class GENEALG:
def __init__(self, play_back=False):
if play_back:
f = open('robot.p', 'rb')
self.parent = pickle.load(f)
f.close()
else:
self.parent = POPULATION(c.popSize)
self.parent.Initialize()
self.parent.Evaluate()
def Evolve(self):
for g in range(c.numGens):
print(g, end=' ')
self.parent.Print()
child = POPULATION(c.popSize)
child.Fill_From(self.parent)
child.Evaluate()
self.parent.ReplaceWith(child)
def Show_Best(self):
bestIndividual = self.parent.Best_Individual()
self.parent.p[bestIndividual].Start_Evaluation(pb=False, pp=True)
self.parent.p[bestIndividual].Compute_Fitness()
print(self.parent.p[bestIndividual].fitness)
def Save(self):
f = open('robot.p', 'wb')
pickle.dump(self.parent, f)
f.close()
def Evolve(self):
for g in range(c.numGens):
print(g, end=' ')
self.parent.Print()
child = POPULATION(c.popSize)
child.Fill_From(self.parent)
child.Evaluate()
self.parent.ReplaceWith(child)
from population import POPULATION
import copy
import pickle
parents = POPULATION(10)
parents.Initialize()
parents.Evaluate(pb=True)
parents.Print()
# for loop that creates n iterations
for g in range(1, 200):
children = POPULATION(10)
children.Fill_From(parents)
children.Evaluate(pb=True)
print(g, end=' ')
children.Print()
parents.ReplaceWith(children)
# save structure of child that fares well
f = open('robot1.p', 'wb')
pickle.dump(children, f)
f.close()
f = open('robot1.p', 'rb')
best = pickle.load(f)
from population import POPULATION
import copy
parents = POPULATION(10)
parents.Initialize() # 09
parents.Evaluate(pp=False, pb=True)
parents.Print()
for g in range(1, 200):
children = copy.deepcopy(parents)
children.Mutate()
children.Evaluate(pp=False, pb=True)
parents.ReplaceWith(children)
#parents.Sort()
print g,
parents.Print()
parents.Evaluate(pp=True, pb=False)
import matplotlib.pyplot as plt
import random
import copy
from robot import ROBOT
import pickle
from population import POPULATION
from individual import INDIVIDUAL
import constants as c
from environments import ENVIRONMENTS
from environment import ENVIRONMENT
envs = ENVIRONMENTS()
parents = POPULATION(c.popSize)
parents.Initialize()
parents.Evaluate(envs, pp=False, pb=True)
#
parents.Print()
for g in range(1, c.numGens):
children = POPULATION(c.popSize)
children.Fill_From(parents)
children.Evaluate(envs, pp=False, pb=True)
print(g),
children.Print(),
print(),
parents.ReplaceWith(children)
if (g == c.numGens - 1):
print(parents.p[0].fitness)
from environments import ENVIRONMENTS
from population import POPULATION
import constants as c
envs = ENVIRONMENTS()
##import copy
##
parents = POPULATION(c.popSize)
parents.Initialize()
parents.Evaluate(envs, False, False)
##print('P', end = ' ')
##parents.Print()
##
##for g in range(1, c.numGens + 1):
## children = POPULATION(c.popSize)
## children.Fill_From(parents)
## children.Evaluate(False, True)
## print(g, end = ' ')
## children.Print()
## parents.ReplaceWith(children)
##
##children.p[0].Start_Evaluation(True, False)
import pyrosim
import random
import math
import copy
import pickle
import matplotlib.pyplot as plt
from robot import ROBOT
from individual import INDIVIDUAL
from population import POPULATION
parents = POPULATION(5)
parents.Evaluate()
parents.Print()
for g in range(1, 100):
children = copy.deepcopy(parents)
children.Mutate()
children.Evaluate()
parents.ReplaceWith(children)
print(g, end=' ')
parents.Print()
SEED = int(sys.argv[1])
D = int(sys.argv[2])
random.seed(SEED)
file = open(f'results/history/Bezier-D{D}-Seed-{SEED}-Best.csv', 'w')
file.write('G, Fitness\n')
