Ad Hoc Teamwork: Pursuit

The pursuit domain involves a number of predators attempting to capture the prey. The version depicted here uses 4 predators and 1 prey moving around a grid world. The grid world is a torus, so moving off one edge brings the agent back on the other side. The prey moves randomly, and the predators attempt to surround the prey on all sides. We compare the performance of PLASTIC-Model to the baseline of matching the teammates' behaviors. In the setting with externally-created teammates, we show the performance of PLASTIC-Model given expert knowledge of the 4 hand-coded (HC) behaviors as well as when PLASTIC-Model learns models of its previous teammates and selects from these models on the fly (SetIncluding).

Videos

Hand-Coded (HC) Teammates:

Match

PLASTIC-Model(HC)

Externally-created Teammates (Student-Broad):

Match

PLASTIC-Model(HC)

PLASTIC-Model(SetIncluding)