intercept_5_10.net

Brainstormers(头脑风暴)队是05年robocup冠军,这是05年Brainstormers公布的源代码,Brainstormers是robocup老牌的德国强队

# ------ net info -------------------------
# max ball dist = 5, max ball velocity 1.0
# RL PARAMETERS: learning rate: 0.1  expl.rate: 0
# ACTIONS: DASH (100 10 100)  TURN (24)  KICK (0 0 0) (0)
# trained 8 million episodes
# ---------------------------------
# Layers: 3
# Topology (input - hidden - output)
topology: 6 64 1 
set_update_f 0 0.100000 0.000000 0.000000 0.000000 -1.999326 0.000000 0.000000 -1.999321 -1.999324 0.000000 
input_scale 6 0 0.5 0.5 0
input_scale 5 0 0.5 0.5 0
input_scale 4 0 2 2 0
input_scale 3 0 2 2 0
input_scale 2 0 0.5 0.5 0
input_scale 1 0 0.1 0.1 0



# Connection structure - format:
# <unit_no> <act_id>
# Weights <from_unit> <value>

7 1
0 -0.466831  1 -0.557095  2 -0.323792  3 -0.225105  4 -0.135291  5 -0.434153  6 -0.375136  
8 1
0 -0.179732  1 -0.0348841  2 -0.0265776  3 -0.125555  4 0.288351  5 0.462042  6 0.0304686  
9 1
0 0.233482  1 -0.60674  2 0.642984  3 -0.686561  4 -0.833246  5 -0.145657  6 1.00778  
10 1
0 -0.540546  1 0.618806  2 0.0530363  3 0.510522  4 -0.0466647  5 1.06438  6 -0.0973371  
11 1
0 -0.425731  1 0.243925  2 0.0142809  3 -0.555265  4 0.619471  5 0.368524  6 -1.44922  
12 1
0 -0.188296  1 -0.559062  2 -0.194847  3 0.246627  4 0.131046  5 0.231908  6 -0.478698  
13 1
0 -0.00082571  1 -0.757038  2 -0.0679044  3 0.546699  4 -0.635269  5 -0.33845  6 -0.0969617  
14 1
0 -0.0338511  1 0.112687  2 -0.112248  3 0.310127  4 -0.0576128  5 0.0288416  6 -0.07102  
15 1
0 -0.0465335  1 0.206171  2 -0.301651  3 0.317318  4 0.390625  5 0.30281  6 -0.44862  
16 1
0 0.498061  1 0.00758013  2 -0.260374  3 -0.243195  4 -0.664507  5 0.159703  6 0.11187  
17 1
0 -0.0771856  1 0.0654031  2 0.0361953  3 0.112635  4 0.205177  5 0.385311  6 0.0803269  
18 1
0 0.258552  1 -0.0836327  2 -0.110252  3 -0.446088  4 -0.434986  5 0.332765  6 0.259363  
19 1
0 0.637163  1 0.385955  2 -0.00812509  3 0.0777122  4 0.535878  5 -0.0462816  6 -2.44424  
20 1
0 -0.426917  1 -0.0427182  2 -0.0316121  3 -0.253201  4 -0.0278996  5 0.292121  6 -0.132701  
21 1
0 -0.0218346  1 0.275541  2 0.132402  3 0.104904  4 -0.25473  5 0.292644  6 0.0147283  
22 1
0 -0.0985311  1 -0.0765681  2 0.207368  3 0.381014  4 0.223665  5 -0.00903692  6 0.410644  
23 1
0 -0.322378  1 0.382524  2 -0.400132  3 0.466741  4 0.206571  5 0.309306  6 -0.394584  
24 1
0 0.382652  1 1.14524  2 0.741188  3 0.241398  4 0.93582  5 0.395595  6 0.42093  
25 1
0 -0.325413  1 -0.142146  2 -0.00737832  3 -0.416265  4 0.0827853  5 0.247094  6 -0.217765  
