public void Mutate(Genotype genotype, MutationResults results)
{
var prunedSynapses = genotype.SynapseGenes
.Where(_ => Random.value < p)
.Where(g => !g.isEnabled)
.ToList();
var synapseGenes = genotype.SynapseGenes.Except(prunedSynapses)
.ToGeneList();
genotype.SynapseGenes = synapseGenes;
// An orphan is a neuron with no connecting synapses
// For each neuron: check if any synapse connects to it
// Exclude IO neurons
var orphanedNeurons = genotype.HiddenNeurons.Where(g =>
synapseGenes.None(s =>
s.fromNeuronId == g.InnovationId ||
s.toNeuronId == g.InnovationId)).ToList();
var neuronGenes = genotype.NeuronGenes.Except(orphanedNeurons)
.ToGeneList();
genotype.NeuronGenes = neuronGenes;
results.orphanedNeurons += orphanedNeurons.Count;
results.prunedSynapses += prunedSynapses.Count;
}
public void Mutate(Genotype genotype, MutationResults results)
{
var neuronIndexA = Random.Range(0, genotype.NeuronCount);
var neuronGeneA = genotype.NeuronGenes.ElementAt(neuronIndexA);
var candidates = new List<NeuronGene>(genotype.NeuronGenes);
candidates.Shuffle();
NeuronGene neuronGeneB = default(NeuronGene);
bool foundNeuron = false;
for (var i = 0; i < candidates.Count; i++) {
neuronGeneB = candidates[i];
var exists = genotype.SynapseGenes.Any(s =>
neuronGeneA.InnovationId == s.fromNeuronId &&
neuronGeneB.InnovationId == s.toNeuronId);
if (!exists) {
foundNeuron = true;
break;
}
}
if (foundNeuron) {
var synapseInnovationId = innovations.GetSynapseInnovationId(neuronGeneA.InnovationId, neuronGeneB.InnovationId);
var synapseGene = new SynapseGene(synapseInnovationId, neuronGeneA.InnovationId, neuronGeneB.InnovationId, true);
var synapseGenes = new GeneList<SynapseGene>(genotype.SynapseGenes);
synapseGenes.Add(synapseGene);
genotype.SynapseGenes = synapseGenes;
results.addedSynapses += 1;
}
}
public void TestAddSynapseMutator()
{
var mutator = new AddSynapseMutator(innovations);
var mutatedGenotype = new Genotype(genotype);
var mutationResults = new MutationResults();
mutator.Mutate(mutatedGenotype, mutationResults);
Assert.AreEqual(1, mutationResults.addedSynapses);
// Compare gene counts
Assert.AreEqual(mutatedGenotype.NeuronCount, genotype.NeuronCount);
Assert.AreEqual(1, mutatedGenotype.SynapseCount - genotype.SynapseCount);
// Compare innovation ids
var aN = new [] { 0, 1, 2 };
var bN = mutatedGenotype.NeuronGenes.Select(g => g.InnovationId);
Assert.That(aN.SequenceEqual(bN));
var aS = new [] { 3, 4, 5, 6 };
var bS = mutatedGenotype.SynapseGenes.Select(g => g.InnovationId);
Assert.That(aS.SequenceEqual(bS));
}
public void Mutate(Genotype genotype, MutationResults results)
{
var prunedSynapses = genotype.SynapseGenes
.Where(_ => Random.value < p)
.Where(g => !g.isEnabled)
.ToList();
var synapseGenes = genotype.SynapseGenes.Except(prunedSynapses)
.ToGeneList();
genotype.SynapseGenes = synapseGenes;
// An orphan is a neuron with no connecting synapses
// For each neuron: check if any synapse connects to it
// Exclude IO neurons
var orphanedNeurons = genotype.HiddenNeurons.Where(g =>
synapseGenes.None(s =>
s.fromNeuronId == g.InnovationId ||
s.toNeuronId == g.InnovationId)).ToList();
var neuronGenes = genotype.NeuronGenes.Except(orphanedNeurons)
.ToGeneList();
genotype.NeuronGenes = neuronGenes;
results.orphanedNeurons += orphanedNeurons.Count;
results.prunedSynapses += prunedSynapses.Count;
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.NeuronGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++) {
if (Random.value < p) {
var innovationId = innovationIds[i];
genotype.NeuronGenes[innovationId] = NeuronGene.Random(innovationId);
results.replacedNeurons++;
}
}
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.SynapseGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++) {
if (Random.value < p) {
var synapseGene = genotype.SynapseGenes[innovationIds[i]];
synapseGene.isEnabled = !synapseGene.isEnabled;
genotype.SynapseGenes[synapseGene.InnovationId] = synapseGene;
results.toggledSynapses++;
}
}
}
public void Mutate(Genotype genotype, MutationResults results)
