public static void Main(string[] args)
{
string folder = "";
string environment_name = null;// "hallway.xml";
string substrate_name = null;// "substrate.xml";
string filename = null; // "seedGenome2x.xml";
string to_eval = null;
bool homogenous=true;// = true;
bool overrideHomogenousSetting = false;
int generations = 1000, populationSize = 0; //was 500
bool novelty = false;
bool eval = false;
bool evolveSubstrate = false;
bool leo_setting=false;
bool overrideLeo=false;
bool overrideInputDensity = false;
bool overrideHiddenDensity = false;
bool overrideFitnessFunction = false;
bool overrideBehaviorCharacterization=false;
bool seed_population=false;
bool overrideAgentCount = false;
bool multiobjective=false;
int input_density_override = -1;
int hidden_density_override = -1;
int agent_count_override = -1;
string fitness_function_override = "";
string behavior_override="";
string experimentName = null;
bool benchmark=false;
bool overrideES = false;
if (args.Length!=0 && args[0] == "-help")
{
showHelp();
return;
}
//evolve -experiment multiagent_exp.xml -seed seedGenome2x.xml
if (!(args.Length == 0) && args[0] == "evolve")
{
for (int j = 1; j < args.Length; j++)
{
if (j <= args.Length - 2)
switch (args[j])
{
case "-benchmark":
benchmark=true;
break;
case "-multiobjective":
multiobjective=true;
break;
case "-es":
evolveSubstrate = Convert.ToBoolean(args[++j]);
overrideES = true;
Console.WriteLine("Evolvable-substrate: " + evolveSubstrate);
break;
case "-leo":
leo_setting=Convert.ToBoolean(args[++j]);
overrideLeo=true;
break;
case "-experiment":
experimentName = args[++j];
break;
case "-homogenous":
homogenous = Convert.ToBoolean(args[++j]);
overrideHomogenousSetting = true;
break;
case "-populationSize": if (!int.TryParse(args[++j], out populationSize))
Console.WriteLine("Invalid number of runs specified.");
break;
case "-generations": if (!int.TryParse(args[++j], out generations))
Console.WriteLine("Invalid number of generations specified.");
break;
case "-agent_count":
overrideAgentCount = true;
agent_count_override = Convert.ToInt32(args[++j]);
break;
case "-novelty":
novelty = true;
Console.WriteLine("Novelty search enabled...");
//TODO j++;
break;
case "-fitness_function":
overrideFitnessFunction = true;
fitness_function_override = args[++j];
Console.WriteLine("Setting fitness function to " + fitness_function_override);
break;
case "-behavior_characterization":
overrideBehaviorCharacterization = true;
behavior_override = args[++j];
Console.WriteLine("Setting behavior characterization to " + behavior_override);
break;
case "-hidden_density":
overrideHiddenDensity = true;
hidden_density_override = Convert.ToInt32(args[++j]);
Console.WriteLine("Setting hidden density to " + hidden_density_override);
break;
case "-input_density":
overrideInputDensity = true;
input_density_override = Convert.ToInt32(args[++j]);
Console.WriteLine("Setting rangefinder input density to " + input_density_override);
break;
case "-rng_seed": int seed = Convert.ToInt32(args[++j]);
Utilities.random.Reinitialise(seed);
SharpNeatLib.Maths.RouletteWheel.random= new Random(seed);
Console.WriteLine("Using RNG seed " + seed);
break;
case "-environment": environment_name = args[++j];
Console.WriteLine("Using environment " + environment_name);
break;
case "-substrate": substrate_name = args[++j];
Console.WriteLine("Using substrate " + substrate_name);
break;
case "-eval": to_eval = args[++j];
eval=true;
Console.WriteLine("Attempting to evaluate file " + to_eval);
break;
case "-seed": filename = args[++j];
Console.WriteLine("Attempting to use seed from file " + filename);
break;
case "-seed_pop": filename = args[++j];
seed_population=true;
Console.WriteLine("Attempting to use seed population from file " + filename);
break;
case "-folder": folder = args[++j];
Console.WriteLine("Attempting to output to folder " + folder);
break;
}
}
if (!homogenous && evolveSubstrate)
{
Console.WriteLine("Evolvalbe-Substrate not supported for heterogenous teams");
return;
}
if (experimentName == null)
{
Console.WriteLine("Missing [experimentName].");
Console.WriteLine("See help \"-help\"");
return;
}
ExperimentWrapper wr = ExperimentWrapper.load(experimentName);
SimulatorExperiment experiment = wr.experiment;
if(populationSize!=0)
experiment.populationSize = populationSize;
else
populationSize=experiment.populationSize;
if (overrideHomogenousSetting)
{
if (experiment is MultiAgentExperiment)
((MultiAgentExperiment)experiment).homogeneousTeam = homogenous;
}
if (environment_name != null)
{
experiment.environmentName = environment_name;
experiment.environmentList.Add(Engine.Environment.loadEnvironment(environment_name));
