How costly is a good compromise: Multi-objective TORCS controller parameter optimization

Jan Quadflieg, G. Rudolph, M. Preuss
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引用次数: 1

Abstract

We extend existing work on the offline parameter optimization for The Open Racing Car Simulator (TORCS) controllers and take it to a truly multi-objective level. By means of the (100+1)-SMS-EMOA, we optimize the parameter set for the controller named `Mr. Racer' on three significantly different tracks simultaneously, with a budget of 3 × 6000 function evaluations. In the ten runs performed, the SMS-EMOA reliably finds good compromise solutions, as well as selfish optima that are comparable in quality to the ones previously obtained by means of the CMA-ES for each particular track. We further analyze how to select parameter set(s) for the controller from the results of the evolutionary optimization, for the case that a controller has the chance to further finetune its behavior on an unknown track, as it is done in the warinup phase of the Simulated Car Racing Championship. Experimental results show that one parameter set is not sufficient. To perform well, a controller as Mr. Racer needs at least two different parameter sets from which it can choose in the warinup stage. The best performance is gained by using three parameter sets, which leads to an increase in championship points of 17% compared to the 2013 version of Mr. Racer.
多目标TORCS控制器参数优化的代价有多大
我们扩展了开放赛车模拟器(TORCS)控制器离线参数优化的现有工作,并将其提升到真正的多目标水平。通过(100+1)-SMS-EMOA,对控制器的参数集进行了优化。Racer’同时在三条截然不同的轨道上运行,预算为3 × 6000个功能评估。在进行的10次运行中,SMS-EMOA可靠地找到了良好的折衷解决方案,以及与CMA-ES先前获得的质量相当的自私最优解。我们进一步分析了如何从进化优化的结果中为控制器选择参数集,因为控制器有机会进一步微调其在未知赛道上的行为,就像在模拟赛车锦标赛的热身阶段所做的那样。实验结果表明,一个参数集是不够的。为了表现良好,作为Mr. Racer的控制器至少需要两个不同的参数集,以便在预热阶段进行选择。通过使用三个参数集获得了最佳性能,这使得冠军积分比2013年版本的赛车先生增加了17%。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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