class DJTempoMatch(object):
def __init__(self):
# Create a Topology
inputs = 256
hiddens = 100
outputs = 5
bias = 1
topology = self._get_topology(inputs=inputs, hiddens=hiddens, outputs=outputs, bias=bias)
# Create a factory for genotypes (i.e. a function that returns a new
# instance each time it is called)
genotype = lambda: NEATGenotype(inputs=inputs,
outputs=outputs,
feedforward=False,
weight_range=(-1., 1.),
types=['tanh'],
topology = topology,
bias_as_node = bias)
# Create a population
self.pop = NEATPopulation(genotype, popsize=10)
# Create a task
self.dpnv = PoleBalanceTask(velocities=True,
max_steps=10,
penalize_oscillation=True)
def _get_topology(self, inputs=5, hiddens = 3, outputs=2, bias=0):
topology = []
for i in range(inputs + bias):
for j in range(inputs + bias, inputs + bias + hiddens):
topology.append([i, j])
# Recurrent Network
for i in range(inputs + bias, inputs + bias + hiddens):
for j in range(inputs + bias + hiddens, inputs + bias + hiddens * 2):
topology.append([i, j])
topology.append([j, i])
for i in range(inputs + bias, inputs + bias + hiddens):
for j in range(inputs + bias + hiddens * 2, inputs + bias + hiddens * 2 + outputs):
topology.append([i, j])
return topology
def start(self, gen=100):
# Run the evolution, tell it to use the task as an evaluator
self.pop.epoch(generations=gen, evaluator=self.dpnv, solution=self.dpnv, callback=self.__new_generation)
def __new_generation(self, pop):
print pop.champions[-1]
pop.champions[-1].visualize("img.png");
def __init__(self):
# Create a Topology
inputs = 256
hiddens = 100
outputs = 5
bias = 1
topology = self._get_topology(inputs=inputs, hiddens=hiddens, outputs=outputs, bias=bias)
# Create a factory for genotypes (i.e. a function that returns a new
# instance each time it is called)
genotype = lambda: NEATGenotype(inputs=inputs,
outputs=outputs,
feedforward=False,
weight_range=(-1., 1.),
types=['tanh'],
topology = topology,
bias_as_node = bias)
# Create a population
self.pop = NEATPopulation(genotype, popsize=10)
# Create a task
self.dpnv = PoleBalanceTask(velocities=True,
max_steps=10,
penalize_oscillation=True)
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, 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 sim_run(popSize, nGen, nBots, nRun, sim_geno_loc, sim_dis_neat,
reset_innovations):
pops = []
for robot in xrange(nBots):
# create a different population for every bot
pops.append(
NEATPopulation(
genotype,
popsize=popSize,
elitism=elitism,
compatibility_threshold=compatibility_threshold,
compatibility_threshold_delta=compatibility_threshold_delta,
target_species=target_species,
min_elitism_size=min_elitism_size,
young_age=young_age,
prob_mutate=prob_mutate,
young_multiplier=young_multiplier,
stagnation_age=stagnation_age,
old_age=old_age,
old_multiplier=old_multiplier,
tournament_selection_k=tournament_selection_k,
reset_innovations=reset_innovations,
survival=survival,
phys_dis_neat=phys_dis_neat,
sim_dis_neat=sim_dis_neat,
sim_geno_loc=sim_geno_loc + '/' + str(robot) + '.pkl'))
log_dump = {'parameters': {}, 'generations': []}
log_dump = log_parameters(log_dump)
for i in xrange(nRun):
print time.strftime("%Y-%m-%d %H:%M:%S", time.gmtime()) + "\t%d" % i
# create summary file for indidivuals over all populations
runfile = sim_geno_loc_out + '/run_' + str(i)
os.makedirs(runfile)
for gen in xrange(nGen):
botnumber = 1
for pop in pops:
pop.epoch(generations=1,
evaluator=task,
solution=task,
reset=(gen == 0))
# log population dump per robot
log_population(log_dump, i, botnumber, pop)
log_summary(i, botnumber, pop)
botnumber += 1
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
### IMPORTS ###
import sys, os
from functools import partial
from collections import defaultdict
sys.path.append(os.path.join(os.path.split(__file__)[0],'..','..'))
