def test_mutation_parent_selection():
""" Tests mutation_parent_selection function """
gp_par = gp.GpParameters()
gp_par.n_population = 8
gp_par.f_mutation = 0.5
gp_par.parent_selection = gp.SelectionMethods.ELITISM
gp_par.mutate_co_parents = True
gp_par.mutate_co_offspring = True
population = gp.create_population(gp_par.n_population, 5)
crossover_parents = [5, 6, 7]
crossover_offspring = gp.create_population(2, 5)
fitness = [0, 1, 2, 1, 2, 1, 1, 2, 2, 0]
parents = gp.mutation_parent_selection(population, fitness,
crossover_parents,
crossover_offspring, gp_par)
assert parents == [8, 7, 4, 2]
gp_par.mutate_co_parents = False
gp_par.mutate_co_offspring = False
parents = gp.mutation_parent_selection(population, fitness,
crossover_parents,
crossover_offspring, gp_par)
assert parents == [4, 2, 3, 1]
gp_par.n_population = 4
gp_par.f_mutation = 0.1
fitness = [0, 1, 2, 1]
parents = gp.mutation_parent_selection(population, fitness, [], [], gp_par)
assert parents == []
def test_run():
""" Tests run function """
gp_par = gp.GpParameters()
gp_par.ind_start_length = 3
gp_par.n_population = 20
gp_par.f_crossover = 0.5
gp_par.n_offspring_crossover = 10
gp_par.f_mutation = 0.25
gp_par.n_offspring_mutation = 10
gp_par.f_elites = 0.1
gp_par.f_parents = 1
gp_par.plot = False
gp_par.n_generations = 100
gp_par.verbose = True
gp.set_seeds(1337)
population, fitness, _, _ = gp.run(environment, gp_par)
assert (max(fitness)) == 3.4
gp.set_seeds(1337)
population2, fitness2, _, _ = gp.run(environment, gp_par)
assert population == population2
assert fitness == fitness2
gp_par.parent_selection = gp.SelectionMethods.RANK
gp_par.survivor_selection = gp.SelectionMethods.RANK
gp.set_seeds(1337)
population, fitness, _, _ = gp.run(environment, gp_par)
assert (max(fitness)) == 3.4
gp.set_seeds(1337)
population2, fitness2, _, _ = gp.run(environment, gp_par)
assert population == population2
assert fitness == fitness2
def test_survivor_selection():
""" Tests survivor_selection function """
gp_par = gp.GpParameters()
gp_par.f_parents = 1 / 3
gp_par.f_elites = 0
gp_par.n_population = 6
gp_par.survivor_selection = gp.SelectionMethods.ELITISM
population = list(range(gp_par.n_population))
crossover_offspring = list(
range(gp_par.n_population, gp_par.n_population + 2))
mutated_offspring = list(
range(gp_par.n_population + 2, gp_par.n_population + 4))
fitness = [0, 1, 2, 1, 2, 1, 1, 2, 2, 0]
survivors, survivor_fitness = gp.survivor_selection(population, \
fitness, \
crossover_offspring, \
mutated_offspring, \
gp_par)
assert len(survivors) == len(survivor_fitness)
assert survivors == [8, 7, 2, 4, 6, 9]
assert survivor_fitness == [2, 2, 2, 2, 1, 0]
gp_par.f_parents = 0
gp_par.f_elites = 2 / 3
gp_par.n_population = 3
gp_par.survivor_selection = gp.SelectionMethods.RANDOM
survivors, survivor_fitness = gp.survivor_selection(population, \
fitness, \
crossover_offspring, \
mutated_offspring, \
gp_par)
assert len(survivors) == len(survivor_fitness)
assert survivors[0] == 8
assert survivors[1] == 7
assert survivors[2] == 9 or survivors[2] == 6
def test_balance():
""" Test balance scenario """
gp_par = gp.GpParameters()
gp_par.ind_start_length = 8
gp_par.n_population = 16
gp_par.f_crossover = 0.5
gp_par.n_offspring_crossover = 2
gp_par.replace_crossover = False
gp_par.f_mutation = 0.5
gp_par.n_offspring_mutation = 2
gp_par.parent_selection = gp.SelectionMethods.RANK
gp_par.survivor_selection = gp.SelectionMethods.RANK
gp_par.f_elites = 0.1
gp_par.f_parents = gp_par.f_elites
gp_par.mutate_co_offspring = False
gp_par.mutate_co_parents = True
gp_par.mutation_p_add = 0.4
gp_par.mutation_p_delete = 0.3
gp_par.allow_identical = False
gp_par.plot = True
gp_par.n_generations = 300
gp_par.verbose = False
gp_par.fig_last_gen = False
behavior_tree.load_settings_from_file(
'duplo_state_machine/BT_SETTINGS_BALANCE.yaml')
planner_baseline = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0192)?', \
's(', 'f(', '1 at pos (0.0, 0.0, 0.0)?', 'put 1 at (0.0, 0.0, 0.0)!', ')', \
'f(', '0 on 1?', 'put 0 on 1!', ')', 'apply force 0!', ')', ')', ')']
solved = ['f(', '0 at pos (0.0, 0.0, 0.0192)?', \
's(', 'put 2 at (0.0, 0.0, 0.0)!', 'put 0 on 2!', 'apply force 0!', ')', ')']
start_positions = []
start_positions.append(Pos(-0.05, -0.1, 0.0))
start_positions.append(Pos(0.0, -0.1, 0.0))
start_positions.append(Pos(0.05, -0.1, 0.0))
targets = []
targets.append(Pos(0.0, 0.0, 0.0192))
fitness_coeff = Coefficients()
fitness_coeff.hand_not_empty = 100.0
environment = sm_environment.Environment(start_positions, targets, verbose=False, \
mode=sm.SMMode.BALANCE, fitness_coeff=fitness_coeff)
fitness = environment.get_fitness(planner_baseline)
assert fitness < -10
fitness = environment.get_fitness(solved)
assert fitness > -1
gp_par.log_name = 'test_balance'