file.close()
file = open(f'results/history/Bezier-D{D}-Seed-{SEED}-Avg.csv', 'w')
file.write('G, Fitness\n')
file.close()
call(['mkdir', f'results/history/Bezier-genomes-D{D}-Seed{SEED}'])
print("GENERATION: " + str(0))
print("========================================================")
parents = POPULATION(c.POP_SIZE, D)
parents.Evaluate()
parents.SaveFitnessHistory(0, SEED, D)
parents.SaveBestIndiv(SEED, D)
# for r in range(1, c.RUNS+1)
for g in range(1, c.GENS):
print("GENERATION: " + str(g))
print("========================================================")
children = POPULATION(c.POP_SIZE, D)
children.Fill_From(parents)
children.Evaluate()
parents.ReplaceWith(children)
parents.SaveFitnessHistory(g, SEED, D)
parents.SavePopulation(g, SEED, D)
parents.SaveBestIndiv(SEED, D)
import pyrosim
import random
import copy
import pickle
import matplotlib.pyplot as plt
from population import POPULATION
# enter simulation parameters
N = 10 # number of individuals in a population
G = 1000 # number of generations
pb = True # set play blind setting: True = blind mode (recommended); False = draw to the screen
# create a population of parents
parents = POPULATION(N) # construct a POPULATION class instance : N parents with different genomes
parents.Evaluate(pb, 'doNotSave') # evaluate N unrelated robots in turn
print('Fitness values of the 1st generation of parents:')
parents.Print()
print # end the current line of printing
print('Fitness values of consequent generations of parents:')
for g in range(0, G): # iterate over generations 0 to G
# create a population of children
children = copy.deepcopy(parents) # create children which are clones of the parents
children.Mutate() # add mutations to the children population
children.Evaluate(pb, 'doNotSave') # evaluate N unrelated robots in turn
parents.ReplaceWith(children) # replace less fit parents with their more fit children; leave more fit parents in the parent population
import pyrosim
import matplotlib.pyplot as plt
from robot import ROBOT
from individual import INDIVIDUAL
import random
import copy
import pickle
from population import POPULATION
parents = POPULATION(10)
parents.Evaluate(True)
parents.Print()
for g in range(1, 200):
children = copy.deepcopy(parents)
children.Mutate()
children.Evaluate(True)
parents.ReplaceWith(children)
print(g)
parents.Print()
max_index = 0
max_fitness = 0
for i in range(len(parents.p)):
if (parents.p[i].fitness > max_fitness):
max_index = i
max_fitness = parents.p[i].fitness
parents.p[max_index].Start_Evaluation(False)
parents.p[max_index].Compute_Fitness()
header.append("ParentID")
header.append('Solution_' + str(i + 1))
writer = csv.writer(f, delimiter=',')
writer.writerow(header)
envs = ENVIRONMENTS()
# setting the random seed
np.random.seed(c.randomSeed)
random.seed(c.randomSeed)
# generate initial population
parents = POPULATION(popsize=c.popSize)
parents.Initialize()
# Evaluating the first gen of parents
parents.Evaluate(envs=envs)
parents.Print()
for i in range(c.numGens):
# Write data to csv
line = [i]
for j in range(c.popSize):
line.append(parents.p[j].ID)
line.append(parents.p[j].fitness)
writer.writerow(line)
# If the gen number is right, then it saves the replay of the best individual in the that generation
if i in instant_replay:
filename = "RobotReplayGen_" + str(i) + ".p"
from population import POPULATION
import copy
import constants as c
from environments import ENVIRONMENTS
envs = ENVIRONMENTS()
parents = POPULATION(c.popSize)
parents.Initialize()
parents.Evaluate(envs, False, True, c.evalTime)
