private NeatEvolutionAlgorithm <NeatGenome> CreateEvolutionAlgorithm(IGenomeListEvaluator <NeatGenome> evaluator, int populationSize)
{
var genomeFactory = new NeatGenomeFactory(_inputCount.Value, _outputCount.Value, _neatGenomeParams);
var genomeList = genomeFactory.CreateGenomeList(populationSize, 0);
return(CreateEvolutionAlgorithm(evaluator, genomeList));
}
/// <summary>
/// Loads a list of genomes from the save file fitting the experiment name and the ExperimentFileType.
/// </summary>
private static List <NeatGenome> ReadGenomes(INeatExperiment experiment, ExperimentFileType fileType, bool createNewGenesIfNotLoadable = true)
{
List <NeatGenome> genomeList = null;
NeatGenomeFactory genomeFactory = (NeatGenomeFactory)experiment.CreateGenomeFactory();
string filePath = GetSaveFilePath(experiment.Name, fileType);
try
{
using (XmlReader xr = XmlReader.Create(filePath))
{
genomeList = NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, genomeFactory);
if (genomeList != null && genomeList.Count > 0)
{
Utility.Log("Successfully loaded the genomes of the '" + fileType.ToString() + "' for the experiment '" + experiment.Name + "' from the location:\n" + filePath);
}
}
}
catch (Exception e1)
{
Utility.Log("Error loading genome from file, could not find the file at: " + filePath + "\n" + e1.Message);
if (createNewGenesIfNotLoadable)
{
genomeList = genomeFactory.CreateGenomeList(experiment.DefaultPopulationSize, 0);
}
}
return(genomeList);
}
/// <summary>
/// Loads a list of NeatGenome(s) from XML that has a containing 'Root' element. The root element
/// also contains the activation function library that the network definitions are associated with.
/// </summary>
/// <param name="xmlNode">The XmlNode to read from. This can be an XmlDocument or XmlElement.</param>
/// <param name="nodeFnIds">Indicates if node activation function IDs should be read. If false then
/// all node activation function IDs default to 0.</param>
/// <param name="genomeFactory">A NeatGenomeFactory object to construct genomes against.</param>
public static List<NeatGenome> LoadCompleteGenomeList(XmlNode xmlNode, bool nodeFnIds, NeatGenomeFactory genomeFactory)
{
using(XmlNodeReader xr = new XmlNodeReader(xmlNode))
{
return ReadCompleteGenomeList(xr, nodeFnIds, genomeFactory);
}
}
/// <summary>
/// Load a population of genomes from an XmlReader and returns the genomes in a new list.
/// The genome factory for the genomes can be obtained from any one of the genomes.
/// </summary>
public List <NeatGenome> LoadPopulation(XmlReader xr)
{
NeatGenomeFactory genomeFactory = (NeatGenomeFactory)CreateGenomeFactory();
return(NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, genomeFactory));
// return NeatGenomeUtils.LoadPopulation(xr, false, this.InputCount, this.OutputCount);
}
public List <NeatGenome> LoadPopulation(string filename, int amountToLoad)
{
if (File.Exists(Application.dataPath + HelperConstants.saveDirectory + filename))
{
List <NeatGenome> genomes;
using (XmlReader xr = XmlReader.Create(Application.dataPath + HelperConstants.saveDirectory + filename))
{
NeatGenomeFactory genomeFactory = (NeatGenomeFactory)CreateGenomeFactory();
genomes = NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, genomeFactory);
}
var newGenomes = new List <NeatGenome>(amountToLoad);
while (newGenomes.Count < amountToLoad)
{
for (int i = 0; i < genomes.Count; i++)
{
if (newGenomes.Count >= amountToLoad)
{
break;
}
newGenomes.Add(genomes[i]);
}
}
Debug.Assert(newGenomes.Count == amountToLoad);
return(newGenomes);
}
else
{
Debug.Log("Could not load pop from " + Application.dataPath + HelperConstants.saveDirectory + filename);
return(null);
}
}
private static void Play()
{
var neatGenomeFactory = new NeatGenomeFactory(NeatConsts.ViewX * NeatConsts.ViewY * NeatConsts.typeIds.Count, 1);
var activationScheme = NetworkActivationScheme.CreateCyclicFixedTimestepsScheme(1);
var genomeDecoder = new NeatGenomeDecoder(activationScheme);
XmlReader xr;
while (true)
{
try
{
xr = XmlReader.Create($"{NeatConsts.experimentName}/best.xml");
break;
}
catch (Exception)
{
}
}
var genome = NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, neatGenomeFactory)[0];
var phenome = genomeDecoder.Decode(genome);
using var game = new Game(true);
var brain = new BlackBoxBrain(phenome, game);
while (!game.hasEnded)
{
brain.Step();
Thread.Sleep(200);
}
}
/// <summary>
/// The map evaluator constructor.