_, _, best_fitness, _ = gp.run(environment,
gp_par,
baseline=planner_baseline)
assert best_fitness[-1] > -1
behavior_tree.load_settings_from_file(
'behavior_tree_learning/tests/BT_TEST_SETTINGS.yaml')
def test_hotstart():
""" Test with hotstart """
gp_par = gp.GpParameters()
gp_par.ind_start_length = 3
gp_par.n_population = 8
gp_par.f_crossover = 0.5
gp_par.n_offspring_crossover = 2
gp_par.f_mutation = 0.5
gp_par.n_offspring_mutation = 2
gp_par.f_elites = 1 / 8
gp_par.f_parents = gp_par.f_elites
gp_par.plot = True
gp_par.verbose = False
gp_par.fig_last_gen = True
gp.set_seeds(0)
gp_par.n_generations = 155
gp.run(environment, gp_par, hotstart=False)
gp_par.n_generations = 200
population, fitness, best_fitness, best_individual = gp.run(environment,
gp_par,
hotstart=True)
gp_par.log_name = '2'
gp.set_seeds(0)
population2, fitness2, best_fitness2, best_individual2 = gp.run(
environment, gp_par, hotstart=False)
assert population == population2
assert fitness == fitness2
assert best_fitness == best_fitness2
assert best_individual == best_individual2
gp.set_seeds(0)
gp_par.n_generations = 100
population, fitness, best_fitness, best_individual = gp.run(environment,
gp_par,
hotstart=False)
gp_par.n_generations = 100
population2, fitness2, best_fitness2, best_individual2 = gp.run(
environment, gp_par, hotstart=True)
assert population == population2
assert fitness == fitness2
assert best_fitness == best_fitness2
assert best_individual == best_individual2
def test_crossover_parent_selection():
""" Tests crossover_parent_selection function """
gp_par = gp.GpParameters()
gp_par.n_population = 10
gp_par.f_crossover = 0.4
gp_par.parent_selection = gp.SelectionMethods.ELITISM
population = gp.create_population(gp_par.n_population, 5)
fitness = [0, 1, 2, 1, 2, 1, 1, 2, 2, 0]
parents = gp.crossover_parent_selection(population, fitness, gp_par)
assert parents == [8, 7, 4, 2]
gp_par.n_population = 4
gp_par.f_crossover = 0.1
fitness = [0, 1, 2, 1]
parents = gp.crossover_parent_selection(population, fitness, gp_par)
assert parents == []
def test_mutation():
""" Tests mutation function """
gp_par = gp.GpParameters()
gp_par.n_population = 5
gp_par.n_offspring_mutation = 1
gp_par.mutation_p_add = 0.3
gp_par.mutation_p_delete = 0.3
gp_par.allow_identical = False
for _ in range(5): #Test a number of random possibilities
population = gp.create_population(gp_par.n_population, 5)
mutated_population = gp.mutation(population, range(len(population)),
gp_par)
assert len(mutated_population
) == gp_par.n_offspring_mutation * gp_par.n_population
for i in range(len(mutated_population)):
assert mutated_population[i] not in population
for j in range(len(mutated_population)):
if i != j:
assert mutated_population[i] != mutated_population[j]
gp_par.n_offspring_mutation = 5 * gp_par.n_population + 1
gp_par.allow_identical = True
for _ in range(5): #Test a number of random possibilities
population = gp.create_population(gp_par.n_population, 5)
mutated_population = gp.mutation(population, range(len(population)),
gp_par)
assert len(mutated_population
) == gp_par.n_offspring_mutation * gp_par.n_population
#Test with too limited mutation possibilities
gp_par.n_population = 5
gp_par.n_offspring_mutation = 1
gp_par.mutation_p_add = 0.0
gp_par.mutation_p_delete = 1.0
gp_par.allow_identical = False
parents = gp.create_population(gp_par.n_population, 2)
blockers = gp.create_population(7, 1)
population = parents + blockers
mutated_population = gp.mutation(population, range(len(parents)), gp_par)
assert len(mutated_population
) != gp_par.n_offspring_mutation * gp_par.n_population
for i in range(len(mutated_population)):
assert mutated_population[i] not in population
for j in range(len(mutated_population)):
if i != j:
assert mutated_population[i] != mutated_population[j]
def test_crossover():
""" Tests crossover function """
pop_size = 10
gp_par = gp.GpParameters()
gp_par.n_population = pop_size
gp_par.n_offspring_crossover = 1
gp_par.allow_identical = False
for _ in range(5): #Test a number of random possibilities
population = gp.create_population(pop_size, 5)
crossover_population = gp.crossover(population, range(len(population)),
gp_par)
for i in range(len(crossover_population)):
assert crossover_population[i] not in population
for j in range(len(crossover_population)):
if i != j:
assert crossover_population[i] != crossover_population[j]
gp_par.n_offspring_crossover = 3 * pop_size
gp_par.allow_identical = True
for _ in range(5): #Test a number of random possibilities
population = gp.create_population(pop_size, 5)
crossover_population = gp.crossover(population, range(len(population)),
gp_par)
assert len(crossover_population
) == gp_par.n_offspring_crossover * gp_par.n_population
#Test what happens if no valid crossovers can be found
