def run(method, level, generations=500, popsize=500, visualize_individual=None):
shape = (3,3)
task = TargetWeightsTask(substrate_shape=shape, noise=level, fitnessmeasure='sqerr')
substrate = Substrate()
substrate.add_nodes(shape, 'l')
substrate.add_connections('l', 'l')
if method == 'hyperneat':
geno = lambda: NEATGenotype(feedforward=True, inputs=len(shape)*2, weight_range=(-3.0, 3.0),
prob_add_conn=0.3, prob_add_node=0.03,
types=['sin', 'linear', 'gauss', 'sigmoid', 'abs'])
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate, add_deltas=False, sandwich=False)
elif method == '0hn':
t = [(i, 4) for i in range(4)]
geno = lambda: NEATGenotype(feedforward=True, inputs=len(shape)*2, weight_range=(-3.0, 3.0),
prob_add_conn=0.0, prob_add_node=0.00, topology=t,
types=['sin', 'linear', 'gauss', 'sigmoid', 'abs'])
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate, add_deltas=False, sandwich=False)
elif method == 'wavelet':
geno = lambda: WaveletGenotype(inputs=len(shape)*2)
pop = SimplePopulation(geno, popsize=popsize)
developer = WaveletDeveloper(substrate=substrate, add_deltas=False, sandwich=False)
results = pop.epoch(generations=generations,
evaluator=partial(evaluate, task=task, developer=developer)
)
return results
def run(method,
level,
generations=500,
popsize=500,
visualize_individual=None):
shape = (3, 3)
task = TargetWeightsTask(substrate_shape=shape,
noise=level,
fitnessmeasure='sqerr')
substrate = Substrate()
substrate.add_nodes(shape, 'l')
substrate.add_connections('l', 'l')
if method == 'hyperneat':
geno = lambda: NEATGenotype(
feedforward=True,
inputs=len(shape) * 2,
weight_range=(-3.0, 3.0),
prob_add_conn=0.3,
prob_add_node=0.03,
types=['sin', 'linear', 'gauss', 'sigmoid', 'abs'])
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate,
add_deltas=False,
sandwich=False)
elif method == '0hn':
t = [(i, 4) for i in range(4)]
geno = lambda: NEATGenotype(
feedforward=True,
inputs=len(shape) * 2,
weight_range=(-3.0, 3.0),
prob_add_conn=0.0,
prob_add_node=0.00,
topology=t,
types=['sin', 'linear', 'gauss', 'sigmoid', 'abs'])
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate,
add_deltas=False,
sandwich=False)
elif method == 'wavelet':
geno = lambda: WaveletGenotype(inputs=len(shape) * 2)
pop = SimplePopulation(geno, popsize=popsize)
developer = WaveletDeveloper(substrate=substrate,
add_deltas=False,
sandwich=False)
results = pop.epoch(generations=generations,
evaluator=partial(evaluate,
task=task,
developer=developer))
return results
def run(method, setup, generations=250, popsize=100):
# Create task and genotype->phenotype converter
size = 11
task_kwds = dict(size=size)
if setup == 'big-little':
task_kwds['targetshape'] = ShapeDiscriminationTask.makeshape('box', size//3)
task_kwds['distractorshapes'] = [ShapeDiscriminationTask.makeshape('box', 1)]
elif setup == 'triup-down':
task_kwds['targetshape'] = np.triu(np.ones((size//3, size//3)))
task_kwds['distractorshapes'] = [np.tril(np.ones((size//3, size//3)))]
task = ShapeDiscriminationTask(**task_kwds)
substrate = Substrate()
substrate.add_nodes((size, size), 'l')
substrate.add_connections('l', 'l')
if method == 'wavelet':
num_inputs = 6 if deltas else 4
geno = lambda: WaveletGenotype(inputs=num_inputs)
pop = SimplePopulation(geno, popsize=popsize)
developer = WaveletDeveloper(substrate=substrate, add_deltas=True, sandwich=True)
else:
geno_kwds = dict(feedforward=True,
inputs=6,
weight_range=(-3.0, 3.0),
prob_add_conn=0.1,
prob_add_node=0.03,
bias_as_node=False,
types=['sin', 'bound', 'linear', 'gauss', 'sigmoid', 'abs'])
if method == 'nhn':
pass
elif method == '0hnmax':
geno_kwds['max_nodes'] = 7
elif method == '1hnmax':
geno_kwds['max_nodes'] = 8
geno = lambda: NEATGenotype(**geno_kwds)
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate,
sandwich=True,
add_deltas=True,
node_type='tanh')
# Run and save results
results = pop.epoch(generations=generations,
evaluator=partial(evaluate, task=task, developer=developer),
solution=partial(solve, task=task, developer=developer),
)
return results
def run(method, setup, generations=15, popsize=10):
"""main function that drives the evolution"""
# the following 'task_kwds' and 'task' variables should be ignored as they come from an example from the framework - I had no time to remove them yet.