/// </summary>
/// <param name="experimentParameters">The experiment definition and control parameters.</param>
/// <param name="agentInputNeuronCount">The number of input neurons in the agent neural controller.</param>
/// <param name="agentOutputNeuronCount">The number of output neurons in the agent neural controller.</param>
public MapEvaluator(ExperimentParameters experimentParameters, int agentInputNeuronCount,
int agentOutputNeuronCount)
{
// Create the NEAT genome (agent) decoder - acyclic activation is always used
_agentDecoder = new NeatGenomeDecoder(CreateActivationScheme(experimentParameters.ActivationScheme,
experimentParameters.ActivationIters, experimentParameters.ActivationDeltaThreshold));
// Create the maze decoder
_mazeDecoder = new MazeDecoder(experimentParameters.MazeScaleMultiplier);
// Initialize evaluation units
EvaluationUnits = new List <MazeNavigatorEvaluationUnit>();
// Create maze factory with default dimensions (NEAT factory will be set later based on structure of first
// genome encountered)
_mazeGenomeFactory = new MazeGenomeFactory(experimentParameters.MazeHeight, experimentParameters.MazeWidth,
experimentParameters.MazeQuadrantHeight, experimentParameters.MazeQuadrantWidth);
_neatGenomeFactory = new NeatGenomeFactory(agentInputNeuronCount, agentOutputNeuronCount);
// Set experiment parameters
_experimentParameters = experimentParameters;
// Create new agent ID list and maze ID/structure map
_agentGenomeIds = new List <int>();
_mazeIdStructureMap = new Dictionary <int, MazeStructure>();
}
NeatEvolutionAlgorithm <NeatGenome> CreateEvolutionAlgorithm(bool load)
{
// Create a genome2 factory with our neat genome2 parameters object and the appropriate number of input and output neuron genes.
var genomeFactory = new NeatGenomeFactory(TetrisEvaluator.NumInputs, TetrisEvaluator.NumOutputs);
// Create an initial population of randomly generated genomes.
List <NeatGenome> genomeList = null;
if (load)
{
try
{
using (var reader = XmlReader.Create("SavedProgress.xml"))
genomeList = NeatGenomeXmlIO.ReadCompleteGenomeList(reader, true, genomeFactory);
Console.WriteLine("Loaded network!");
}
catch
{
load = false;
}
}
if (!load)
{
genomeList = genomeFactory.CreateGenomeList(150, 0);
}
var parallelOpts = new ParallelOptions()
{
MaxDegreeOfParallelism = -1
};
// Create distance metric. Mismatched genes have a fixed distance of 10; for matched genes the distance is their weigth difference.
var distanceMetric = new ManhattanDistanceMetric(1.0, 0.0, 10.0);
var speciationStrategy = new ParallelKMeansClusteringStrategy <NeatGenome>(distanceMetric, parallelOpts);
// Create the evolution algorithm.
var ea = new NeatEvolutionAlgorithm <NeatGenome>(new NeatEvolutionAlgorithmParameters {
SpecieCount = 10
}, speciationStrategy, new DefaultComplexityRegulationStrategy(ComplexityCeilingType.Absolute, 50));
// Create genome2 decoder.
var genomeDecoder = new NeatGenomeDecoder(NetworkActivationScheme.CreateCyclicFixedTimestepsScheme(2));
// Create a genome2 list evaluator. This packages up the genome2 decoder with the genome2 evaluator.
IGenomeListEvaluator <NeatGenome> genomeListEvaluator = new ParallelGenomeListEvaluator <NeatGenome, IBlackBox>(genomeDecoder, tetrisEvaluator, parallelOpts);
// Wrap the list evaluator in a 'selective' evaulator that will only evaluate new genomes. That is, we skip re-evaluating any genomes
// that were in the population in previous generations (elite genomes). This is determiend by examining each genome2's evaluation info object.
//if (!EvaluateParents)
//genomeListEvaluator = new SelectiveGenomeListEvaluator<NeatGenome>(genomeListEvaluator, SelectiveGenomeListEvaluator<NeatGenome>.CreatePredicate_OnceOnly());
ea.UpdateEvent += Ea_UpdateEvent;
// Initialize the evolution algorithm.
ea.Initialize(genomeListEvaluator, genomeFactory, genomeList);
// Finished. Return the evolution algorithm
return(ea);
}
public NeatEvolutionAlgorithm <NeatGenome> CreateEvolutionAlgorithm(BattleEvaluator <NeatGenome> evaluator, int populationSize)
{
Debug.Assert(populationSize > 5);
_eaParams.SpecieCount = populationSize / 5;
var genomeFactory = new NeatGenomeFactory(InputCount, OutputCount, _neatGenomeParams);
var genomeList = genomeFactory.CreateGenomeList(populationSize, 0);
return(CreateEvolutionAlgorithm(evaluator, genomeList));
}
private static IBlackBox BrainFromFile(string brainFileName, int inputCount, int outputCount)
{
// TODO: Refactor
var genomeDecoder = new NeatGenomeDecoder(NetworkActivationScheme.CreateCyclicFixedTimestepsScheme(1));
var genomeFactory = new NeatGenomeFactory(inputCount, outputCount, new NeatGenomeParameters());
NeatGenome genome;
using (var xr = XmlReader.Create(brainFileName))
{
genome = NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, genomeFactory)[0];
}
return genomeDecoder.Decode(genome);
}
private NeatEvolutionAlgorithm <NeatGenome> CreateEvolutionAlgorithm(IGenomeListEvaluator <NeatGenome> evaluator, List <NeatGenome> list)
{
IDistanceMetric distanceMetric = new ManhattanDistanceMetric(1.0, 0.0, 10.0);
ISpeciationStrategy <NeatGenome> speciationStrategy = new KMeansClusteringStrategy <NeatGenome>(distanceMetric);
IComplexityRegulationStrategy complexityRegulationStrategy = new DefaultComplexityRegulationStrategy(ComplexityCeilingType.Absolute, _complexityThreshold);
NeatEvolutionAlgorithm <NeatGenome> neatEvolutionAlgorithm = new NeatEvolutionAlgorithm <NeatGenome>(_eaParams, speciationStrategy, complexityRegulationStrategy);
var genomeFactory = new NeatGenomeFactory(_inputCount.Value, _outputCount.Value, _neatGenomeParams);
neatEvolutionAlgorithm.Initialize(evaluator, genomeFactory, list);
return(neatEvolutionAlgorithm);
}
private void GenomesToAcceptability(IList <TGenome> genomeList)
{
string TEMP_NETWORK_FILE = string.Format("____temp{0}____network.xml", TrialId);
var neatGenomeParams = new NeatGenomeParameters()
{
ActivationFn = PlainSigmoid.__DefaultInstance,
InitialInterconnectionsProportion = 1
};
int inputs = _world.PlantTypes.Count() * World.SENSORS_PER_OBJECT_TYPE
+ _world.Predators.Count() * World.SENSORS_PER_OBJECT_TYPE
+ 1;
int outputs = 2;
var factory = new NeatGenomeFactory(inputs, outputs, neatGenomeParams);
for (int i = 0; i < _agents.Length; i++)
{
// Decode the genome.
