public FieldSubs3LQTable(RLClientBase client, int numTeammates, int myUnum)
: base(client, numTeammates, myUnum, false)
{
if (Program.LoadingGenome)
{
try
{
var doc = new XmlDocument();
doc.Load(Program.LoadedGenomePath);
NeatGenome readCPPN = XmlNeatGenomeReaderStatic.Read(doc);
var substrate = new MultiLayerSandwichSubstrate(Rows, Cols + 2, NeatExpParams.SubstrateLayers,
NeatExpParams.AddBiasToSubstrate, HyperNEATParameters.substrateActivationFunction);
SharpNeatLib.NeatGenome.NeatGenome tempGenome = substrate.GenerateGenome(readCPPN.Decode(HyperNEATParameters.substrateActivationFunction));
m_loadedNetwork = tempGenome.Decode(HyperNEATParameters.substrateActivationFunction);
m_loadingBehaviour = true;
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
m_loadingBehaviour = false;
}
}
}
static public INetwork DecodeToConcurrentNetwork(NeatGenome.NeatGenome g, IActivationFunction activationFn)
{
//----- Loop the neuronGenes. Create Neuron for each one.
// Store a table of neurons keyed by their id.
Hashtable neuronTable = new Hashtable(g.NeuronGeneList.Count);
NeuronList neuronList = new NeuronList();
foreach(NeuronGene neuronGene in g.NeuronGeneList)
{
Neuron newNeuron = new Neuron(activationFn, neuronGene.NeuronType, neuronGene.InnovationId);
neuronTable.Add(newNeuron.Id, newNeuron);
neuronList.Add(newNeuron);
}
//----- Loop the connection genes. Create a Connection for each one and bind them to the relevant Neurons.
foreach(ConnectionGene connectionGene in g.ConnectionGeneList)
{
Connection newConnection = new Connection(connectionGene.SourceNeuronId, connectionGene.TargetNeuronId, connectionGene.Weight);
// Bind the connection to it's source neuron.
newConnection.SetSourceNeuron((Neuron)neuronTable[connectionGene.SourceNeuronId]);
// Store the new connection against it's target neuron.
((Neuron)(neuronTable[connectionGene.TargetNeuronId])).ConnectionList.Add(newConnection);
}
return new ConcurrentNetwork(neuronList);
}
public static FastConcurrentMultiplicativeNetwork DecodeToFastConcurrentMultiplicativeNetwork(NeatGenome.NeatGenome g, IActivationFunction activationFn)
{
int outputNeuronCount = g.OutputNeuronCount;
int neuronGeneCount = g.NeuronGeneList.Count;
// Slightly inefficient - determine the number of bias nodes. Fortunately there is not actually
// any reason to ever have more than one bias node - although there may be 0.
int neuronGeneIdx=0;
for(; neuronGeneIdx<neuronGeneCount; neuronGeneIdx++)
{
if(g.NeuronGeneList[neuronGeneIdx].NeuronType != NeuronType.Bias)
break;
}
int biasNodeCount = neuronGeneIdx;
int inputNeuronCount = g.InputNeuronCount;
// ConnectionGenes point to a neuron ID. We need to map this ID to a 0 based index for
// efficiency. To do this we build a table of indexes (ints) keyed on neuron ID.
// TODO: An alternative here would be to forgo the building of a table and do a binary
// search directly on the NeuronGeneList - probably a good idea to use a heuristic based upon
// neuroncount*connectioncount that decides on which technique to use. Small networks will
// likely be faster to decode using the binary search.
// Actually we can partly achieve the above optimzation by using HybridDictionary instead of Hashtable.
// Although creating a table is a bit expensive.
HybridDictionary neuronIndexTable = new HybridDictionary(neuronGeneCount);
for(int i=0; i<neuronGeneCount; i++)
neuronIndexTable.Add(g.NeuronGeneList[i].InnovationId, i);
// Count how many of the connections are actually enabled. TODO: make faster - store disable count?
int connectionGeneCount = g.ConnectionGeneList.Count;
int connectionCount=connectionGeneCount;
// for(int i=0; i<connectionGeneCount; i++)
// {
// if(g.ConnectionGeneList[i].Enabled)
// connectionCount++;
// }
// Now we can build the connection array(s).
FloatFastConnection[] connectionArray = new FloatFastConnection[connectionCount];
int connectionIdx=0;
for(int connectionGeneIdx=0; connectionGeneIdx<connectionCount; connectionGeneIdx++)
{
ConnectionGene connectionGene = g.ConnectionGeneList[connectionIdx];
connectionArray[connectionIdx].sourceNeuronIdx = (int)neuronIndexTable[connectionGene.SourceNeuronId];
connectionArray[connectionIdx].targetNeuronIdx = (int)neuronIndexTable[connectionGene.TargetNeuronId];
connectionArray[connectionIdx].weight = (float)connectionGene.Weight;
connectionIdx++;
}
// Now sort the connection array on sourceNeuronIdx, secondary sort on targetNeuronIdx.
// TODO: custom sort routine to prevent boxing/unboxing required by Array.Sort(ValueType[])
//Array.Sort(connectionArray, fastConnectionComparer);
QuickSortFastConnections(0, fastConnectionArray.Length-1);
return new FastConcurrentMultiplicativeNetwork(
biasNodeCount, inputNeuronCount,
outputNeuronCount, neuronGeneCount,
connectionArray, activationFn);
}
//if genome x dominates y, increment y's dominated count, add y to x's dominated list
public void update_domination(NeatGenome.NeatGenome x, NeatGenome.NeatGenome y,RankInformation r1,RankInformation r2)
{
if(dominates(x,y)) {
r1.dominates.Add(r2);
r2.domination_count++;
}
}
private void EvolutionaryThread()
{
m_exp = CreateExperiment();
var idgen = new IdGenerator();
m_evoAlg = new EvolutionAlgorithm(
new Population(idgen,
GenomeFactory.CreateGenomeList(m_exp.DefaultNeatParameters, idgen,
m_exp.InputNeuronCount, m_exp.OutputNeuronCount,
m_exp.DefaultNeatParameters.pInitialPopulationInterconnections,
NeatExpParams.PopulationSize)),
m_exp.PopulationEvaluator, m_exp.DefaultNeatParameters);
while (!m_shouldQuit)
{
Console.WriteLine("::::: Performing one generation");
Console.WriteLine();
m_evoAlg.PerformOneGeneration();
if (NeatExpParams.SaveFitnessGrowth)
{
m_eaLogger.WriteLine(String.Format("{0,-10} {1,-20} {2,-20} {3,-20}",
m_evoAlg.Generation,
m_evoAlg.BestGenome.Fitness,
m_evoAlg.Population.MeanFitness, m_evoAlg.Population.AvgComplexity));
}
m_curBestGenome = m_evoAlg.BestGenome as NeatGenome;
if (m_evoAlg.BestGenome.Fitness > m_overalBestFitness)
{
m_overalBestFitness = m_evoAlg.BestGenome.Fitness;
m_overalBestGenome = m_curBestGenome;
if (NeatExpParams.SaveEachGenerationChampionCPPN)
{
try
{
var doc = new XmlDocument();
XmlGenomeWriterStatic.Write(doc, (NeatGenome)m_evoAlg.BestGenome);
var oFileInfo = new FileInfo(Path.Combine(
NeatExpParams.EALogDir, String.Format("BestIndividual-{0}-{1}.xml", MyUnum, m_evoAlg.Generation.ToString())));
doc.Save(oFileInfo.FullName);
}
catch
{
}
}
}
if (EAUpdate != null)
{
EAUpdate.Invoke(this, EventArgs.Empty);
}
}
}
public void initializeEvolution(int populationSize, NeatGenome seedGenome)
{
if (seedGenome == null)
{
initializeEvolution(populationSize);
return;
}
logOutput = new StreamWriter(outputFolder + "logfile.txt");
IdGenerator idgen = new IdGeneratorFactory().CreateIdGenerator(seedGenome);
ea = new EvolutionAlgorithm(new Population(idgen, GenomeFactory.CreateGenomeList(seedGenome, populationSize, experiment.DefaultNeatParameters, idgen)), experiment.PopulationEvaluator, experiment.DefaultNeatParameters);
}
public GenomeVisualizerForm(NeatGenome genome)
{
InitializeComponent();
updatePicture = true;
_currentGenome = genome;
_currentSelectedConnectionIndex = -1;
//currentSelectedIndex = null;
ShowGenomeNetwork(genome);
ShowGenomeConnections(genome);
ShowHyperCubeSlide(genome);
}
private void ShowHyperCubeSlide(NeatGenome genome)
{
float x = (float)numericUpDownX.Value;
float y = (float)numericUpDownY.Value;
float starty = -1.0f;
float startx;
INetwork net = genome.Decode(null);
float[] coordinates = new float[4];
coordinates[0] = x;
coordinates[1] = y;
double output;
if (pictureBox1 != null) return;
Graphics g = pictureBox1.CreateGraphics();
while (starty < 1.0f)
{
startx = -1.0f;
coordinates[3] = starty;
while (startx < 1.0f)
{
coordinates[2] = startx;
net.ClearSignals();
net.SetInputSignals(coordinates);
net.MultipleSteps(3);
output = net.GetOutputSignal(0);
//HyberCubeSlidePanel.
if (output < 0.0f)
{
brush.Color = Color.FromArgb((int)(output* -255.0f), 0, 0);
}
else
{
brush.Color = Color.FromArgb(0,0,(int)(output * 255.0f));
}
g.FillRectangle(brush, new Rectangle((int)(startx * 100.0f)+100, 100-(int)(starty * 100.0f), 1, 1));
//Show origin
startx += 0.01f;
}
starty += 0.01f;
}
brush.Color = Color.Green;
g.FillEllipse(brush, new Rectangle((int)(x * 100.0f) +100, 100-(int)(y * 100.0f), 5, 5));
}
public NeatGenome.NeatGenome generatePerceptronPattern(INetwork network, bool distance)
{
ConnectionGeneList connections = new ConnectionGeneList((int)(inputCount * outputCount));
double[] inputs;
if (distance)
{
inputs = new double[5];
}
else
{
inputs = new double[4];
}
//for this particular config, these inputs will never change so just set them now
inputs[1] = 1;
inputs[3] = -1;
uint counter = 0;
double output;
double x1 = -1, x2 = -1;
double inputDelta = (2.0 / (inputCount - 1));
double outputDelta = (2.0 / (outputCount - 1));
for (uint nodeFrom = 0; nodeFrom < inputCount; nodeFrom++, x1 += inputDelta)
{
inputs[0] = x1;
x2 = -1;
for (uint nodeTo = 0; nodeTo < outputCount; nodeTo++, x2 += outputDelta)
{
inputs[2] = x2;
if (distance)
{
inputs[4] = ((Math.Sqrt(Math.Pow(inputs[0] - inputs[2], 2) + Math.Pow(inputs[1] - inputs[3], 2)) / (2 * sqrt2)));
}
network.ClearSignals();
network.SetInputSignals(inputs);
//currenly assuming a depth no greater than 5
network.MultipleSteps(5);
output = network.GetOutputSignal(0);
if (Math.Abs(output) > threshold)
{
float weight = (float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) * weightRange * Math.Sign(output));
connections.Add(new ConnectionGene(counter++, nodeFrom, nodeTo + inputCount, weight));
}
}
}
NeatGenome.NeatGenome g = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)inputCount, (int)outputCount);
return(g);
}
public static void Write(XmlNode parentNode, NeatGenome.NeatGenome genome, IActivationFunction activationFn)
{
//----- Start writing. Create document root node.
XmlElement xmlNetwork = XmlUtilities.AddElement(parentNode, "network");
XmlUtilities.AddAttribute(xmlNetwork, "activation-fn-id", activationFn.FunctionId);
//----- Write neurons.
XmlElement xmlNeurons = XmlUtilities.AddElement(xmlNetwork, "neurons");
foreach(NeuronGene neuronGene in genome.NeuronGeneList)
WriteNeuron(xmlNeurons, neuronGene);
//----- Write Connections.
XmlElement xmlConnections = XmlUtilities.AddElement(xmlNetwork, "connections");
foreach(ConnectionGene connectionGene in genome.ConnectionGeneList)
WriteConnection(xmlConnections, connectionGene);
}
/// <summary>
/// Copy constructor.