from peas.methods.neat import NEATPopulation, NEATGenotype
# from peas.methods.neatpythonwrapper import NEATPythonPopulation
from peas.tasks.xor import XORTask
# Create a factory for genotypes (i.e. a function that returns a new
# instance each time it is called)
genotype = lambda: NEATGenotype(inputs=2,
weight_range=(-3., 3.),
types=['sigmoid2'])
# Create a population
pop = NEATPopulation(genotype, popsize=150)
# Create a task
task = XORTask()
nodecounts = defaultdict(int)
for i in xrange(100):
# Run the evolution, tell it to use the task as an evaluator
pop.epoch(generations=100, evaluator=task, solution=task)
nodecounts[len(pop.champions[-1].node_genes)] += 1
print sorted(nodecounts.items())
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 init(
reservoir_size=100,
reservoir_sparsity=0.1,
input_range=(-1, 1),
neat_iterations=1000,
neat_population_size=100,
esn_repetitions=3,
initial_weights_std=0.12,
neat_state_file="neat_progress.pickle", #neuroevolution state file
start_anew=True
): #either start and initialize new neat run or load earlier started one
global Scores
reset_population = start_anew
if not start_anew:
#loads earlier started neuroevolution state as to continue it
with open(neat_state_file, "rb") as input_file:
Scores = dill.load(input_file)
pop = dill.load(input_file)
task = dill.load(input_file)
else:
#Defining node amounts for ESN
res_units = reservoir_size
in_units = 1
out_units = 301
ESN_arch = [in_units, res_units, out_units]
sparsity = reservoir_sparsity
neat_iterations = neat_iterations
neat_population_size = neat_population_size
Scores = {
"fitness": [],
"lyapunov": [],
"mc": [],
"std_mc": [],
"mmse": [],
"std_mmse": [],
"narma": [],
"std_narma": [],
"spectral_radius": []
}
topology = random_topology(res_units + in_units, sparsity=sparsity)
genotype = lambda: NEATGenotype(
inputs=in_units,
outputs=0,
topology=topology,
types=['tanh'],
feedforward=False,
prob_add_node=0,
prob_add_conn=0,
#max_nodes = 51,
initial_weight_stdev=initial_weights_std,
prob_mutate_weight=0.2,
stdev_mutate_weight=0.02,
prob_reset_weight=0.008,
prob_mutate_bias=0.1,
stdev_mutate_bias=0.01,
bias_as_node=False,
prob_reenable_conn=0,
prob_disable_conn=0,
#prob_reenable_parent=0.25,
#weight_range=(-5., 5.),
#distances for speciation
distance_excess=1.0,
distance_disjoint=1.0,
distance_weight=1.0)
# Create a population
pop = NEATPopulation(genotype,
popsize=neat_population_size,
target_species=neat_population_size /
neat_population_size,
compatibility_threshold=0.01,
compatibility_threshold_delta=0.001)
# Create a task
task = ESNTask_external(ESN_arch, input_range, esn_repetitions)
#task = ESNTask_internal() #instead for just testing NEAT
return task, pop, neat_iterations, reset_population, neat_state_file
client.send("\r\n--" + boundary + "\r\n")
if __name__ == '__main__':
from peas.methods.neat import NEATPopulation, NEATGenotype
genotype = lambda: NEATGenotype(inputs=6,
outputs=2,
types=[ACTIVATION_FUNC],
prob_add_node=0.1,
weight_range=(-3, 3),
stdev_mutate_weight=.25,
stdev_mutate_bias=.25,
stdev_mutate_response=.25,
feedforward=False)
pop = NEATPopulation(genotype,
popsize=POPSIZE,
target_species=TARGET_SPECIES,
stagnation_age=5)
local_ip = sys.argv[-2]
log = {'neat': {}, 'generations': []}
# log neat settings
dummy_individual = genotype()
log['robot'] = {'ip': local_ip}
log['neat'] = {
'max_speed': MAX_MOTOR_SPEED,
'evaluations': EVALUATIONS,
'activation_function': ACTIVATION_FUNC,
'popsize': POPSIZE,
'generations': GENERATIONS,
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 start(self, evaluator, popsize, generations, max_motor_speed,
foraging):
if self.use_hyperneat:
# HYPERNEAT NOT USED
genotype = lambda innovations={}: NEATGenotype()
else:
genotype = lambda innovations={}: NEATGenotype(
inputs=task.inputs,
outputs=task.outputs,
weight_range=task.weight_range,
types=task.types,
innovations=innovations,
feedforward=task.feedforward,
prob_add_node=task.prob_add_node,
prob_add_conn=task.prob_add_conn,
prob_mutate_weight=task.prob_mutate_weight,
prob_reset_weight=task.prob_reset_weight,
prob_reenable_conn=task.prob_reenable_conn,
prob_disable_conn=task.prob_disable_conn,
prob_reenable_parent=task.prob_reenable_parent,
prob_mutate_bias=task.prob_mutate_bias,
prob_mutate_response=task.prob_mutate_response,
prob_mutate_type=task.prob_mutate_type,
stdev_mutate_weight=task.stdev_mutate_weight,
stdev_mutate_bias=task.stdev_mutate_bias,
stdev_mutate_response=task.stdev_mutate_response,
phys_dis_neat=task.phys_dis_neat,
max_depth=task.max_depth,
max_nodes=task.max_nodes,
response_default=task.response_default,
initial_weight_stdev=task.initial_weight_stdev,
bias_as_node=task.bias_as_node,
distance_excess=task.distance_excess,
distance_disjoint=task.distance_disjoint,
distance_weight=task.distance_weight)
pop = NEATPopulation(
genotype,
popsize=evaluator.popsize,
elitism=evaluator.elitism,
compatibility_threshold=evaluator.compatibility_threshold,
compatibility_threshold_delta=evaluator.