IBlackBox phenome = _genomeDecoder.Decode(genomeList[i]);
IAcceptabilityFunction accept = new RecurrentNeuralAcceptability(phenome);
// Check that the genome is valid.
if (phenome == null)
{
Console.WriteLine("Couldn't decode genome {0}!", i);
_agents[i] = new SpinningAgent(i);
continue;
}
// Create a feed forward network with 10 hidden nodes and random weights
SocialExperiment.CreateNetwork(TEMP_NETWORK_FILE, inputs, outputs);
using (var xr = XmlReader.Create(TEMP_NETWORK_FILE))
{
var controllerGenome = NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, factory)[0];
var controllerPhenome = _genomeDecoder.Decode((TGenome)controllerGenome);
_agents[i] = new SocialAgent(i, _genomeList[i].SpecieIdx, controllerPhenome, _agentsNavigate, _agentsHide, accept)
{
MemorySize = CurrentMemorySize
};
var network = (FastCyclicNetwork)controllerPhenome;
network.Momentum = ((SocialAgent)_agents[i]).Momentum;
network.BackpropLearningRate = ((SocialAgent)_agents[i]).LearningRate;
}
}
File.Delete(TEMP_NETWORK_FILE);
}
public void ConectionBufferTest()
{
NeatGenomeFactory genomeFactory = new NeatGenomeFactory(3, 1);
for (uint i = 0; i < 200000; i++)
{
ConnectionEndpointsStruct endpointsStruct = new ConnectionEndpointsStruct(i, i+1);
AddedNeuronGeneStruct addedNeuronGeneStruct = new AddedNeuronGeneStruct(genomeFactory.InnovationIdGenerator);
genomeFactory.AddedConnectionBuffer.Enqueue(endpointsStruct, i);
genomeFactory.AddedNeuronBuffer.Enqueue(i, addedNeuronGeneStruct);
}
//Assert.Fail();
}
private void Start()
{
int populationSize = 100;
NetworkActivationScheme activationScheme = NetworkActivationScheme.CreateAcyclicScheme();
NeatGenomeParameters neatParams = new NeatGenomeParameters();
neatParams.ActivationFn = TanH.__DefaultInstance;
neatParams.FeedforwardOnly = activationScheme.AcyclicNetwork;
IGenomeDecoder <NeatGenome, IBlackBox> neatDecoder = new NeatGenomeDecoder(activationScheme);
IGenomeFactory <NeatGenome> neatFactory = new NeatGenomeFactory(3, 3, neatParams);
List <NeatGenome> genomeList = neatFactory.CreateGenomeList(populationSize, 0);
ArenaEvaluator evaluator = GetComponent <ArenaEvaluator>();
evaluator.Initialize(neatDecoder);
IDistanceMetric distanceMetric = new ManhattanDistanceMetric(1.0, 0.0, 10.0);
// Evolution parameters
NeatEvolutionAlgorithmParameters neatEvolutionParams = new NeatEvolutionAlgorithmParameters();
neatEvolutionParams.SpecieCount = 10;
ISpeciationStrategy <NeatGenome> speciationStrategy = new KMeansClusteringStrategy <NeatGenome>(distanceMetric);
IComplexityRegulationStrategy complexityRegulationStrategy = new DefaultComplexityRegulationStrategy(ComplexityCeilingType.Absolute, 10);
NeatEvolutionAlgorithm <NeatGenome> ea = GetComponent <UnityEvolutionAlgorithm>();
ea.Construct(neatEvolutionParams, speciationStrategy, complexityRegulationStrategy, new NullGenomeListEvaluator <NeatGenome, IBlackBox>());
ea.Initialize(evaluator, neatFactory, genomeList);
ea.UpdateScheme = new UpdateScheme(1); // This needs to be set AFTER Initialize is called
ea.PausedEvent += (sender, e) =>
{
//ea.StartContinue();
};
ea.GenerationEvent += (sender, gen) =>
{
Debug.Log($"Generation {gen}");
Debug.Log($"Highest fitness: {ea.CurrentChampGenome.EvaluationInfo.Fitness}");
nnMesh.GenerateMesh(ea.CurrentChampGenome);
ea.RequestPause();
StartCoroutine(PauseRoutine(ea));
};
ea.StartContinue();
}
private void InitTeam(double teamDisc, NeatEvolutionAlgorithm <NeatGenome> team, NeatEvolutionAlgorithm <NeatGenome> opponent)
{
NeatGenomeParameters genomeParams = new NeatGenomeParameters();
genomeParams.FeedforwardOnly = true;
//genomeParams.InitialInterconnectionsProportion = 1.0;
IGenomeFactory <NeatGenome> genomeFactory = new NeatGenomeFactory(7 * 6, 7, genomeParams);
IGenomeDecoder <NeatGenome, IBlackBox> decoder = new NeatGenomeDecoder(SharpNeat.Decoders.NetworkActivationScheme.CreateAcyclicScheme());
IGenomeListEvaluator <NeatGenome> evaluator = new CacheFirstParallelGenomeListEvaluator <NeatGenome, IBlackBox>(
decoder, new ConnectFourEvaluator(teamDisc, opponent, decoder));
team.UpdateEvent += ((sender, eventArgs) => OnUpdate());
team.Initialize(evaluator, genomeFactory, populationSize);
}
/// <summary>
/// Reads in seed NEAT genomes used to bootstrap MCC experiments.