/// </summary>
/// <param name="copyFrom"></param>
public NeatGenome(NeatGenome copyFrom, uint genomeId)
{
this.genomeId = genomeId;
// No need to loop the arrays to clone each element because NeuronGene and ConnectionGene are
// value data types (structs).
neuronGeneList = new NeuronGeneList(copyFrom.neuronGeneList);
connectionGeneList = new ConnectionGeneList(copyFrom.connectionGeneList);
inputNeuronCount = copyFrom.inputNeuronCount;
inputAndBiasNeuronCount = copyFrom.inputNeuronCount+1;
outputNeuronCount = copyFrom.outputNeuronCount;
inputBiasOutputNeuronCount = copyFrom.inputBiasOutputNeuronCount;
inputBiasOutputNeuronCountMinus2 = copyFrom.inputBiasOutputNeuronCountMinus2;
Debug.Assert(connectionGeneList.IsSorted(), "ConnectionGeneList is not sorted by innovation ID");
}
//function to check whether genome x dominates genome y, usually defined as being no worse on all
//objectives, and better at at least one
public bool dominates(NeatGenome.NeatGenome x, NeatGenome.NeatGenome y) {
bool better=false;
double[] objx = x.objectives, objy = y.objectives;
int sz = objx.Length;
//if x is ever worse than y, it cannot dominate y
//also check if x is better on at least one
for(int i=0;i<sz-1;i++) {
if(objx[i]<objy[i]) return false;
if(objx[i]>objy[i]) better=true;
}
//genomic novelty check, disabled for now
double thresh=0.1;
if((objx[sz-1]+thresh)<(objy[sz-1])) return false;
if((objx[sz-1]>(objy[sz-1]+thresh))) better=true;
return better;
}
/// <summary>
/// Create an IdGeneratoy by interrogating the provided Genome.
/// </summary>
/// <param name="pop"></param>
/// <returns></returns>
public IdGenerator CreateIdGenerator(NeatGenome genome)
{
uint maxGenomeId=0;
uint maxInnovationId=0;
// First pass: Determine the current maximum genomeId and innovationId.
if(genome.GenomeId > maxGenomeId)
maxGenomeId = genome.GenomeId;
// Neuron IDs actualy come from the innovation IDs generator, so although they
// aren't used as historical markers we should count them as innovation IDs here.
foreach(NeuronGene neuronGene in genome.NeuronGeneList)
{
if(neuronGene.InnovationId > maxInnovationId)
maxInnovationId = neuronGene.InnovationId;
}
foreach(ConnectionGene connectionGene in genome.ConnectionGeneList)
{
if(connectionGene.InnovationId > maxInnovationId)
maxInnovationId = connectionGene.InnovationId;
}
if(maxGenomeId==uint.MaxValue)
{ //reset to zero.
maxGenomeId=0;
}
else
{ // Increment to next available ID.
maxGenomeId++;
}
if(maxInnovationId==uint.MaxValue)
{ //reset to zero.
maxInnovationId=0;
}
else
{ // Increment to next available ID.
maxInnovationId++;
}
// Create an IdGenerator using the discovered maximum IDs.
return new IdGenerator(maxGenomeId, maxInnovationId);
}
public static void Write(XmlNode parentNode, NeatGenome genome)
{
//----- Start writing. Create document root node.
XmlElement xmlGenome = XmlUtilities.AddElement(parentNode, "genome");
XmlUtilities.AddAttribute(xmlGenome, "id", genome.GenomeId.ToString());
XmlUtilities.AddAttribute(xmlGenome, "species-id", genome.SpeciesId.ToString());
XmlUtilities.AddAttribute(xmlGenome, "age", genome.GenomeAge.ToString());
XmlUtilities.AddAttribute(xmlGenome, "fitness", genome.Fitness.ToString("0.00"));
//----- Write neurons.
XmlElement xmlNeurons = XmlUtilities.AddElement(xmlGenome, "neurons");
foreach(NeuronGene neuronGene in genome.NeuronGeneList)
WriteNeuron(xmlNeurons, neuronGene);
//----- Write Connections.
XmlElement xmlConnections = XmlUtilities.AddElement(xmlGenome, "connections");
foreach(ConnectionGene connectionGene in genome.ConnectionGeneList)
WriteConnectionGene(xmlConnections, connectionGene);
}
static public NetworkModel DecodeToNetworkModel(NeatGenome.NeatGenome g)
{
ModelNeuronList masterNeuronList = new ModelNeuronList();
// loop all neurons and build a table keyed on id.
HybridDictionary neuronTable = new HybridDictionary(g.NeuronGeneList.Count);
foreach(NeuronGene neuronGene in g.NeuronGeneList)
{
ModelNeuron modelNeuron = new ModelNeuron(neuronGene.NeuronType, neuronGene.InnovationId,neuronGene.ActivationFunction);
neuronTable.Add(modelNeuron.Id, modelNeuron);
masterNeuronList.Add(modelNeuron);
}
// Loop through all of the connections.
// Now we have a neuron table keyed on id we can attach the connections
// to their source and target neurons.
foreach(ConnectionGene connectionGene in g.ConnectionGeneList)
{
ModelConnection modelConnection = new ModelConnection();
modelConnection.Weight = connectionGene.Weight;
modelConnection.SourceNeuron = (ModelNeuron)neuronTable[connectionGene.SourceNeuronId];
modelConnection.TargetNeuron = (ModelNeuron)neuronTable[connectionGene.TargetNeuronId];
modelConnection.SourceNeuron.OutConnectionList.Add(modelConnection);
modelConnection.TargetNeuron.InConnectionList.Add(modelConnection);
}
//Sebastian. Build Model connections
foreach (ModuleGene mg in g.ModuleGeneList)
{
foreach (uint sourceID in mg.InputIds)
{
foreach (uint targetID in mg.OutputIds)
{
ModelConnection modelConnection = new ModelConnection();
modelConnection.Weight = 1.0; //TODO connectionGene.Weight;
modelConnection.SourceNeuron = (ModelNeuron)neuronTable[sourceID];
modelConnection.TargetNeuron = (ModelNeuron)neuronTable[targetID];
modelConnection.SourceNeuron.OutConnectionList.Add(modelConnection);
modelConnection.TargetNeuron.InConnectionList.Add(modelConnection);
}
}
}
return new NetworkModel(masterNeuronList);
}
static public ModularNetwork DecodeToCTRNN(NeatGenome.NeatGenome g)
{
int inputCount = g.InputNeuronCount;
int outputCount = g.OutputNeuronCount;
int neuronCount = g.NeuronGeneList.Count;
IActivationFunction[] activationFunctions = new IActivationFunction[neuronCount];
float[] biasList = new float[neuronCount];
float[] timeConst = new float[neuronCount];
Dictionary<uint, int> neuronLookup = new Dictionary<uint, int>(neuronCount);
// Create an array of the activation functions for each non-module node node in the genome.
// Start with a bias node if there is one in the genome.
// The genome's neuron list is assumed to be ordered by type, with the bias node appearing first.
int neuronGeneIndex = 0;
for (; neuronGeneIndex < neuronCount; neuronGeneIndex++)
{
if (g.NeuronGeneList[neuronGeneIndex].NeuronType != NeuronType.Bias)
break;
activationFunctions[neuronGeneIndex] = g.NeuronGeneList[neuronGeneIndex].ActivationFunction;
neuronLookup.Add(g.NeuronGeneList[neuronGeneIndex].InnovationId, neuronGeneIndex);
}
int biasCount = neuronGeneIndex;
for (; neuronGeneIndex < neuronCount; neuronGeneIndex++)
{
activationFunctions[neuronGeneIndex] = g.NeuronGeneList[neuronGeneIndex].ActivationFunction;
neuronLookup.Add(g.NeuronGeneList[neuronGeneIndex].InnovationId, neuronGeneIndex);
biasList[neuronGeneIndex] = g.NeuronGeneList[neuronGeneIndex].Bias;
timeConst[neuronGeneIndex] = g.NeuronGeneList[neuronGeneIndex].TimeConstant;
}
// Create an array of the activation functions, inputs, and outputs for each module in the genome.
ModulePacket[] modules = new ModulePacket[g.ModuleGeneList.Count];
for (int i = g.ModuleGeneList.Count - 1; i >= 0; i--)
{
modules[i].function = g.ModuleGeneList[i].Function;
// Must translate input and output IDs to array locations.
modules[i].inputLocations = new int[g.ModuleGeneList[i].InputIds.Count];
for (int j = g.ModuleGeneList[i].InputIds.Count - 1; j >= 0; j--)
{
modules[i].inputLocations[j] = neuronLookup[g.ModuleGeneList[i].InputIds[j]];
}
modules[i].outputLocations = new int[g.ModuleGeneList[i].OutputIds.Count];
for (int j = g.ModuleGeneList[i].OutputIds.Count - 1; j >= 0; j--)
{
modules[i].outputLocations[j] = neuronLookup[g.ModuleGeneList[i].OutputIds[j]];
}
}
// ConnectionGenes point to a neuron's innovation ID. Translate this ID to the neuron's index in the neuron array.
FloatFastConnection[] connections = new FloatFastConnection[g.ConnectionGeneList.Count];
for (int connectionGeneIndex = g.ConnectionGeneList.Count - 1; connectionGeneIndex >= 0; connectionGeneIndex--)
{
ConnectionGene connectionGene = g.ConnectionGeneList[connectionGeneIndex];
connections[connectionGeneIndex].sourceNeuronIdx = neuronLookup[connectionGene.SourceNeuronId];
connections[connectionGeneIndex].targetNeuronIdx = neuronLookup[connectionGene.TargetNeuronId];
connections[connectionGeneIndex].weight = (float)connectionGene.Weight;
}
CTRNN mn = new CTRNN(biasCount, inputCount, outputCount, neuronCount, connections, biasList, activationFunctions, modules,timeConst);
mn.genome = g;
return mn;
}
// NOTE: Multi-Plane Substrates ARE supported by this method!
private NeatGenome.NeatGenome generateHiveBrainGenomeStack(INetwork network, List<float> stackCoordinates, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet,bool ct)
{
//bool relativeCoordinate = false;
bool oneWay = false;
bool homogeneous = false ;
Dictionary<String, float> weights = new Dictionary<String, float>();
float timeConstantMin = 0.1f;
float timeConstantMax = 2.0f;
uint numberOfAgents = (uint)stackCoordinates.Count;
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList((int)(numberOfAgents * (InputCount * HiddenCount) + numberOfAgents * (HiddenCount * OutputCount))); // TODO: Perhaps get an exact count of connections in the constructor and use that value here?
float[] coordinates = new float[5]; //JUSTIN: Used to be 6 coordinates, zstack was duplicated for relativeCoordinate hyjinx. fixed it. // Inputs to the CPPN: [srcX, srcY, tgX, tgY, zstack]
float output;
uint connectionCounter = 0;
float agentDelta = 2.0f / (numberOfAgents - 1);
int iterations = 2 * (network.TotalNeuronCount - (network.InputNeuronCount + network.OutputNeuronCount)) + 1;
uint totalOutputCount = OutputCount * numberOfAgents;
uint totalInputCount = InputCount * numberOfAgents;
uint totalHiddenCount = HiddenCount * numberOfAgents;
uint sourceCount, targetCout;
double weightRange = HyperNEATParameters.weightRange;
double threshold = HyperNEATParameters.threshold;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount * numberOfAgents + OutputCount * numberOfAgents + HiddenCount * numberOfAgents));
// set up the input nodes
for (uint a = 0; a < totalInputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < totalOutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < totalHiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents + OutputCount * numberOfAgents, NeuronType.Hidden, activationFunction));
}
uint agent = 0;
float A = 0.0f, B = 0.0f, C = 0.0f, D = 0.0f, learningRate = 0.0f, modConnection;
// CPPN Outputs: [ Weights ] [ Biases ]
// When using multi-plane substrates, there will be multiple Weight and Bias outputs.