compatibility_threshold_delta,
target_species=evaluator.target_species,
min_elitism_size=evaluator.min_elitism_size,
young_age=evaluator.young_age,
prob_mutate=evaluator.prob_mutate,
young_multiplier=evaluator.young_multiplier,
stagnation_age=evaluator.stagnation_age,
old_age=evaluator.old_age,
old_multiplier=evaluator.old_multiplier,
tournament_selection_k=evaluator.tournament_selection_k,
reset_innovations=evaluator.reset_innovations,
survival=evaluator.survival,
phys_dis_neat=evaluator.phys_dis_neat,
sim_dis_neat=evaluator.sim_dis_neat,
ip_address=self.ip)
log = {'parameters': {}, 'generations': []}
# log neat settings.
log['parameters'] = {
'max_speed': max_motor_speed,
'inputs': evaluator.inputs,
'outputs': evaluator.outputs,
'weight_range': evaluator.weight_range,
'types': evaluator.types,
'feedforward': evaluator.feedforward,
'prob_add_node': evaluator.prob_add_node,
'prob_add_conn': evaluator.prob_add_conn,
'prob_mutate_weight': evaluator.prob_mutate_weight,
'prob_reset_weight': evaluator.prob_reset_weight,
'prob_reenable_conn': evaluator.prob_reenable_conn,
'prob_disable_conn': evaluator.prob_disable_conn,
'prob_reenable_parent': evaluator.prob_reenable_parent,
'prob_mutate_bias': evaluator.prob_mutate_bias,
'prob_mutate_response': evaluator.prob_mutate_response,
'prob_mutate_type': evaluator.prob_mutate_type,
'stdev_mutate_weight': evaluator.stdev_mutate_weight,
'stdev_mutate_bias': evaluator.stdev_mutate_bias,
'stdev_mutate_response': evaluator.stdev_mutate_response,
'phys_dis_neat': evaluator.phys_dis_neat,
'max_depth': evaluator.max_depth,
'max_nodes': evaluator.max_nodes,
'response_default': evaluator.response_default,
'initial_weight_stdev': evaluator.initial_weight_stdev,
'bias_as_node': evaluator.bias_as_node,
'distance_excess': evaluator.distance_excess,
'distance_disjoint': evaluator.distance_disjoint,
'distance_weight': evaluator.distance_weight,
'popsize': evaluator.popsize,
'elitism': evaluator.elitism,
'compatibility_threshold': evaluator.compatibility_threshold,
'compatibility_threshold_delta':
evaluator.compatibility_threshold_delta,
'target_species': evaluator.target_species,
'min_elitism_size': evaluator.min_elitism_size,
'young_age': evaluator.young_age,
'prob_mutate ': evaluator.prob_mutate,
'young_multiplier': evaluator.young_multiplier,
'stagnation_age': evaluator.stagnation_age,
'old_age': evaluator.old_age,
'old_multiplier': evaluator.old_multiplier,
'tournament_selection_k': evaluator.tournament_selection_k,
'reset_innovations': evaluator.reset_innovations,
'survival': evaluator.survival,
'phys_dis_neat': evaluator.phys_dis_neat,
'sim_dis_neat': evaluator.sim_dis_neat,
'ip_address': self.ip
}
log['parameters'].update(self.evaluator.logs())
dbus.mainloop.glib.DBusGMainLoop(set_as_default=True)
bus = dbus.SessionBus()
thymioController = dbus.Interface(
bus.get_object('ch.epfl.mobots.Aseba', '/'),
dbus_interface='ch.epfl.mobots.AsebaNetwork')
thymioController.LoadScripts(AESL_PATH,
reply_handler=dbusReply,
error_handler=dbusError)
# switch thymio LEDs off
thymioController.SendEventName('SetColor', [0, 0, 0, 0],
reply_handler=dbusReply,
error_handler=dbusError)
# thresholds are set > SHOULD BE IN FORAGING
if foraging == True:
self.detector = object_detector.ObjectDetector(
0.4, 0.01, thymioController)
self.evaluator.logger.info(
str(self.ip),
'Puck_threshold:' + str(self.detector.has_puck_threshold))
self.evaluator.logger.info(
str(self.ip),
'Goal_threshold:' + str(self.detector.has_goal_threshold2))
task = self.evaluator
task.set_thymio_controller(thymioController)
ctrl_serversocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
ctrl_serversocket.bind((self.ip, 1337))
ctrl_serversocket.listen(5)
ctrl_client = None
img_serversocket = None
img_client = None
def set_client():
global ctrl_client
print 'Control server: waiting for socket connections...'
