coach.conf

天津 改进后的 RCSSROBOCUP 代码

# Configurations for the coach
# Lines beginning with # are comment lines

#these determine when the coach says the server is dead
alarm_interval: 500
max_cycles_since_io: 200


# The test module 
cycles_to_store: 11

# 0 for no reconnect, 1 for reconnect on left, 2 for reconnect on right
reconnect: 0

analyze_log: off
#log_fn: ../sserver-5.15/server/record.log
log_fn: ../logfiles/record.log

version: 6.02

#save_log
save_action_freq: 40
#save_action_log_level: 200

############################################################
# Opponent info gathering
############################################################
#turns off any adversary class processing
no_adversary_classes: on

epoch_length: 1000
#epoch_length: 500
rg_rows: 8
rg_cols: 15
rg_vals: 4
take_stats               : off
record_detail_stats      : off
record_summary_stats     : off

record_ball_position     : on
record_opponent_positions: on
record_ball_controller   : off
record_passing_rects     : on
record_dribble_rects     : on
record_shot_rects        : on
record_action_count      : off
record_player_proximity  : off

#coach has perfect vision
control_buffer      : 0 

### These are for features
#passing feature
pass_num_past_cont  : 3
pass_timeout        : 50
min_pass_dist       : 5.665

#dribbling feature
drib_num_past_cont  : 6
max_drib_cntl_intvl : 4
min_drib_dist       : 2

#shooting feature
shot_num_past_cont  : 3
shot_cntl_timeout   : 1
shot_goal_buf       : 5

### These are for the actual observatiosn

opp_pos_match_var   : 3

#if this is on, then the coach writes the classification
# of the adversary at the end of each epoch
classify_adversary: off

#this is used to create adversary classes from observations
#create_adv_class

############################################################
# Ball Prediction Info
############################################################
record_ball_pred_info: off

############################################################
# Finding times of goals
############################################################
goal_watch: off
team_to_watch: CMUnited99
gw_output_fn: gw.out
time_before_goal: 50

use_opp_models: off

############################################################
# Setplay info
############################################################
coach_setplays: off
plan_setplays: on

############################################################
# SetPlay Planning Info
############################################################
#this should almost always be 0; other values are for testing
SPP_planner_type: 0

#how long coach requires all players stationary before planning
SPP_kickoff_fixed_pos_time: 10

OM_num_models: 10

#stuff for hillclimbing
SPP_hillclimb_max_stat_steps: 10000000
# number of hillclimbing steps before the player prob dist is resampled
SPP_hillclimb_resample_freq: 60
SPP_hillclimb: on

SPP_sideline_buffer: 2

#the distance close to a pass that the coach will move a player onsides for
SPP_offside_worry_dist: 5

#what percent of max speed we expect players to go for offsetting from receive location
SPP_offset_perc_speed: .7
#how long before player starts going to location
SPP_offset_delay: 7

#whether to try and resue agents (only turn off if there are bugs)
#I put a hack in the execution which will not work with agent reuse
SPP_reuse_agents: off

#this stuff affects path evaluation
SPP_eval_loc_weight: 20
SPP_eval_bad_wp_weight: -10
SPP_eval_length_weight: 2
SPP_eval_pass_weight: 10
SPP_eval_avg_occ_weight: 30
SPP_eval_max_occ_weight: 30
#the sample density is the number of sample per 1 square meter
SPP_eval_sample_density: .75
SPP_eval_sample_wd_ratio: 0.5
SPP_eval_sample_extra_len: 2.0
SPP_eval_send_base_max: 1.0
SPP_eval_send_pen_max:  1.0
# these affect how far offsides we allow target points to be
SPP_eval_offplay_perc_speed: .8
SPP_eval_offplay_delay: 3
SPP_eval_opp_delay: 2
SPP_eval_opp_speed: .9


#Default plan setup
SPP_plans_dir: ./Plans
SPP_def_my_kick_off1: my_kick_off1
SPP_def_my_kick_off2: my_kick_off2
SPP_def_my_kick_in1: my_kick_in1
SPP_def_my_kick_in2: my_kick_in2
SPP_def_my_corner_kick1: my_corner_kick1
SPP_def_my_corner_kick2: my_corner_kick2
SPP_def_my_goal_kick1: my_goal_kick1
SPP_def_my_goal_kick2: my_goal_kick2
SPP_def_my_free_kick1: my_free_kick1
SPP_def_my_free_kick2: my_free_kick2
SPP_def_my_goalie_catch1: my_goalie_catch1
SPP_def_my_goalie_catch2: my_goalie_catch2
SPP_def_their_kick_off: their_kick_off
SPP_def_their_kick_in: their_kick_in
SPP_def_their_corner_kick: their_corner_kick
SPP_def_their_goal_kick: their_goal_kick
SPP_def_their_free_kick: their_free_kick
SPP_def_their_goalie_catch: their_goalie_catch

SPP_hillclimb_def_file: ./Plans/def_waypoints

#also, there are some things which you can do at compile time:
# in coach/PlannerModules.C; define SAMPLE_CONE

##########################################################
#            Defensive Opponent Model parameters         #
##########################################################

use_new_def_set_plays: on

#distance less than which two positions are considered the same
#when storing in the defensive opponent model
def_same_pos_buffer: 5.0

#these all store the number of definite positions for placing
#players on defensive free kicks
num_gk_definites: 1	
num_fk_definites: 1
num_ki_definites: 1
num_ko_definites: 1
num_gc_definites: 0
num_ck_definites: 4

#these all store the number of floating positions for placing
#players on defensive free kicks
num_gk_exits: 2
num_fk_exits: 2
num_ki_exits: 2
num_ko_exits: 4
num_gc_exits: 4
num_ck_exits: 1

# how many extra player to bring back for their offensive kick_in
num_def_ki_extra: 2

#This is the amount added to the each probability in the 
#OppModelSet before normalization.
OM_weight_boost: .1;

#OM_side_to_analyze: right
#OM_team_to_analyze: CMUnited
#opp_model_set_file_name: OppModel.conf                                        
#only define this when analyzing log files offline
use_opp_models: off