def create_robot(maze_env, seed):
"""
The function to create population of robots.
"""
params = create_robot_params()
# Genome has 11 inputs and two outputs
genome = NEAT.Genome(0, 11, 0, 2, False,
NEAT.ActivationFunction.UNSIGNED_SIGMOID,
NEAT.ActivationFunction.UNSIGNED_SIGMOID, 0, params,
0)
pop = NEAT.Population(genome, params, True, 1.0, seed)
pop.RNG.Seed(seed)
robot_archive = archive.NoveltyArchive(metric=maze.maze_novelty_metric)
robot = Robot(maze_env=maze_env,
archive=robot_archive,
genome=genome,
population=pop)
return robot
def create_objective_fun(seed):
"""
The function to create population of objective functions
"""
params = create_objective_fun_params()
# Genome has one input (0.5) and two outputs (a and b)
genome = NEAT.Genome(
0,
1,
1,
2,
False,
NEAT.ActivationFunction.TANH, # hidden layer activation
NEAT.ActivationFunction.UNSIGNED_SIGMOID, # output layer activation
1,
params,
0)
pop = NEAT.Population(genome, params, True, 1.0, seed)
pop.RNG.Seed(seed)
obj_archive = archive.NoveltyArchive(
metric=maze.maze_novelty_metric_euclidean)
obj_fun = ObjectiveFun(archive=obj_archive, genome=genome, population=pop)
return obj_fun
local_dir = os.path.dirname(__file__)
# The directory to store outputs
out_dir = os.path.join(local_dir, 'out')
out_dir = os.path.join(out_dir, 'maze_ns_multineat')
# Clean results of previous run if any or init the ouput directory
utils.clear_output(out_dir)
# Run the experiment
maze_env_config = os.path.join(local_dir, '%s_maze.txt' % args.maze)
maze_env = maze.read_environment(maze_env_config)
maze_env.location_sample_rate = args.location_sample_rate
# Run the maze experiment trials
print("Starting the %s maze experiment (Novelty Search) with MultiNEAT, for %d trials" % (args.maze, args.trials))
for t in range(args.trials):
print("\n\n----- Starting Trial: %d ------" % (t))
# Create novelty archive
novelty_archive = archive.NoveltyArchive(threshold=args.ns_threshold,
metric=maze.maze_novelty_metric)
trial_out_dir = os.path.join(out_dir, str(t))
os.makedirs(trial_out_dir, exist_ok=True)
soulution_found = run_experiment( params=create_params(),
maze_env=maze_env,
novelty_archive=novelty_archive,
trial_out_dir=trial_out_dir,
n_generations=args.generations,
args=args,
save_results=True,
silent=True)
print("\n------ Trial %d complete, solution found: %s ------\n" % (t, soulution_found))