(ctrl_client, address) = ctrl_serversocket.accept()
task.set_ctrl_client(ctrl_client)
print 'Control server: got connection from', address
thread.start_new_thread(set_client, ())
if self.use_img_client:
img_serversocket = socket.socket(socket.AF_INET,
socket.SOCK_STREAM)
img_serversocket.bind((self.ip, 31337))
img_serversocket.listen(5)
def set_img_client():
global img_client
print 'Image server: waiting for socket connections...'
(img_client, address) = img_serversocket.accept()
print 'Image server: got connection from', address
write_header(img_client)
thread.start_new_thread(set_img_client, ())
def epoch_callback(population):
# update log dump
population_backup = population.giveBackUp()
species_backup = population.giveBackUpSpecies()
generation = {
'individuals': [],
'phenotypes': [],
'gen_number': population.generation
}
for individual in population_backup:
copied_connections = {
str(key): value
for key, value in individual.conn_genes.items()
}
generation['individuals'].append({
'node_genes':
deepcopy(individual.node_genes),
'conn_genes':
copied_connections,
'stats':
deepcopy(individual.stats)
})
if self.use_hyperneat:
for phenotype in population.phenotype_backup:
generation['phenotypes'].append({
'cm':
deepcopy(phenotype.cm),
'act':
deepcopy(phenotype.act)
})
generation['species_id'] = [
species.id for species in species_backup
]
generation['species_size'] = [
len(species.members) for species in species_backup
]
log['generations'].append(generation)
#task.getLogger().info(', '.join([str(ind.stats['fitness']) for ind in population_backup.population]))
outputDir = os.path.join(OUTPUT_PATH, self.experiment_name)
if population.generation == 1:
self.firstdate = time.strftime("%d-%m-%y_%H-%M")
date = time.strftime("%d-%m-%y_%H-%M")
jsonLogFilename = os.path.join(
outputDir, self.experiment_name + '_' + date + '.json')
with open(jsonLogFilename, 'w') as f:
#print(outputDir, self.experiment_name + '_' + date + '.json')
json.dump(log, f, cls=CustomEncoder)
# update clean file summary
filename = os.path.join(
outputDir,
self.experiment_name + '_' + self.firstdate + '_cleanlog.txt')
#print filename
index = 1
for individual in population_backup:
msg = "%d\t%d\t%f\t%d\t%d\t%d\t%d\t%d\t%d\t" % (
population.generation, index, individual.stats['fitness'],
len(individual.node_genes), len(individual.conn_genes),
individual.stats['specieid'], individual.stats['id'],
individual.stats['parent1'], individual.stats['parent2'])
index += 1
with open(filename, 'a') as f:
f.write(msg + "\n")
try:
evaluator = lambda evaluee: task.evaluate(NeuralNetwork(evaluee)) \
if hasattr(evaluee, 'get_network_data') \
else task.evaluate(evaluee)
converter = hn.create_converter(
task.substrate()) if self.use_hyperneat else lambda x: x
pop.epoch(generations=task.generations,
evaluator=evaluator,
solution=evaluator,
callback=epoch_callback,
converter=converter)
except KeyboardInterrupt:
release_resources(task.thymioController, ctrl_serversocket,
ctrl_client, img_serversocket, img_client)
sys.exit(1)
release_resources(task.thymioController, ctrl_serversocket,
ctrl_client, img_serversocket, img_client)
sys.exit(0)
#!/usr/bin/env python
### IMPORTS ###
import sys, os
from functools import partial
sys.path.append(os.path.join(os.path.split(__file__)[0], '..', '..'))