// There is a Weight output for every plane-to-plane connection (including a plane connected to itself, as in regular substrates)
// There is a Bias output for every plane
// Since "regular substrates" only have 1 plane, they only have 1 Weight and 1 Bias output. MP substrates have more. :)
int numPlanes = planes.Count;
int numPlaneConnections = planesConnected.Count;
int computedIndex;
foreach (float stackCoordinate in stackCoordinates)
{
coordinates[4] = stackCoordinate;
//coordinates[4] = homogeneous ? 0 : stackCoordinate;//-1 ? -1 : 0;//0;//stackCoordinate;
//coordinates[5] = stackCoordinate;
uint sourceID = uint.MaxValue, targetID = uint.MaxValue;
NeuronGroup connectedNG;
foreach (NeuronGroup ng in neuronGroups)
{
foreach (uint connectedTo in ng.ConnectedTo)
{
/*if (!relativeCoordinate)
coordinates[5] = stackCoordinate;
else //USE RELATIVE
coordinates[5] = 0;//*/
connectedNG = getNeuronGroup(connectedTo);
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
//-----------------Get the bias of the source node
/* switch (ng.GroupType)
{
case 0: sourceID = (agent * InputCount) + ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + (agent * OutputCount) + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + (agent * HiddenCount) + ng.GlobalID + sourceCount; break; //Hidden
}
coordinates[0] = source.X; coordinates[1] = source.Y; coordinates[2] = 0.0f; coordinates[3] = 0.0f;
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
neurons[(int)sourceID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
if (ct)
{
neurons[(int)sourceID].TimeConstant = 0.01f + ((((float)network.GetOutputSignal(2) + 1.0f) / 2.0f) * .05f);
System.Diagnostics.Debug.Assert(neurons[(int)sourceID].TimeConstant > 0);
}*/
//----------------------------
targetCout = 0;
foreach (PointF target in connectedNG.NeuronPositions)
{
switch (ng.GroupType)
{
case 0: sourceID = (agent * InputCount) + ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + (agent * OutputCount) + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + (agent * HiddenCount) + ng.GlobalID + sourceCount; break; //Hidden
}
switch (connectedNG.GroupType)
{
case 0: targetID = (agent * InputCount) + connectedNG.GlobalID + targetCout; break;
case 1: targetID = totalInputCount + (agent * OutputCount) + connectedNG.GlobalID + targetCout; break;
case 2: targetID = totalInputCount + totalOutputCount + (agent * HiddenCount) + connectedNG.GlobalID + targetCout; break;
}
//-----------------Get the bias of the target node
coordinates[0] = target.X; coordinates[1] = target.Y; coordinates[2] = 0.0f; coordinates[3] = 0.0f;
//String s = arrayToString(coordinates);
//if (weights.ContainsKey(s))
// neurons[(int)targetID].Bias = weights[s];
//else
{
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
computedIndex = numPlaneConnections + planes.IndexOf(connectedNG.Plane);
//neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(computedIndex) * weightRange);
//weights.Add(s,neurons[(int)targetID].Bias);
}
if (ct)
{
neurons[(int)targetID].TimeConstant = timeConstantMin + ((((float)network.GetOutputSignal(2) + 1.0f) / 2.0f) * (timeConstantMax - timeConstantMin));
System.Diagnostics.Debug.Assert(neurons[(int)targetID].TimeConstant > 0);
}
//----------------------------
coordinates[0] = source.X;
coordinates[1] = source.Y;
coordinates[2] = target.X;
coordinates[3] = target.Y;
//Console.WriteLine(arrayToString(coordinates));
//if(weights.ContainsKey(s))
// output = weights[s];
//else
{
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
computedIndex = indexOfPlaneConnection(ng.Plane, connectedNG.Plane);
//output = network.GetOutputSignal(0);
output = network.GetOutputSignal(computedIndex);
//weights.Add(s, output);
}
double leo = 0.0;
if (adaptiveNetwork)
{
A = network.GetOutputSignal(2);
B = network.GetOutputSignal(3);
C = network.GetOutputSignal(4);
D = network.GetOutputSignal(5);
learningRate = network.GetOutputSignal(6);
}
if (modulatoryNet)
{
modConnection = network.GetOutputSignal(7);
}
else
{
modConnection = 0.0f;
}
if (useLeo)
{
threshold = 0.0;
leo = network.GetOutputSignal(2);
}
if (!useLeo || leo > 0.0)
if (Math.Abs(output) > threshold)
{
float weight = (float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) * weightRange * Math.Sign(output));
//if (adaptiveNetwork)
//{
// //If adaptive network set weight to small value
// weight = 0.1f;
//}
connections.Add(new ConnectionGene(connectionCounter++, sourceID, targetID, weight, ref coordinates));
}
//else
//{
// Console.WriteLine("Not connected");
//}
targetCout++;
}
sourceCount++;
}
}
foreach (uint connectedTo in ng.HiveConnectedTo)
{
bool wrapAround = true;
for (uint agentConnect = 0; agentConnect < stackCoordinates.Count; agentConnect++)
{
//Make sure we're not making a recurrent connection on the same agent
//if (agentConnect == agent)
// continue;
// else if ((agent == stackCoordinates.Count - 1 && agentConnect == 0) || (agent == 0 && agentConnect == stackCoordinates.Count - 1))
// ;//agentConnect = 0;
if (agent != 0 && agent != stackCoordinates.Count - 1)
continue;
//if (agent == 1)
// continue;
//if (agentConnect != 0 )
// continue;
//Limits connections to only neighbors. Good?
//if (!((agent == 0 || agentConnect >= agent - 1) && agentConnect <= agent + 1))
// continue;
//if (agentConnect > agent + 1 || agentConnect < agent - 1)
// continue;
if (oneWay)
{
//ONE-WAY
if (agentConnect > agent + 1 || agentConnect < agent)
continue;
}
/*if (!relativeCoordinate)
//USE THE Z COORDINATE
coordinates[5] = stackCoordinates[(int)agentConnect];
else
//USE THE RELATIVE COORDINATE
coordinates[5] = agentConnect > agent ? 1 : -1;
//*/
//WRAP AROUND
/*if (agent == stackCoordinates.Count - 1 && agentConnect == 0)
coordinates[5] = 1;
else if (agent == 0 && agentConnect == stackCoordinates.Count - 1)
coordinates[5] = -1;
*/
connectedNG = getNeuronGroup(connectedTo);
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
//-----------------Get the bias of the source node
/* switch (ng.GroupType)
{
case 0: sourceID = (agent * InputCount) + ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + (agent * OutputCount) + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + (agent * HiddenCount) + ng.GlobalID + sourceCount; break; //Hidden
}
coordinates[0] = source.X; coordinates[1] = source.Y; coordinates[2] = 0.0f; coordinates[3] = 0.0f;
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
neurons[(int)sourceID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
if (ct)
{
neurons[(int)sourceID].TimeConstant = 0.01f + ((((float)network.GetOutputSignal(2) + 1.0f) / 2.0f) * .05f);
System.Diagnostics.Debug.Assert(neurons[(int)sourceID].TimeConstant > 0);
}*/
//----------------------------
targetCout = 0;
foreach (PointF target in connectedNG.NeuronPositions)
{
/*if ((source.X != target.X))
{
targetCout++;
continue;
}*/
if (/*source.X!= target.X ||*/ target.X != coordinates[4])// || source.X!= coordinates[4])
{
targetCout++;
continue;
}
/* if (agent != 0 && agent != stackCoordinates.Count - 1)
{
if(agentConnect != 0 && agentConnect != stackCoordinates.Count - 1)
{
targetCout++;
continue;
}
}*/
switch (ng.GroupType)
{
case 0: sourceID = (agent * InputCount) + ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + (agent * OutputCount) + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + (agent * HiddenCount) + ng.GlobalID + sourceCount; break; //Hidden
}
switch (connectedNG.GroupType)
{
case 0: targetID = (agentConnect * InputCount) + connectedNG.GlobalID + targetCout; break;
case 1: targetID = totalInputCount + (agentConnect * OutputCount) + connectedNG.GlobalID + targetCout; break;
case 2: targetID = totalInputCount + totalOutputCount + (agentConnect * HiddenCount) + connectedNG.GlobalID + targetCout; break;
}
//-----------------Get the bias of the target node
coordinates[0] = target.X; coordinates[1] = target.Y; coordinates[2] = 0.0f; coordinates[3] = 0.0f;
//String s = arrayToString(coordinates);
//if (weights.ContainsKey(s))
// neurons[(int)targetID].Bias = weights[s];
//else
{
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
computedIndex = numPlaneConnections + planes.IndexOf(connectedNG.Plane);
//neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(computedIndex) * weightRange);
// weights.Add(s, neurons[(int)targetID].Bias);
}
if (ct)
{
neurons[(int)targetID].TimeConstant = timeConstantMin + ((((float)network.GetOutputSignal(2) + 1.0f) / 2.0f) * (timeConstantMax - timeConstantMin));
System.Diagnostics.Debug.Assert(neurons[(int)targetID].TimeConstant > 0);
}
//----------------------------
coordinates[0] = source.X;
coordinates[1] = source.Y;
coordinates[2] = target.X;
coordinates[3] = target.Y;
//s = arrayToString(coordinates);
//if (weights.ContainsKey(s))
// output = weights[s];
//else
{
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
computedIndex = indexOfPlaneConnection(ng.Plane, connectedNG.Plane);
//output = network.GetOutputSignal(0);
output = network.GetOutputSignal(computedIndex);
// weights.Add(s, output);
}
double leo = 0.0;
if (adaptiveNetwork)
{
A = network.GetOutputSignal(2);
B = network.GetOutputSignal(3);
C = network.GetOutputSignal(4);
D = network.GetOutputSignal(5);
learningRate = network.GetOutputSignal(6);
}
if (modulatoryNet)
{
modConnection = network.GetOutputSignal(7);
}
else
{
modConnection = 0.0f;
}
if (useLeo)
{
threshold = 0.0;
leo = network.GetOutputSignal(2);
}
if (!useLeo || leo > 0.0)
if (Math.Abs(output) > threshold)
{
float weight = (float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) * weightRange * Math.Sign(output));
//if (adaptiveNetwork)
//{
// //If adaptive network set weight to small value
// weight = 0.1f;
//}
connections.Add(new ConnectionGene(connectionCounter++, sourceID, targetID, weight, ref coordinates, true));
}
//else
//{
// Console.WriteLine("Not connected");
//}
targetCout++;
}
sourceCount++;
}
}
}
}
agent++;
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
SharpNeatLib.NeatGenome.NeatGenome sng = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
sng.networkAdaptable = adaptiveNetwork;
sng.networkModulatory = modulatoryNet;
return sng;
}
void ShowGenomeConnections(NeatGenome genome)
{
int savedIndex = listBoxConnections.SelectedIndex;
listBoxConnections.Items.Clear();
/* show information about each connection in the listbox */
foreach (ConnectionGene connection in genome.ConnectionGeneList)
{
NeuronGene sourceNeuron = genome.NeuronGeneList.GetNeuronById(connection.SourceNeuronId);
NeuronGene destinationNeuron = genome.NeuronGeneList.GetNeuronById(connection.TargetNeuronId);
string info = string.Format("{0}({1}) --> {2}({3}); weight:{4:F3})", connection.SourceNeuronId, sourceNeuron.NeuronType, connection.TargetNeuronId, destinationNeuron.NeuronType, connection.Weight);
/* add the info text and the conection object itself in the listitem */
ListItem item = new ListItem("", info, connection);
listBoxConnections.Items.Add(item);
}
/* try to update selected savedIndex and refresh the drawed network */
listBoxConnections.SelectedIndex = listBoxConnections.Items.Count > savedIndex ? savedIndex : -1;
// ShowNetworkFromGenome(genome);
}
private NeatGenome.NeatGenome generateHomogeneousGenome(INetwork network, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet)
{
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList((int)((InputCount * HiddenCount) + (HiddenCount * OutputCount)));
float[] coordinates = new float[4];
float output;
uint connectionCounter = 0;
int iterations = 2 * (network.TotalNeuronCount - (network.InputNeuronCount + network.OutputNeuronCount)) + 1;
uint totalOutputCount = OutputCount;
uint totalInputCount = InputCount;
uint totalHiddenCount = HiddenCount;
uint sourceCount, targetCout;
double weightRange = HyperNEATParameters.weightRange;
double threshold = HyperNEATParameters.threshold;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount + OutputCount + HiddenCount));
// set up the input nodes
for (uint a = 0; a < totalInputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < totalOutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < totalHiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount + OutputCount, NeuronType.Hidden, activationFunction));
}
bool[] biasCalculated = new bool[totalHiddenCount + totalOutputCount + totalInputCount];
uint sourceID = uint.MaxValue, targetID = uint.MaxValue;
NeuronGroup connectedNG;
foreach (NeuronGroup ng in neuronGroups)
{
foreach (uint connectedTo in ng.ConnectedTo)
{
connectedNG = getNeuronGroup(connectedTo);
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
targetCout = 0;
foreach (PointF target in connectedNG.NeuronPositions)
{
switch (ng.GroupType)
{
case 0: sourceID = ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + ng.GlobalID + sourceCount; break; //Hidden
}
switch (connectedNG.GroupType)
{
case 0: targetID = connectedNG.GlobalID + targetCout; break;
case 1: targetID = totalInputCount + connectedNG.GlobalID + targetCout; break;
case 2: targetID = totalInputCount + totalOutputCount + connectedNG.GlobalID + targetCout; break;
}
//calculate bias of target node
if (!biasCalculated[targetID])
{
coordinates[0] = 0.0f; coordinates[1] = 0.0f; coordinates[2] = target.X; coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
biasCalculated[targetID] = true;
}
coordinates[0] = source.X;
coordinates[1] = source.Y;
coordinates[2] = target.X;
coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
//network.MultipleSteps(iterations);
output = network.GetOutputSignal(0);
if (Math.Abs(output) > threshold)
{
float weight = (float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) * weightRange * Math.Sign(output));
connections.Add(new ConnectionGene(connectionCounter++, sourceID, targetID, weight, ref coordinates, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f));
}
//else
//{
// Console.WriteLine("Not connected");
//}
targetCout++;
}
sourceCount++;
}
}
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
NeatGenome.NeatGenome gn = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
gn.networkAdaptable = adaptiveNetwork;
gn.networkModulatory = modulatoryNet;
return gn;
}
public void loadGenome(String filename)
{
XmlDocument doc = new XmlDocument();
doc.Load(filename);
genome = XmlNeatGenomeReaderStatic.Read(doc);
bestGenomeSoFar = genome;
genomeFilename = filename;
//TODO maybe include initialize();
}
// NOTE: Multi-Plane Substrates ARE MAYBE supported by this method!