/// </summary>
/// <param name="seedNeatPath">
/// The path of the single NEAT genome or a directory containing multiple XML genome definitions.
/// </param>
/// <param name="neatGenomeFactory">The NEAT genome factory to assign to each genome.</param>
/// <returns>The list of seed NEAT genomes.</returns>
public static List <NeatGenome> ReadSeedNeatGenomes(string seedNeatPath, NeatGenomeFactory neatGenomeFactory)
{
var neatGenomes = new List <NeatGenome>();
// Get the NEAT genome files in the given path
var neatGenomeFiles = GetGenomeFiles(seedNeatPath);
// Read in all NEAT genomes and add them to the list
foreach (var neatGenomeFile in neatGenomeFiles)
{
using (var xr = XmlReader.Create(neatGenomeFile))
{
// Read in the NEAT genomes
var curNeatGenomes = NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, neatGenomeFactory);
// Add the genomes to the overall genome list
neatGenomes.AddRange(curNeatGenomes);
}
}
return(neatGenomes);
}
public IBlackBox BestPhenome()
{
var genomeFactory = new NeatGenomeFactory(this.InputCount, this.OutputCount, new NeatGenomeParameters());
//var genomeFactory = new SharpNeat.Genomes.HyperNeat.CppnGenomeFactory(
// this.InputCount,
// this.OutputCount,
// SharpNeat.Network.DefaultActivationFunctionLibrary.CreateLibraryCppn(),
// new NeatGenomeParameters());
List <NeatGenome> genomeList;
using (XmlReader xr = XmlReader.Create(this.xmlPopulationFile))
{
genomeList = NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, genomeFactory);
}
//var decoder = new NeatGenomeDecoder(NetworkActivationScheme.CreateCyclicFixedTimestepsScheme(1));
var decoder = new NeatGenomeDecoder(NetworkActivationScheme.CreateAcyclicScheme());
return(decoder.Decode(genomeList[0]));
}
/// <inheritdoc />
/// <summary>
/// Creates the MCC algorithm container using the given agent and maze population sizes.
/// </summary>
/// <param name="populationSize1">The agent population size.</param>
/// <param name="populationSize2">The maze population size.</param>
/// <returns>The instantiated MCC algorithm container.</returns>
public override IMCCAlgorithmContainer <NeatGenome, MazeGenome> CreateMCCAlgorithmContainer(
int populationSize1, int populationSize2)
{
// Create a genome factory for the NEAT genomes
IGenomeFactory <NeatGenome> neatGenomeFactory = new NeatGenomeFactory(AnnInputCount, AnnOutputCount,
NeatGenomeParameters);
// Create a genome factory for the maze genomes
IGenomeFactory <MazeGenome> mazeGenomeFactory = new MazeGenomeFactory(MazeGenomeParameters, MazeHeight,
MazeWidth, MazeQuadrantHeight, MazeQuadrantWidth);
// Create an initial population of maze navigators
var neatGenomeList = neatGenomeFactory.CreateGenomeList(populationSize1, 0);
// Create an initial population of mazes
// NOTE: the population is set to 1 here because we're just starting with a single, completely open maze space
var mazeGenomeList = mazeGenomeFactory.CreateGenomeList(populationSize2, 0);
// Create the evolution algorithm container
return(CreateMCCAlgorithmContainer(neatGenomeFactory, mazeGenomeFactory, neatGenomeList,
mazeGenomeList, false));
}
private static void Train()
{
File.WriteAllText($"{NeatConsts.experimentName}/fitness.csv", "generation,firness\n");
var neatGenomeFactory = new NeatGenomeFactory(NeatConsts.ViewX * NeatConsts.ViewY * NeatConsts.typeIds.Count, 1);
var genomeList = neatGenomeFactory.CreateGenomeList(NeatConsts.SpecCount, 0);
var eaParams = new NeatEvolutionAlgorithmParameters
{
SpecieCount = NeatConsts.SpecCount
};
//var distanceMetric = new ManhattanDistanceMetric(1.0, 0.0, 10.0);
var distanceMetric = new ManhattanDistanceMetric();
var parallelOptions = new ParallelOptions();
var speciationStrategy = new ParallelKMeansClusteringStrategy <NeatGenome>(distanceMetric, parallelOptions);
//var speciationStrategy = new KMeansClusteringStrategy<NeatGenome>(distanceMetric);
//var speciationStrategy = new RandomClusteringStrategy<NeatGenome>();
var complexityRegulationStrategy = new NullComplexityRegulationStrategy();
//var complexityRegulationStrategy = new DefaultComplexityRegulationStrategy(ComplexityCeilingType.Relative, 0.50);
var ea = new NeatEvolutionAlgorithm <NeatGenome>(eaParams, speciationStrategy, complexityRegulationStrategy);
var activationScheme = NetworkActivationScheme.CreateCyclicFixedTimestepsScheme(1);
var genomeDecoder = new NeatGenomeDecoder(activationScheme);
