// Todo: reinstate
public static void ScoreBasedWeightedAverage(List <NeuralCreature> nets, FCNetwork genotype)
{
// float scoreSum = 0f;
// for (int i = 0; i < nets.Count; i++) {
// scoreSum += Mathf.Pow(nets[i].Score, 3f);
// }
// NNClassic.NetUtils.Zero(genotype);
// for (int i = 0; i < nets.Count; i++) {
// float scale = Mathf.Pow(nets[i].Score, 3f) / scoreSum;
// Network candidate = nets[i].Mind;
// for (int l = 0; l < candidate.Layers.Count; l++) {
// for (int p = 0; p < candidate.Layers[l].ParamCount; p++) {
// genotype.Layers[l][p] += candidate.Layers[l][p] * scale;
// }
// }
// }
}
private void Awake()
{
Application.runInBackground = true;
var protoCreature = QuadrotorFactory.CreateCreature(
Vector3.zero,
Quaternion.identity);
var config = new FCNetworkConfig();
config.Layers.Add(new FCLayerConfig {
NumNeurons = protoCreature.NumInputs
});
config.Layers.Add(new FCLayerConfig {
NumNeurons = 30
});
config.Layers.Add(new FCLayerConfig {
NumNeurons = protoCreature.NumOutputs
});
Destroy(protoCreature.gameObject);
// Create creature bodies
_creatures = new List <NeuralCreature>(_populationSize);
for (int i = 0; i < _populationSize; i++)
{
NeuralCreature nc = new NeuralCreature();
Vector3 spawnPos = GetSpawnPosition(i, _populationSize);
nc.Body = QuadrotorFactory.CreateCreature(
spawnPos,
GetSpawnRotation());
nc.Mind = new FCNetwork(config);
NeuralUtils.Initialize(nc.Mind, ref _rng);
_creatures.Add(nc);
}
// Create a random genotype to seed the population
_genotype = new FCNetwork(config);
NeuralUtils.Initialize(_genotype, ref _rng);
PrepareNewEpisode();
MutatePopulation();
// Store initial pose so we can reuse creature gameplay objects across tests
_creatureInitPose = new List <ITransform>();
CreatureFactory.SerializePose(_creatures[0].Body, _creatureInitPose);
Physics.autoSimulation = false;
Physics.autoSyncTransforms = false;
var colliders = FindObjectsOfType <CapsuleCollider>();
for (int i = 0; i < colliders.Length; i++)
{
// Bug this doesn't work, why?
colliders[i].material = _physicsMaterial;
}
StartEpisode();
}