26 1
0 -0.141995  1 0.434338  2 -0.182844  3 0.392941  4 -0.0588271  5 0.461786  6 0.423526  
27 1
0 0.1646  1 -0.0252342  2 -0.0384599  3 0.569828  4 0.337301  5 0.321229  6 -0.527629  
28 1
0 0.0342718  1 -0.812119  2 -1.7705  3 -0.450639  4 0.0111255  5 -0.289726  6 -1.13175  
29 1
0 -0.266976  1 -0.272306  2 -0.238578  3 -0.459354  4 -0.597044  5 -0.278922  6 -0.3591  
30 1
0 0.486808  1 0.0437261  2 3.06885  3 0.239011  4 -0.96725  5 0.009187  6 2.62949  
31 1
0 -0.0806358  1 -0.0755828  2 0.0864636  3 0.113755  4 -0.4334  5 0.302299  6 -0.0992968  
32 1
0 0.00565454  1 -0.275816  2 0.461523  3 -0.148281  4 -0.352038  5 -0.364092  6 -0.2594  
33 1
0 1.28945  1 0.880601  2 0.0525168  3 -0.930347  4 -0.586191  5 1.67704  6 1.37752  
34 1
0 0.357307  1 0.0556498  2 0.0802785  3 0.038798  4 -0.119928  5 0.399822  6 0.469812  
35 1
0 -0.659941  1 -5.0684  2 0.00756662  3 1.05251  4 0.051949  5 -1.05259  6 -0.0230658  
36 1
0 0.0170026  1 0.0727944  2 0.272295  3 -0.174261  4 0.201249  5 0.118441  6 0.378046  
37 1
0 -0.236355  1 -0.44823  2 -0.825471  3 -0.460499  4 0.619286  5 0.553236  6 -0.870267  
38 1
0 -0.0556432  1 0.407915  2 0.113126  3 0.195484  4 -0.0974976  5 0.00197793  6 -0.168724  
39 1
0 -0.307029  1 -0.336673  2 -0.336559  3 -0.216847  4 0.105579  5 0.417342  6 -0.0923065  
40 1
0 0.179979  1 -0.0658222  2 0.00952232  3 -0.0597549  4 -0.481507  5 -0.208276  6 -0.359495  
41 1
0 -0.0715099  1 0.412732  2 0.390539  3 0.125094  4 0.354252  5 -0.473667  6 0.184661  
42 1
0 0.532782  1 -0.346136  2 -0.204673  3 -0.515139  4 -0.0632098  5 0.431407  6 -0.456857  
43 1
0 0.377056  1 0.258497  2 0.0439114  3 -0.00728222  4 -0.225145  5 -0.412015  6 -1.30838  
44 1
0 -0.00118996  1 0.277465  2 0.16838  3 -0.0283129  4 0.323194  5 0.241035  6 -0.21887  
45 1
0 -0.82444  1 -0.698291  2 0.0199395  3 0.520838  4 -0.582935  5 -0.456407  6 1.43728  
46 1
0 -0.334783  1 0.607892  2 -0.0905135  3 -0.44943  4 0.531867  5 -0.899761  6 -1.09011  
47 1
0 -0.276408  1 -0.242685  2 0.097778  3 0.296417  4 -0.509744  5 -0.0919712  6 0.259205  
48 1
0 -0.123918  1 -0.946708  2 0.0340083  3 0.719319  4 0.555377  5 -0.620057  6 -2.00805  
49 1
0 0.328424  1 0.240239  2 -0.28178  3 0.0554043  4 -0.115175  5 -0.654438  6 0.434984  
50 1
0 -0.486328  1 -0.500922  2 -0.0794645  3 0.139364  4 -0.0544603  5 0.706168  6 0.131147  
51 1
0 0.239397  1 0.256981  2 0.10507  3 0.383217  4 -0.542164  5 -0.238441  6 -0.38401  
52 1
0 0.0633168  1 -0.29204  2 -1.04047  3 0.833862  4 0.831151  5 -0.464743  6 -0.054059  