parents = [['s(', 'a0', ')'], ['s(', 'a1', ')']]
gp_par.n_offspring_crossover = 1
gp_par.allow_identical = False
gp_par.n_population = 2
blockers = [['s(', 'a1', 'a0', ')'], ['s(', 'a0', 'a1', ')']]
population = parents + blockers
crossover_population = gp.crossover(population, range(len(parents)),
gp_par)
assert len(crossover_population
) == gp_par.n_offspring_crossover * gp_par.n_population
for i in range(len(crossover_population)):
assert crossover_population[i] not in population
for j in range(len(crossover_population)):
if i != j:
assert crossover_population[i] != crossover_population[j]
#Number of parents not factor of two
with pytest.raises(ValueError):
crossover_population = gp.crossover(population, range(3), gp_par)
def paper_run():
# pylint: disable=too-many-branches, too-many-statements
""" Run this to produce results from the paper 'Combining Planning and Learning of Behavior Trees for Robotic Assembly' """
rosid = "1"
if len(sys.argv) > 1:
rosid = sys.argv[1]
behavior_tree.load_settings_from_file('BT_SETTINGS_TOWER.yaml')
gp_par = gp.GpParameters()
gp_par.ind_start_length = 8
gp_par.n_population = 16
gp_par.f_crossover = 0.5
gp_par.n_offspring_crossover = 2
gp_par.replace_crossover = False
gp_par.f_mutation = 0.5
gp_par.n_offspring_mutation = 2
gp_par.parent_selection = gp.SelectionMethods.RANK
gp_par.survivor_selection = gp.SelectionMethods.RANK
gp_par.f_elites = 0.1
gp_par.f_parents = gp_par.f_elites
gp_par.mutate_co_offspring = False
gp_par.mutate_co_parents = True
gp_par.mutation_p_add = 0.4
gp_par.mutation_p_delete = 0.3
gp_par.allow_identical = False
gp_par.plot = True
gp_par.n_generations = 200
gp_par.verbose = False
gp_par.fig_last_gen = False
world_interface = agx_interface.AgxInterface(rosid)
########################################################################################
# Tower
########################################################################################
targets = []
targets.append(agx_interface.Pos(0.0, 0.05, 0))
targets.append(agx_interface.Pos(0.0, 0.05, 0.0192))
targets.append(agx_interface.Pos(0.0, 0.05, 2 * 0.0192))
environment = Environment(world_interface, targets, verbose=False)
planner_baseline = ['s(', 'f(', '0 at pos (0.0, 0.05, 0.0)?', 's(', 'f(', 'picked 0?', 'pick 0!', ')', 'place at (0.0, 0.05, 0.0)!', ')', ')', \
'f(', '1 at pos (0.0, 0.05, 0.0192)?', 's(', 'f(', '1 on 0?', 's(', 'f(', 'picked 1?', 'pick 1!', ')', 'place on 0!', ')', ')', 'apply force 1!', ')', ')', \
'f(', '2 at pos (0.0, 0.05, 0.0384)?', 's(', 'f(', '2 on 1?', 's(', 'f(', 'picked 2?', 'pick 2!', ')', 'place on 1!', ')', ')', 'apply force 2!', ')', ')', ')'] #-3.0109... 0.0109
#Best from experiments
#planner_baseline = ['s(', 'f(', '0 at pos (0.0, 0.05, 0.0)?', 's(', 'pick 0!', 'place at (0.0, 0.05, 0.0)!', ')', ')', \
# 'f(', '1 at pos (0.0, 0.05, 0.0192)?', 's(', 'f(', '1 on 0?', 's(', 'pick 1!', 'place on 0!', ')', ')', 'apply force 1!', ')', ')', \
# 'f(', '2 at pos (0.0, 0.05, 0.0384)?', 's(', 'f(', '2 on 1?', 's(', 'pick 2!', 'place on 1!', ')', ')', 'apply force 2!', ')', ')', ')'] #-2.4109819330136357 0.0109
#planner_baseline = ['s(', 'f(', '0 at pos (0.0, 0.05, 0.0)?', 's(', 'pick 0!', 'place at (0.0, 0.05, 0.0)!', ')', ')', \
# 'f(', '1 on 0?', 's(', 'pick 1!', 'place on 0!', ')', ')', \
# 'f(', '1 at pos (0.0, 0.05, 0.0192)?', 'apply force 1!', ')', \
# 'f(', '2 on 1?', 's(', 'pick 2!', 'place on 1!', ')', ')', \
# 'f(', '2 at pos (0.0, 0.05, 0.0384)?', 'apply force 2!', ')',')'] #-2.2109819330136357 0.0109
n_logs = 10
for i in range(1, n_logs + 1):
gp_par.log_name = 'tower_no_baseline_' + str(i)
gp.set_seeds(i)
gp.run(environment, gp_par)
for i in range(1, n_logs + 1):
gp_par.log_name = 'tower_planner_baseline_' + str(i)
gp.set_seeds(i)
gp.run(environment, gp_par, baseline=planner_baseline)
for i in range(0):
start = time.time()
fitness = environment.get_fitness(planner_baseline)
print(str(i) + ": " + str(time.time() - start))
print(fitness)
########################################################################################
# Croissant
########################################################################################
behavior_tree.load_settings_from_file('BT_SETTINGS_CROISSANT.yaml')
planner_baseline = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0)?', 's(', 'f(', 'picked 0?', 'pick 0!', ')', 'place at (0.0, 0.0, 0.0)!', ')', ')', \
'f(', '1 at pos (0.0, 0.0, 0.0192)?', 's(', 'f(', '1 on 0?', 's(', 'f(', 'picked 1?', 'pick 1!', ')', 'place on 0!', ')', ')', 'apply force 1!', ')', ')', \
'f(', '2 at pos (0.016, -0.032, 0.0)?', 's(', 'f(', 'picked 2?', 'pick 2!', ')', 'place at (0.016, -0.032, 0.0)!', ')', ')', \
'f(', '3 at pos (0.016, 0.032, 0.0)?', 's(', 'f(', 'picked 3?', 'pick 3!', ')', 'place at (0.016, 0.032, 0.0)!', ')', ')', ')'] #-237...