task_kwds = dict(field='eight',
observation='eight_striped',
max_steps=3000,
friction_scale=0.1,
damping=0.9,
motor_torque=3,
check_coverage=True,
flush_each_step=False,
initial_pos=(17, 256, np.pi*0.5)) #TODO: remove
task = DetectorTask(**task_kwds) #TODO: remove
# Detector has a specific topology: input 21x21; output 1x0
substrate = Substrate()
substrate.add_nodes([(r, theta) for r in np.linspace(-10,10,21) for theta in np.linspace(-10, 10, 21)], 'input', is_input=True)
substrate.add_nodes([(r, theta) for r in np.linspace(0,0,1) for theta in np.linspace(0, 0, 1)], 'output')
substrate.add_connections('input', 'output', -1)
# evolutionary parameters
geno_kwds = dict(feedforward=True,
inputs=441,
outputs=1,
max_depth=3,
max_nodes=MAXIMUM_NODES,
weight_range=(-3.0, 3.0),
prob_add_conn=0.3,
prob_add_node=0.1,
bias_as_node=False,
types=['sigmoid'])
geno = lambda: NEATGenotype(**geno_kwds)
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
# sigmoid activation is only used for the generated ANN, since 'hnn' package can has only sigmoid activations
developer = HyperNEATDeveloper(substrate=substrate,
add_deltas=False,
sandwich=False,
node_type='sigmoid')
results = pop.epoch(generations=generations,
evaluator=partial(evaluate, task=task, developer=developer),
solution=partial(solve, task=task, developer=developer),
)
# output best solutions from every generation into a file 'best_solution_N', where 'N' is the ID of the detector
fitnesses = list()
fifo = open(os.path.join(os.path.dirname(__file__), '../../best_solution_N'), 'a+')
for champion in results['champions']:
fitnesses.append(champion.stats['fitness'])
phenotype = developer.convert(champion)
# option to visualise the detector ANN. Use some sort of counter so that the images won't be overwritten
#dir = os.path.dirname('../../visual_N.png')
#if not os.path.exists(dir):
# os.makedirs(dir)
#phenotype.visualize('../../visual_N.png', inputs=441, outputs=1)
rest = MAXIMUM_NODES - len((champion.get_network_data()[1])[1:])
rest_array = np.linspace(4., 4., rest)
for idx, node_type in enumerate((champion.get_network_data()[1])[1:]):
if (idx == len((champion.get_network_data()[1])[1:]) - 2):
nodes_types_indexes.extend(rest_array)
try:
nodes_types_indexes.append(float(['sin', 'bound', 'linear', 'gauss', 'sigmoid', 'abs'].index(node_type)))
except NameError:
print "not defined!"
