https://github.com/albertpumarola/QLearning-NAO_plays_Agario

ROS compatible reinforcement learning algorithm based on Q-Learning that enables a NAO robot play the Agar.io game
https://github.com/albertpumarola/QLearning-NAO_plays_Agario

Last synced: 3 months ago
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ROS compatible reinforcement learning algorithm based on Q-Learning that enables a NAO robot play the Agar.io game

• Host: GitHub
• URL: https://github.com/albertpumarola/QLearning-NAO_plays_Agario
• Owner: albertpumarola
• License: mit
• Created: 2016-02-04T19:27:30.000Z (almost 9 years ago)
• Default Branch: master
• Last Pushed: 2016-02-22T15:11:50.000Z (over 8 years ago)
• Last Synced: 2024-05-02T18:08:12.726Z (6 months ago)
• Language: C++
• Homepage:
• Size: 303 KB
• Stars: 25
• Watchers: 3
• Forks: 2
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# QLearning-NAO_plays_Agario

ROS compatible reinforcement learning algorithm based on Q-Learning that enables a NAO robot play the [Agar.io](http://agar.io/) game. The game state acquisition (cell's positions, radius, etc) is done with computer vision because the only allowed data input is the robot camera.

## Video

Video of the developed algorithm playing with the learned model



## Q-Learning

#### State Representation

One of the most restrictive properties of QLearning is the need to discretize the state, it can not work in continuous state. This supposes a critical problem when applying QLearning to this game because the possible number of states are infinite. The discretization strategy chosen was inspired by a robot. The idea was to equip the player's cell with a set of simulated laser sensors which determine if they collide with a dangerous agent or not (boolean value). This would give us information about where are the dangerous agents located. Then, to have information about the pellets, divide the board in 9 sections and give to the QLearning the region with maximum number of pellets (9 possible values). The number of states is (2^16)*9.

![State](https://github.com/AlbertPumarola/QLearning-NAO_plays_Agario/blob/master/art/state.png "State representation")

#### Actions

Five possible actions have been implemented: eat closest pellet (green), chase the closest smaller enemy (blue), evade enemies (red) or go to one of the other 8 possible regions (black).

![Actions](https://github.com/AlbertPumarola/QLearning-NAO_plays_Agario/blob/master/art/actions.png "Actions")

#### Q Matrix

Q(x(t-1), u(t-1)) = random(beta, exploitation, exploration) 

* exploitation: Q(x(t-1), u(t-1)) = IR + gamma * Max[Q((x(t), U(t))]

* exploration: Q(x(t-1), u(t-1)) = IR + gamma * Q(x(t), random(u(t) | u(t) in U(t))

* instantaneous reward: IR = R[x(t-1), u(t-1)] + R_still_alive + R_eat_pellet + R_eat_enemy

## Execute

```

roslaunch agario_sele agario_sele.launch

```

## TODO

1. Improve game state acquisition:

  * Improve segmentation for occlusions and overlaps.

  * Improve Ray Trace algorithm.

2. Decrease memory usage.