EvoRobSim
From Robin
Contents |
Evolutionary run
How to start an evolutionary run
In debug mode
- set vc_solution as startup project
- command arguments: hox-evolution debug (or yourname-evolution)
- working dir: ../..
- copy data/ into Debug/
In experiment mode
- make file seeds.txt and fill with random numbers from random.org, format one column
- copy vc_solution.exe and sim_worker(_display).exe to root folder of project
- start vc_solution yourname-evolution, and a number of sim_worker
Using a network of computers
- ...
How to implement your own evolutionary setup and robot
How to implement an evolutionary control/harness/run
Customize means to make your own subclass which contains your specific functionality
- Make a custom EvolutionManager with evolutionary setup (the run() method can load a config file which specifies the objectives)
- Possibly make your own evaluation critera by customizing SimEvaluator
- Customize EvorobScenario for setting up the simulation environment, like obstacles etc.
How to define your own simulated robot
- Make a custom Blueprint which is a simulator/hardware-independent description of the robot
- Implement a MyBlueprint::generateMachine method which generates a custom Machine (a simulator description of the robot)
- File structure:
- my_blueprint.h - contains the MyBlueprint class description
- my_blueprint.cpp - contains the general implementation of MyBlueprint including serialization
- my_machine.cpp - contains the simulator-specific implementation of MyBlueprint, MyBlueprint::generateMachine - for the sim_worker / sim_worker_display / bbp_viewer projects
- my_nomachine.cpp - contains a dummy implementation of MyBlueprint::generateMachine - for the vc_solution project
- Make a custom RobotGenes which contains a description of the genes and how to mutate them
remaining topics
- hvordan lese tilbake resultatet i viewer
- overføre resultat til virkelig robot
- mulig å ha ett frittstående / fryst eksempel som kjører evolusjon (og hvordan kjør) og gjør det mulig å overføre?
- stats for evolusjonsruns