fifo.write('fitness: '+str(champion.stats['fitness'])+' || ' + ' '.join(map(str, node_types)) + ' '+' '.join(map(str, phenotype.get_connectivity_matrix()))+'\n')
fifo.close()
# Visualize evolution in a graph
import matplotlib.pyplot as plt
from matplotlib.ticker import MaxNLocator
plt.figure()
x = range(len(results['champions']))
y = np.asarray(fitnesses)
xa = plt.gca().get_xaxis()
xa.set_major_locator(MaxNLocator(integer=True))
plt.plot(x, y)
plt.axis('on')
plt.savefig(os.path.join(os.getcwd(), '../../fitness_evolution_N'), bbox_inches='tight', pad_inches=0)
plt.close()
return results
def run(method, setup, generations=100, popsize=100):
""" Use hyperneat for a walking gait task
"""
# Create task and genotype->phenotype converter
if setup == 'easy':
task_kwds = dict(field='eight',
observation='eight',
max_steps=3000,
friction_scale=0.3,
damping=0.3,
motor_torque=10,
check_coverage=False,
flush_each_step=False,
initial_pos=(282, 300, np.pi*0.35))
elif setup == 'hard':
task_kwds = dict(field='eight',
observation='eight_striped',
max_steps=3000,
friction_scale=0.3,
damping=0.3,
motor_torque=10,
check_coverage=False,
flush_each_step=True,
force_global=True,
initial_pos=(282, 300, np.pi*0.35))
elif setup == 'force':
task_kwds = dict(field='eight',
observation='eight',
max_steps=3000,
friction_scale=0.1,
damping=0.9,
motor_torque=3,
check_coverage=True,
flush_each_step=True,
force_global=True,
initial_pos=(17, 256, np.pi*0.5))
elif setup == 'prop':
task_kwds = dict(field='eight',
observation='eight_striped',
max_steps=3000,
friction_scale=0.3,
damping=0.3,
motor_torque=10,
check_coverage=False,
flush_each_step=False,
initial_pos=(282, 300, np.pi*0.35))
elif setup == 'cover':
task_kwds = dict(field='eight',
observation='eight_striped',
max_steps=3000,
friction_scale=0.1,
damping=0.9,
motor_torque=3,
check_coverage=True,
flush_each_step=False,
initial_pos=(17, 256, np.pi*0.5))
task = LineFollowingTask(**task_kwds)
# The line following experiment has quite a specific topology for its network:
substrate = Substrate()
substrate.add_nodes([(0,0)], 'bias')
substrate.add_nodes([(r, theta) for r in np.linspace(0,1,3)
for theta in np.linspace(-1, 1, 5)], 'input')
substrate.add_nodes([(r, theta) for r in np.linspace(0,1,3)
for theta in np.linspace(-1, 1, 3)], 'layer')
substrate.add_connections('input', 'layer',-1)
substrate.add_connections('bias', 'layer', -2)
substrate.add_connections('layer', 'layer',-3)
if method == 'wvl':
geno = lambda: WaveletGenotype(inputs=4, layers=3)
pop = SimplePopulation(geno, popsize=popsize)
developer = WaveletDeveloper(substrate=substrate,
add_deltas=False,
sandwich=False,
node_type='tanh')
else:
geno_kwds = dict(feedforward=True,
inputs=4,
outputs=3,
weight_range=(-3.0, 3.0),
prob_add_conn=0.1,
prob_add_node=0.03,
bias_as_node=False,
types=['sin', 'bound', 'linear', 'gauss', 'sigmoid', 'abs'])
if method == 'nhn':
pass
elif method == '0hnmax':
geno_kwds['max_nodes'] = 7
elif method == '1hnmax':
geno_kwds['max_nodes'] = 8
geno = lambda: NEATGenotype(**geno_kwds)
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate,
add_deltas=False,
sandwich=False,
node_type='tanh')
results = pop.epoch(generations=generations,
evaluator=partial(evaluate, task=task, developer=developer),
solution=partial(solve, task=task, developer=developer),
)
return results
def run(method, splits, generations=500, popsize=500):
complexity = 'half'
splits = int(splits)
funcs = []
