Half Field Offense

Half Field Offense

Reinforcement Learning in Half Field Offense

Half field offense RoboCup 2D Soccer (HFO) is a subtask in RoboCup simulated soccer. Reinforcement learning in HFO is a challenging research topic. We developed hierarchical advantage and present HA-PPO to properly handle parameterized actions (e.g., turn (action) 30 degrees (parameter)) in PPO. The successful goal rate on one v.s. one task (agent v.s. the built-in goal keeper) is about 71% that is the best achieved by reinfoncement learning agents.

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