var phenomeEvaluator = new GameEvaluator();
var genomeListEvaluator = new ParallelGenomeListEvaluator <NeatGenome, IBlackBox>(genomeDecoder, phenomeEvaluator, parallelOptions);
ea.Initialize(genomeListEvaluator, neatGenomeFactory, genomeList);
ea.UpdateScheme = new UpdateScheme(NeatConsts.LogRate);
ea.StartContinue();
ea.UpdateEvent += Ea_UpdateEvent;
while (ea.RunState != RunState.Paused)
{
}
ea.Stop();
}
private static List <NeatGenome> LoadPopulation_static(XmlReader xr, ExperimentInitArgs_Activation activation, HyperNEAT_Args hyperneatArgs)
{
NeatGenomeFactory genomeFactory = (NeatGenomeFactory)CreateGenomeFactory(hyperneatArgs, activation);
return(NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, genomeFactory));
}
/// <summary>
/// Creates the coevolution algorithm container using the given agent and maze population sizes.
/// </summary>
/// <param name="populationSize1">The agent population size.</param>
/// <param name="populationSize2">The maze population size.</param>
/// <returns>The instantiated coevolution algorithm container.</returns>
public override ICoevolutionAlgorithmContainer<NeatGenome, MazeGenome> CreateCoevolutionAlgorithmContainer(
int populationSize1, int populationSize2)
{
// Create a genome factory for the NEAT genomes
IGenomeFactory<NeatGenome> neatGenomeFactory = new NeatGenomeFactory(AnnInputCount, AnnOutputCount,
NeatGenomeParameters);
// Create a genome factory for the maze genomes
IGenomeFactory<MazeGenome> mazeGenomeFactory = new MazeGenomeFactory(MazeGenomeParameters, _mazeHeight,
_mazeWidth);
// Create an initial population of maze navigators
List<NeatGenome> neatGenomeList = neatGenomeFactory.CreateGenomeList(populationSize1, 0);
// Create an initial population of mazes
// NOTE: the population is set to 1 here because we're just starting with a single, completely open maze space
List<MazeGenome> mazeGenomeList = mazeGenomeFactory.CreateGenomeList(populationSize2, 0);
// Create the evolution algorithm container
return CreateCoevolutionAlgorithmContainer(neatGenomeFactory, mazeGenomeFactory, neatGenomeList,
mazeGenomeList);
}
public void VerifyBootstrappedStateTest()
{
const string parentDirectory =
"F:/User Data/Jonathan/Documents/school/Jonathan/Graduate/PhD/Development/C# NEAT/SharpNoveltyNeat/SharpNeatConsole/bin/Debug/";
const string agentGenomeFile = "ViableSeedGenomes.xml";
const string baseBitmapFilename = "AgentTrajectory";
const int mazeHeight = 20;
const int mazeWidth = 20;
const int scaleMultiplier = 16;
const int maxTimesteps = 400;
const int minSuccessDistance = 5;
// Setup stuff for the navigators
List<NeatGenome> agentGenomes;
NeatGenomeDecoder agentGenomeDecoder = new NeatGenomeDecoder(NetworkActivationScheme.CreateAcyclicScheme());
NeatGenomeFactory agentGenomeFactory = new NeatGenomeFactory(10, 2);
// Create new minimal maze (no barriers)
MazeStructure mazeStructure = new MazeDecoder(mazeHeight, mazeWidth, scaleMultiplier).Decode(
new MazeGenomeFactory(null, null, null).CreateGenome(0));
// Create behavior characterization factory
IBehaviorCharacterizationFactory behaviorCharacterizationFactory =
new TrajectoryBehaviorCharacterizationFactory(null);
// Create evaluator
MazeNavigatorMCSEvaluator mazeNavigatorEvaluator = new MazeNavigatorMCSEvaluator(maxTimesteps,
minSuccessDistance, behaviorCharacterizationFactory, 1);
// Set maze within evaluator
mazeNavigatorEvaluator.UpdateEvaluatorPhenotypes(new List<MazeStructure> {mazeStructure});
// Read in agents
using (XmlReader xr = XmlReader.Create(parentDirectory + agentGenomeFile))
{
agentGenomes = NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, agentGenomeFactory);
}
// Decode agent genomes to phenotype and run simulation
for (int i = 0; i < agentGenomes.Count; i++)
{
// Decode navigator genome
IBlackBox agentPhenome = agentGenomeDecoder.Decode(agentGenomes[i]);
// Run simulation
BehaviorInfo behaviorInfo = mazeNavigatorEvaluator.Evaluate(agentPhenome, 0, false, null, null);
// Print the navigator trajectory through the maze
DomainTestUtils.PrintMazeAndTrajectory(mazeStructure, behaviorInfo.Behaviors,
string.Format("{0}_{1}.bmp", baseBitmapFilename, i));
}
}
private void Reset2_Click(object sender, RoutedEventArgs e)
{
try
{
// If not hyperneat, just replace with a new net
// If hyperneat, compare other args and retain genomes if the only change is input/output resolution
string prevGenomeXML = null;