#best from experiments
#planner_baseline = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0)?', 's(', 'pick 0!', 'place at (0.0, 0.0, 0.0)!', ')', ')', \
# 'f(', '2 at pos (0.016, -0.032, 0.0)?', 's(', 'pick 2!', 'place at (0.016, -0.032, 0.0)!', ')', ')', \
# 'f(', '3 at pos (0.016, 0.032, 0.0)?', 's(', 'pick 3!', 'place at (0.016, 0.032, 0.0)!', ')', ')', \
# 'f(', '1 at pos (0.0, 0.0, 0.0192)?', 's(', 'f(', '1 on 0?', 's(', 'pick 1!', 'place on 0!', ')', ')', 'apply force 1!', ')', ')', ')'] #-2.5
#planner_baseline = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0)?', 's(', 'pick 0!', 'place at (0.0, 0.0, 0.0)!', ')', ')', \
# 'f(', '3 at pos (0.016, 0.032, 0.0)?', 's(', 'pick 3!', 'place at (0.016, 0.032, 0.0)!', ')', ')', \
# 'f(', '2 at pos (0.016, -0.032, 0.0)?', 's(', 'pick 2!', 'place at (0.016, -0.032, 0.0)!', ')', ')', \
# 'f(', '1 on 0?', 's(', 'pick 1!', 'place on 0!', ')', ')',
# 'f(', '1 at pos (0.0, 0.0, 0.0192)?', 'apply force 1!', ')', ')'] #-2.4
#planner_baseline = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0)?', 's(', 'pick 0!', 'place at (0.0, 0.0, 0.0)!', ')', ')', \
# 'f(', '1 at pos (0.0, 0.0, 0.0192)?', 's(', 'f(', '1 on 0?', 's(', 'f(', '2 at pos (0.016, -0.032, 0.0)?', 's(', '3 at pos (0.016, 0.032, 0.0)?', 'pick 2!', 'place at (0.016, -0.032, 0.0)!', ')', 'place at (0.016, 0.032, 0.0)!', ')', \
# 'pick 1!', 'place on 0!', ')', ')', 'apply force 1!', ')', 'pick 3!', ')', ')'] #-2.33... Very clever with brick 3..
targets = []
targets.append(agx_interface.Pos(0.0, 0.0, 0.0))
targets.append(agx_interface.Pos(0.0, 0.0, 0.0192))
targets.append(agx_interface.Pos(0.016, -0.032, 0.0))
targets.append(agx_interface.Pos(0.016, 0.032, 0.0))
environment = Environment(world_interface, targets, verbose=False)
gp_par.n_generations = 1000
n_logs = 5
for i in range(1, n_logs + 1):
gp_par.log_name = 'cro_planner_baseline_' + str(i)
gp.set_seeds(i)
#gp.run(environment, gp_par, baseline=planner_baseline)
for i in range(1, n_logs + 1):
gp_par.log_name = 'cro_planner_baseline_boost_co_' + str(i)
gp_par.boost_baseline = True
gp_par.boost_baseline_only_co = True
gp.set_seeds(i)
gp.run(environment, gp_par, baseline=planner_baseline, hotstart=False)
gp_par.boost_baseline = False
for i in range(1, n_logs + 1):
gp_par.log_name = 'cro_planner_baseline_boost_all_' + str(i)
gp_par.boost_baseline = True
gp_par.boost_baseline_only_co = False
gp.set_seeds(i)
gp.run(environment, gp_par, baseline=planner_baseline, hotstart=False)
gp_par.boost_baseline = False
gp_par.boost_baseline_only_co = True
for i in range(1, n_logs + 1):
gp_par.log_name = 'cro_no_baseline_' + str(i)
gp.set_seeds(i)
gp.run(environment, gp_par)
for i in range(0):
start = time.time()
fitness = environment.get_fitness(planner_baseline)
print(str(i) + ": " + str(time.time() - start))
print(fitness)
########################################################################################
# Balance
########################################################################################
behavior_tree.load_settings_from_file('BT_SETTINGS_BALANCE.yaml')
planner_baseline = [
's(', 'f(', '0 at pos (0.0, 0.0, 0.0192)?', 's(', 'f(',
'1 at pos (0.0, 0.0, 0.0)?', 'put 1 at (0.0, 0.0, 0.0)!', ')', 'f(',
'0 on 1?', 'put 0 on 1!', ')', 'apply force 0!', ')', ')', ')'
] #-117.7... 6.6...
