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Cross Language Soccer Framework: An Open Source Framework for the RoboCup 2D Soccer Simulation

Nader Zare, Aref Sayareh, Alireza Sadraii, Arad Firouzkouhi, Amilcar Soares

TL;DR

The paper addresses the bottleneck of integrating modern ML workflows with high-performance RoboCup Soccer Simulation 2D (SS2D) base codes by introducing a gRPC-based Cross Language Soccer Framework. It pairs a Soccer Simulation Proxy, based on a modified Helios, with a language-agnostic Playmaker Server to enable multi-language clients (e.g., C#, Python, JavaScript) while preserving real-time performance. Key contributions include Protocol Buffer definitions, a defined Game service with multiple RPCs, and sample multi-language server implementations, plus deployment aids (AppImages, Docker, Gym-like environments) to ease adoption and competition readiness. The framework promises to enhance collaboration and accelerate research in multi-agent soccer by decoupling high-performance core logic from language-specific decision-making and tooling, thereby expanding accessibility without sacrificing efficiency.

Abstract

RoboCup Soccer Simulation 2D (SS2D) research is hampered by the complexity of existing Cpp-based codes like Helios, Cyrus, and Gliders, which also suffer from limited integration with modern machine learning frameworks. This development paper introduces a transformative solution a gRPC-based, language-agnostic framework that seamlessly integrates with the high-performance Helios base code. This approach not only facilitates the use of diverse programming languages including CSharp, JavaScript, and Python but also maintains the computational efficiency critical for real time decision making in SS2D. By breaking down language barriers, our framework significantly enhances collaborative potential and flexibility, empowering researchers to innovate without the overhead of mastering or developing extensive base codes. We invite the global research community to leverage and contribute to the Cross Language Soccer (CLS) framework, which is openly available under the MIT License, to drive forward the capabilities of multi-agent systems in soccer simulations.

Cross Language Soccer Framework: An Open Source Framework for the RoboCup 2D Soccer Simulation

TL;DR

The paper addresses the bottleneck of integrating modern ML workflows with high-performance RoboCup Soccer Simulation 2D (SS2D) base codes by introducing a gRPC-based Cross Language Soccer Framework. It pairs a Soccer Simulation Proxy, based on a modified Helios, with a language-agnostic Playmaker Server to enable multi-language clients (e.g., C#, Python, JavaScript) while preserving real-time performance. Key contributions include Protocol Buffer definitions, a defined Game service with multiple RPCs, and sample multi-language server implementations, plus deployment aids (AppImages, Docker, Gym-like environments) to ease adoption and competition readiness. The framework promises to enhance collaboration and accelerate research in multi-agent soccer by decoupling high-performance core logic from language-specific decision-making and tooling, thereby expanding accessibility without sacrificing efficiency.

Abstract

RoboCup Soccer Simulation 2D (SS2D) research is hampered by the complexity of existing Cpp-based codes like Helios, Cyrus, and Gliders, which also suffer from limited integration with modern machine learning frameworks. This development paper introduces a transformative solution a gRPC-based, language-agnostic framework that seamlessly integrates with the high-performance Helios base code. This approach not only facilitates the use of diverse programming languages including CSharp, JavaScript, and Python but also maintains the computational efficiency critical for real time decision making in SS2D. By breaking down language barriers, our framework significantly enhances collaborative potential and flexibility, empowering researchers to innovate without the overhead of mastering or developing extensive base codes. We invite the global research community to leverage and contribute to the Cross Language Soccer (CLS) framework, which is openly available under the MIT License, to drive forward the capabilities of multi-agent systems in soccer simulations.
Paper Structure (16 sections, 4 figures)

This paper contains 16 sections, 4 figures.

Table of Contents

  1. Introduction
  2. Background
  3. Cross Language Soccer Framework
  4. Soccer Simulation Proxy
  5. Playmaker Server
  6. Benefits of using gRPC
  7. Protocol Buffer Definitions
  8. Key RPC Functions
  9. Message Definitions
  10. Development Features
  11. Cross-Platform Compatibility Challenges
  12. Windows Compatibility
  13. RoboCup Competition Preparation
  14. Support for Reinforcement Learning Research
  15. Integration with Gym Environments
  16. ...and 1 more sections

Figures (4)

  • Figure 1: An overview of Soccer Simulation 2D Environment
  • Figure 2: CLS Framework Architecture: The diagram depicts the interconnected components of the CLS framework approach. The modified version of the Helios base code called Soccer Simulation Proxy communicates with a language-agnostic gRPC Playmaker Server, providing a flexible environment for researchers working with various programming languages in RoboCup 2D Soccer Simulation.
  • Figure 3: Definition of Protocol Buffer Messages and RPC Functions for the 'Game' Service in SS2D-Proxy. The illustration outlines essential structures and functions used for communication between the Helios base and the SS2D-Proxy-Server.
  • Figure 4: SS2D-Proxy Message Flow: The diagram illustrates the message flow between key components, showcasing the interconnected communication pathways among the SS2D Proxy Base, SS2D Proxy Server, Soccer Window 2 Monitor, and the SS2D Server in the development of the SS2D-Proxy framework.