if (chkHyperNEAT.IsChecked.Value && _experiment != null && _ea != null)
{
//_ea.Stop(); // currently, Stop just calls RequestPause, so don't use it. There needs to be a dispose that removes the underlying thread
_ea.RequestPauseAndWait();
prevGenomeXML = ExperimentNEATBase.SavePopulation(_ea.GenomeList);
}
RemoveExistingExperiment();
// My stuff
#region harness args
_harnessArgs = new HarnessArgs(
trkMapSize.Value,
trkVisionSize.Value,
trkOutputSize.Value,
trkInputPixels.Value.ToInt_Round(),
trkOutputPixels.Value.ToInt_Round(),
trkDelayBetweenInstances.Value);
#endregion
#region eval args
if (chkRandomStartingConditions.IsChecked.Value)
{
_evalArgs = new EvaluatorArgs(
trkEvalIterations.Value.ToInt_Round(),
trkDelay.Value,
trkEvalElapsedTime.Value,
trkMaxSpeed.Value,
chkBounceOffWalls.IsChecked.Value,
new[] { (TrackedItemType)cboTrackedItemType.SelectedValue },
trkNewItemDuration.Value,
trkNewItemErrorMultiplier.Value,
(ScoreLeftRightBias)cboErrorBias.SelectedValue);
}
else
{
Point position = Math3D.GetRandomVector(_harnessArgs.MapSize / 2).ToPoint2D();
Vector velocity = Math3D.GetRandomVector_Circular(trkMaxSpeed.Value).ToVector2D();
// Don't let the velocity be in the same quadrant as the position (otherwise, you could have something spawn next to a wall, heading
// toward the wall). These if statements force it to cross the x,y axiis
if (Math.Sign(position.X) == Math.Sign(velocity.X))
{
velocity = new Vector(-velocity.X, velocity.Y);
}
if (Math.Sign(position.Y) == Math.Sign(velocity.Y))
{
velocity = new Vector(velocity.X, -velocity.Y);
}
_evalArgs = new EvaluatorArgs(
trkEvalIterations.Value.ToInt_Round(),
trkDelay.Value,
trkEvalElapsedTime.Value,
new[] { Tuple.Create((TrackedItemType)cboTrackedItemType.SelectedValue, position, velocity, chkBounceOffWalls.IsChecked.Value) },
trkNewItemDuration.Value,
trkNewItemErrorMultiplier.Value,
(ScoreLeftRightBias)cboErrorBias.SelectedValue);
}
#endregion
// SharpNEAT
#region experiment args
_experimentArgs = new ExperimentInitArgs()
{
Description = "Input is a pixel array. Output is a pixel array. The NN needs to watch the object and anticipate where it will be at some fixed time in the future",
InputCount = _harnessArgs.InputSizeXY * _harnessArgs.InputSizeXY,
OutputCount = _harnessArgs.OutputSizeXY * _harnessArgs.OutputSizeXY,
IsHyperNEAT = chkHyperNEAT.IsChecked.Value,
PopulationSize = trkPopulationSize.Value.ToInt_Round(),
SpeciesCount = trkSpeciesCount.Value.ToInt_Round(),
Activation = new ExperimentInitArgs_Activation_CyclicFixedTimesteps()
{
TimestepsPerActivation = trkTimestepsPerActivation.Value.ToInt_Round(),
FastFlag = true
},
Complexity_RegulationStrategy = ComplexityCeilingType.Absolute,
Complexity_Threshold = trkComplexityThreshold.Value.ToInt_Round(),
};
#endregion
#region hyperneat args
_hyperneatArgs = null;
if (chkHyperNEAT.IsChecked.Value)
{
// Use two square sheets
var hyperPoints = HyperNEAT_Args.GetSquareSheets(trkVisionSize.Value, trkOutputSize.Value, _harnessArgs.InputSizeXY, _harnessArgs.OutputSizeXY);
_hyperneatArgs = new HyperNEAT_Args()
{
InputPositions = hyperPoints.inputs,
OutputPositions = hyperPoints.outputs,
};
}
#endregion
#region create harness
_harness = new TrackedItemHarness(_harnessArgs);
_harness.ItemRemoved += (s1, e1) =>
{
_harness.SetItem(AntPos_Evaluator.GetNewItem(_harness, _evalArgs));
};
_harness.SetItem(AntPos_Evaluator.GetNewItem(_harness, _evalArgs));
#endregion
#region create evaluator
AntPos_Evaluator evaluator = new AntPos_Evaluator(_harnessArgs, _evalArgs);
//FitnessInfo score = evaluator.Evaluate(new RandomBlackBoxNetwork(_harness.InputSizeXY * _harness.InputSizeXY, _harness.OutputSizeXY * _harness.OutputSizeXY, true)); // this is a good place to unit test the evaluator
#endregion
#region create experiment
_experiment = new ExperimentNEATBase();
_experiment.Initialize("anticipate position", _experimentArgs, evaluator);
#endregion
#region create evolution algorithm
if (prevGenomeXML == null)
{
if (chkHyperNEAT.IsChecked.Value)
{
_ea = _experiment.CreateEvolutionAlgorithm(_hyperneatArgs);
}
else
{
_ea = _experiment.CreateEvolutionAlgorithm();
}
}
else
{
List <NeatGenome> genomeList;
if (_hyperneatArgs == null)
{
genomeList = ExperimentNEATBase.LoadPopulation(prevGenomeXML, _experimentArgs.Activation, _experimentArgs.InputCount, _experimentArgs.OutputCount);
}
else
{