parents.Print()
for g in range(1, c.numGens):
children = POPULATION(c.popSize)
children.Fill_From(parents)
children.Evaluate(envs, False, True, c.evalTime)
# children.Print()
# children = copy.deepcopy(parents)
# children.Mutate()
# children.Evaluate(True)
parents.ReplaceWith(children)
print(g),
children.Print()
#for e in range(0, c.numEnvs):
#parents.p[0].Start_Evaluation(envs.envs[3], True, False, c.evalTime)
#parents.p[0].Start_Evaluation(envs.envs[2], True, False, c.evalTime)
#parents.p[0].Start_Evaluation(envs.envs[1], True, False, c.evalTime)
parents.p[0].Start_Evaluation(envs.envs[0], True, False, c.evalTime)
#parent = INDIVIDUAL()
#parent.Evaluate(True)
# print results for each parent population
print("\nfitness of parents:"),
parents.Print()
###################
# EVOLVE CHILDREN #
###################
startTime = time.time()
g = 0
while (time.time() - startTime < c.runTime):
# initialize children
children = POPULATION(c.popSize)
children.Fill_From(parents)
# evaluate children
children.Evaluate(envs, True)
# print generation and time
print("\n results of generation: ", g)
print("\n evaluation time:", time.time() - startTime)
print("\n remaining time:", c.runTime - (time.time() - startTime))
# print results for each parent population
print("\n fitness of children:"),
children.Print()
print("\n")
# ---REPLACE---#
parents.ReplaceWith(children)
# ---TABULATE FITNESS---#
###########
import pickle
import random
from individual import INDIVIDUAL
from population import POPULATION
from environments import ENVIRONMENTS
import constants as c
#---ENVIRONMENTS---#
envs = ENVIRONMENTS()
#---PARENTS---#
parents = POPULATION(c.popSize)
parents.Initialize()
parents.Evaluate(envs, True)
parents.Print()
#---CHILDREN---#
for g in range(0, c.numGens):
children = POPULATION(c.popSize)
children.Fill_From(parents)
children.Evaluate(envs, True)
print("\n")
print(g),
children.Print()
#---REPLACE---#
parents.ReplaceWith(children)
import pickle
import constants as c
from population import POPULATION
# import matplotlib.pyplot as plt
parent = POPULATION(c.popSize)
parent.Initialize()
parent.Evaluate(True)
for g in range(c.numGens):
print(g, end=' ')
parent.Print()
child = POPULATION(c.popSize)
child.Fill_From(parent)
child.Evaluate()
parent.ReplaceWith(child)
bestIndividual = parent.Best_Individual()
parent.p[bestIndividual].Start_Evaluation(pb=False, pp=True)
parent.p[bestIndividual].Compute_Fitness()
f = open('robot.p', 'wb')
pickle.dump(parent, f)
f.close()
from robot import ROBOT
from individual import INDIVIDUAL
from population import POPULATION
import pyrosim
import random
import copy
import pickle
pop = POPULATION(5)
pop.Evaluate()
pop.Print()
# parent = INDIVIDUAL()
# parent.Evaluate(True)
# print(parent.fitness)
# for i in range (0, 500):
# child = copy.deepcopy( parent )
# child.Mutate()
# child.Evaluate(True)
# print('[g:' ,i , '] [p:' ,parent.fitness , ']', '[c:' ,child.fitness , ']')
# if ( child.fitness > parent.fitness ):
# parent = child
# parent.Evaluate(True)
# f = open('robot.p','wb')
# pickle.dump(parent , f )
# f.close()
from population import POPULATION
import copy
import pickle
parents = POPULATION(10)
parents.Evaluate(pb=True)
#exit()
parents.Print()
results = []
# for loop that creates n iterations
for g in range(1, 200):
# makes a copy of parents
children = copy.deepcopy(parents)
# mutates the parents to make the children
children.Mutate()
# evaluates the children
children.Evaluate(pb=True)
# if they do better, they replace the parents
parents.ReplaceWith(children)