{
// We require a synapse to split
if (genotype.SynapseCount == 0)
{
return;
}
// Pick a synapse at random
var synapseIndex = Random.Range(0, genotype.SynapseCount);
var synapseGene = genotype.SynapseGenes.ElementAt(synapseIndex);
// Generate an innovation id for the operation
var innovationId = innovations.GetNeuronInnovationId(
synapseGene.fromNeuronId,
synapseGene.toNeuronId,
synapseGene.InnovationId
);
// If the genotype already contains the innovation id, bail
if (genotype.Contains(innovationId))
{
return;
}
var neuronGene = NeuronGene.Random(innovationId);
var neuronGenes = new GeneList <NeuronGene>(genotype.NeuronGenes);
neuronGenes.Add(neuronGene);
genotype.NeuronGenes = neuronGenes;
var synapseGenes = new GeneList <SynapseGene>(genotype.SynapseGenes);
var synapseGene1 = new SynapseGene(innovationId + 0,
synapseGene.fromNeuronId,
neuronGene.InnovationId,
true, 0.5f);
synapseGenes.Add(synapseGene1);
var synapseGene2 = new SynapseGene(innovationId + 1,
neuronGene.InnovationId,
synapseGene.toNeuronId,
true, 0.5f);
synapseGenes.Add(synapseGene2);
genotype.SynapseGenes = synapseGenes;
results.addedNeurons += 1;
results.addedSynapses += 2;
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.SynapseGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++) {
if (Random.value < p) {
var synapseGene = genotype.SynapseGenes[innovationIds[i]];
synapseGene.weight = Random.value;
genotype.SynapseGenes[synapseGene.InnovationId] = synapseGene;
results.replacedSynapses++;
}
}
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.SynapseGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++) {
if (Random.value < p) {
var synapseGene = genotype.SynapseGenes[innovationIds[i]];
synapseGene.weight = Mathf.Clamp01(RandomHelper.NextCauchy(synapseGene.weight, mutationScale));
genotype.SynapseGenes[synapseGene.InnovationId] = synapseGene;
results.perturbedSynapses++;
}
}
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.NeuronGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++)
{
if (Random.value < p)
{
var innovationId = innovationIds[i];
genotype.NeuronGenes[innovationId] = NeuronGene.Random(innovationId);
results.replacedNeurons++;
}
}
}
public void TestReplaceSynapseMutator()
{
var mutator = new ReplaceSynapseMutator(1.0f);
var mutatedGenotype = new Genotype(genotype);
var mutationResults = new MutationResults();
mutator.Mutate(mutatedGenotype, mutationResults);
Assert.AreEqual(mutationResults.replacedSynapses, 3);
// Compare gene counts
var comparer = new GenotypeShapeEqualityComparer();
Assert.That(comparer.Equals(mutatedGenotype, genotype));
}
public void TestPerturbSynapseMutator()
{
var mutator = new PerturbSynapseMutator(1.0f, 0.25f);
var mutatedGenotype = new Genotype(genotype);
var mutationResults = new MutationResults();
mutator.Mutate(mutatedGenotype, mutationResults);
Assert.AreEqual(3, mutationResults.perturbedSynapses);
// Compare gene counts
var comparer = new GenotypeShapeEqualityComparer();
Assert.That(comparer.Equals(mutatedGenotype, genotype));
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.SynapseGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++)
{
if (Random.value < p)
{
var synapseGene = genotype.SynapseGenes[innovationIds[i]];
synapseGene.weight = Random.value;
genotype.SynapseGenes[synapseGene.InnovationId] = synapseGene;
results.replacedSynapses++;
}
}
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.SynapseGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++)
{
if (Random.value < p)
{
var synapseGene = genotype.SynapseGenes[innovationIds[i]];
synapseGene.weight = Mathf.Clamp01(RandomHelper.NextCauchy(synapseGene.weight, mutationScale));
genotype.SynapseGenes[synapseGene.InnovationId] = synapseGene;
results.perturbedSynapses++;
}
}
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.SynapseGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++)
{
if (Random.value < p)
{
var synapseGene = genotype.SynapseGenes[innovationIds[i]];
synapseGene.isEnabled = !synapseGene.isEnabled;