53 1
0 -0.398341  1 0.0629553  2 -0.325472  3 -0.186701  4 -0.0877563  5 0.429288  6 -0.132606  
54 1
0 -0.052139  1 0.977997  2 -0.024315  3 -0.701607  4 0.688329  5 1.05608  6 -2.18613  
55 1
0 -0.190206  1 -0.107875  2 0.835024  3 0.758789  4 -0.331376  5 -0.304345  6 -0.190247  
56 1
0 0.13099  1 -0.148548  2 -0.137705  3 -0.29197  4 -0.351602  5 0.164246  6 -0.308902  
57 1
0 0.137741  1 0.238796  2 -0.122049  3 -0.42244  4 0.27441  5 -0.0033903  6 0.085291  
58 1
0 0.483293  1 0.094741  2 0.216802  3 0.124618  4 -0.256222  5 -0.0436847  6 -0.236826  
59 1
0 1.05287  1 0.0302086  2 0.408816  3 0.439891  4 -0.525048  5 0.527719  6 -0.365055  
60 1
0 0.316027  1 0.424482  2 -0.213663  3 0.267204  4 -0.513616  5 -0.28702  6 -0.0124179  
61 1
0 0.145993  1 0.850488  2 -1.42055  3 0.481212  4 -0.299847  5 0.389587  6 -0.824266  
62 1
0 0.132498  1 0.280775  2 0.424381  3 -0.308128  4 0.252011  5 0.282034  6 0.181206  
63 1
0 0.0292064  1 -0.0306577  2 -0.393124  3 0.0245486  4 0.050326  5 0.286887  6 -0.344508  
64 1
0 -0.327911  1 0.0120944  2 -0.495569  3 0.69681  4 -0.330942  5 -0.400283  6 0.0952881  
65 1
0 0.500737  1 -0.409506  2 0.159263  3 -0.264292  4 0.278689  5 -0.188389  6 -1.22512  
66 1
0 0.34437  1 0.0179477  2 0.303401  3 -0.403239  4 0.00351534  5 0.0904659  6 0.367985  
67 1
0 -0.417337  1 0.685897  2 -0.584368  3 -0.20337  4 -0.552317  5 -0.110924  6 0.0667022  
68 1
0 0.126024  1 -0.307864  2 -2.09175  3 0.666822  4 0.6584  5 -0.173801  6 -1.78049  
69 1
0 -0.968404  1 -0.656557  2 -0.0564844  3 0.224142  4 0.570678  5 0.861139  6 -2.15847  
70 1
0 0.0337755  1 -0.462308  2 0.242333  3 -0.440783  4 0.356256  5 -0.281418  6 0.049751  
71 0
0 -0.00101425  7 0.144346  8 0.101952  9 0.715698  10 0.826785  11 0.908235  12 0.18565  13 0.623804  14 -0.162323  15 -0.205397  16 0.273372  17 0.0660778  18 0.0593231  19 -1.48686  20 0.126207  21 -0.198074  22 -0.264976  23 -0.109674  24 0.652448  25 -0.123388  26 0.185788  27 -0.289458  28 -0.757974  29 -0.363843  30 -1.12071  31 0.0482197  32 0.23822  33 -1.82578  34 -0.345124  35 -3.04942  36 -0.255911  37 0.762441  38 0.304991  39 0.0389659  40 0.0831108  41 0.01332  42 -0.38076  43 -0.717432  44 -0.0851994  45 1.17113  46 0.930409  47 0.380597  48 -1.42239  49 -0.302073  50 0.401627  51 0.310347  52 0.955283  53 -0.109481  54 1.53064  55 0.91424  56 0.142461  57 -0.0811659  58 0.0590977  59 -0.624115  60 0.0725036  61 0.778767  62 -0.130856  63 -0.106591  64 0.22229  65 -0.634926  66 -0.167702  67 -0.499783  68 -1.2363  69 1.49381  70 -0.520242