# print generation
print(g, end='')
# print the fitness
###########
import pickle
import random
from individual import INDIVIDUAL
from population import POPULATION
from environments import ENVIRONMENTS
import constants as c
#---ENVIRONMENTS---#
envs = ENVIRONMENTS()
#---PARENTS---#
parents = POPULATION(c.popSize)
parents.Initialize()
parents.Evaluate(envs, False, pp = True)
parents.Print()
"""
#---CHILDREN---#
for g in range (0,c.numGens):
children = POPULATION(c.popSize)
children.Fill_From(parents)
children.Evaluate(envs, True)
print("\n")
print(g),
children.Print()
#---REPLACE---#
parents.ReplaceWith(children)
avgFitnesses = []
tValues = []
t = c.Min_dist
parents = POPULATION(popSize)
parents.Initialize()
if (Load):
f = open('parents1.p', 'rb')
parents = pickle.load(f)
f.close()
#parents.p[0] = best
parents.Evaluate(True, t)
print('Gen 0: ', end='')
parents.Print()
#count = 0
for g in range(1, c.totGens):
if (g >= c.gens):
t = c.Max_dist
#if (count == c.inc_time):
# count = 0
# if (t+c.gen_incremement <= c.Max_dist):
# t += c.gen_incremement
children = POPULATION(popSize)
children.Fill_From(parents)
fits = []
envs = ENVIRONMENTS()
###### Make a population ######
parents = POPULATION(c.popSize)
parents.Initialize()
###### Load Precursor into Population ######
if os.path.isfile(pickledPop) and loadPrecursor:
f = open(pickledPop, "rb")
parents.Copy_Best_From(pickle.load(f), cSurv)
f.close()
###### Print out fitness of initial parent ######
parents.Evaluate(envs, hideSim=True, startPaused=False, printFit=False)
parents.Print()
###### Iterate over generations ######
for g in range(0, c.numGens):
# Initialize Children and fill population
children = POPULATION(c.popSize)
children.Copy_Best_From(parents, cSurv)
# Rapture chance
if random.random() < c.perRapture:
print('Rapture')
children.Rapture()
import pyrosim
import matplotlib.pyplot as plt
import random
import numpy
import copy
import pickle
from individual import INDIVIDUAL
from robot import ROBOT
from population import POPULATION
parents = POPULATION(
10) # creates a empty population but stores the population size
parents.Initialize() #start a population of individuals of size 'i'
parents.Evaluate(True) # Evaluates the fitness of each individual
#exit() # exit the program immediately
parents.Print() #print ID and fitness of each individual
for i in range(1, 200):
children = POPULATION(5)
#children.Print()
children.Fill_From(parents)
#children.Print()
children.Evaluate(True)
children.Print()
parents = children
parents.Evaluate(False)
parents.Print()
### created by Max Marder
###########
# IMPORTS #
###########
import pickle
import random
from individual import INDIVIDUAL
from population import POPULATION
#---PARENTS---#
parents = POPULATION(10)
parents.Initialize()
parents.Evaluate(True)
print("0"),
parents.Print()
#---CHILDREN---#
for g in range(1, 201):
children = POPULATION(5)
children.Fill_From(parents)
children.Evaluate(True)
print("\n")
print(g),
children.Print()
#---REPLACE---#
parents.ReplaceWith(children)
# child.Evaluate(hideSim=True)
#
# print("[g: ", i, "] [PW: ", parent.genome," ][P: ", parent.fitness, "] [C:", child.fitness, "]")
# fits.append(parent.fitness)
#
# if (child.fitness > parent.fitness):
# parent = child
# f = open("robot.p", "wb")
# pickle.dump(parent, f)
# f.close()
# parent.Evaluate(hideSim=False, startPaused=True)
# Make a population
parents = POPULATION(10)
parents.Initialize()
parents.Evaluate(startPaused=False)
parents.Print()
for g in range(0, 200):
children = POPULATION(10)
