README

ARGoS3-CMAES-XnES

Description

The code maintained on this repo allows to use xNES and CMA-ES to optimise a neural network control software for the ARGoS3 simulator. The optimization algorithm are adaptations of the pagmo2 library. Multi-threading using open MPI has been implemented for CMA-ES and xNES for cluster use.

Package content

• bin This empty folder will contain the executable files.
• params This directory contains parameters used for the CMA-ES and xNES based design methods
• src This directory contains the source code for the design methods implemented in this repository
  • genome_parser visualizer for single layer Neural Network control software.
  • NEAT This directory contains the library used for the neural network topology.
  • pagmo The modified pagmo2 library.
  • program This directory contains the source code of the executables.
  • NEATController.cpp The definition of the neural network control software.
• startgen This directory contains the initial genomes for the design methods

Installation

Dependencies:

• ARGoS3 (3.0.0-beta48)
• argos3-epuck (v48)
• demiurge-epuck-dao (master)
• NEAT
• pagmo2 (master)
• Eigen3 (v3.3+)
• boost (1.60+)
• MPI (for parallelization)

A compiler with C++17 support (e.g. GCC > 7)

Compiling ARGoS3-CMAES-XnES:

$ git clone https://github.com/demiurge-project/ARGoS3-pagmo2
$ cd ARGoS3-pagmo2
$ mkdir build
$ cd build
$ cmake ..
$ make

Once compiled, the bin/ folder should contain the NEAT-evolution, scheduler and NEAT-launch executable.

How to use

Run a single experiment:

./bin/NEAT-launch -c mission.argos -g genome_to_test

Run the design process

Command to launch

1. To launch the Evolutionary Process which uses NEAT and ARGoS (with the epuck robot):

• Parallel

./bin/NEAT-evolution -g startgen/mlp_choco.ge -m 4 -b bin/scheduler -p params/xn_s0.5_p100.pa -c mission.argos

where startgen/mlp_choco.ge is the stater genome file, which contains the definition of the 1st genome. where -m 4 is the nb of processes where -p params/xn_s0.5_p100.pa is the parameter file for CMA-ES or XNES where -c mission.argos is the mission file

Create your own experiment

• If you want to create a new experiment with the current epuck's controller, which uses 8 proximity sensors, 8 light sensors, 3 ground sensors, 3 range-and-bearing sensors, a bias unit as inputs and 2 wheel actuators as outputs, you just need to create a new loop-function (which will evaluate the neural network), and possibly a new argos configuration file. Apart from those 2, You don’t need to create/change anything else.

• If instead you want to use another robot or the epuck with a different set of inputs/outputs, you will need to create your own controller, starter genome, and a new argos configuration file, in addition to the loop-function (if you want to create your own experiment).

• If you want to use just NEAT without the simulator ARGoS. You will need to modify the main program: in the main method, you will need to initialize your own experiment, then call the method launchNEAT(…) by passing your own defined method as a parameter. launchNEAT(…) is a method that expects at least 3 arguments: the neat parameters file, the starter genome and your function that launches your experiment and evaluates an organism/network or population on this one. This method will set the evolutionary process and will call your method in which you are supposed to launch your experiment and evaluate the organisms/networks. After calling your method, launchNEAT(…) will evolve the population for the next generation.

Your method should accept only one parameter NEAT::Network& or NEAT::Population&. -> If your method has NEAT::Network& as a parameter: you should, after launching the experiment and evaluating this network on it, return the fitness value. -> If your method has NEAT::Population& as a parameter: you should launch the experiment for each organism and evaluate each one of them. Your method doesn’t need to return anything.