Cyrus2D Base

Cyrus2D-base is a sample team for the RoboCup Soccer 2D Simulator. This base is a Helios base Fork. We merged the newest version of Helios base(Agent2D) with the Gliders2D base V2.6 together, After that we applied several features of Cyrus2021, the champion of RoboCup 2021 in Soccer Simulation 2D league to improve the performance and capabilities of this base.

This version of Cyrus2D Base is implemented for Foxsy AI project.

All programs can work with rcssserver-18.

• The RoboCup Soccer Simulator: http://github.com/rcsoccersim/
• RoboCup Official Homepage: http://www.robocup.org/

Quick Start

Download latest version "cyrus.zip" from https://github.com/Cyrus2D/FoxsyCyrus2DBase/releases

Extract "cyrus.zip"

Run "start.sh" with the following parameters:

• -t: team name
• -p: player port number (coach port number = player port number + 2)
• -c: config path (path should be directory and in the directory config.json should be exist)
• -j: json config
• -e: encoding type (default=json, [json, temp] (in temp encoding, we do not have space,
• • , -> #c#
  • " -> #qq#
  • ' -> #q#

Examples

./start.sh -t Test -p 6000 -c ~/Data/1

./start.sh -t Test -p 6000 -c ~/Data/1/f.config

./start.sh -t Test -p 6000 -c ~/Data/1/

./start.sh -t Test -p 6000 -j '{"version":1,"formation_name":"433"}'

./start.sh -t Test -p 6000 -j '{"version":1,"formation_name":"433"}' -e json

./start.sh -t Test -p 6000 -j @q@{@qq@version@qq@:1@c@@qq@formation_name@qq@:@qq@433@qq@}@q@ -e temp

Json Settings

• formation_name: name of formation (default: "433") options "433", "442", "532"
• offensive_kick_planner_use_direct_pass: use direct pass in offensive kick planner (default: true)
• offensive_kick_planner_use_lead_pass: use lead pass in offensive kick planner (default: true)
• offensive_kick_planner_use_through_pass: use through pass in offensive kick planner (default: true)
• offensive_kick_planner_use_cross_pass: use cross pass in offensive kick planner (default: true)
• offensive_kick_planner_use_short_dribble: use short dribble in offensive kick planner (default: true)
• offensive_kick_planner_use_long_dribble: use long dribble in offensive kick planner (default: true)
• offensive_kick_planner_use_sample_shot: use sample shot in offensive kick planner (default: true) [to search more than 1 layer]
• offensive_kick_planner_use_sample_pass: use sample pass in offensive kick planner (default: true) [to search more than 1 layer]
• offensive_kick_planner_use_sample_dribble: use sample dribble in offensive kick planner (default: true) [to search more than 1 layer]
• moving_save_energy: save energy level (default: 60) [0 to 100]
• pressing : 0 or 1 - 0 means no pressing and 1 means pressing
• offside_trap: 0 or 1 - 0 means no offside trap and 1 means offside trap
• aggressiveness: 0 to 1 - 0.5 means no, 0.5 to 1 means more aggresive and 0 to 0.5 means less

Json Form Schema

{
  "title": "CYRUS Settings",
  "description": "A simple form example.",
  "type": "object",
  "required": [
    "firstName",
    "lastName"
  ],
  "properties": {
    "formation_name": {
      "type": "string",
      "enum": [
        "433",
        "442",
        "532"
      ]
    },
    "offensive_kick_planner_use_direct_pass": {
      "type": "boolean",
      "default": true
    },
    "offensive_kick_planner_use_lead_pass": {
      "type": "boolean",
      "default": true
    },
    "offensive_kick_planner_use_through_pass": {
      "type": "boolean",
      "default": true
    },
    "offensive_kick_planner_use_cross_pass": {
      "type": "boolean",
      "default": true
    },
    "offensive_kick_planner_use_short_dribble": {
      "type": "boolean",
      "default": true
    },
    "offensive_kick_planner_use_long_dribble": {
      "type": "boolean",
      "default": true
    },
    "offensive_kick_planner_use_sample_shot": {
      "type": "boolean",
      "default": true
    },
    "offensive_kick_planner_use_sample_pass": {
      "type": "boolean",
      "default": true
    },
    "offensive_kick_planner_use_sample_dribble": {
      "type": "boolean",
      "default": true
    },
    "moving_save_energy": {
      "type": "number",
      "maximum": 100,
      "minimum": 0,
      "default": 60
    },
    "pressing": {
      "type": "number",
      "maximum": 1,
      "minimum": 0,
      "default": 0
    },
    "offside_trap": {
      "type": "number",
      "maximum" : 1,
      "minimum" : 0,
      "default" : 0
    },
    "aggressiveness": {
      "type": "number",
      "maximum" : 1,
      "minimum" : 0,
      "default" : 0.5
    }
  }
}

To test you can use the below links:

• (rjsf-team.github.io)[https://rjsf-team.github.io/react-jsonschema-form/]
• (brutusin.org)[http://brutusin.org/json-forms/]

References

The paper about Cyrus2D Base:

• Zare N, Amini O, Sayareh A, Sarvmaili M, Firouzkouhi A, Rad SR, Matwin S, Soares A. Cyrus2D Base: Source Code Base for RoboCup 2D Soccer Simulation League. InRoboCup 2022: Robot World Cup XXV 2023 Mar 24 (pp. 140-151). Cham: Springer International Publishing.
• Zare N, Sarvmaili M, Sayareh A, Amini O, Matwin S, Soares A. Engineering Features to Improve Pass Prediction in Soccer Simulation 2D Games. InRobot World Cup 2022 (pp. 140-152). Springer, Cham.
• Zare N, Amini O, Sayareh A, Sarvmaili M, Firouzkouhi A, Matwin S, Soares A. Improving Dribbling, Passing, and Marking Actions in Soccer Simulation 2D Games Using Machine Learning. InRobot World Cup 2021 Jun 22 (pp. 340-351). Springer, Cham.

The paper about HELIOS Base:

• Hidehisa Akiyama, Tomoharu Nakashima, HELIOS Base: An Open Source Package for the RoboCup Soccer 2D Simulation, In Sven Behnke, Manuela Veloso, Arnoud Visser, and Rong Xiong editors, RoboCup2013: Robot World XVII, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2014. http://dx.doi.org/10.1007/978-3-662-44468-9_46

The paper about Gliders2D Base:

• M. Prokopenko, P. Wang, Fractals2019: Combinatorial Optimisation with Dynamic Constraint Annealing, RoboCup 2019: Robot World Cup XXIII, 616-630 (Champion paper), Springer-Verlag, 2019; also: arXiv:1909.01788, 2019.
• M. Prokopenko, P. Wang, Gliders2d: Source Code Base for RoboCup 2D Soccer Simulation League, RoboCup 2019: Robot World Cup XXIII, 418-428, Springer-Verlag, 2019; also: arXiv:1812.10202, 2018.