Alife23

.gitignore

@@ -143,4 +143,7 @@ dynamic_env/*.json
 checkpoints/*
 .vscode
 *.txt
-multiple_env_results/
+multiple_env_results/
+cp_*.pkl
+island_cp/*
+island_cp_v2/*

arg_parser.py

@@ -18,6 +18,7 @@ def default_values():
         "spec_genotype_weight": .8,
         "spec_phenotype_weight": 5,
         "substrate_type": "cppn",
+        "seed": 1997,
 
         # used for POET, not required 
         "height_mutation_chance": 0.35,
@@ -35,6 +36,9 @@ def default_values():
         "create_frequency": 49,
         "p_transfer_frequency": 10,
         "d_transfer_frequency": 27,
+
+        # used for grid_world]
+        "task_grid": "grid_world/grids/config.json",
     }
 
     return default
@@ -68,9 +72,11 @@ def create_parser(default_args):
     parser.add_argument("--max_pair_population_size", nargs="?", default=default_args["max_pair_population_size"], help="", type=int)
     parser.add_argument("--n_nearest_neighbors", nargs="?", default=default_args["n_nearest_neighbors"], help="", type=int)
     parser.add_argument("--p_transfer_gens", nargs="?", default=default_args["p_transfer_gens"], help="", type=int)
+    parser.add_argument("--seed", nargs="?", default=default_args["seed"], help="", type=int)
 
     parser.add_argument("--p_transfer_frequency", nargs="?", default=default_args["p_transfer_frequency"], help="", type=int)
     parser.add_argument("--d_transfer_frequency", nargs="?", default=default_args["d_transfer_frequency"], help="", type=int)
+    parser.add_argument("--task_grid", nargs="?", default=default_args["task_grid"], help="", type=str)
 
     return parser
 
@@ -89,7 +95,6 @@ def parse_args():
         with open(path, 'r', encoding='utf-8') as f:
             file_args = json.load(f)
             for k, v in file_args.items():
-                print(k, v)
                 default_args[k] = v
 
     # "real" parser to get the values from the command line that have priority over the
@@ -111,6 +116,7 @@ def parse_args():
     args_dict["spec_genotype_weight"] = command_line_args.spec_genotype_weight
     args_dict["spec_phenotype_weight"] = command_line_args.spec_phenotype_weight
     args_dict["substrate_type"] = command_line_args.substrate
+    args_dict["seed"] = command_line_args.seed
 
     args_dict["height_mutation_chance"] = command_line_args.height_mutation_chance
     args_dict["max_height_mutation"] = command_line_args.max_height_mutation
@@ -127,6 +133,8 @@ def parse_args():
     args_dict["p_transfer_frequency"] = command_line_args.p_transfer_frequency
     args_dict["d_transfer_frequency"] = command_line_args.d_transfer_frequency
 
+    args_dict["task_grid"] = command_line_args.task_grid
+
     return Parameters(args_dict)
 
 class Parameters:
@@ -145,6 +153,7 @@ def __init__(self, args_dict):
         self.spec_genotype_weight = args_dict["spec_genotype_weight"]
         self.spec_phenotype_weight = args_dict["spec_phenotype_weight"]
         self.substrate_type = args_dict["substrate_type"]
+        self.seed = args_dict["seed"]
 
         self.p_transfer_gens = args_dict["p_transfer_gens"]
         self.height_mutation_chance = args_dict["height_mutation_chance"]
@@ -161,6 +170,8 @@ def __init__(self, args_dict):
 
         self.p_transfer_frequency = args_dict["p_transfer_frequency"]
         self.d_transfer_frequency = args_dict["d_transfer_frequency"] 
+
+        self.task_grid = args_dict["task_grid"] 
         # if report is not None:
         for k, v in args_dict.items():
             print(f"{k}: {v}")

configs/grid.json

@@ -0,0 +1,17 @@
+{
+    "gens": 3001,
+    "robot_size": 5,
+    "steps": 600,
+    "n_threads": 12,
+    "save_to": "",
+    "goal_fit": 10,
+    "pop_size": 5,
+    "max_stag": 100,
+    "neat_config": "neat_configs/grid_v2.cfg",
+    "save_gen_interval": 10,
+    "spec_genotype_weight": 1,
+    "spec_phenotype_weight": 2,
+    "substrate_type": "3d",
+    "task_grid": "grid_world/grids/locomotion.json"
+}
+

generate_img.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# declare -a arr=("locomotion_3d" "locomotion_cppn" "snk_3d" "snk_cppn" "random_loc_3d" "random_loc_cppn" "snk_3d_2" "snk_cppn_2" "random_loc_3d_2" "random_loc_cppn_2")
+
+# Set the directory path
+dir_path="$1"
+
+# Loop over the files in the directory
+for dir in "${@:2}"
+do
+    for file in "${dir_path}/${dir}"/*.pkl
+    do
+    # Check if the file is a regular file
+    if [[ -f "$file" ]]; then
+        # Call the Python function with the file as an argument
+        python generate_imgs.py "${file}"
+    fi
+    done
+done