#Solved
#planner_baseline = ['f(', '0 at pos (0.0, 0.0, 0.0192)?', 's(', 'put 2 at (0.0, 0.0, 0.0)!', 'put 0 on 2!', 'apply force 0!', ')', ')'] #-0.6...
targets = []
targets.append(agx_interface.Pos(0.0, 0.0, 0.0192))
fitness_coeff = Coefficients()
fitness_coeff.hand_not_empty = 100.0
environment = Environment(world_interface,
targets,
verbose=False,
fitness_coeff=fitness_coeff)
gp_par.n_generations = 800
n_logs = 10
for i in range(1, n_logs + 1):
gp_par.log_name = 'balance_planner_baseline_' + str(i)
gp.set_seeds(i)
gp.run(environment, gp_par, baseline=planner_baseline, hotstart=False)
for i in range(1, n_logs + 1):
gp_par.log_name = 'balance_no_baseline_' + str(i)
gp.set_seeds(i)
gp.run(environment, gp_par, hotstart=False)
for i in range(1, n_logs + 1):
gp_par.log_name = 'balance_planner_baseline_boost_all_' + str(i)
gp_par.boost_baseline = True
gp_par.boost_baseline_only_co = False
gp.set_seeds(i)
gp.run(environment, gp_par, baseline=planner_baseline, hotstart=False)
gp_par.boost_baseline = False
gp_par.boost_baseline_only_co = True
for i in range(1, n_logs + 1):
gp_par.log_name = 'balance_planner_baseline_boost_co_' + str(i)
gp_par.boost_baseline = True
gp_par.boost_baseline_only_co = True
gp.set_seeds(i)
gp.run(environment, gp_par, baseline=planner_baseline, hotstart=False)
gp_par.boost_baseline = False
for i in range(0):
start = time.time()
fitness = environment.get_fitness(planner_baseline)
print(str(i) + ": " + str(time.time() - start))
print(fitness)
########################################################################################
# Blocking
########################################################################################
behavior_tree.load_settings_from_file('BT_SETTINGS_BLOCKING.yaml')
planner_baseline = ['s(', 'f(', '0 at pos (-0.1, 0.0, 0.0)?', 'put 0 at (-0.1, 0.0, 0.0)!', ')', \
'f(', '1 at pos (-0.1, 0.0, 0.0192)?', 's(', 'f(', '1 on 0?', 'put 1 on 0!', ')', 'apply force 1!', ')', ')', \
'f(', '2 at pos (0.0, 0.0, 0.0)?', 'put 2 at (0.0, 0.0, 0.0)!', ')', ')'] #-288...
#Solved
#planner_baseline = ['s(', 'put 1 on 0!', 'f(', '0 at pos (-0.1, 0.0, 0.0)?', 'put 2 at (0.0, 0.05, 0.0)!', ')', \
# 'put 0 at (-0.1, 0.0, 0.0)!', \
# 'f(', '1 at pos (-0.1, 0.0, 0.0192)?', 'apply force 1!', ')', \
# 'put 2 at (0.0, 0.0, 0.0)!', ')'] #-1.0
#planner_baseline = ['s(', 'f(', '1 at pos (-0.1, 0.0, 0.0192)?', \
# 's(', 'put 1 on 0!', 'put 2 at (0.0, 0.05, 0.0)!', 'put 0 at (-0.1, 0.0, 0.0)!', 'apply force 1!', ')', ')',
# 'put 2 at (0.0, 0.0, 0.0)!', ')'] #-0.9
targets = []
targets.append(agx_interface.Pos(-0.1, 0.0, 0.0))
targets.append(agx_interface.Pos(-0.1, 0.0, 0.0192))
targets.append(agx_interface.Pos(0.0, 0.0, 0.0))
fitness_coeff = Coefficients()
fitness_coeff.hand_not_empty = 0.0
environment = Environment(world_interface,
targets,
verbose=False,
fitness_coeff=fitness_coeff)
gp_par.n_generations = 300
n_logs = 5
for i in range(1, n_logs + 1):
gp_par.log_name = 'block_planner_baseline_' + str(i)
gp.set_seeds(i)
#gp.run(environment, gp_par, baseline=planner_baseline)
for i in range(1, n_logs + 1):
gp_par.log_name = 'block_no_baseline_' + str(i)
gp.set_seeds(i)
gp.run(environment, gp_par, hotstart=False)
for i in range(1, n_logs + 1):
gp_par.log_name = 'block_planner_baseline_boost_co_' + str(i)
gp_par.boost_baseline = True
gp_par.boost_baseline_only_co = True
gp.set_seeds(i)
gp.run(environment, gp_par, baseline=planner_baseline, hotstart=False)
gp_par.boost_baseline = False
for i in range(1, n_logs + 1):
gp_par.log_name = 'block_planner_baseline_boost_all_' + str(22)
gp_par.boost_baseline = True
gp_par.boost_baseline_only_co = False
gp.set_seeds(i)
gp.run(environment, gp_par, baseline=planner_baseline, hotstart=False)
gp_par.boost_baseline = False
gp_par.boost_baseline_only_co = True
for i in range(0):
start = time.time()
fitness = environment.get_fitness(planner_baseline)
