Luigi Cardamone, and Pier Luca Lanzi2012 Simulated Car Racing Championship @ GECCO-2012
  • 2. 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 championship2012 Simulated Car Racing Championship @ GECCO-2012
  • 3. 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, 20122012 Simulated Car Racing Championship @ GECCO-2012
  • 4. 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 sensors2012 Simulated Car Racing Championship @ GECCO-2012
  • 5. The Open RacingCar Simulator
  • 6. The Open Racing Car Simulator & the Competition Software TORCS TORCS PATCH BOT BOT BOT SBOT SBOT SBOT q  The competition server UDP UDP UDP q  Separates the bots from TORCS q  Build a well-defined sensor model q  Works in real-time BOT BOT BOT2012 Simulated Car Racing Championship @ GECCO-2012
  • 7. 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 direction2012 Simulated Car Racing Championship @ GECCO-2012
  • 8. 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 together2012 Simulated Car Racing Championship @ GECCO-2012
  • 9. Competitors
  • 10. 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 Granada2012 Simulated Car Racing Championship @ GECCO-2012
  • 11. Ho Duc Thang University of Nottingham2012 Simulated Car Racing Championship @ GECCO-2012
  • 12. 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 handling2012 Simulated Car Racing Championship @ GECCO-2012
  • 13. BFB4 Kyung-Joong Kim Jun-ho Seo Tae-seong Kim Sejong Univ, Korea2012 Simulated Car Racing Championship @ GECCO-2012
  • 14. 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 bend2012 Simulated Car Racing Championship @ GECCO-2012
  • 15. Mr Racer Jan Quadflieg, Tim Delbruegger and Mike Preuss TU Dortmund2012 Simulated Car Racing Championship @ GECCO-2012
  • 16. 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 paper2012 Simulated Car Racing Championship @ GECCO-2012
  • 17. 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 measurements2012 Simulated Car Racing Championship @ GECCO-2012
  • 18. 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 race2012 Simulated Car Racing Championship @ GECCO-2012
  • 19. 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 plan2012 Simulated Car Racing Championship @ GECCO-2012
  • 20. Qualifying
  • 21. 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 ticks2012 Simulated Car Racing Championship @ GECCO-2012
  • 22. Emero
  • 23. Qualifying: Emero Ready2Win   Mr.  Racer   Mariscal&Fernandez   NO-­‐NOISY   Ho   NOISY   BFB4   Autopia   0   2000   4000   6000   8000   10000   12000  2012 Simulated Car Racing Championship @ GECCO-2012
  • 24. Dirt-1Kerameikos
  • 25. Qualifying: Kerameikos Ready2Win   Mr.  Racer   Mariscal&Fernandez   NO-­‐NOISY   NOISY   Ho   BFB4   Autopia   0   2000   4000   6000   8000   10000   12000  2012 Simulated Car Racing Championship @ GECCO-2012
  • 26. Dirt-1Mikegrady
  • 27. Qualifying: Mikegrady Ready2Win   Mr.  Racer   Mariscal&Fernandez   NO-­‐NOISY   NOISY   Ho   BFB4   Autopia   0   2000   4000   6000   8000   10000   12000   14000  2012 Simulated Car Racing Championship @ GECCO-2012
  • 28. 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 competitors2012 Simulated Car Racing Championship @ GECCO-2012
  • 29. 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 noise2012 Simulated Car Racing Championship @ GECCO-2012
  • 30. Races
  • 31. 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 race2012 Simulated Car Racing Championship @ GECCO-2012
  • 32. And the winner is… Mr. Racer TU Dortmund2012 Simulated Car Racing Championship @ GECCO-2012
  • 33. Final Results 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 Next leg @ CIG-2012 in Granada (Spain)2012 Simulated Car Racing Championship @ GECCO-2012
  • 34. Championship  Compe&tor Evo* Gecco CIG TotalAutopia     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  
  • 35. Thank you!SCR ContactsOfficial Webpagehttp://games.ws.dei.polimi.it/competitions/scr/Emailscr2012@sigevolution.orgGoogle Grouphttp://groups.google.com/group/racingcompetition