genotype.SynapseGenes[synapseGene.InnovationId] = synapseGene;
results.toggledSynapses++;
}
}
}
public void Mutate(Genotype genotype, MutationResults results)
{
// We require a synapse to split
if (genotype.SynapseCount == 0) {
return;
}
// Pick a synapse at random
var synapseIndex = Random.Range(0, genotype.SynapseCount);
var synapseGene = genotype.SynapseGenes.ElementAt(synapseIndex);
// Generate an innovation id for the operation
var innovationId = innovations.GetNeuronInnovationId(
synapseGene.fromNeuronId,
synapseGene.toNeuronId,
synapseGene.InnovationId
);
// If the genotype already contains the innovation id, bail
if (genotype.Contains(innovationId)) {
return;
}
var neuronGene = NeuronGene.Random(innovationId);
var neuronGenes = new GeneList<NeuronGene>(genotype.NeuronGenes);
neuronGenes.Add(neuronGene);
genotype.NeuronGenes = neuronGenes;
var synapseGenes = new GeneList<SynapseGene>(genotype.SynapseGenes);
var synapseGene1 = new SynapseGene(innovationId + 0,
synapseGene.fromNeuronId,
neuronGene.InnovationId,
true, 0.5f);
synapseGenes.Add(synapseGene1);
var synapseGene2 = new SynapseGene(innovationId + 1,
neuronGene.InnovationId,
synapseGene.toNeuronId,
true, 0.5f);
synapseGenes.Add(synapseGene2);
genotype.SynapseGenes = synapseGenes;
results.addedNeurons += 1;
results.addedSynapses += 2;
}
public MutationResults Mutate(Genotype[] genotypes)
{
var orderedMutators = mutators.OrderBy(m => m.Key);
var results = new MutationResults();
foreach (var genotype in genotypes) {
foreach (var p_mutator in orderedMutators) {
var p = p_mutator.Key;
var mutator = p_mutator.Value;
if (Random.value < p) {
mutator.Mutate(genotype, results);
break;
}
}
}
return results;
}
public void TestPerturbNeuronMutator()
{
var mutator = new PerturbNeuronMutator(1.0f, 0.25f);
var mutatedGenotype = new Genotype(genotype);
var mutationResults = new MutationResults();
mutator.Mutate(mutatedGenotype, mutationResults);
Assert.AreEqual(3, mutationResults.perturbedNeurons);
// Compare gene counts
var comparer = new GenotypeShapeEqualityComparer();
Assert.That(comparer.Equals(mutatedGenotype, genotype));
}
public void TestReplaceSynapseMutator()
{
var mutator = new ReplaceSynapseMutator(1.0f);
var mutatedGenotype = new Genotype(genotype);
var mutationResults = new MutationResults();
mutator.Mutate(mutatedGenotype, mutationResults);
Assert.AreEqual(mutationResults.replacedSynapses, 3);
// Compare gene counts
var comparer = new GenotypeShapeEqualityComparer();
Assert.That(comparer.Equals(mutatedGenotype, genotype));
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.NeuronGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++) {
if (Random.value < p) {
var neuronGene = genotype.NeuronGenes[innovationIds[i]];
neuronGene.a = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.a, mutationScale));
neuronGene.b = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.b, mutationScale));
neuronGene.c = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.c, mutationScale));
neuronGene.d = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.d, mutationScale));
neuronGene.mean = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.mean, mutationScale));
neuronGene.sigma = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.sigma, mutationScale));
genotype.NeuronGenes[neuronGene.InnovationId] = neuronGene;
results.perturbedNeurons++;
}
}
}
public MutationResults Mutate(Genotype[] genotypes)
{
var orderedMutators = mutators.OrderBy(m => m.Key);
var results = new MutationResults();
foreach (var genotype in genotypes)
{
foreach (var p_mutator in orderedMutators)
{
var p = p_mutator.Key;
var mutator = p_mutator.Value;
if (Random.value < p)
{
mutator.Mutate(genotype, results);
break;
}
}
}
return(results);
}
public void Mutate(Genotype genotype, MutationResults results)
{
var innovationIds = genotype.NeuronGenes.InnovationIds;
for (int i = 0; i < innovationIds.Count; i++)
{
if (Random.value < p)
{
var neuronGene = genotype.NeuronGenes[innovationIds[i]];
neuronGene.a = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.a, mutationScale));