from peas.methods.neat import NEATPopulation, NEATGenotype
# from peas.methods.neatpythonwrapper import NEATPythonPopulation
from peas.tasks.polebalance import PoleBalanceTask
# Create a factory for genotypes (i.e. a function that returns a new
# instance each time it is called)
genotype = lambda: NEATGenotype(
inputs=6, weight_range=(-50., 50.), types=['tanh'], feedforward=False)
# Create a population
pop = NEATPopulation(genotype, popsize=200)
# Create a task
dpnv = PoleBalanceTask(velocities=True,
max_steps=100000,
penalize_oscillation=True)
# Run the evolution, tell it to use the task as an evaluator
pop.epoch(generations=200, evaluator=dpnv, solution=dpnv)
#!/usr/bin/env python
### IMPORTS ###
import sys, os
from functools import partial
sys.path.append(os.path.join(os.path.split(__file__)[0],'..','..'))
from peas.methods.neat import NEATPopulation, NEATGenotype
# from peas.methods.neatpythonwrapper import NEATPythonPopulation
from peas.tasks.polebalance import PoleBalanceTask
# Create a factory for genotypes (i.e. a function that returns a new
# instance each time it is called)
genotype = lambda: NEATGenotype(inputs=6,
weight_range=(-50., 50.),
types=['tanh'])
# Create a population
pop = NEATPopulation(genotype, popsize=150)
# Create a task
dpnv = PoleBalanceTask(velocities=True,
max_steps=100000,
penalize_oscillation=True)
# Run the evolution, tell it to use the task as an evaluator
pop.epoch(generations=100, evaluator=dpnv, solution=dpnv)
### IMPORTS ###
import sys, os
from functools import partial
from collections import defaultdict
sys.path.append(os.path.join(os.path.split(__file__)[0], '..', '..'))
from peas.methods.neat import NEATPopulation, NEATGenotype
# from peas.methods.neatpythonwrapper import NEATPythonPopulation
from peas.tasks.xor import XORTask
# Create a factory for genotypes (i.e. a function that returns a new
# instance each time it is called)
genotype = lambda: NEATGenotype(
inputs=2, weight_range=(-3., 3.), types=['tanh'])
# Create a population
pop = NEATPopulation(genotype, popsize=150)
# Create a task
task = XORTask()
nodecounts = defaultdict(int)
for i in range(100):
# Run the evolution, tell it to use the task as an evaluator
pop.epoch(generations=100, evaluator=task, solution=task)
nodecounts[len(pop.champions[-1].node_genes)] += 1
print(sorted(nodecounts.items()))
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
client.send("\r\n--" + boundary + "\r\n")
if __name__ == '__main__':
from peas.methods.neat import NEATPopulation, NEATGenotype
genotype = lambda: NEATGenotype(
inputs=6,
outputs=2,
types=[ACTIVATION_FUNC],
prob_add_node=0.1,
weight_range=(-3, 3),
stdev_mutate_weight=.25,
stdev_mutate_bias=.25,
stdev_mutate_response=.25,
feedforward=False)
pop = NEATPopulation(genotype, popsize=POPSIZE, target_species=TARGET_SPECIES, stagnation_age=5)
local_ip = sys.argv[-2]
log = { 'neat': {}, 'generations': [] }
# log neat settings
dummy_individual = genotype()
log['robot'] = {
'ip': local_ip
}
log['neat'] = {
'max_speed': MAX_MOTOR_SPEED,
'evaluations': EVALUATIONS,
'activation_function': ACTIVATION_FUNC,
'popsize': POPSIZE,
from population import POPULATION
from environments import ENVIORNMENTS
import constants as c
import datetime
import time
from recorder import Recorder
import sys, os
import peas.peas as peas
sys.path.append(os.path.join(os.path.split("netGenAlg.py")[0], '..', '..'))
from peas.methods.neat import NEATPopulation, NEATGenotype
genotypes = lambda: NEATGenotype(
inputs=c.numOfLegs + 4, weight_range=(-50, 50), types=["tanh"])
pop = NEATPopulation(genotypes, popsize=c.popSize)
pop.epoch(generations=c.numGens, evaluator=pop.Evaluate())
pop.epoch()
envs = ENVIORNMENTS()
parents = POPULATION(c.popSize)
parents.Initialize()
parents.Evaluate(envs, pb=True, pp=False)
parents.Print()
startTimes = []
copyTimes = []
evalTimes = []
generations = []
fillTimes = []