children.FillFrom(parents)
parents.ReplaceWith(children)
parents.Evaluate()
print(g, end=' ')
children.Print()
# # Make a copy and evaluate them
# children = cp.deepcopy( parents )
# children.Mutate()
import copy
import pickle
from individual import INDIVIDUAL
from population import POPULATION
# import matplotlib.pyplot as plt
parent = POPULATION(5)
parent.Evaluate()
for g in range(100):
print(g, end=' ')
parent.Print()
child = copy.deepcopy(parent)
child.Mutate()
child.Evaluate()
parent.ReplaceWith(child)
# parent = INDIVIDUAL()
# parent.Evaluate(False)
# for g in range(0, 100):
# child = copy.deepcopy(parent)
# child.Mutate()
# child.Evaluate(True)
# print('[g: ', g, ' ] ', '[pw: ', parent.genome, ' ] ',
# '[p: ', parent.fitness, ' ] ', '[c: ', child.fitness, ' ]')
# if child.fitness > parent.fitness:
# parent = child
# parent.fitness = child.fitness
# parent.Evaluate(False)
# f = open('robot.p', 'wb')
# pickle.dump(parent, f)
# f.close()
import pyrosim
import matplotlib.pyplot as plt
import random
import pickle
import copy
from robot import ROBOT
from individual import INDIVIDUAL
from population import POPULATION
parents = POPULATION(10)
parents.Evaluate(True)
print('Parents: ', end='')
parents.Print()
for g in range(0,200):
children = copy.deepcopy(parents)
children.Mutate()
children.Evaluate(True)
parents.ReplaceWith(children)
print(g, end=' ')
parents.Print()
parents.Evaluate(False)
#parent = INDIVIDUAL()
#parent.Evaluate(True)
#print(parent.fitness)
#for i in range(0,100):
# load in parents
parents_1 = pickle.load(file_1)
parents_2 = pickle.load(file_2)
parents_3 = pickle.load(file_3)
# close files
file_1.close()
file_2.close()
file_3.close()
# skip parent evaluation, child evolution, and saving in movie mode
if (not c.movieMode):
#---EVALUATE PARENTS---#
# evaulate parents in respective environments types
parents_1.Evaluate(envs_1, True, pp=False)
parents_2.Evaluate(envs_2, True, pp=False)
parents_3.Evaluate(envs_3, True, pp=False)
# print results for each parent population
print("\nfitness of parents 1 in envs 1:"),
parents_1.Print()
print("\nfitness of parents 2 in envs 2:"),
parents_2.Print()
print("\nfitness of parents 3 in envs 3:"),
parents_3.Print()
print("\n")
###################
# EVOLVE CHILDREN #
###################
from Individual import INDIVIDUAL from population import POPULATION import matplotlib.pyplot as plt import random import pickle import copy import constants as c from ThrowingRobot import ROBOT parents = POPULATION(1) parents.Evaluate(False) # for j in range(0,1): # print(j, end="") # parents.Print() # children = copy.deepcopy(parents) # children.Mutate() # children.Evaluate(True) # parents.ReplaceWith(children) # parents.fitness_graph() # # parents.Evaluate(False)
import copy
import pickle
from individual import INDIVIDUAL
from population import POPULATION
# import matplotlib.pyplot as plt
parent = POPULATION(10)
parent.Evaluate(False)
for g in range(200):
print(g, end=' ')
parent.Print()
child = copy.deepcopy(parent)
child.Mutate()
child.Evaluate()
parent.ReplaceWith(child)
parent.Evaluate(False)
# parent = INDIVIDUAL()
# parent.Evaluate(False)
# for g in range(0, 100):
# child = copy.deepcopy(parent)
# child.Mutate()
# child.Evaluate(True)
# print('[g: ', g, ' ] ', '[pw: ', parent.genome, ' ] ',
# '[p: ', parent.fitness, ' ] ', '[c: ', child.fitness, ' ]')
# if child.fitness > parent.fitness:
# parent = child
# parent.fitness = child.fitness
# parent.Evaluate(False)
# f = open('robot.p', 'wb')
# pickle.dump(parent, f)
# f.close()