private NeatGenome.NeatGenome generateHomogeneousGenome(INetwork network, bool normalizeWeights, bool adaptiveNetwork,bool modulatoryNet)
{
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList((int)((InputCount * HiddenCount) + (HiddenCount * OutputCount)));
float[] coordinates = new float[4]; //JUSTIN: CHANGE THIS BACK TO [4]!!!
float output;
uint connectionCounter = 0;
int iterations = 2 * (network.TotalNeuronCount - (network.InputNeuronCount + network.OutputNeuronCount)) + 1;
uint totalOutputCount = OutputCount;
uint totalInputCount = InputCount;
uint totalHiddenCount = HiddenCount;
uint sourceCount, targetCout;
double weightRange = HyperNEATParameters.weightRange;
double threshold = HyperNEATParameters.threshold;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount + OutputCount + HiddenCount));
// set up the input nodes
for (uint a = 0; a < totalInputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < totalOutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < totalHiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount + OutputCount, NeuronType.Hidden, activationFunction));
}
// CPPN Outputs: [ Weights ] [ Biases ]
// When using multi-plane substrates, there will be multiple Weight and Bias outputs.
// There is a Weight output for every plane-to-plane connection (including a plane connected to itself, as in regular substrates)
// There is a Bias output for every plane
// Since "regular substrates" only have 1 plane, they only have 1 Weight and 1 Bias output. MP substrates have more. :)
int numPlanes = planes.Count;
int numPlaneConnections = planesConnected.Count;
int computedIndex;
uint sourceID = uint.MaxValue, targetID = uint.MaxValue;
NeuronGroup connectedNG;
foreach (NeuronGroup ng in neuronGroups)
{
foreach (uint connectedTo in ng.ConnectedTo)
{
connectedNG = getNeuronGroup(connectedTo);
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
//-----------------Get the bias of the source node
/*switch (ng.GroupType)
{
case 0: sourceID = ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + ng.GlobalID + sourceCount; break; //Hidden
}
coordinates[0] = source.X; coordinates[1] = source.Y; coordinates[2] = 0.0f; coordinates[3] = 0.0f;
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
neurons[(int)sourceID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
//*///----------------------------
targetCout = 0;
foreach (PointF target in connectedNG.NeuronPositions)
{
switch (ng.GroupType)
{
case 0: sourceID = ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + ng.GlobalID + sourceCount; break; //Hidden
}
switch (connectedNG.GroupType)
{
case 0: targetID = connectedNG.GlobalID + targetCout; break;
case 1: targetID = totalInputCount + connectedNG.GlobalID + targetCout; break;
case 2: targetID = totalInputCount + totalOutputCount + connectedNG.GlobalID + targetCout; break;
}
//-----------------Get the bias of the target node
coordinates[0] = target.X; coordinates[1] = target.Y; coordinates[2] = 0.0f; coordinates[3] = 0.0f;
//coordinates[4] = 0.0f; coordinates[5] = 0.0f; //JUSTIN: REMOVE THIS!!!
//String s = arrayToString(coordinates);
//if (weights.ContainsKey(s))
// neurons[(int)targetID].Bias = weights[s];
//else
{
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
computedIndex = numPlaneConnections + planes.IndexOf(connectedNG.Plane);
//neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(computedIndex) * weightRange);
//weights.Add(s,neurons[(int)targetID].Bias);
}
//----------------------------
coordinates[0] = source.X;
coordinates[1] = source.Y;
coordinates[2] = target.X;
coordinates[3] = target.Y;
//coordinates[4] = source.X - target.X; coordinates[5] = source.Y - target.Y; //JUSTIN: REMOVE THIS!!!
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
computedIndex = indexOfPlaneConnection(ng.Plane, connectedNG.Plane);
//output = network.GetOutputSignal(0);
output = network.GetOutputSignal(computedIndex);
if (Math.Abs(output) > threshold)
{
float weight = (float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) * weightRange * Math.Sign(output));
connections.Add(new ConnectionGene(connectionCounter++, sourceID, targetID, weight, ref coordinates));
}
//else
//{
// Console.WriteLine("Not connected");
//}
targetCout++;
}
sourceCount++;
}
}
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
NeatGenome.NeatGenome gn = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
gn.networkAdaptable = adaptiveNetwork;
gn.networkModulatory = modulatoryNet;
return gn;
}
public NeatGenome.NeatGenome generateGenomeStackSituationalPolicy(INetwork network, List <float> stackCoordinates, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet, float signal)
{
// Schrum: For debugging
//Console.WriteLine("generateGenomeStackSituationalPolicy:signal=" + signal);
//Console.WriteLine("CPPN inputs = " + network.InputNeuronCount);
uint numberOfAgents = (uint)stackCoordinates.Count;
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList((int)(numberOfAgents * (InputCount * HiddenCount) + numberOfAgents * (HiddenCount * OutputCount)));
// Schrum: Too many inputs: Only store those that are needed
//float[] coordinates = new float[5 + 1]; // <-- Schrum: bit sloppy: frequently results in unused CPPN inputs. Should make more precise
float[] coordinates = new float[network.InputNeuronCount]; // Schrum: CPPN tracks how many inputs it needs
float output;
uint connectionCounter = 0;
float agentDelta = 2.0f / (numberOfAgents - 1);
int iterations = 2 * (network.TotalNeuronCount - (network.InputNeuronCount + network.OutputNeuronCount)) + 1;
uint totalOutputCount = OutputCount * numberOfAgents;
uint totalInputCount = InputCount * numberOfAgents;
uint totalHiddenCount = HiddenCount * numberOfAgents;
uint sourceCount, targetCout;
double weightRange = HyperNEATParameters.weightRange;
double threshold = HyperNEATParameters.threshold;
bool[] biasCalculated = new bool[totalHiddenCount + totalOutputCount + totalInputCount];
// Schrum: If we are inside this function, then we either have a heterogeneous team
// of a single agent (not sure why that ended up being the case; odd use of homogeneousTeam).
// Therefore, numberOfAgents tells us whether we need to save space for a Z-coordinate,
// and whether we are expecting a Situation input.
if (numberOfAgents == 1 && coordinates.Length > 4)
{
coordinates[4] = signal; // No Z coord, but save situation
}
else if (coordinates.Length > 5)
{
coordinates[5] = signal; // Both Z coord and situation
}
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in thisorder: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount * numberOfAgents + OutputCount * numberOfAgents + HiddenCount * numberOfAgents));
// set up the input nodes
for (uint a = 0; a < totalInputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < totalOutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < totalHiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents + OutputCount * numberOfAgents, NeuronType.Hidden, activationFunction));
}
uint agent = 0;
float A = 0.0f, B = 0.0f, C = 0.0f, D = 0.0f, learningRate = 0.0f, modConnection;
foreach (float stackCoordinate in stackCoordinates)
{
// Schrum: Only include Z-coord as input if there are multiple team members
if (numberOfAgents > 1)
{
coordinates[4] = stackCoordinate; // Schrum: z-coord will always be at index 4
}
// Schrum: Debug
//Console.WriteLine("CPPN inputs (first 4 blank): " + string.Join(",", coordinates));
uint sourceID = uint.MaxValue, targetID = uint.MaxValue;
NeuronGroup connectedNG;
foreach (NeuronGroup ng in neuronGroups)
{
foreach (uint connectedTo in ng.ConnectedTo)
{
connectedNG = getNeuronGroup(connectedTo);
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
//----------------------------
targetCout = 0;
foreach (PointF target in connectedNG.NeuronPositions)
{
switch (ng.GroupType)
{
case 0: sourceID = (agent * InputCount) + ng.GlobalID + sourceCount; break;
//Input
case 1: sourceID = totalInputCount + (agent * OutputCount) + ng.GlobalID + sourceCount; break;
//Output
case 2: sourceID = totalInputCount + totalOutputCount + (agent * HiddenCount) + ng.GlobalID + sourceCount; break; //Hidden
}
switch (connectedNG.GroupType)
{
case 0: targetID = (agent * InputCount) + connectedNG.GlobalID + targetCout; break;
case 1: targetID = totalInputCount + (agent * OutputCount) + connectedNG.GlobalID + targetCout; break;
case 2: targetID = totalInputCount + totalOutputCount + (agent * HiddenCount) + connectedNG.GlobalID + targetCout; break;
}
//--- bias
//-----------------Get the bias of the target node
if (!biasCalculated[targetID])
{
coordinates[0] = 0.0f; coordinates[1] = 0.0f; coordinates[2] = target.X; coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
biasCalculated[targetID] = true;
}
//--bias
coordinates[0] = source.X;
coordinates[1] = source.Y;
coordinates[2] = target.X;
coordinates[3] = target.Y;
// Schrum: Debug
//Console.WriteLine("CPPN inputs: " + string.Join(",", coordinates));
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
//network.MultipleSteps(iterations);
output = network.GetOutputSignal(0);
double leo = 0.0;
// Schrum: Observation: It seems impossible to use both LEO and adaptive networks because of these hardcoded magic numbers
if (adaptiveNetwork)
{
A = network.GetOutputSignal(2);
B = network.GetOutputSignal(3);
C = network.GetOutputSignal(4);
D = network.GetOutputSignal(5);
learningRate = network.GetOutputSignal(6);
}
if (modulatoryNet)
{
modConnection = network.GetOutputSignal(7);
}
else
{
modConnection = 0.0f;
}
// Schrum: Observation: In long run, might be desirable to use LEO, but incompatible with special preference neuron output
if (useLeo)
{
threshold = 0.0;
leo = network.GetOutputSignal(2);
}
// Schrum: This is a horrible hack, but it gets the job done for now.
// The reason this works is that it makes the following assumptions that could easily be broken in the future:
// 1) It is assumed that the only reason a CPPN would have 3 outputs per policy is if the third is for preference links
// 2) It is assumed that in a substrate with a preference neuron, the y-coord will always be 0.8, and no other neuron will have
// that y-coord.
//Console.WriteLine("output:" + coordinates[0] + "," + coordinates[1] + ":" + coordinates[2] + "," + coordinates[3]);
//Console.WriteLine("network.OutputsPerPolicy == 3" + (network.OutputsPerPolicy == 3));
//Console.WriteLine("target.Y == 0.8" + (target.Y == 0.8f));
if (network.OutputsPerPolicy == 3 && target.Y == 0.8f)
{
// The output from the link for the preference neuron replaces the standard output.
