13 RoboCup The Interface System for Learning By Observation Applied to RoboCup Agents 1020302 Ruck Thawonmas 2002 2 8
RoboCup RoboCup SemiReal SemiReal RAIK-NTG4 Huma SemiReal Huma RoboCup. i
Abstract The Interface System for Learning By Observation Applied to RoboCup Agents Kazuya Tamura This paper describes the SemiReal system which people can operate the software agent who uses it in a RoboCup simulation, and can take the logs. A SemiReal system, creates the logs of decision making of people used for the Huma system, is one of the themes of RAIK-NTG4 project currently undertaken at Ruck Laboratory, Department of Information Systems Engineering, Kochi University of Technology. And Huma system is a system which applies man s decision-making action to an agent. key words SemiReal system People s decision-making action Huma system, RoboCup. ii
1 1 2 RoboCup 2 2.1 RoboCup... 2 2.2 RoboCup... 3 2.2.1 RoboCup... 3 2.2.2... 4 2.2.3... 4 2.2.4... 5 3 KUT RoboCup Project 7 4 RAIK-NTG4 9 4.1 RAIK-NTG4... 9 4.2 RAIK-NTG4... 9 5 Huma 11 5.1 Huma... 11 5.2... 11 5.3 Huma... 12 6 SemiReal 15 6.1 SemiReal... 15 6.2 SemiReal... 15 6.3 SemiReal... 18 6.3.1 SemiReal... 18 iii
6.3.2 SemiReal....... 19 6.4... 21 6.4.1... 21 6.4.2... 21 6.4.3... 22 6.5... 24 7 25 7.1...................................... 25 7.2...................................... 25 7.3...................................... 26 8 29 30 31 iv
2.1... 4 3.1 KUT RoboCup Project... 7 4.1 RAIK-NTG4... 10 5.1... 11 5.2 Huma... 13 6.1 SemiReal... 16 6.2................................ 17 6.3 GK( ) FW( ) SemiReal... 17 6.4 SemiReal... 19 6.5 SemiReal... 20 7.1... 27 v
7.1... 26 vi
1,2002 6 RoboCup [1] RAIK-NTG4. RoboCup,,., RAIK-NTG4,, SemiReal. 1
2 RoboCup, RoboCup., RoboCup. 2.1 RoboCup RoboCup, 2050.,,, RoboCup. RoboCup,. 1 11 RoboCup, 18cm 5,. 2
2.2 RoboCup 9, 50cm 4,. Sony SONY 3 3., RoboCup2002. RoboCup,.,. 2.2 RoboCup 2.2.1 RoboCup RoboCup, RoboCup.,. 2.1. ( ), UDP/IP.,, UDP/IP., Java., 1, 1. 1,.,,. 8.02( 14 1 26 ) [2] 3
2.2 RoboCup 2.1 2.2.2,,,,. 1 (100msec) 2.2.3 turn turn neck dash 4
2.2 RoboCup kick (kickable area) move catch catch say change view 1 1 turn neck, say, change view 1 dash dash 2.2.4 say kick, dash, turn, say, turn neck 5
2.2 RoboCup 150msec 6
3 KUT RoboCup Project RoboCup RoboCup 1999 [3] KUT RoboCup Project 3.1 3.1 KUT RoboCup Project 3.1 4 4 3 RoboCup 4 3 1 4 7
2 4 3 Project 1999 4 2000 RoboCup Japan Open 2001 RoboCup Japan Open 1 2002 RoboCup 8
4 RAIK-NTG4 4.1 RAIK-NTG4 RAIK-NTG4,RoboCup., (Huma ). 4.2 RAIK-NTG4 4.1 SemiReal Huma 4.1 SemiReal Huma SemiReal SemiReal,Huma,. 9
4.2 RAIK-NTG4 4.1 RAIK-NTG4 10
5 Huma 5.1 Huma Huma SemiReal Huma 5.1 5.1 5.2 Huma 11
5.3 Huma 1. 2. 3. SemiReal SemiReal C4.5[4] [5] Huma 5.3 Huma Huma 5.2 Huma Huma (kick, dash, turn) Huma dash 12
5.3 Huma 5.2 Huma 1 20 30 dash turn 2 20 30 dash dash 3 20 30 dash dash 6 13
5.3 Huma Huma 14
6 SemiReal 6.1 SemiReal SemiReal, RoboCup [6] SemiReal SemiReal Java 6.2 SemiReal SemiReal RoboCup SemiReal 6.1 SemiReal RoboCup : 15
6.2 SemiReal 6.1 SemiReal : : : GK 16
6.2 SemiReal 22 ( 6.2) SemiaRal ( 6.3) 6.2 6.3 GK( ) FW( ) SemiReal 6.3 SemiReal 17
6.3 SemiReal 6.3 SemiReal SemiReal 6.3 SemiReal 6.3.1 SemiReal SemiReal SemiReal SemiReal 6.4 6.4 Huma ( 5.2) Huma SemiReal 18
6.3 SemiReal 6.4 SemiReal Huma SemiReal 6.3.2 SemiReal SemiReal SemiReal 19
6.3 SemiReal SemiReal 6.5 SemiReal 6.5 RAIK-NTG4 SemiReal 6.1 SemiReal SemiReal SemiReal 20
6.4 6.4 6.4.1 SemiReal SemiReal 6.4.2 SemiReal 3 3 2 1. 21
6.4 2. 3. 4. 1. 2. 3. 4. 1. 2. 6.4.3 22
6.4 OK NG W Q 1. 2. 3. 4. 0 9 10 W Q OK NG 23
6.5 6.5 Huma ( ) OK NG NG NG OK NG 24
7 7.1 SemiReal Huma [7] SemiReal SemiReal SemiReal 1 7.2 SemiReal 3000 SemiReal RoboCup 9 25
7.3 RAIK-NTG4 RoboCup SemiReal SemiReal 7.3 7.1 1 1 6 2.11 2 1 7 3.56 3 1 7 4.56 3 19 10.22 0 7 3.11 7.1 26
7.3 SemiReal SemiReal 7.1 7.1 27
7.3 28
8 SemiReal RoboCup SemiReal 29
Ruck Thawonmas 30
[1] http://www.robocup2002.org/ [2] http://sourceforge.net/projects/sserver/ [3] Ruck Thawonmas,,, RoboCup, 9, pp. 50-51, 2001 7. [4] J.R. Quinlan AI 1995. [5], Ruck Thawonmas,, RoboCup,, 14 3 15. [6] RoboCup OZ-RP, 12 Sig-Challenge pp.23 28, April. 2001. [7], Ruck Thawonmas, RoboCup, 11, AI2001-54, pp. 57-61, 2001 11. 31