├── .gitattributes ├── .gitignore ├── .travis.yml ├── AUTHORS ├── CMakeLists.txt ├── LICENSE ├── README.md ├── __init__.py ├── bin ├── Communicator.py ├── HFO ├── Teams.py ├── Trainer.py ├── record_video.sh ├── start.sh ├── start_agent.sh └── teams │ └── base │ └── config │ ├── coach.conf │ ├── formations-dt │ ├── before-kick-off.conf │ ├── defense-formation.conf │ ├── goal-kick-opp.conf │ ├── goal-kick-our.conf │ ├── goalie-catch-opp.conf │ ├── goalie-catch-our.conf │ ├── goalie-formation.conf │ ├── indirect-freekick-opp-formation.conf │ ├── indirect-freekick-our-formation.conf │ ├── kickin-our-formation.conf │ ├── normal-formation.conf │ ├── offense-formation.conf │ ├── setplay-opp-formation.conf │ └── setplay-our-formation.conf │ ├── formations-keeper │ ├── before-kick-off.conf │ ├── defense-formation.conf │ ├── goal-kick-opp.conf │ ├── goal-kick-our.conf │ ├── goalie-catch-opp.conf │ ├── goalie-catch-our.conf │ ├── goalie-formation.conf │ ├── indirect-freekick-opp-formation.conf │ ├── indirect-freekick-our-formation.conf │ ├── kickin-our-formation.conf │ ├── normal-formation.conf │ ├── offense-formation.conf │ ├── setplay-opp-formation.conf │ └── setplay-our-formation.conf │ ├── formations-taker │ ├── before-kick-off.conf │ ├── defense-formation.conf │ ├── goal-kick-opp.conf │ ├── goal-kick-our.conf │ ├── goalie-catch-opp.conf │ ├── goalie-catch-our.conf │ ├── goalie-formation.conf │ ├── indirect-freekick-opp-formation.conf │ ├── indirect-freekick-our-formation.conf │ ├── kickin-our-formation.conf │ ├── normal-formation.conf │ ├── offense-formation.conf │ ├── setplay-opp-formation.conf │ └── setplay-our-formation.conf │ └── player.conf ├── doc ├── Makefile ├── figures │ ├── AngExample.pdf │ ├── AngFeatExample.pdf │ ├── HFODiagram.pdf │ ├── openAngle.pdf │ └── playfieldCoords.pdf ├── manual.bib ├── manual.pdf └── manual.tex ├── example ├── base_2v2.sh ├── base_long_2v2.sh ├── communication_agent.cpp ├── communication_agent.py ├── defense_1v1.sh ├── defense_2v2.sh ├── defense_2v3.sh ├── defense_long_2v2.sh ├── defense_python_2v2.sh ├── defense_python_2v3.sh ├── defense_python_3v3.sh ├── defense_python_long_2v2.sh ├── example_defense_agent.py ├── hand_coded_defense_agent.cpp ├── hand_coded_defense_agent.py ├── hfo_example_agent.cpp ├── hfo_example_agent.py ├── high_action_random_agent.py ├── high_level_custom_agent.py ├── high_level_random_agent.cpp ├── high_level_random_agent.py ├── low_level_random_agent.cpp ├── mid_level_dribble_agent.cpp ├── mid_level_kick_agent.cpp ├── mid_level_move_agent.cpp ├── passing_agents.sh ├── python_agents_3v3.sh ├── python_agents_eps_3v3.sh ├── python_agents_rpass_3v3.sh ├── random_2v1.sh ├── random_high_action_2v1.sh ├── random_python_2v1.sh ├── sarsa_defense │ ├── Makefile │ └── high_level_sarsa_defense_agent.cpp ├── sarsa_libraries │ ├── funcapprox │ │ ├── CMAC.cpp │ │ ├── CMAC.h │ │ ├── FuncApprox.cpp │ │ ├── FuncApprox.h │ │ ├── Makefile │ │ ├── tiles2.cpp │ │ └── tiles2.h │ ├── policy │ │ ├── Makefile │ │ ├── PolicyAgent.cpp │ │ ├── PolicyAgent.h │ │ ├── SarsaAgent.cpp │ │ └── SarsaAgent.h │ └── python_wrapper │ │ ├── FA_C_wrapper.cpp │ │ ├── FA_C_wrapper.h │ │ ├── Makefile │ │ ├── Policy_C_wrapper.cpp │ │ ├── Policy_C_wrapper.h │ │ └── py_wrapper.py ├── sarsa_offense │ ├── Makefile │ ├── high_level_sarsa_agent.cpp │ └── high_level_sarsa_agent.py ├── simulate_python_sarsa_agents.sh └── thread_agents.cpp ├── hfo ├── __init__.py ├── hfo.py ├── hfo_c_wrapper.cpp └── hfo_c_wrapper.h ├── img └── hfo3on3.png ├── setup.py ├── src ├── HFO.cpp ├── HFO.hpp ├── Makefile.am ├── agent.cpp ├── agent.h ├── bhv_basic_move.cpp ├── bhv_basic_move.h ├── bhv_basic_offensive_kick.cpp ├── bhv_basic_offensive_kick.h ├── bhv_basic_tackle.cpp ├── bhv_basic_tackle.h ├── bhv_custom_before_kick_off.cpp ├── bhv_custom_before_kick_off.h ├── bhv_force_pass.cpp ├── bhv_force_pass.h ├── bhv_go_to_static_ball.cpp ├── bhv_go_to_static_ball.h ├── bhv_goalie_basic_move.cpp ├── bhv_goalie_basic_move.h ├── bhv_goalie_chase_ball.cpp ├── bhv_goalie_chase_ball.h ├── bhv_goalie_free_kick.cpp ├── bhv_goalie_free_kick.h ├── bhv_penalty_kick.cpp ├── bhv_penalty_kick.h ├── bhv_prepare_set_play_kick.cpp ├── bhv_prepare_set_play_kick.h ├── bhv_set_play.cpp ├── bhv_set_play.h ├── bhv_set_play_free_kick.cpp ├── bhv_set_play_free_kick.h ├── bhv_set_play_goal_kick.cpp ├── bhv_set_play_goal_kick.h ├── bhv_set_play_indirect_free_kick.cpp ├── bhv_set_play_indirect_free_kick.h ├── bhv_set_play_kick_in.cpp ├── bhv_set_play_kick_in.h ├── bhv_set_play_kick_off.cpp ├── bhv_set_play_kick_off.h ├── bhv_their_goal_kick_move.cpp ├── bhv_their_goal_kick_move.h ├── chain_action │ ├── actgen_action_chain_length_filter.h │ ├── actgen_cross.cpp │ ├── actgen_cross.h │ ├── actgen_direct_pass.cpp │ ├── actgen_direct_pass.h │ ├── actgen_self_pass.cpp │ ├── actgen_self_pass.h │ ├── actgen_shoot.cpp │ ├── actgen_shoot.h │ ├── actgen_short_dribble.cpp │ ├── actgen_short_dribble.h │ ├── actgen_simple_dribble.cpp │ ├── actgen_simple_dribble.h │ ├── actgen_strict_check_pass.cpp │ ├── actgen_strict_check_pass.h │ ├── action_chain_graph.cpp │ ├── action_chain_graph.h │ ├── action_chain_holder.cpp │ ├── action_chain_holder.h │ ├── action_generator.h │ ├── action_state_pair.h │ ├── bhv_chain_action.cpp │ ├── bhv_chain_action.h │ ├── bhv_normal_dribble.cpp │ ├── bhv_normal_dribble.h │ ├── bhv_pass_kick_find_receiver.cpp │ ├── bhv_pass_kick_find_receiver.h │ ├── bhv_strict_check_shoot.cpp │ ├── bhv_strict_check_shoot.h │ ├── body_force_shoot.cpp │ ├── body_force_shoot.h │ ├── clear_ball.cpp │ ├── clear_ball.h │ ├── clear_generator.cpp │ ├── clear_generator.h │ ├── cooperative_action.cpp │ ├── cooperative_action.h │ ├── cross_generator.cpp │ ├── cross_generator.h │ ├── dribble.cpp │ ├── dribble.h │ ├── field_analyzer.cpp │ ├── field_analyzer.h │ ├── field_evaluator.h │ ├── hold_ball.cpp │ ├── hold_ball.h │ ├── neck_turn_to_receiver.cpp │ ├── neck_turn_to_receiver.h │ ├── pass.cpp │ ├── pass.h │ ├── pass_checker.h │ ├── predict_ball_object.h │ ├── predict_player_object.h │ ├── predict_state.cpp │ ├── predict_state.h │ ├── self_pass_generator.cpp │ ├── self_pass_generator.h │ ├── shoot.cpp │ ├── shoot.h │ ├── shoot_generator.cpp │ ├── shoot_generator.h │ ├── short_dribble_generator.cpp │ ├── short_dribble_generator.h │ ├── simple_pass_checker.cpp │ ├── simple_pass_checker.h │ ├── strict_check_pass_generator.cpp │ ├── strict_check_pass_generator.h │ ├── tackle_generator.cpp │ └── tackle_generator.h ├── common.hpp ├── communication.h ├── custom_message.h ├── feature_extractor.cpp ├── feature_extractor.h ├── highlevel_feature_extractor.cpp ├── highlevel_feature_extractor.h ├── intention_receive.cpp ├── intention_receive.h ├── intention_wait_after_set_play_kick.cpp ├── intention_wait_after_set_play_kick.h ├── keepaway_communication.cpp ├── keepaway_communication.h ├── lowlevel_feature_extractor.cpp ├── lowlevel_feature_extractor.h ├── main_agent.cpp ├── main_coach.cpp ├── main_player.cpp ├── main_trainer.cpp ├── neck_default_intercept_neck.cpp ├── neck_default_intercept_neck.h ├── neck_goalie_turn_neck.cpp ├── neck_goalie_turn_neck.h ├── neck_offensive_intercept_neck.cpp ├── neck_offensive_intercept_neck.h ├── role_center_back.cpp ├── role_center_back.h ├── role_center_forward.cpp ├── role_center_forward.h ├── role_defensive_half.cpp ├── role_defensive_half.h ├── role_goalie.cpp ├── role_goalie.h ├── role_keepaway_keeper.cpp ├── role_keepaway_keeper.h ├── role_keepaway_taker.cpp ├── role_keepaway_taker.h ├── role_offensive_half.cpp ├── role_offensive_half.h ├── role_sample.cpp ├── role_sample.h ├── role_side_back.cpp ├── role_side_back.h ├── role_side_forward.cpp ├── role_side_forward.h ├── role_side_half.cpp ├── role_side_half.h ├── sample_coach.cpp ├── sample_coach.h ├── sample_communication.cpp ├── sample_communication.h ├── sample_field_evaluator.cpp ├── sample_field_evaluator.h ├── sample_player.cpp ├── sample_player.h ├── sample_trainer.cpp ├── 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