// Because the link weight is defined by a totally different CPPN output, the preference
// neuron is more free to behave very differently.
output = network.GetOutputSignal(2);
//Console.WriteLine("Preference output:" + coordinates[0] + "," + coordinates[1] + ":" + coordinates[2] + "," + coordinates[3]);
}
if (!useLeo || leo > 0.0)
{
if (Math.Abs(output) > threshold)
{
float weight =
(float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) *
weightRange * Math.Sign(output));
//if (adaptiveNetwork)
//{
// //If adaptive networkset weight to small value
// weight = 0.1f;
//}
connections.Add(new
ConnectionGene(connectionCounter++, sourceID, targetID, weight, ref
coordinates, A, B, C, D, modConnection, learningRate));
}
}
//else
//{
// Console.WriteLine("Not connected");
//}
targetCout++;
}
sourceCount++;
}
}
}
agent++;
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
SharpNeatLib.NeatGenome.NeatGenome sng = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
sng.networkAdaptable = adaptiveNetwork;
sng.networkModulatory = modulatoryNet;
// Schrum: Debugging
// Looking at the control networks has revealed that the order of details in the substrate
// description is important. The layer with the preference neuron has to be defined last
// if it is to be the final neuron in the linearly organized output layer.
//XmlDocument doc = new XmlDocument();
//SharpNeatLib.NeatGenome.Xml.XmlGenomeWriterStatic.Write(doc, sng);
//System.IO.FileInfo oFileInfo = new System.IO.FileInfo("temp.xml");
//doc.Save(oFileInfo.FullName);
return(sng);
}
public NeatGenome.NeatGenome generateMultiGenomeStack(INetwork network, List <float> stackCoordinates, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet)
{
uint numberOfAgents = (uint)stackCoordinates.Count;
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList((int)(numberOfAgents * (InputCount * HiddenCount) + numberOfAgents * (HiddenCount * OutputCount)));
float[] coordinates = new float[5];
float output;
uint connectionCounter = 0;
float agentDelta = 2.0f / (numberOfAgents - 1);
int iterations = 2 * (network.TotalNeuronCount - (network.InputNeuronCount + network.OutputNeuronCount)) + 1;
uint totalOutputCount = OutputCount * numberOfAgents;
uint totalInputCount = InputCount * numberOfAgents;
uint totalHiddenCount = HiddenCount * numberOfAgents;
// Schrum: debugging
/*
* Console.WriteLine("generateMultiGenomeStack");
* Console.WriteLine("numberOfAgents:" + numberOfAgents);
* Console.WriteLine("totalOutputCount:" + totalOutputCount);
* Console.WriteLine("totalInputCount:" + totalInputCount);
*/
uint sourceCount, targetCout;
double weightRange = HyperNEATParameters.weightRange;
double threshold = HyperNEATParameters.threshold;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount * numberOfAgents + OutputCount * numberOfAgents + HiddenCount * numberOfAgents));
// set up the input nodes
for (uint a = 0; a < totalInputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < totalOutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < totalHiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents + OutputCount * numberOfAgents, NeuronType.Hidden, activationFunction));
}
bool[] biasCalculated = new bool[totalHiddenCount + totalOutputCount + totalInputCount];
uint agent = 0;
float A = 0.0f, B = 0.0f, C = 0.0f, D = 0.0f, learningRate = 0.0f, modConnection;
foreach (float stackCoordinate in stackCoordinates)
{
coordinates[4] = stackCoordinate;
uint sourceID = uint.MaxValue, targetID = uint.MaxValue;
NeuronGroup connectedNG;
foreach (NeuronGroup ng in neuronGroups)
{
foreach (uint connectedTo in ng.ConnectedTo)
{
connectedNG = getNeuronGroup(connectedTo);
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
targetCout = 0;
foreach (PointF target in connectedNG.NeuronPositions)
{
switch (ng.GroupType)
{
case 0: sourceID = (agent * InputCount) + ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + (agent * OutputCount) + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + (agent * HiddenCount) + ng.GlobalID + sourceCount; break; //Hidden
}
switch (connectedNG.GroupType)
{
case 0: targetID = (agent * InputCount) + connectedNG.GlobalID + targetCout; break;
case 1: targetID = totalInputCount + (agent * OutputCount) + connectedNG.GlobalID + targetCout; break;
case 2: targetID = totalInputCount + totalOutputCount + (agent * HiddenCount) + connectedNG.GlobalID + targetCout; break;
}
//target node bias
if (!biasCalculated[targetID])
{
coordinates[0] = 0.0f; coordinates[1] = 0.0f; coordinates[2] = target.X; coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
biasCalculated[targetID] = true;
}
coordinates[0] = source.X;
coordinates[1] = source.Y;
coordinates[2] = target.X;
coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
//network.MultipleSteps(iterations);
output = network.GetOutputSignal(0);
double leo = 0.0;
if (adaptiveNetwork)
{
A = network.GetOutputSignal(2);
B = network.GetOutputSignal(3);
C = network.GetOutputSignal(4);
D = network.GetOutputSignal(5);
learningRate = network.GetOutputSignal(6);
}
if (modulatoryNet)
{
modConnection = network.GetOutputSignal(7);
}
else
{
modConnection = 0.0f;
}
if (useLeo)
{
threshold = 0.0;
leo = network.GetOutputSignal(2);
}
if (!useLeo || leo > 0.0)
{
if (Math.Abs(output) > threshold)
{
float weight = (float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) * weightRange * Math.Sign(output));
//if (adaptiveNetwork)
//{
// //If adaptive network set weight to small value
// weight = 0.1f;
//}
connections.Add(new ConnectionGene(connectionCounter++, sourceID, targetID, weight, ref coordinates, A, B, C, D, modConnection, learningRate));
}
}
//else
//{
// Console.WriteLine("Not connected");
//}
targetCout++;
}
sourceCount++;
}
}
}
agent++;
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
SharpNeatLib.NeatGenome.NeatGenome sng = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
sng.networkAdaptable = adaptiveNetwork;
sng.networkModulatory = modulatoryNet;
// Schrum: debugging
//Console.WriteLine("sng.InputNeuronCount:" + sng.InputNeuronCount);
//Console.WriteLine("sng.OutputNeuronCount:" + sng.OutputNeuronCount);
return(sng);
}
private NeatGenome.NeatGenome generateHomogeneousGenome(INetwork network, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet)
{
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList((int)((InputCount * HiddenCount) + (HiddenCount * OutputCount)));
float[] coordinates = new float[4];
float output;
uint connectionCounter = 0;
int iterations = 2 * (network.TotalNeuronCount - (network.InputNeuronCount + network.OutputNeuronCount)) + 1;
uint totalOutputCount = OutputCount;
uint totalInputCount = InputCount;
uint totalHiddenCount = HiddenCount;
uint sourceCount, targetCout;
double weightRange = HyperNEATParameters.weightRange;
double threshold = HyperNEATParameters.threshold;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount + OutputCount + HiddenCount));
// set up the input nodes
for (uint a = 0; a < totalInputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < totalOutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < totalHiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount + OutputCount, NeuronType.Hidden, activationFunction));
}
bool[] biasCalculated = new bool[totalHiddenCount + totalOutputCount + totalInputCount];
uint sourceID = uint.MaxValue, targetID = uint.MaxValue;
NeuronGroup connectedNG;
foreach (NeuronGroup ng in neuronGroups)
{
foreach (uint connectedTo in ng.ConnectedTo)
{
connectedNG = getNeuronGroup(connectedTo);
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
targetCout = 0;
foreach (PointF target in connectedNG.NeuronPositions)
{
switch (ng.GroupType)
{
case 0: sourceID = ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + ng.GlobalID + sourceCount; break; //Hidden
}
switch (connectedNG.GroupType)
{
case 0: targetID = connectedNG.GlobalID + targetCout; break;
case 1: targetID = totalInputCount + connectedNG.GlobalID + targetCout; break;
case 2: targetID = totalInputCount + totalOutputCount + connectedNG.GlobalID + targetCout; break;
}
//calculate bias of target node
if (!biasCalculated[targetID])
{
coordinates[0] = 0.0f; coordinates[1] = 0.0f; coordinates[2] = target.X; coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
biasCalculated[targetID] = true;
}
coordinates[0] = source.X;
coordinates[1] = source.Y;
coordinates[2] = target.X;
coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
//network.MultipleSteps(iterations);
output = network.GetOutputSignal(0);
if (Math.Abs(output) > threshold)
{
float weight = (float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) * weightRange * Math.Sign(output));
connections.Add(new ConnectionGene(connectionCounter++, sourceID, targetID, weight, ref coordinates, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f));
}
//else
//{
// Console.WriteLine("Not connected");
//}
targetCout++;
}
sourceCount++;
}
}
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
NeatGenome.NeatGenome gn = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
gn.networkAdaptable = adaptiveNetwork;
gn.networkModulatory = modulatoryNet;
return(gn);
}
private NeatGenome.NeatGenome generateHomogeneousGenomeES(INetwork network, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet)
{
List <PointF> hiddenNeuronPositions = new List <PointF>();
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList();//(int)((InputCount * HiddenCount) + (HiddenCount * OutputCount)));
List <PointF> outputNeuronPositions = getNeuronGroupByType(1);
List <PointF> inputNeuronPositions = getNeuronGroupByType(0);
EvolvableSubstrate se = new EvolvableSubstrate();
se.generateConnections(inputNeuronPositions, outputNeuronPositions, network,
HyperNEATParameters.initialRes,
(float)HyperNEATParameters.varianceThreshold,
(float)HyperNEATParameters.bandingThreshold,
(int)HyperNEATParameters.ESIterations,
(float)HyperNEATParameters.divisionThreshold,
HyperNEATParameters.maximumRes,
InputCount, OutputCount, -1.0f, -1.0f, 1.0f, 1.0f, ref connections, ref hiddenNeuronPositions);
HiddenCount = (uint)hiddenNeuronPositions.Count;
float[] coordinates = new float[5];
uint connectionCounter = (uint)connections.Count;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount + OutputCount + HiddenCount));
// set up the input nodes
for (uint a = 0; a < InputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < OutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < HiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount + OutputCount, NeuronType.Hidden, activationFunction));
}
bool[] visited = new bool[neurons.Count];
List <uint> nodeList = new List <uint>();
bool[] connectedToInput = new bool[neurons.Count];
bool[] isOutput = new bool[neurons.Count];
bool danglingConnection = true;
while (danglingConnection)
{
bool[] hasIncomming = new bool[neurons.Count];
foreach (ConnectionGene co in connections)
{
// if (co.SourceNeuronId != co.TargetNeuronId)
// {
hasIncomming[co.TargetNeuronId] = true;
// }
}
for (int i = 0; i < InputCount; i++)
{
hasIncomming[i] = true;
}
bool[] hasOutgoing = new bool[neurons.Count];
foreach (ConnectionGene co in connections)
{
// if (co.TargetNeuronId != co.SourceNeuronId)
// {
if (co.TargetNeuronId != co.SourceNeuronId) //neurons that only connect to themselfs don't count
{
hasOutgoing[co.SourceNeuronId] = true;
}
// }
}
//Keep output neurons
for (int i = 0; i < OutputCount; i++)
{
hasOutgoing[i + InputCount] = true;
}
danglingConnection = false;
//Check if there are still dangling connections
foreach (ConnectionGene co in connections)
{
if (!hasOutgoing[co.TargetNeuronId] || !hasIncomming[co.SourceNeuronId])
{
danglingConnection = true;
break;
}
}
connections.RemoveAll(delegate(ConnectionGene m) { return(!hasIncomming[m.SourceNeuronId]); });
connections.RemoveAll(delegate(ConnectionGene m) { return(!hasOutgoing[m.TargetNeuronId]); });
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
SharpNeatLib.NeatGenome.NeatGenome gn = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(InputCount), (int)(OutputCount));
// SharpNeatLib.NeatGenome.NeatGenome sng = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
gn.networkAdaptable = adaptiveNetwork;
gn.networkModulatory = modulatoryNet;
return(gn);
}
static public FloatFastConcurrentNetwork DecodeToFloatFastConcurrentNetwork(NeatGenome.NeatGenome g, IActivationFunction activationFn)
{
int outputNeuronCount = g.OutputNeuronCount;
int neuronGeneCount = g.NeuronGeneList.Count;
// Slightly inefficient - determine the number of bias nodes. Fortunately there is not actually
// any reason to ever have more than one bias node - although there may be 0.
activationFunctionArray = new IActivationFunction[neuronGeneCount];
int neuronGeneIdx=0;
for(; neuronGeneIdx<neuronGeneCount; neuronGeneIdx++)
{
activationFunctionArray[neuronGeneIdx] = g.NeuronGeneList[neuronGeneIdx].ActivationFunction;
if(g.NeuronGeneList[neuronGeneIdx].NeuronType != NeuronType.Bias)
break;
}
int biasNodeCount = neuronGeneIdx;
int inputNeuronCount = g.InputNeuronCount;
for (; neuronGeneIdx < neuronGeneCount; neuronGeneIdx++)
{
activationFunctionArray[neuronGeneIdx] = g.NeuronGeneList[neuronGeneIdx].ActivationFunction;
}
// ConnectionGenes point to a neuron ID. We need to map this ID to a 0 based index for
// efficiency.