neuronGene.b = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.b, mutationScale));
neuronGene.c = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.c, mutationScale));
neuronGene.d = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.d, mutationScale));
neuronGene.mean = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.mean, mutationScale));
neuronGene.sigma = Mathf.Clamp01(RandomHelper.NextCauchy(neuronGene.sigma, mutationScale));
genotype.NeuronGenes[neuronGene.InnovationId] = neuronGene;
results.perturbedNeurons++;
}
}
}
public void Mutate(Genotype genotype, MutationResults results)
{
var neuronIndexA = Random.Range(0, genotype.InputNeurons.Count);
var neuronGeneA = genotype.InputNeurons[neuronIndexA];
var validNeurons = genotype.OutputNeurons
.Where(_ => Random.value < p)
.Where(neuronGeneB => genotype.SynapseGenes.None(s =>
neuronGeneA.InnovationId == s.fromNeuronId &&
neuronGeneB.InnovationId == s.toNeuronId));
foreach (var neuronGeneB in validNeurons) {
var synapseInnovationId = innovations.GetSynapseInnovationId(neuronGeneA.InnovationId, neuronGeneB.InnovationId);
var synapseGene = SynapseGene.Random(synapseInnovationId, neuronGeneA.InnovationId, neuronGeneB.InnovationId, true);
var synapseGenes = new GeneList<SynapseGene>(genotype.SynapseGenes);
synapseGenes.Add(synapseGene);
genotype.SynapseGenes = synapseGenes;
results.addedSynapses += 1;
}
}
public void Mutate(Genotype genotype, MutationResults results)
{
var neuronIndexA = Random.Range(0, genotype.NeuronCount);
var neuronGeneA = genotype.NeuronGenes.ElementAt(neuronIndexA);
var candidates = new List <NeuronGene>(genotype.NeuronGenes);
candidates.Shuffle();
NeuronGene neuronGeneB = default(NeuronGene);
bool foundNeuron = false;
for (var i = 0; i < candidates.Count; i++)
{
neuronGeneB = candidates[i];
var exists = genotype.SynapseGenes.Any(s =>
neuronGeneA.InnovationId == s.fromNeuronId &&
neuronGeneB.InnovationId == s.toNeuronId);
if (!exists)
{
foundNeuron = true;
break;
}
}
if (foundNeuron)
{
var synapseInnovationId = innovations.GetSynapseInnovationId(neuronGeneA.InnovationId, neuronGeneB.InnovationId);
var synapseGene = new SynapseGene(synapseInnovationId, neuronGeneA.InnovationId, neuronGeneB.InnovationId, true);
var synapseGenes = new GeneList <SynapseGene>(genotype.SynapseGenes);
synapseGenes.Add(synapseGene);
genotype.SynapseGenes = synapseGenes;
results.addedSynapses += 1;
}
}
public void TestAddSynapseMutator()
{
var mutator = new AddSynapseMutator(innovations);
var mutatedGenotype = new Genotype(genotype);
var mutationResults = new MutationResults();
mutator.Mutate(mutatedGenotype, mutationResults);
Assert.AreEqual(1, mutationResults.addedSynapses);
// Compare gene counts
Assert.AreEqual(mutatedGenotype.NeuronCount, genotype.NeuronCount);
Assert.AreEqual(1, mutatedGenotype.SynapseCount - genotype.SynapseCount);
// Compare innovation ids
var aN = new []{0, 1, 2};
var bN = mutatedGenotype.NeuronGenes.Select(g => g.InnovationId);
Assert.That(aN.SequenceEqual(bN));
var aS = new []{3, 4, 5, 6};
var bS = mutatedGenotype.SynapseGenes.Select(g => g.InnovationId);
Assert.That(aS.SequenceEqual(bS));
}
public void Mutate(Genotype genotype, MutationResults results)
{
var neuronIndexA = Random.Range(0, genotype.InputNeurons.Count);
var neuronGeneA = genotype.InputNeurons[neuronIndexA];
var validNeurons = genotype.OutputNeurons
.Where(_ => Random.value < p)
.Where(neuronGeneB => genotype.SynapseGenes.None(s =>
neuronGeneA.InnovationId == s.fromNeuronId &&
neuronGeneB.InnovationId == s.toNeuronId));
foreach (var neuronGeneB in validNeurons)
{
var synapseInnovationId = innovations.GetSynapseInnovationId(neuronGeneA.InnovationId, neuronGeneB.InnovationId);
var synapseGene = SynapseGene.Random(synapseInnovationId, neuronGeneA.InnovationId, neuronGeneB.InnovationId, true);
var synapseGenes = new GeneList <SynapseGene>(genotype.SynapseGenes);
synapseGenes.Add(synapseGene);
genotype.SynapseGenes = synapseGenes;
results.addedSynapses += 1;
}
}