public void ResetSpeedTest()
{
int iter = 1000;
mlpMN = new MultiLayerMathsNet(seed, null, shapes, 1, initialValueWeights);
mlp = new MultiLayer(shapes, seed, 1, null);
var watch = System.Diagnostics.Stopwatch.StartNew();
for (int i = 0; i < iter; i++)
{
mlpMN.Reset(true);
}
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
Debug.Log("Reset Time MathNet: " + elapsedMs);
watch = System.Diagnostics.Stopwatch.StartNew();
for (int i = 0; i < iter; i++)
{
mlp.Reset(1.0f, true);
}
watch.Stop();
elapsedMs = watch.ElapsedMilliseconds;
Debug.Log("Reset Time Array: " + elapsedMs);
}
void Awake()
{
signalControl = new ControlSignal();
path = "Save/DroneSession/" + "Task-" + task + "/Seed-" + fromSeed + "/";
rndGenerator = new SystemRandomSource(fromSeed);
taskObject = (DroneTask)Activator.CreateInstance(Type.GetType("Lexmou.MachineLearning.Drone" + task), rndGenerator, task);
mlp = new MultiLayerMathsNet(fromSeed, null, taskObject.shapes, 1, 0);
float[] floatArr = new float[taskObject.individualSize];
//float[] floatArr = new float[] {0,-0.33f,0,0,-0.33f,0,0,0,0,0,0.5f,0,0,-1,0,0,-1,0,0,0.5f,0,1,0,0,0,0,0,0,0,0,0,-1,0,0,0,0,0,0,0,0.5f};
Genetic.LoadBest(path, fromGeneration, floatArr);
BuildCustomWeights(mlp.weights, taskObject.shapes, Vector <float> .Build.DenseOfArray(floatArr));
//Debug.Log(mlp.weights[0]);
/*if (stabilizationGeneration != 0)
* {
* Debug.Log("Gene Move");
* gene = new Genetic(stabilizationSeed, null, 100, 40, 1.0f, 0.1f, 0.1f, 0.1f, 0.1f, "Save/DroneSession/Task-stabilization/", false);
* }
* if (moveGeneration != 0)
* {
* Debug.Log("Gene Move");
* gene = new Genetic(moveSeed, null, 100, 52, 1.0f, 0.1f, 0.1f, 0.1f, 0.1f, "Save/DroneSession/Task-move/", false);
* }
* deltaDistribution = new ContinuousUniform(-2, 2);
* tmpBuildCustomWeights = new List<Matrix<float>>();*/
Restart();
}
public override void Reset()
{
for (int i = 0; i < populationSize; i++)
{
dronePopulation[i] = MonoBehaviour.Instantiate((GameObject)Resources.Load("DroneGene"), taskObject.GetInitialposition(i), Quaternion.identity) as GameObject;
droneRigid[i] = dronePopulation[i].GetComponentInChildren <Rigidbody>();
taskObject.GetTargetPosition(i, targetPosition);
//Debug.Log(targetPosition[i].ToString());
//targetPosition[i] =
if (!taskObject.ResetOrientation(droneRigid[i], gene.bestScore, gene.median, i, populationSize))
{
OnDestroy();
Application.Quit();
Time.timeScale = 0f;
}
if ((gene.generation == 1) || (gene.generation == loadGeneration))
{
mlpPopulation[i] = new MultiLayerMathsNet(-1, rndGenerator, taskObject.shapes, 1, initialValueWeights);
}
BuildCustomWeights(mlpPopulation[i].weights, taskObject.shapes, gene.GetIndividual(i));
}
externalEvaluations.Clear();
}
public void SetUp()
{
mlpMN = new MultiLayerMathsNet(seed, null, shapes, 1, initialValueWeights);
mlp = new MultiLayer(shapes, seed, 1, null);
}