// Use a quick heuristic to determine which will be the fastest technique for mapping the connection end points
// to neuron indexes. This is heuristic is not 100% perfect but has been found to be very good in in real word
// tests. Feel free to perform your own calculation and create a more intelligent heuristic!
int connectionCount=g.ConnectionGeneList.Count;
if(neuronGeneCount * connectionCount < 45000)
{
fastConnectionArray = new FloatFastConnection[connectionCount];
int connectionIdx=0;
for(int connectionGeneIdx=0; connectionGeneIdx<connectionCount; connectionGeneIdx++)
{
//fastConnectionArray[connectionIdx] = new FloatFastConnection();
//Note. Binary search algorithm assume that neurons are ordered by their innovation Id.
ConnectionGene connectionGene = g.ConnectionGeneList[connectionIdx];
fastConnectionArray[connectionIdx].sourceNeuronIdx = (int)g.NeuronGeneList.BinarySearch(connectionGene.SourceNeuronId);
fastConnectionArray[connectionIdx].targetNeuronIdx = (int)g.NeuronGeneList.BinarySearch(connectionGene.TargetNeuronId);
System.Diagnostics.Debug.Assert(fastConnectionArray[connectionIdx].sourceNeuronIdx>=0 && fastConnectionArray[connectionIdx].targetNeuronIdx>=0, "invalid idx");
fastConnectionArray[connectionIdx].weight = (float)connectionGene.Weight;
connectionIdx++;
}
}
else
{
// Build a table of indexes (ints) keyed on neuron ID. This approach is faster when dealing with large numbers
// of lookups.
Hashtable neuronIndexTable = new Hashtable(neuronGeneCount);
for(int i=0; i<neuronGeneCount; i++)
neuronIndexTable.Add(g.NeuronGeneList[i].InnovationId, i);
// Now we can build the connection array(s).
//int connectionCount=g.ConnectionGeneList.Count;
//FastConnection[] connectionArray = new FastConnection[connectionCount];
fastConnectionArray = new FloatFastConnection[connectionCount];
int connectionIdx=0;
for(int connectionGeneIdx=0; connectionGeneIdx<connectionCount; connectionGeneIdx++)
{
ConnectionGene connectionGene = g.ConnectionGeneList[connectionIdx];
fastConnectionArray[connectionIdx].sourceNeuronIdx = (int)neuronIndexTable[connectionGene.SourceNeuronId];
fastConnectionArray[connectionIdx].targetNeuronIdx = (int)neuronIndexTable[connectionGene.TargetNeuronId];
fastConnectionArray[connectionIdx].weight = (float)connectionGene.Weight;
connectionIdx++;
}
}
// Now sort the connection array on sourceNeuronIdx, secondary sort on targetNeuronIdx.
// Using Array.Sort is 10 times slower than the hand-coded sorting routine. See notes on that routine for more
// information. Also note that in tests that this sorting did no t actually improve the speed of the network!
// However, it may have a benefit for CPUs with small caches or when networks are very large, and since the new
// sort takes up hardly any time for even large networks, it seems reasonable to leave in the sort.
//Array.Sort(fastConnectionArray, fastConnectionComparer);
//if(fastConnectionArray.Length>1)
// QuickSortFastConnections(0, fastConnectionArray.Length-1);
return new FloatFastConcurrentNetwork( biasNodeCount, inputNeuronCount,
outputNeuronCount, neuronGeneCount,
fastConnectionArray, activationFunctionArray);
}
//saves a CPPN in dot file format.
//Assumes that inputs are X1, Y1, X2, Y2, Z
public static void saveCPPNasDOT(SharpNeatLib.NeatGenome.NeatGenome genome, string filename)
{
StreamWriter SW = File.CreateText(filename);
SW.WriteLine("digraph g { ");
String activationType = "";
foreach (NeuronGene neuron in genome.NeuronGeneList)
{
switch (neuron.NeuronType)
{
case NeuronType.Bias: SW.WriteLine("N0 [shape=box, label=Bias]"); break;
case NeuronType.Input:
string str = "?";
switch (neuron.InnovationId)
{
case 1: str = "X1"; break;
case 2: str = "Y1"; break;
case 3: str = "X2"; break;
case 4: str = "Y2"; break;
case 5: str = "Z"; break;
}
SW.WriteLine("N" + neuron.InnovationId + "[shape=box label=" + str + "]");
break;
case NeuronType.Output: SW.WriteLine("N" + neuron.InnovationId + "[shape=triangle]"); break;
case NeuronType.Hidden:
if (neuron.ActivationFunction.FunctionDescription.Equals("bipolar steepend sigmoid"))
{
activationType = "S";
}
if (neuron.ActivationFunction.FunctionDescription.Equals("bimodal gaussian"))
{
activationType = "G";
}
if (neuron.ActivationFunction.FunctionDescription.Equals("Linear"))
{
activationType = "L";
}
if (neuron.ActivationFunction.FunctionDescription.Equals("Sin function with doubled period"))
{
activationType = "Si";
}
if (neuron.ActivationFunction.FunctionDescription.Equals("Returns the sign of the input"))
{
activationType = "Sign";
}
SW.WriteLine("N" + neuron.InnovationId + "[shape=circle, label=N" + neuron.InnovationId + "_" + activationType + ", fillcolor=gray]");
break;
}
}
foreach (ConnectionGene gene in genome.ConnectionGeneList)
{
SW.Write("N" + gene.SourceNeuronId + " -> N" + gene.TargetNeuronId + " ");
if (gene.Weight > 0)
{
SW.WriteLine("[color=black] ");
}
else if (gene.Weight < -0)
{
SW.WriteLine("[color=red] [arrowType=inv]");
}
}
//foreach (ModuleGene mg in genome.ModuleGeneList)
//{
// foreach (uint sourceID in mg.InputIds)
// {
// foreach (uint targetID in mg.OutputIds)
// {
// SW.Write("N" + sourceID + " -> N" + targetID + " ");
// SW.WriteLine("[color=gray]");
// }
// }
//}
SW.WriteLine(" { rank=same; ");
foreach (NeuronGene neuron in genome.NeuronGeneList)
{
if (neuron.NeuronType == NeuronType.Output)
{
SW.WriteLine("N" + neuron.InnovationId);
}
}
SW.WriteLine(" } ");
SW.WriteLine(" { rank=same; ");
foreach (NeuronGene neuron in genome.NeuronGeneList)
{
if (neuron.NeuronType == NeuronType.Input)
{
SW.Write("N" + neuron.InnovationId + " ->");
}
}
//Also the bias neuron on the same level
SW.WriteLine("N0 [style=invis]");
SW.WriteLine(" } ");
SW.WriteLine("}");
SW.Close();
}
// MPS NOT supported by this method
private NeatGenome.NeatGenome generateHomogeneousGenomeES(INetwork network, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet)
{
if (useMultiPlaneSubstrate) throw new Exception("MPS not implemented for these parameters");
//CHECK TO SEE IF HIDDEN NEURONS ARE OUTPUT NEURONS
List<PointF> hiddenNeuronPositions = new List<PointF>();
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList();//(int)((InputCount * HiddenCount) + (HiddenCount * OutputCount)));
List<PointF> outputNeuronPositions = getNeuronGroupByType(1);
List<PointF> inputNeuronPositions = getNeuronGroupByType(0);
SubstrateEvolution se = new SubstrateEvolution();
se.generateConnections(inputNeuronPositions, outputNeuronPositions, network,
SubstrateEvolution.SAMPLE_WIDTH,
SubstrateEvolution.SAMPLE_TRESHOLD,
SubstrateEvolution.NEIGHBOR_LEVEL,
SubstrateEvolution.INCREASE_RESSOLUTION_THRESHOLD,
SubstrateEvolution.MIN_DISTANCE,
SubstrateEvolution.CONNECTION_TRESHOLD, //0.4. ConnectionThreshold
InputCount, OutputCount, -1.0f, -1.0f, 1.0f, 1.0f, ref connections, ref hiddenNeuronPositions);
HiddenCount = (uint)hiddenNeuronPositions.Count;
float[] coordinates = new float[5];
uint connectionCounter = (uint)connections.Count;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount + OutputCount + HiddenCount));
// set up the input nodes
for (uint a = 0; a < InputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < OutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < HiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount + OutputCount, NeuronType.Hidden, activationFunction));
}
uint sourceID = uint.MaxValue, targetID = uint.MaxValue;
NeuronGroup connectedNG;
uint c1, c2;
float delta = 0.15f;//2.0f / InputCount;
float minDistance, dist, sourceX = -1, sourceY = -1, targetX = -1, targetY = -1;
uint closestNodeIndex;
// int index, hiddenCount;
//Connections to input nodes
// hiddenCount = 0;
//TEST??????????????????????????????