genomeList = ExperimentNEATBase.LoadPopulation(prevGenomeXML, _experimentArgs.Activation, _hyperneatArgs);
}
// The factory is the same for all items, so just grab the first one
NeatGenomeFactory genomeFactory = genomeList[0].GenomeFactory;
_ea = _experiment.CreateEvolutionAlgorithm(genomeFactory, genomeList, _hyperneatArgs);
}
_ea.UpdateEvent += EA_UpdateEvent;
_ea.PausedEvent += EA_PausedEvent;
#endregion
ShowBestGenome(); // this ensures the neural viewer is created
_winningBrainTime = DateTime.UtcNow - TimeSpan.FromDays(1); // put it way in the past so the first tick will request a new winner
_winningBrain = null;
//_winningBrain = new RandomBlackBoxNetwork(_harness.InputSizeXY * _harness.InputSizeXY, _harness.OutputSizeXY * _harness.OutputSizeXY, true);
_tickCounter = _evalArgs.TotalNumberEvaluations * 2; // force the timer to get the winning NN right away (otherwise it will do a round before refreshing)
_ea.StartContinue(); // this needs to be done last
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
void UpdateGenomeAndFactory()
{
genome = evolutionAlgorithm.GenomeList[0];
factory = genome.GenomeFactory;
}
private void GetGenomeFactory()
{
_GenomeFactory = new NeatGenomeFactory(_InputCount, _OutputCount, _GenomeParameters);
}
public static NeatGenome ReadNeatGenome(string serializedGenomePath, int inputCount, int outputCount, IActivationFunctionLibrary actFuncLib)
{
// Create a new genome factory
NeatGenomeFactory genomeFactory = new NeatGenomeFactory(inputCount, outputCount, actFuncLib);
// Create a reader for the serialized genome
XmlReader reader = XmlReader.Create(serializedGenomePath);
// Create XML document and give it the reader reference
XmlDocument document = new XmlDocument();
document.Load(reader);
// Traverse down to the network definition
XmlNodeList nodeList = document.GetElementsByTagName("Root");
// Read in the genome
NeatGenome genome = NeatGenomeXmlIO.LoadCompleteGenomeList(nodeList[0], true, genomeFactory)[0];
return genome;
}
private static List <NeatGenome> LoadPopulation_static(XmlReader xr, ExperimentInitArgs_Activation activation, int inputCount, int outputCount)
{
NeatGenomeFactory genomeFactory = (NeatGenomeFactory)CreateGenomeFactory(inputCount, outputCount, activation);
return(NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, genomeFactory));
}
/// <summary>
/// The map evaluator constructor.
/// </summary>
/// <param name="experimentParameters">The experiment definition and control parameters.</param>
/// <param name="agentInputNeuronCount">The number of input neurons in the agent neural controller.</param>
/// <param name="agentOutputNeuronCount">The number of output neurons in the agent neural controller.</param>
public MapEvaluator(ExperimentParameters experimentParameters, int agentInputNeuronCount,
int agentOutputNeuronCount)
{
// Create the NEAT genome (agent) decoder - acyclic activation is always used
_agentDecoder = new NeatGenomeDecoder(NetworkActivationScheme.CreateAcyclicScheme());
// Create the maze decoder
_mazeDecoder = new MazeDecoder(experimentParameters.MazeHeight, experimentParameters.MazeWidth,
experimentParameters.MazeScaleMultiplier);
// Initialize evaluation units
EvaluationUnits = new List<MazeNavigatorEvaluationUnit>();
// Create default maze factory (NEAT factory will be set later based on structure of first genome encountered)
_mazeGenomeFactory = new MazeGenomeFactory();
_neatGenomeFactory = new NeatGenomeFactory(agentInputNeuronCount, agentOutputNeuronCount);
// Set experiment parameters
_experimentParameters = experimentParameters;
// Create new agent ID list and maze ID/structure map
_agentGenomeIds = new List<int>();
_mazeIdStructureMap = new Dictionary<int, MazeStructure>();
}
public List <NeatGenome> LoadPopulation(XmlReader xr)
{
NeatGenomeFactory genomeFactory = (NeatGenomeFactory)CreateGenomeFactory();
return(NeatGenomeXmlIO.ReadCompleteGenomeList(xr, true, genomeFactory));//true for hyper neat false for reg
}
/// <summary>
/// Reads a single genome from a population from the given XML file. This is typically used in cases where a
/// population file is being read in, but it only contains one genome.
/// </summary>
/// <param name="xr"></param>
/// Reference to the XmlReader.
/// <param name="nodeFnIds">
/// Indicates if node activation function IDs should be read. They are required for HyperNEAT
/// genomes but not for NEAT.
