# Half Field Offense on Half Field Offense (HFO) (evaluation)

Source: [Half Field Offense on Half Field Offense (HFO) (evaluation)](<https://www.sota2.com/research/sota/half-field-offense-on-half-field-offense-hfo-evaluation>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:54:40.061Z

Evaluation of performance on the Half Field Offense task using the HFO evaluation dataset, measured by metrics such as P(Goal) and Average Steps to Goal.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Half Field Offense |
| Dataset (including any stated split) | Half Field Offense (HFO) (evaluation) |
| Metric | P(Goal) |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 7 of 7 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [P(Goal)](<https://www.sota2.com/research/sota/half-field-offense-on-half-field-offense-hfo-evaluation.md?metric=P(Goal)>): Higher is better; unit: SCALAR.

- [Avg Steps to Goal](<https://www.sota2.com/research/sota/half-field-offense-on-half-field-offense-hfo-evaluation.md?metric=Avg%20Steps%20to%20Goal>): Lower is better; unit: SCALAR.

## Recorded results

| Method | P(Goal) | Result date | Report paper |
| --- | --- | --- | --- |
| Async. P-DQN | 0.989 | Not recorded | 68fa65bb1e209131cea0bf17 |
| PA-DDPG | 0.923 | Not recorded | 68fa65bb1e209131cea0bf17 |
| MP-DQN | 0.913 | Not recorded | 68fa65bb1e209131cea0bf17 |
| P-DQN | 0.883 | Not recorded | 68fa65bb1e209131cea0bf17 |
| PA-DDPG | 0.875 | Not recorded | 68fa65bb1e209131cea0bf17 |
| SP-DQN | 0.718 | Not recorded | 68fa65bb1e209131cea0bf17 |
| Q-PAMDP | 0 | Not recorded | 68fa65bb1e209131cea0bf17 |

### Async. P-DQN

P(Goal): 0.989. Result ID: 698cc4028b517eb4331c9480.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64fa1e209131cea078a8.md>)

Recorded evaluation configuration: {"evaluation\_runs":"9","parallel\_workers":"24","update\_method":"n-step returns"}. This record does not assert independent reproduction.

### PA-DDPG

P(Goal): 0.923. Result ID: 698cc4028b517eb4331c947f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73161e209131cea5a73a.md>)

Recorded evaluation configuration: {"evaluation\_runs":"7","training\_period":"shorter"}. This record does not assert independent reproduction.

### MP-DQN

P(Goal): 0.913. Result ID: 698cc4028b517eb4331c947e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Implementation](<https://github.com/cycraig/MP-DQN>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

### P-DQN

P(Goal): 0.883. Result ID: 698cc4028b517eb4331c947c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64fa1e209131cea078a8.md>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

### PA-DDPG

P(Goal): 0.875. Result ID: 698cc4028b517eb4331c947b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73161e209131cea5a73a.md>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

### SP-DQN

P(Goal): 0.718. Result ID: 698cc4028b517eb4331c947d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

### Q-PAMDP

P(Goal): 0. Result ID: 698cc4028b517eb4331c947a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa65bb1e209131cea0bf17.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa62301e209131ce9f8103.md>)

Recorded evaluation configuration: {"evaluation\_runs":"30","episodes":"1000","random\_exploration":"none"}. This record does not assert independent reproduction.

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