double tolerance = 0.1;
//bool[] taken = new bool[hiddenNeuronGroup.NeuronPositions.Count];
closestNodeIndex = 0;
int ccc;
//CONNECT FROM INPUT NODES
// ConnectionGeneList addConnections = new ConnectionGeneList();
targetID = 0;
bool[] visited = new bool[neurons.Count];
List<uint> nodeList = new List<uint>();
bool[] connectedToInput = new bool[neurons.Count];
//From hidden to output
//taken = new bool[hiddenNeuronGroup.NeuronPositions.Count];
// float targetX=-1.0f, targetY=-1.0f;
targetID = 0;
// bool outputConnectedToInput;
bool[] isOutput = new bool[neurons.Count];
//float output, weight;
//bool[] connectedToInput = new bool[neurons.Count];
//bool connectToHidden;
float totalConnectionDist = 0.0f;
//Add connections between Hidden Neurons
// addConnections.AddRange(connections);
bool danglingConnection = true;
while (danglingConnection)
{
bool[] hasIncomming = new bool[neurons.Count];
foreach (ConnectionGene co in connections)
{
// if (co.SourceNeuronId != co.TargetNeuronId)
// {
hasIncomming[co.TargetNeuronId] = true;
// }
}
for (int i = 0; i < InputCount; i++)
hasIncomming[i] = true;
bool[] hasOutgoing = new bool[neurons.Count];
foreach (ConnectionGene co in connections)
{
// if (co.TargetNeuronId != co.SourceNeuronId)
// {
if (co.TargetNeuronId != co.SourceNeuronId) //neurons that only connect to themselfs don't count
{
hasOutgoing[co.SourceNeuronId] = true;
}
// }
}
//Keep output neurons
for (int i = 0; i < OutputCount; i++)
hasOutgoing[i + InputCount] = true;
danglingConnection = false;
//Check if there are still dangling connections
foreach (ConnectionGene co in connections)
{
if (!hasOutgoing[co.TargetNeuronId] || !hasIncomming[co.SourceNeuronId])
{
danglingConnection = true;
break;
}
}
connections.RemoveAll(delegate(ConnectionGene m) { return (!hasIncomming[m.SourceNeuronId]); });
connections.RemoveAll(delegate(ConnectionGene m) { return (!hasOutgoing[m.TargetNeuronId]); });
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
SharpNeatLib.NeatGenome.NeatGenome gn = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(InputCount), (int)(OutputCount));
// SharpNeatLib.NeatGenome.NeatGenome sng = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
gn.networkAdaptable = adaptiveNetwork;
gn.networkModulatory = modulatoryNet;
return gn;
}
public NeatGenome.NeatGenome generateMultiGenomeStack(INetwork network, List<float> stackCoordinates, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet, bool dirComm)
{
uint numberOfAgents = (uint)stackCoordinates.Count;
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList((int)(numberOfAgents * (InputCount * HiddenCount) + numberOfAgents * (HiddenCount * OutputCount) +
numberOfAgents * (ReceiveCount * HiddenCount) + numberOfAgents * (HiddenCount * TransCount)));
float[] coordinates = new float[5];
float output;
uint connectionCounter = 0;
float agentDelta = 2.0f / (numberOfAgents - 1);
int iterations = 2 * (network.TotalNeuronCount - (network.InputNeuronCount + network.OutputNeuronCount)) + 1;
uint totalOutputCount = OutputCount * numberOfAgents;
uint totalInputCount = InputCount * numberOfAgents;
uint totalHiddenCount = HiddenCount * numberOfAgents;
uint totalTransCount = TransCount * numberOfAgents;
uint totalReceiveCount = ReceiveCount * numberOfAgents;
uint sourceCount, targetCout;
double weightRange = HyperNEATParameters.weightRange;
double threshold = HyperNEATParameters.threshold;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden|receive|transmit
neurons = new NeuronGeneList((int)(InputCount * numberOfAgents + OutputCount * numberOfAgents + HiddenCount * numberOfAgents + ReceiveCount * numberOfAgents + TransCount * numberOfAgents));
// set up the input nodes
for (uint a = 0; a < totalInputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < totalOutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < totalHiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents + OutputCount * numberOfAgents, NeuronType.Hidden, activationFunction));
}
// set up the receive nodes
for (uint a = 0; a < totalReceiveCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents + OutputCount * numberOfAgents + HiddenCount * numberOfAgents, NeuronType.Receive, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the transmit nodes
for (uint a = 0; a < totalTransCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents + OutputCount * numberOfAgents + HiddenCount * numberOfAgents + ReceiveCount * numberOfAgents, NeuronType.Transmit, activationFunction));
}
bool[] biasCalculated = new bool[totalHiddenCount + totalOutputCount + totalInputCount + totalReceiveCount + totalTransCount];
uint agent = 0;
float A = 0.0f, B = 0.0f, C = 0.0f, D = 0.0f, learningRate = 0.0f, modConnection;
foreach (float stackCoordinate in stackCoordinates)
{
coordinates[4] = stackCoordinate;
uint sourceID = uint.MaxValue, targetID = uint.MaxValue;
NeuronGroup connectedNG;
foreach (NeuronGroup ng in neuronGroups)
{
foreach (uint connectedTo in ng.ConnectedTo)
{
connectedNG = getNeuronGroup(connectedTo);
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
targetCout = 0;
foreach (PointF target in connectedNG.NeuronPositions)
{
switch (ng.GroupType)
{
case 0: sourceID = (agent * InputCount) + ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + (agent * OutputCount) + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + (agent * HiddenCount) + ng.GlobalID + sourceCount; break; //Hidden
case 3: sourceID = totalInputCount + totalOutputCount + totalHiddenCount + (agent * ReceiveCount) + ng.GlobalID + sourceCount; break; //Receive
case 4: sourceID = totalInputCount + totalOutputCount + totalHiddenCount + totalReceiveCount + (agent * TransCount) + ng.GlobalID + sourceCount; break; //Transmit
}
switch (connectedNG.GroupType)
{
case 0: targetID = (agent * InputCount) + connectedNG.GlobalID + targetCout; break;
case 1: targetID = totalInputCount + (agent * OutputCount) + connectedNG.GlobalID + targetCout; break;
case 2: targetID = totalInputCount + totalOutputCount + (agent * HiddenCount) + connectedNG.GlobalID + targetCout; break;
case 3: targetID = totalInputCount + totalOutputCount + totalHiddenCount + (agent * ReceiveCount) + connectedNG.GlobalID + targetCout; break;
case 4: targetID = totalInputCount + totalOutputCount + totalHiddenCount + totalReceiveCount + (agent * TransCount) + connectedNG.GlobalID + targetCout; break;
}
//target node bias
if (!biasCalculated[targetID])
{
coordinates[0] = 0.0f; coordinates[1] = 0.0f; coordinates[2] = target.X; coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
neurons[(int)targetID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
biasCalculated[targetID] = true;
}
coordinates[0] = source.X;
coordinates[1] = source.Y;
coordinates[2] = target.X;
coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
((ModularNetwork)network).RecursiveActivation();
//network.MultipleSteps(iterations);
output = network.GetOutputSignal(0);
double leo = 0.0;
if (adaptiveNetwork)
{
A = network.GetOutputSignal(2);
B = network.GetOutputSignal(3);
C = network.GetOutputSignal(4);
D = network.GetOutputSignal(5);
learningRate = network.GetOutputSignal(6);
}
if (modulatoryNet)
{
modConnection = network.GetOutputSignal(7);
}
else
{
modConnection = 0.0f;
}
if (useLeo)
{
threshold = 0.0;
leo = network.GetOutputSignal(2);
}
if (!useLeo || leo > 0.0)
if (Math.Abs(output) > threshold)
{
float weight = (float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) * weightRange * Math.Sign(output));
//if (adaptiveNetwork)
//{
// //If adaptive network set weight to small value
// weight = 0.1f;
//}
connections.Add(new ConnectionGene(connectionCounter++, sourceID, targetID, weight, ref coordinates, A, B, C, D, modConnection, learningRate));
}
//else
//{
// Console.WriteLine("Not connected");
//}
targetCout++;
}
sourceCount++;
}
}
}
agent++;
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
//Add Direct Communication connections
if (dirComm)
{
uint numConnected = ReceiveCount / TransCount;
agent = 0;
foreach (float stackCoordinate in stackCoordinates)
{
SortedList<float, uint> closestAgents = new SortedList<float, uint>();
uint i = 0;
foreach (float otherCoordinate in stackCoordinates)
{
if (i == agent) continue;
float delta = Math.Abs(stackCoordinate - otherCoordinate);
closestAgents.Add(delta, i);
i++;
}
uint[] orderedAgents = new uint[numberOfAgents];
closestAgents.Values.CopyTo(orderedAgents, 0);
uint[] connectedAgents = new uint[numConnected];
for (uint j = 0; j < numConnected; j++)
{
connectedAgents[j] = orderedAgents[j];
}
foreach (NeuronGroup ng in neuronGroups)
{
if (ng.GroupType != 4) continue;
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
uint sourceID = totalInputCount + totalOutputCount + totalHiddenCount + totalReceiveCount + (agent * TransCount) + ng.GlobalID + sourceCount;
foreach (uint connectedAgent in connectedAgents)
{
uint targetID = totalInputCount + totalOutputCount + totalHiddenCount + (connectedAgent * ReceiveCount) + (ng.GlobalID * numConnected) + agent;
connections.Add(new ConnectionGene(connectionCounter++, sourceID, targetID, 1.0));
}
sourceCount++;
}
}
agent++;
}
}
SharpNeatLib.NeatGenome.NeatGenome sng = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
sng.networkAdaptable = adaptiveNetwork;
sng.networkModulatory = modulatoryNet;
return sng;
}
/// <summary>
/// Loads a genome from the specified XML file.
/// </summary>
public void loadGenome(String filename)
{
XmlDocument doc = new XmlDocument();
doc.Load(filename);
genome = XmlNeatGenomeReaderStatic.Read(doc);
bestGenomeSoFar = genome;
}
private NeatGenome.NeatGenome generateHomogeneousGenomeES(INetwork network, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet)
{
List<PointF> hiddenNeuronPositions = new List<PointF>();
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList();//(int)((InputCount * HiddenCount) + (HiddenCount * OutputCount)));
List<PointF> outputNeuronPositions = getNeuronGroupByType(1);
List<PointF> inputNeuronPositions = getNeuronGroupByType(0);
EvolvableSubstrate se = new EvolvableSubstrate();
se.generateConnections(inputNeuronPositions, outputNeuronPositions, network,
HyperNEATParameters.initialRes,
(float)HyperNEATParameters.varianceThreshold,
(float)HyperNEATParameters.bandingThreshold,
(int)HyperNEATParameters.ESIterations,
(float)HyperNEATParameters.divisionThreshold,
HyperNEATParameters.maximumRes,
InputCount, OutputCount, -1.0f, -1.0f, 1.0f, 1.0f, ref connections, ref hiddenNeuronPositions);
HiddenCount = (uint)hiddenNeuronPositions.Count;
float[] coordinates = new float[5];
uint connectionCounter = (uint)connections.Count;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount + OutputCount + HiddenCount));
// set up the input nodes
for (uint a = 0; a < InputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < OutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < HiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount + OutputCount, NeuronType.Hidden, activationFunction));
}
bool[] visited = new bool[neurons.Count];
List<uint> nodeList = new List<uint>();
bool[] connectedToInput = new bool[neurons.Count];
bool[] isOutput = new bool[neurons.Count];
bool danglingConnection = true;
while (danglingConnection)
{
bool[] hasIncomming = new bool[neurons.Count];
foreach (ConnectionGene co in connections)
{
// if (co.SourceNeuronId != co.TargetNeuronId)
// {
hasIncomming[co.TargetNeuronId] = true;
// }
}
for (int i = 0; i < InputCount; i++)
hasIncomming[i] = true;
bool[] hasOutgoing = new bool[neurons.Count];
foreach (ConnectionGene co in connections)
{
// if (co.TargetNeuronId != co.SourceNeuronId)
// {
if (co.TargetNeuronId != co.SourceNeuronId) //neurons that only connect to themselfs don't count
{
hasOutgoing[co.SourceNeuronId] = true;
}
// }
}
//Keep output neurons
for (int i = 0; i < OutputCount; i++)
hasOutgoing[i + InputCount] = true;
danglingConnection = false;
//Check if there are still dangling connections
foreach (ConnectionGene co in connections)
{
if (!hasOutgoing[co.TargetNeuronId] || !hasIncomming[co.SourceNeuronId])
{
danglingConnection = true;
break;
}
}
connections.RemoveAll(delegate(ConnectionGene m) { return (!hasIncomming[m.SourceNeuronId]); });
connections.RemoveAll(delegate(ConnectionGene m) { return (!hasOutgoing[m.TargetNeuronId]); });
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
SharpNeatLib.NeatGenome.NeatGenome gn = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(InputCount), (int)(OutputCount));
// SharpNeatLib.NeatGenome.NeatGenome sng = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
gn.networkAdaptable = adaptiveNetwork;
gn.networkModulatory = modulatoryNet;
return gn;
}
public void initializeEvolution(int populationSize, NeatGenome seedGenome)
{
if (seedGenome == null)
{
initializeEvolution(populationSize);
return;
}
if (logOutput != null)
logOutput.Close();
logOutput = new StreamWriter(outputFolder + "logfile.txt");
IdGenerator idgen = new IdGeneratorFactory().CreateIdGenerator(seedGenome);
ea = new EvolutionAlgorithm(new Population(idgen, GenomeFactory.CreateGenomeList(seedGenome, populationSize, neatParams, idgen)), populationEval, neatParams);
}
static public ModularNetwork DecodeToModularNetwork(NeatGenome.NeatGenome g)
{
int inputCount = g.InputNeuronCount;
int outputCount = g.OutputNeuronCount;
int neuronCount = g.NeuronGeneList.Count;
IActivationFunction[] activationFunctions = new IActivationFunction[neuronCount];
float[] biasList = new float[neuronCount];
Dictionary<uint, int> neuronLookup = new Dictionary<uint, int>(neuronCount);
// Schrum: In case there are output neurons out of order
g.NeuronGeneList.NeuronSortCheck();
// Create an array of the activation functions for each non-module node node in the genome.
// Start with a bias node if there is one in the genome.
// The genome's neuron list is assumed to be ordered by type, with the bias node appearing first.
int neuronGeneIndex = 0;
for (; neuronGeneIndex < neuronCount; neuronGeneIndex++) {
if (g.NeuronGeneList[neuronGeneIndex].NeuronType != NeuronType.Bias)
break;
activationFunctions[neuronGeneIndex] = g.NeuronGeneList[neuronGeneIndex].ActivationFunction;
neuronLookup.Add(g.NeuronGeneList[neuronGeneIndex].InnovationId, neuronGeneIndex);
}
int biasCount = neuronGeneIndex;
// Schrum: debug
//Console.WriteLine("start (after bias): " + g.GenomeId);
// Schrum: Debugging
//NeuronType expectedType = NeuronType.Input;
for (; neuronGeneIndex < neuronCount; neuronGeneIndex++)
{
activationFunctions[neuronGeneIndex] = g.NeuronGeneList[neuronGeneIndex].ActivationFunction;
// Schrum: Debug
/*
if (expectedType != g.NeuronGeneList[neuronGeneIndex].NeuronType)
{
if (expectedType == NeuronType.Input && g.NeuronGeneList[neuronGeneIndex].NeuronType == NeuronType.Output)
{
expectedType = NeuronType.Output;
}
else if (expectedType == NeuronType.Output && g.NeuronGeneList[neuronGeneIndex].NeuronType == NeuronType.Hidden)
{
expectedType = NeuronType.Hidden;
}
else
{
// Error condition:
Console.WriteLine("Error with genome: " + g.GenomeId);
XmlDocument doc = new XmlDocument();
XmlGenomeWriterStatic.Write(doc, (SharpNeatLib.NeatGenome.NeatGenome)g);
FileInfo oFileInfo = new FileInfo("ProblemGenome.xml");
doc.Save(oFileInfo.FullName);
Environment.Exit(1);
}
}
*/
neuronLookup.Add(g.NeuronGeneList[neuronGeneIndex].InnovationId, neuronGeneIndex);
biasList[neuronGeneIndex] = g.NeuronGeneList[neuronGeneIndex].Bias;
}
// Create an array of the activation functions, inputs, and outputs for each module in the genome.