/// </param>
/// <param name="genomeFactory">A NeatGenomeFactory object to construct genomes against.</param>
/// <returns>Instantiated NEAT genome.</returns>
public static NeatGenome ReadSingleGenomeFromRoot(XmlReader xr, bool nodeFnIds, NeatGenomeFactory genomeFactory)
{
return ReadCompleteGenomeList(xr, nodeFnIds, genomeFactory)[0];
}
public List <NeatGenome> LoadPopulation(XmlReader xr)
{
NeatGenomeFactory genomeFactory = (NeatGenomeFactory)CreateGenomeFactory();
return(NeatGenomeXmlIO.ReadCompleteGenomeList(xr, false, genomeFactory));
}
/// <summary>
/// Reads a list of NeatGenome(s) from XML that has a containing 'Root' element. The root
/// element also contains the activation function library that the genomes are associated with.
/// </summary>
/// <param name="xr">The XmlReader to read from.</param>
/// <param name="nodeFnIds">Indicates if node activation function IDs should be read. If false then
/// all node activation function IDs default to 0.</param>
/// <param name="genomeFactory">A NeatGenomeFactory object to construct genomes against.</param>
public static List<NeatGenome> ReadCompleteGenomeList(XmlReader xr, bool nodeFnIds, NeatGenomeFactory genomeFactory)
{
// Find <Root>.
XmlIoUtils.MoveToElement(xr, false, __ElemRoot);
// Read IActivationFunctionLibrary. This library is not used, it is compared against the one already present in the
// genome factory to confirm that the loaded genomes are compatible with the genome factory.
XmlIoUtils.MoveToElement(xr, true, __ElemActivationFunctions);
IActivationFunctionLibrary activationFnLib = NetworkXmlIO.ReadActivationFunctionLibrary(xr);
XmlIoUtils.MoveToElement(xr, false, __ElemNetworks);
// Read genomes.
List<NeatGenome> genomeList = new List<NeatGenome>();
using(XmlReader xrSubtree = xr.ReadSubtree())
{
// Re-scan for the root <Networks> element.
XmlIoUtils.MoveToElement(xrSubtree, false);
// Move to first Network elem.
XmlIoUtils.MoveToElement(xrSubtree, true, __ElemNetwork);
// Read Network elements.
do
{
NeatGenome genome = ReadGenome(xrSubtree, nodeFnIds);
genomeList.Add(genome);
}
while(xrSubtree.ReadToNextSibling(__ElemNetwork));
}
// Check for empty list.
if(genomeList.Count == 0) {
return genomeList;
}
// Get the number of inputs and outputs expected by the genome factory.
int inputCount = genomeFactory.InputNeuronCount;
int outputCount = genomeFactory.OutputNeuronCount;
// Check all genomes have the same number of inputs & outputs.
// Also track the highest genomeID and innovation ID values; we need these to construct a new genome factory.
uint maxGenomeId = 0;
uint maxInnovationId = 0;
foreach(NeatGenome genome in genomeList)
{
// Check number of inputs/outputs.
if(genome.InputNeuronCount != inputCount || genome.OutputNeuronCount != outputCount) {
throw new SharpNeatException(string.Format("Genome with wrong number of inputs and/or outputs, expected [{0}][{1}] got [{2}][{3}]",
inputCount, outputCount, genome.InputNeuronCount, genome.OutputNeuronCount));
}
// Track max IDs.
maxGenomeId = Math.Max(maxGenomeId, genome.Id);
// Node and connection innovation IDs are in the same ID space.
foreach(NeuronGene nGene in genome.NeuronGeneList) {
maxInnovationId = Math.Max(maxInnovationId, nGene.InnovationId);
}
// Register connection IDs.
foreach(ConnectionGene cGene in genome.ConnectionGeneList) {
maxInnovationId = Math.Max(maxInnovationId, cGene.InnovationId);
}
}
// Check that activation functions in XML match that in the genome factory.
IList<ActivationFunctionInfo> loadedActivationFnList = activationFnLib.GetFunctionList();
IList<ActivationFunctionInfo> factoryActivationFnList = genomeFactory.ActivationFnLibrary.GetFunctionList();
if(loadedActivationFnList.Count != factoryActivationFnList.Count) {
throw new SharpNeatException("The activation function library loaded from XML does not match the genome factory's activation function library.");
}
for(int i=0; i<factoryActivationFnList.Count; i++)
{
if( (loadedActivationFnList[i].Id != factoryActivationFnList[i].Id)
|| (loadedActivationFnList[i].ActivationFunction.FunctionId != factoryActivationFnList[i].ActivationFunction.FunctionId)) {
throw new SharpNeatException("The activation function library loaded from XML does not match the genome factory's activation function library.");
}
}
// Initialise the genome factory's genome and innovation ID generators.
genomeFactory.GenomeIdGenerator.Reset(Math.Max(genomeFactory.GenomeIdGenerator.Peek, maxGenomeId+1));
genomeFactory.InnovationIdGenerator.Reset(Math.Max(genomeFactory.InnovationIdGenerator.Peek, maxInnovationId+1));
// Retrospecitively assign the genome factory to the genomes. This is how we overcome the genome/genomeFactory
// chicken and egg problem.
foreach(NeatGenome genome in genomeList) {
genome.GenomeFactory = genomeFactory;
}
return genomeList;
}