if complexity in ['half', 'flat', 'slope']:
funcs.append((True, np.random.random() * 6. - 3))
for num in range(splits):
axis = random_direction_vector()
offset = np.random.random() - 0.2
where = partial(area, axis=axis, offset=offset)
if complexity == 'half':
xs = 0 if num % 2 == 0 else 1
mp = 1 if (num//2) % 2 == 0 else -1
if num < 2:
d = 0
elif num < 2 + 4:
d = 0.5
elif num < 2 + 4 + 4:
d = 0.25
elif num < 2 + 4 + 4 + 4:
d = 0.75
where = partial(split, axis=xs, flip=mp, distance=d)
what = lambda c, v: v + np.random.random() * 6. - 3
funcs.append((where, what))
task = TargetWeightsTask(substrate_shape=(8,), funcs=funcs, fitnessmeasure='sqerr', uniquefy=True)
substrate = Substrate()
substrate.add_nodes((8,), 'l')
substrate.add_connections('l', 'l')
if method == 'hyperneat':
geno = lambda: NEATGenotype(feedforward=True, inputs=2, weight_range=(-3.0, 3.0),
prob_add_conn=0.3, prob_add_node=0.03,
types=['sin', 'ident', 'gauss', 'sigmoid', 'abs'])
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate, add_deltas=False, sandwich=False)
elif method == '0hnmax':
geno = lambda: NEATGenotype(feedforward=True, inputs=2, weight_range=(-3.0, 3.0),
max_nodes=3,
types=['sin', 'ident', 'gauss', 'sigmoid', 'abs'])
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate, add_deltas=False, sandwich=False)
elif method == 'wavelet':
geno = lambda: WaveletGenotype(inputs=2)
pop = SimplePopulation(geno, popsize=popsize)
developer = WaveletDeveloper(substrate=substrate, add_deltas=False, sandwich=False)
results = pop.epoch(generations=generations,
evaluator=partial(evaluate, task=task, developer=developer),
)
return results
def run(method, splits, generations=500, popsize=500):
complexity = 'half'
splits = int(splits)
funcs = []
if complexity in ['half', 'flat', 'slope']:
funcs.append((True, np.random.random() * 6. - 3))
for num in range(splits):
axis = random_direction_vector()
offset = np.random.random() - 0.2
where = partial(area, axis=axis, offset=offset)
if complexity == 'half':
xs = 0 if num % 2 == 0 else 1
mp = 1 if (num // 2) % 2 == 0 else -1
if num < 2:
d = 0
elif num < 2 + 4:
d = 0.5
elif num < 2 + 4 + 4:
d = 0.25
elif num < 2 + 4 + 4 + 4:
d = 0.75
where = partial(split, axis=xs, flip=mp, distance=d)
what = lambda c, v: v + np.random.random() * 6. - 3
funcs.append((where, what))
task = TargetWeightsTask(substrate_shape=(8, ),
funcs=funcs,
fitnessmeasure='sqerr',
uniquefy=True)
substrate = Substrate()
substrate.add_nodes((8, ), 'l')
substrate.add_connections('l', 'l')
if method == 'hyperneat':
geno = lambda: NEATGenotype(
feedforward=True,
inputs=2,
weight_range=(-3.0, 3.0),
prob_add_conn=0.3,
prob_add_node=0.03,
types=['sin', 'ident', 'gauss', 'sigmoid', 'abs'])
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate,
add_deltas=False,
sandwich=False)
elif method == '0hnmax':
geno = lambda: NEATGenotype(
feedforward=True,
inputs=2,
weight_range=(-3.0, 3.0),
max_nodes=3,
types=['sin', 'ident', 'gauss', 'sigmoid', 'abs'])
pop = NEATPopulation(geno, popsize=popsize, target_species=8)
developer = HyperNEATDeveloper(substrate=substrate,
add_deltas=False,
sandwich=False)
elif method == 'wavelet':
geno = lambda: WaveletGenotype(inputs=2)
pop = SimplePopulation(geno, popsize=popsize)
developer = WaveletDeveloper(substrate=substrate,
add_deltas=False,
sandwich=False)
results = pop.epoch(
generations=generations,
evaluator=partial(evaluate, task=task, developer=developer),
)
return results