print(str(i) + " time: " + str(time.time() - start))
print(fitness)
world_interface.shutdown()
paper_plots()
def test_croissant():
""" Test croissant scenario """
gp_par = gp.GpParameters()
gp_par.ind_start_length = 8
gp_par.n_population = 16
gp_par.f_crossover = 0.5
gp_par.n_offspring_crossover = 2
gp_par.replace_crossover = False
gp_par.f_mutation = 0.5
gp_par.n_offspring_mutation = 2
gp_par.parent_selection = gp.SelectionMethods.RANK
gp_par.survivor_selection = gp.SelectionMethods.RANK
gp_par.f_elites = 0.1
gp_par.f_parents = gp_par.f_elites
gp_par.mutate_co_offspring = False
gp_par.mutate_co_parents = True
gp_par.mutation_p_add = 0.4
gp_par.mutation_p_delete = 0.3
gp_par.allow_identical = False
gp_par.plot = True
gp_par.n_generations = 1000
gp_par.verbose = False
gp_par.fig_last_gen = False
behavior_tree.load_settings_from_file(
'duplo_state_machine/BT_SETTINGS_CROISSANT.yaml')
planner_baseline = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0)?', \
's(', 'f(', 'picked 0?', 'pick 0!', ')', 'place at (0.0, 0.0, 0.0)!', ')', ')', \
'f(', '1 at pos (0.0, 0.0, 0.0192)?', \
's(', 'f(', '1 on 0?', 's(', 'f(', 'picked 1?', 'pick 1!', ')', 'place on 0!', ')', ')', \
'apply force 1!', ')', ')', \
'f(', '2 at pos (0.016, -0.032, 0.0)?', \
's(', 'f(', 'picked 2?', 'pick 2!', ')', 'place at (0.016, -0.032, 0.0)!', ')', ')', \
'f(', '3 at pos (0.016, 0.032, 0.0)?', \
's(', 'f(', 'picked 3?', 'pick 3!', ')', 'place at (0.016, 0.032, 0.0)!', ')', ')', ')']
solved = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0)?', 's(', 'pick 0!', 'place at (0.0, 0.0, 0.0)!', ')', ')', \
'f(', '2 at pos (0.016, -0.032, 0.0)?', \
's(', 'pick 2!', 'place at (0.016, -0.032, 0.0)!', ')', ')', \
'f(', '3 at pos (0.016, 0.032, 0.0)?', \
's(', 'pick 3!', 'place at (0.016, 0.032, 0.0)!', ')', ')', \
'f(', '1 at pos (0.0, 0.0, 0.0192)?', \
's(', 'f(', '1 on 0?', 's(', 'pick 1!', 'place on 0!', ')', ')', \
'apply force 1!', ')', ')', ')']
start_positions = []
start_positions.append(Pos(-0.05, -0.1, 0))
start_positions.append(Pos(0, -0.1, 0))
start_positions.append(Pos(0.05, -0.1, 0))
start_positions.append(Pos(0.1, -0.1, 0))
targets = []
targets.append(Pos(0.0, 0.0, 0.0))
targets.append(Pos(0.0, 0.0, 0.0192))
targets.append(Pos(0.016, -0.032, 0.0))
targets.append(Pos(0.016, 0.032, 0.0))
environment = sm_environment.Environment(start_positions,
targets,
verbose=False,
mode=sm.SMMode.CROISSANT)
fitness = environment.get_fitness(planner_baseline)
assert fitness < -100
fitness = environment.get_fitness(solved)
assert fitness > -3
gp_par.log_name = 'test_croissant'
_, _, best_fitness, _ = gp.run(environment,
gp_par,
baseline=planner_baseline)
assert best_fitness[-1] > -4
behavior_tree.load_settings_from_file(
'behavior_tree_learning/tests/BT_TEST_SETTINGS.yaml')
def test_baselining():
# pylint: disable=too-many-statements
""" Tests various baseline setups in the blocking task """
gp_par = gp.GpParameters()
gp_par.ind_start_length = 8
gp_par.n_population = 16
gp_par.f_crossover = 0.5
gp_par.n_offspring_crossover = 2
gp_par.replace_crossover = False
gp_par.f_mutation = 0.5
gp_par.n_offspring_mutation = 2
gp_par.parent_selection = gp.SelectionMethods.RANK
gp_par.survivor_selection = gp.SelectionMethods.RANK
gp_par.f_elites = 0.1
gp_par.f_parents = gp_par.f_elites
gp_par.mutate_co_offspring = False
gp_par.mutate_co_parents = True
gp_par.mutation_p_add = 0.4
gp_par.mutation_p_delete = 0.3
gp_par.allow_identical = False
gp_par.plot = True
gp_par.verbose = False
gp_par.fig_last_gen = False
behavior_tree.load_settings_from_file(
'duplo_state_machine/BT_SETTINGS_BLOCKING.yaml')
planner_baseline = ['s(', 'f(', '0 at pos (-0.1, 0.0, 0.0)?', 'put 0 at (-0.1, 0.0, 0.0)!', ')', \
'f(', '1 at pos (-0.1, 0.0, 0.0192)?', \
's(', 'f(', '1 on 0?', 'put 1 on 0!', ')', 'apply force 1!', ')', ')', \