ModulePacket[] modules = new ModulePacket[g.ModuleGeneList.Count];
for (int i = g.ModuleGeneList.Count - 1; i >= 0; i--) {
modules[i].function = g.ModuleGeneList[i].Function;
// Must translate input and output IDs to array locations.
modules[i].inputLocations = new int[g.ModuleGeneList[i].InputIds.Count];
for (int j = g.ModuleGeneList[i].InputIds.Count - 1; j >= 0; j--) {
modules[i].inputLocations[j] = neuronLookup[g.ModuleGeneList[i].InputIds[j]];
}
modules[i].outputLocations = new int[g.ModuleGeneList[i].OutputIds.Count];
for (int j = g.ModuleGeneList[i].OutputIds.Count - 1; j >= 0; j--) {
modules[i].outputLocations[j] = neuronLookup[g.ModuleGeneList[i].OutputIds[j]];
}
}
// ConnectionGenes point to a neuron's innovation ID. Translate this ID to the neuron's index in the neuron array.
FloatFastConnection[] connections = new FloatFastConnection[g.ConnectionGeneList.Count];
for (int connectionGeneIndex = g.ConnectionGeneList.Count - 1; connectionGeneIndex >= 0; connectionGeneIndex--) {
ConnectionGene connectionGene = g.ConnectionGeneList[connectionGeneIndex];
connections[connectionGeneIndex].sourceNeuronIdx = neuronLookup[connectionGene.SourceNeuronId];
connections[connectionGeneIndex].targetNeuronIdx = neuronLookup[connectionGene.TargetNeuronId];
connections[connectionGeneIndex].weight = (float)connectionGene.Weight;
connections[connectionGeneIndex].learningRate = connectionGene.learningRate;
connections[connectionGeneIndex].A = connectionGene.A;
connections[connectionGeneIndex].B = connectionGene.B;
connections[connectionGeneIndex].C = connectionGene.C;
connections[connectionGeneIndex].D = connectionGene.D;
connections[connectionGeneIndex].modConnection = connectionGene.modConnection;
}
ModularNetwork mn = new ModularNetwork(biasCount, inputCount, outputCount, g.OutputsPerPolicy, neuronCount, connections, biasList, activationFunctions, modules);
if (g.networkAdaptable) mn.adaptable = true;
if (g.networkModulatory) mn.modulatory = true;
mn.genome = g;
return mn;
}
// MPS support on the Hive methods only
#region Generate heterogenous genomes with z-stack
// MPS NOT supported by this method
private NeatGenome.NeatGenome generateMultiGenomeStack(INetwork network, List<float> stackCoordinates, bool normalizeWeights, bool adaptiveNetwork, bool modulatoryNet)
{
if (useMultiPlaneSubstrate) throw new Exception("MPS not implemented for these parameters");
uint numberOfAgents = (uint)stackCoordinates.Count;
IActivationFunction activationFunction = HyperNEATParameters.substrateActivationFunction;
ConnectionGeneList connections = new ConnectionGeneList((int)(numberOfAgents * (InputCount * HiddenCount) + numberOfAgents * (HiddenCount * OutputCount)));
float[] coordinates = new float[5];
float output;
uint connectionCounter = 0;
float agentDelta = 2.0f / (numberOfAgents - 1);
int iterations = 2 * (network.TotalNeuronCount - (network.InputNeuronCount + network.OutputNeuronCount)) + 1;
uint totalOutputCount = OutputCount * numberOfAgents;
uint totalInputCount = InputCount * numberOfAgents;
uint totalHiddenCount = HiddenCount * numberOfAgents;
uint sourceCount, targetCout;
double weightRange = HyperNEATParameters.weightRange;
double threshold = HyperNEATParameters.threshold;
NeuronGeneList neurons;
// SharpNEAT requires that the neuron list be in this order: bias|input|output|hidden
neurons = new NeuronGeneList((int)(InputCount * numberOfAgents + OutputCount * numberOfAgents + HiddenCount * numberOfAgents));
// set up the input nodes
for (uint a = 0; a < totalInputCount; a++)
{
neurons.Add(new NeuronGene(a, NeuronType.Input, ActivationFunctionFactory.GetActivationFunction("NullFn")));
}
// set up the output nodes
for (uint a = 0; a < totalOutputCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents, NeuronType.Output, activationFunction));
}
// set up the hidden nodes
for (uint a = 0; a < totalHiddenCount; a++)
{
neurons.Add(new NeuronGene(a + InputCount * numberOfAgents + OutputCount * numberOfAgents, NeuronType.Hidden, activationFunction));
}
uint agent = 0;
float A = 0.0f, B = 0.0f, C = 0.0f, D = 0.0f, learningRate = 0.0f, modConnection;
foreach (float stackCoordinate in stackCoordinates)
{
coordinates[4] = stackCoordinate;
uint sourceID = uint.MaxValue, targetID = uint.MaxValue;
NeuronGroup connectedNG;
foreach (NeuronGroup ng in neuronGroups)
{
foreach (uint connectedTo in ng.ConnectedTo)
{
connectedNG = getNeuronGroup(connectedTo);
sourceCount = 0;
foreach (PointF source in ng.NeuronPositions)
{
//-----------------Get the bias of the source node
switch (ng.GroupType)
{
case 0: sourceID = (agent * InputCount) + ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + (agent * OutputCount) + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + (agent * HiddenCount) + ng.GlobalID + sourceCount; break; //Hidden
}
coordinates[0] = source.X; coordinates[1] = source.Y; coordinates[2] = 0.0f; coordinates[3] = 0.0f;
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
neurons[(int)sourceID].Bias = (float)(network.GetOutputSignal(1) * weightRange);
//----------------------------
targetCout = 0;
foreach (PointF target in connectedNG.NeuronPositions)
{
switch (ng.GroupType)
{
case 0: sourceID = (agent * InputCount) + ng.GlobalID + sourceCount; break; //Input
case 1: sourceID = totalInputCount + (agent * OutputCount) + ng.GlobalID + sourceCount; break; //Output
case 2: sourceID = totalInputCount + totalOutputCount + (agent * HiddenCount) + ng.GlobalID + sourceCount; break; //Hidden
}
switch (connectedNG.GroupType)
{
case 0: targetID = (agent * InputCount) + connectedNG.GlobalID + targetCout; break;
case 1: targetID = totalInputCount + (agent * OutputCount) + connectedNG.GlobalID + targetCout; break;
case 2: targetID = totalInputCount + totalOutputCount + (agent * HiddenCount) + connectedNG.GlobalID + targetCout; break;
}
coordinates[0] = source.X;
coordinates[1] = source.Y;
coordinates[2] = target.X;
coordinates[3] = target.Y;
network.ClearSignals();
network.SetInputSignals(coordinates);
network.RecursiveActivation();//network.MultipleSteps(iterations);
output = network.GetOutputSignal(0);
double leo = 0.0;
if (adaptiveNetwork)
{
A = network.GetOutputSignal(2);
B = network.GetOutputSignal(3);
C = network.GetOutputSignal(4);
D = network.GetOutputSignal(5);
learningRate = network.GetOutputSignal(6);
}
if (modulatoryNet)
{
modConnection = network.GetOutputSignal(7);
}
else
{
modConnection = 0.0f;
}
if (useLeo)
{
threshold = 0.0;
leo = network.GetOutputSignal(2);
}
if (!useLeo || leo > 0.0)
if (Math.Abs(output) > threshold)
{
float weight = (float)(((Math.Abs(output) - (threshold)) / (1 - threshold)) * weightRange * Math.Sign(output));
//if (adaptiveNetwork)
//{
// //If adaptive network set weight to small value
// weight = 0.1f;
//}
connections.Add(new ConnectionGene(connectionCounter++, sourceID, targetID, weight, ref coordinates));
}
//else
//{
// Console.WriteLine("Not connected");
//}
targetCout++;
}
sourceCount++;
}
}
}
agent++;
}
if (normalizeWeights)
{
normalizeWeightConnections(ref connections, neurons.Count);
}
SharpNeatLib.NeatGenome.NeatGenome sng = new SharpNeatLib.NeatGenome.NeatGenome(0, neurons, connections, (int)(totalInputCount), (int)(totalOutputCount));
sng.networkAdaptable = adaptiveNetwork;
sng.networkModulatory = modulatoryNet;
return sng;
}
private void ShowGenomeNetwork(NeatGenome genome)
{
NetworkControl networkControl = new NetworkControl();
networkControl.Dock = DockStyle.Fill;
panelNetWorkViewer.Controls.Clear();
panelNetWorkViewer.Controls.Add(networkControl);
/* create network model to draw the network */
NetworkModel networkModel = GenomeDecoder.DecodeToNetworkModel(genome);
GridLayoutManager layoutManager = new GridLayoutManager();
layoutManager.Layout(networkModel, networkControl.Size);
networkControl.NetworkModel = networkModel;
}
/// <summary>
/// Copy constructor.
/// </summary>
/// <param name="copyFrom"></param>
public NeatGenome(NeatGenome copyFrom, uint genomeId)
{
this.genomeId = genomeId;
this.parent = copyFrom;
// No need to loop the arrays to clone each element because NeuronGene and ConnectionGene are
// value data types (structs).
neuronGeneList = new NeuronGeneList(copyFrom.neuronGeneList);
moduleGeneList = new List<ModuleGene>(copyFrom.moduleGeneList);
connectionGeneList = new ConnectionGeneList(copyFrom.connectionGeneList);
//joel
if(copyFrom.Behavior!=null)
Behavior = new SharpNeatLib.BehaviorType(copyFrom.Behavior);
inputNeuronCount = copyFrom.inputNeuronCount;
// Schrum: Removed (not used)
//inputAndBiasNeuronCount = copyFrom.inputNeuronCount+1;
outputNeuronCount = copyFrom.outputNeuronCount;
// Schrum: removed (not used)
//inputBiasOutputNeuronCount = copyFrom.inputBiasOutputNeuronCount;
//inputBiasOutputNeuronCountMinus2 = copyFrom.inputBiasOutputNeuronCountMinus2;
// Schrum: Added
outputsPerPolicy = copyFrom.outputsPerPolicy;
Debug.Assert(connectionGeneList.IsSorted(), "ConnectionGeneList is not sorted by innovation ID");
}
/// <summary>
/// Initializes the EA with an initial population generated from a single seed genome.
/// </summary>
public void initializeEvolution(int populationSize, NeatGenome seedGenome)
{
if (seedGenome == null)
{
initializeEvolution(populationSize);
return;
}
LogOutput = Logging ? new StreamWriter(Path.Combine(OutputFolder, "log.txt")) : null;
FinalPositionOutput = FinalPositionLogging ? new StreamWriter(Path.Combine(OutputFolder,"final-position.txt")) : null;
ArchiveModificationOutput = FinalPositionLogging ? new StreamWriter(Path.Combine(OutputFolder, "archive-mods.txt")) : null;
ComplexityOutput = new StreamWriter(Path.Combine(OutputFolder, "complexity.txt"));
ComplexityOutput.WriteLine("avg,stdev,min,max");
if (FinalPositionLogging)
{
FinalPositionOutput.WriteLine("x,y");
ArchiveModificationOutput.WriteLine("ID,action,time,x,y");
}
IdGenerator idgen = new IdGeneratorFactory().CreateIdGenerator(seedGenome);
EA = new EvolutionAlgorithm(new Population(idgen, GenomeFactory.CreateGenomeList(seedGenome, populationSize, experiment.DefaultNeatParameters, idgen)), experiment.PopulationEvaluator, experiment.DefaultNeatParameters);
EA.outputFolder = OutputFolder;
EA.neatBrain = NEATBrain;
}
/// <summary>
/// Asexual reproduction with built in mutation.
/// </summary>
/// <returns></returns>
public override IGenome CreateOffspring_Asexual(EvolutionAlgorithm ea)
{
// Make an exact copy this Genome.
NeatGenome offspring = new NeatGenome(this, ea.NextGenomeId);
// Mutate the new genome.
offspring.Mutate(ea);
return offspring;
}