generate_imgs.py

@@ -0,0 +1,40 @@
+import pickle as pkl
+import os
+from grid_world.graph import Graph
+import sys
+
+def main(file_path):
+    print(file_path)
+    results_dir, test_dir, file_name = file_path.split("/")
+    if "pkl" not in file_path:
+        print("Not a pkl file")
+        return
+
+    file_name = file_name.split(".")[0] 
+    p1, p2, test_number = file_name.split("_")
+    test_number = test_number.zfill(4)
+    img_name = f"{p1}_{p2}_{test_number}"
+
+    if os.path.exists(f"{results_dir}/{test_dir}/{img_name}.jpeg"):
+        print("Image already exists")
+        return
+
+    try:
+        with open(file_path, "rb") as file:
+            grid: Graph  = pkl.load(file)
+    except:
+        print("Couldnt open the pkl")
+        return
+
+    n_rows, n_cols = 6, 6
+    if "locomotion" in file_path:
+        n_rows, n_cols = 4, 4
+
+    grid.save_grid_img(n_rows, n_cols, img_name+ ".jpeg", img_name.replace("_", " "))
+
+
+if __name__ == "__main__":
+    file_path = sys.argv[1]
+    # print(file_path)
+    main(file_path)
+    print()

grid_main.py

@@ -0,0 +1,19 @@
+import os
+import json
+from arg_parser import parse_args
+from sgr.sgr import SGR
+from grid_world.graph import Graph
+import pickle
+
+def main():
+    params = parse_args()
+    local_dir = os.path.dirname(__file__)
+    config_path = os.path.join(local_dir, params.neat_config)
+
+    graph = Graph(seed=params.seed, params=params)
+    graph.interpret_json(params.task_grid, config_path)
+
+    graph.evolve_random_coords(params.gens)
+
+if __name__ == "__main__":
+    main()

grid_world/create_grid.py

@@ -0,0 +1,94 @@
+import json
+from tasks import Task
+import numpy as np
+def locomotion_task():
+    def task_func(x, y):
+        aux = y%4
+        if aux == 1:
+            return "UpStepper-v0"
+        elif aux == 2:
+            return "Hurdler-v0"
+        return "Walker-v0"
+
+    create_base_grid(size=(4,4), file_name="./locomotion.json", task_function=task_func)
+
+def manipulation_task():
+    def task_func(x, y):
+        aux = y%4
+        if aux == 1:
+            return "Thrower-v0"
+        elif aux == 2:
+            return "Carrier-v1"
+        return "Carrier-v0"
+
+    create_base_grid(file_name="./manipulation.json", task_function=task_func)
+
+def snk_task():
+    def task_func(x, y):
+        if x == 1 and y != 0 and y != 5:
+            return "ObstacleTraverser-v1"
+        elif x == 4 and y != 0 and y != 5:
+            return "ObstacleTraverser-v1"
+        elif y == 1 and x != 0 and x != 5:
+            return "ObstacleTraverser-v1"
+        elif y == 4 and x != 0 and x != 5:
+            return "ObstacleTraverser-v1"
+        return "ObstacleTraverser-v0"
+    create_base_grid(size=(6,6), file_name="./snk.json", task_function=task_func)
+
+def random_locomotion_task():
+
+    possible_tasks = [
+        "Walker-v0",
+        "BridgeWalker-v0",
+        "UpStepper-v0",
+        "DownStepper-v0",
+        "ObstacleTraverser-v0",
+        "ObstacleTraverser-v1",
+        "Hurdler-v0",
+        "PlatformJumper-v0",
+        "GapJumper-v0",
+    ]
+    def task_func(x, y):
+        task =  np.random.choice(possible_tasks, 1)[0]
+        print(task)
+        return task
+    create_base_grid(size=(6,6), file_name="./random_loc.json", task_function=task_func)
+
+def create_base_grid(size=(4,4), file_name="./temp.json", task_function=None):
+    x, y = size
+
+    grid = []
+    for i in range(x):
+        grid.append([])
+        for j in range(y):
+            grid[i].append(j + i*y)
+
+    for i in grid:
+        print(i)
+
+    json_grid = {}
+    for i in range(x):
+        for j in range(y):
+            value = {
+                "neighbors":[]
+            }
+            if task_function != None:
+                value["task"] = task_function(i, j)
+                print(i, j, value["task"])
+            else:
+                value["task"] = "Walker-v0"
+
+            for i2 in range(i-1, i+2):
+                for j2 in range(j-1, j+2):
+                    if i2 < 0 or i2 >= x or j2 < 0 or j2 >= y or grid[i2][j2] == grid[i][j]:
+                        continue
+                    value["neighbors"].append(grid[i2][j2])
+
+            json_grid[grid[i][j]] = value
+
+    with open(file_name, 'w') as f:
+        json.dump(json_grid, f, indent = 4, ensure_ascii = False)
+
+if __name__ == "__main__":
+    random_locomotion_task()