'f(', '2 at pos (0.0, 0.0, 0.0)?', 'put 2 at (0.0, 0.0, 0.0)!', ')', ')']
start_positions = []
start_positions.append(sm.Pos(0.0, -0.05, 0.0))
start_positions.append(sm.Pos(0.0, 0.05, 0.0))
start_positions.append(sm.Pos(-0.1, 0.0, 0.0))
targets = []
targets.append(Pos(-0.1, 0.0, 0.0))
targets.append(Pos(-0.1, 0.0, 0.0192))
targets.append(Pos(0.0, 0.0, 0.0))
environment = sm_environment.Environment(start_positions,
targets,
verbose=False,
mode=sm.SMMode.BLOCKING)
n_logs = 10
gp_par.n_generations = 10
best_list_baseline_no_keep = []
gp_par.keep_baseline = False
for i in range(1, n_logs + 1):
gp_par.log_name = 'test_baseline_no_keep' + str(i)
gp.set_seeds(i)
_, _, best_fitness, _ = gp.run(environment,
gp_par,
baseline=planner_baseline)
best_list_baseline_no_keep.append(best_fitness[-1])
gp_par.n_generations = 200
best_list_baseline = []
for i in range(1, n_logs + 1):
gp_par.log_name = 'test_baseline' + str(i)
gp.set_seeds(i)
_, _, best_fitness, _ = gp.run(environment,
gp_par,
baseline=planner_baseline)
best_list_baseline.append(best_fitness[-1])
best_list_baseline_boost = []
gp_par.keep_baseline = True
gp_par.boost_baseline = True
gp_par.boost_baseline_only_co = False
for i in range(1, n_logs + 1):
gp_par.log_name = 'test_baseline_boost' + str(i)
gp.set_seeds(i)
_, _, best_fitness, _ = gp.run(environment,
gp_par,
baseline=planner_baseline)
best_list_baseline_boost.append(best_fitness[-1])
best_list_baseline_boost_only_co = []
gp_par.keep_baseline = True
gp_par.boost_baseline = True
gp_par.boost_baseline_only_co = True
for i in range(1, n_logs + 1):
gp_par.log_name = 'test_baseline_boost_only_co' + str(i)
gp.set_seeds(i)
_, _, best_fitness, _ = gp.run(environment,
gp_par,
baseline=planner_baseline)
best_list_baseline_boost_only_co.append(best_fitness[-1])
print(best_list_baseline_no_keep)
print(best_list_baseline)
print(best_list_baseline_boost)
print(best_list_baseline_boost_only_co)
print(mean(best_list_baseline_no_keep))
print(mean(best_list_baseline))
print(mean(best_list_baseline_boost))
print(mean(best_list_baseline_boost_only_co))
assert mean(best_list_baseline_boost) > mean(best_list_baseline)
assert mean(best_list_baseline_boost_only_co) > mean(
best_list_baseline_boost)
#Results after 500 gens run
#[-51.6, -89.6, -12.2, -2.3, -1.0, -50.2, -51.6, -1.0, -1.0, -1.0]
#[-12.2, -50.2, -10.8, -1.0, -1.0, -1.0, -2.2999999999999985, -0.9, -50.2, -89.6]
#[-1.0, -1.0, -1.3, -1.0, -1.0, -1.0, -50.2, -1.0, -1.0, -50.199999999999996]
#[-1.0, -1.0, -1.1, -1.0, -1.0, -1.2, -1.0, -10.8, -40.3, -1.0]
#-26.15
#-21.9
#-10.87
#-5.9
behavior_tree.load_settings_from_file(
'behavior_tree_learning/tests/BT_TEST_SETTINGS.yaml')
def test_blocking():
""" Test scenario of shuffling bricks to avoid blocking """
gp_par = gp.GpParameters()
gp_par.ind_start_length = 8
gp_par.n_population = 16
gp_par.f_crossover = 0.5
gp_par.n_offspring_crossover = 2
gp_par.replace_crossover = False
gp_par.f_mutation = 0.5
gp_par.n_offspring_mutation = 2
gp_par.parent_selection = gp.SelectionMethods.RANK
gp_par.survivor_selection = gp.SelectionMethods.RANK
gp_par.f_elites = 0.1
gp_par.f_parents = gp_par.f_elites
gp_par.mutate_co_offspring = False
gp_par.mutate_co_parents = True
gp_par.mutation_p_add = 0.4
gp_par.mutation_p_delete = 0.3
gp_par.allow_identical = False
gp_par.plot = True
gp_par.n_generations = 1000
gp_par.verbose = False
gp_par.fig_last_gen = False
behavior_tree.load_settings_from_file(
'duplo_state_machine/BT_SETTINGS_BLOCKING.yaml')
planner_baseline = ['s(', 'f(', '0 at pos (-0.1, 0.0, 0.0)?', 'put 0 at (-0.1, 0.0, 0.0)!', ')', \
'f(', '1 at pos (-0.1, 0.0, 0.0192)?', \
's(', 'f(', '1 on 0?', 'put 1 on 0!', ')', 'apply force 1!', ')', ')', \
'f(', '2 at pos (0.0, 0.0, 0.0)?', 'put 2 at (0.0, 0.0, 0.0)!', ')', ')']
solved = ['s(', 'put 1 on 0!', 'f(', '0 at pos (-0.1, 0.0, 0.0)?', 'put 2 at (0.0, 0.05, 0.0)!', ')', \