}
//change sensor density if requested
if (overrideInputDensity)
experiment.rangefinderSensorDensity = input_density_override;
if (overrideAgentCount)
{
if (experiment is MultiAgentExperiment)
((MultiAgentExperiment)experiment).numberRobots = agent_count_override;
}
if (substrate_name != null)
experiment.substrateDescription = new SubstrateDescription(substrate_name);
// se.substrateDescription = substrate;
if (filename != null)
if (!seed_population)
{
experiment.loadGenome(filename);
}
if (eval)
{
experiment.loadGenome(to_eval);
experiment.initialize();
if(benchmark) {
experiment.timesToRunEnvironments=6; //was 25
MultiAgentExperiment exp= (MultiAgentExperiment)experiment;
exp.benchmark=true;
}
Engine.NetworkEvaluator x = new Engine.NetworkEvaluator(experiment);
SharpNeatLib.BehaviorType behavior;
Console.WriteLine("Fitness score:" + x.EvaluateNetwork(experiment.genome.Decode(null),out behavior));
// schrum2: Prevent this from crashing in domains with no behavior measure defined
if (behavior != null && behavior.behaviorList != null) {
Console.Write("Behavior: ");
foreach (double d in behavior.behaviorList)
{
Console.Write(d+ " ");
}
Console.WriteLine();
Console.Write("MO: ");
foreach (double d in behavior.objectives) {
Console.Write(d+" ");
}
} // schrum2
return;
}
experiment.initialize();
if (experiment.adaptableANN && evolveSubstrate)
{
Console.WriteLine("Right now ES-HyperNEAT does not support plastic ANNs. Disable adaptation or use the fixed-substrate HyperNEAT");
return;
}
if(overrideLeo)
experiment.substrateDescription.useLeo=leo_setting;
//change fitness function if requested
if (overrideFitnessFunction)
experiment.setFitnessFunction(fitness_function_override);
if (overrideBehaviorCharacterization)
experiment.setBehavioralCharacterization(behavior_override);
if (overrideES)
{
experiment.evolveSubstrate = evolveSubstrate;
}
//make sure substrate's input density matches # of inputs in environment
uint number_of_sensors = Convert.ToUInt32(experiment.rangefinderSensorDensity);
uint dx = 0, dy = 0;
/*
experiment.substrateDescription.getNeuronDensity(0, out dx, out dy);
//TODO maybe updateInputDensity of AgentBrain needs to be called
if (dx != number_of_sensors)
{
Console.WriteLine("Input density forced to match number of sensors.");
Console.WriteLine("Input Density beforehand: " + dx.ToString() + " " + dy.ToString());
experiment.substrateDescription.setNeuronDensity(0, number_of_sensors, 1);
experiment.substrateDescription.getNeuronDensity(0, out dx, out dy);
Console.WriteLine("Input Density afterwards: " + dx.ToString() + " " + dy.ToString());
}
*/
if (overrideHiddenDensity)
{
experiment.substrateDescription.getNeuronDensity(1, out dx, out dy);
Console.WriteLine("Hidden Density beforehand: " + dx.ToString() + " " + dy.ToString());
experiment.substrateDescription.setNeuronDensity(0, Convert.ToUInt32(hidden_density_override), 1);
experiment.substrateDescription.getNeuronDensity(0, out dx, out dy);
Console.WriteLine("Hidden Density afterwards: " + dx.ToString() + " " + dy.ToString());
}
HyperNEATEvolver evolve = new HyperNEATEvolver(experiment);
if(novelty) {
evolve.enableNoveltySearch(true);
}
if(multiobjective)
evolve.experiment.DefaultNeatParameters.multiobjective=true;
evolve.setOutputFolder(folder);
if(filename!=null)
{
if(seed_population) {
evolve.initializeEvolutionFromPopFile(filename);
}
else {
evolve.initializeEvolution(populationSize,experiment.genome);
}
}
else
evolve.initializeEvolution(populationSize);
evolve.evolve(generations);
/*for (int i = 0; i < generations; i++)
{
evolve.oneGeneration(i);
}*/
}
else
{
experimentName = "adversary_two_room_EXP.xml"; //"EXP_dual_task.xml";//"hardmaze_exp.xml";//EXP_dual_task.xml"; //Default experiment
//"hardmaze_exp.xml";//
for (int j = 0; j < args.Length; j++)
{
if (j <= args.Length - 2)
switch (args[j])
{
case "-experiment":
experimentName = args[++j];
break;
case "-genome":
filename=args[++j];
break;
}
}
SimulatorVisualizer vis = new SimulatorVisualizer(experimentName,filename);
Application.Run(vis);
}
}
private void doEvolution()
{
int currentGen = 0;
HyperNEATEvolver evolve = new HyperNEATEvolver(evolutionExperiment);
evolve.enableNoveltySearch(noveltySearch);
evolve.initializeEvolution(evolutionExperiment.populationSize,evolveGenome);
evolve.experiment.DefaultNeatParameters.multiobjective = experiment.multiobjective;
while (bEvolve)
{
evolveMutex.WaitOne();
evolve.oneGeneration(currentGen);
evolveGenome = evolutionExperiment.bestGenomeSoFar;
evolveMutex.ReleaseMutex();
Thread.Sleep(10);
currentGen++;
}
evolve.end();
evolveGenome = null;
}