'put 0 at (-0.1, 0.0, 0.0)!', \
'f(', '1 at pos (-0.1, 0.0, 0.0192)?', 'apply force 1!', ')', \
'put 2 at (0.0, 0.0, 0.0)!', ')']
start_positions = []
start_positions.append(sm.Pos(0.0, -0.05, 0.0))
start_positions.append(sm.Pos(0.0, 0.05, 0.0))
start_positions.append(sm.Pos(-0.1, 0.0, 0.0))
targets = []
targets.append(Pos(-0.1, 0.0, 0.0))
targets.append(Pos(-0.1, 0.0, 0.0192))
targets.append(Pos(0.0, 0.0, 0.0))
environment = sm_environment.Environment(start_positions,
targets,
verbose=False,
mode=sm.SMMode.BLOCKING)
fitness = environment.get_fitness(planner_baseline)
assert fitness < -50
fitness = environment.get_fitness(solved)
assert fitness > -2
gp_par.log_name = 'test_blocking'
_, _, best_fitness, _ = gp.run(environment,
gp_par,
baseline=planner_baseline)
assert best_fitness[-1] > -2
behavior_tree.load_settings_from_file(
'behavior_tree_learning/tests/BT_TEST_SETTINGS.yaml')
def test_duplo_croissant():
""" Tests state machine for duplo croissant scenario """
behavior_tree.load_settings_from_file(
'duplo_state_machine/BT_SETTINGS_CROISSANT.yaml')
start_positions = []
start_positions.append(Pos(-0.05, -0.1, 0))
start_positions.append(Pos(0, -0.1, 0))
start_positions.append(Pos(0.05, -0.1, 0))
start_positions.append(Pos(0.1, -0.1, 0))
targets = []
targets.append(Pos(0.0, 0.0, 0.0))
targets.append(Pos(0.0, 0.0, 0.0192))
targets.append(Pos(0.016, -0.032, 0.0))
targets.append(Pos(0.016, 0.032, 0.0))
environment = duplo_state_machine.environment.Environment(
start_positions, targets)
best = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0)?', 's(', 'pick 0!', 'place at (0.0, 0.0, 0.0)!', ')', ')', \
'f(', '2 at pos (0.016, -0.032, 0.0)?', 's(', 'pick 2!', 'place at (0.016, -0.032, 0.0)!', ')', ')', \
'f(', '3 at pos (0.016, 0.032, 0.0)?', 's(', 'pick 3!', 'place at (0.016, 0.032, 0.0)!', ')', ')', \
'f(', '1 at pos (0.0, 0.0, 0.0192)?', \
's(', 'f(', '1 on 0?', 's(', 'pick 1!', 'place on 0!', ')', ')', \
'apply force 1!', ')', ')', ')']
print(environment.get_fitness(best))
planned = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0)?', 's(', 'pick 0!', 'place at (0.0, 0.0, 0.0)!', ')', ')', \
'f(', '1 at pos (0.0, 0.0, 0.0192)?', \
's(', 'f(', '1 on 0?', 's(', 'pick 1!', 'place on 0!', ')', ')', \
'apply force 1!', ')', ')', \
'f(', '2 at pos (0.016, -0.032, 0.0)?', \
's(', 'pick 2!', 'place at (0.016, -0.032, 0.0)!', ')', ')', \
'f(', '3 at pos (0.016, 0.032, 0.0)?', \
's(', 'pick 3!', 'place at (0.016, 0.032, 0.0)!', ')', ')', ')']
planned = ['s(', 'f(', '0 at pos (0.0, 0.0, 0.0)?', \
's(', 'f(', 'picked 0?', 'pick 0!', ')', 'place at (0.0, 0.0, 0.0)!', ')', ')', \
'f(', '1 at pos (0.0, 0.0, 0.0192)?', \
's(', 'f(', '1 on 0?', 's(', 'f(', 'picked 1?', 'pick 1!', ')', 'place on 0!', ')', ')', \
'apply force 1!', ')', ')', \
'f(', '2 at pos (0.016, -0.032, 0.0)?', \
's(', 'f(', 'picked 2?', 'pick 2!', ')', 'place at (0.016, -0.032, 0.0)!', ')', ')', \
'f(', '3 at pos (0.016, 0.032, 0.0)?', \
's(', 'f(', 'picked 3?', 'pick 3!', ')', 'place at (0.016, 0.032, 0.0)!', ')', ')', ')']
print(environment.get_fitness(planned))
gp_par = gp.GpParameters()
gp_par.ind_start_length = 8
gp_par.n_population = 16
gp_par.f_crossover = 0.5
gp_par.n_offspring_crossover = 2
gp_par.f_mutation = 0.5
gp_par.n_offspring_mutation = 2
gp_par.parent_selection = gp.SelectionMethods.RANK
gp_par.survivor_selection = gp.SelectionMethods.RANK
gp_par.f_elites = 0.1
gp_par.f_parents = 1
gp_par.mutate_co_offspring = False
gp_par.mutate_co_parents = True
gp_par.mutation_p_add = 0.4
gp_par.mutation_p_delete = 0.3
gp_par.allow_identical = False
gp_par.plot = True
gp_par.n_generations = 50
gp_par.verbose = False
gp_par.fig_last_gen = False
n_logs = 3
for i in range(1, n_logs + 1):
gp_par.log_name = 'croissant_baseline_sm_' + str(i)
gp.set_seeds(i)
gp.run(environment, gp_par, baseline=planned)