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evolve_ant.cpp
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evolve_ant.cpp
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#include <cassert>
#include <cstdlib>
#include <iostream>
#include <functional>
#include <random>
#include <stdexcept>
#include <string>
#include <stree/stree.hpp>
#include <streegp/streegp.hpp>
#include "ant.hpp"
#include "data.hpp"
#include "primitives.hpp"
using Individual = stree::gp::Individual;
using Population = stree::gp::Population<Individual>;
using Group = stree::gp::Group<Individual>;
using Fitness = stree::gp::Fitness;
static void usage(const std::string& name);
static Trail load_trail_or_exit(const std::string& filename);
static Fitness evaluate(Individual& individual, const Trail& trail, unsigned step_limit);
struct Evaluator {
Evaluator(Trail trail, unsigned step_limit)
: trail(std::move(trail)),
step_limit(step_limit) {}
Fitness operator()(Individual& individual);
Trail trail;
unsigned step_limit;
};
int main(int argc, char** argv) {
// Load trail
if (argc < 2)
usage(argv[0]);
Trail trail = load_trail_or_exit(argv[1]);
// Load config
auto config = (argc < 3)
? make_default_config()
: load_config(argv[2]);
// Fallback to random value if PRNG seed is not provided
if (config.get<unsigned>(conf::PrngSeed) == (unsigned) -1) {
std::srand(std::time(nullptr));
config.set<unsigned>(conf::PrngSeed, std::rand());
}
std::cout << "PRNG seed = "
<< config.get<unsigned>(conf::PrngSeed)
<< std::endl;
std::cout << "# of crossovers = "
<< config.get<unsigned>(conf::CrossoverNum)
<< std::endl;
std::cout << "# of mutations = "
<< config.get<unsigned>(conf::MutationNum)
<< std::endl;
std::cout << "# of reproductions = "
<< config.get<unsigned>(conf::ReproductionNum)
<< std::endl;
std::cout << "# of subtree mutations = "
<< config.get<unsigned>(conf::MutationSubtreeNum)
<< std::endl;
std::cout << "# of point mutations = "
<< config.get<unsigned>(conf::MutationPointNum)
<< std::endl;
std::cout << "# of hoist mutations = "
<< config.get<unsigned>(conf::MutationHoistNum)
<< std::endl;
// Random engine
auto PrngSeed = config.get<unsigned>(conf::PrngSeed);
std::mt19937 prng(PrngSeed);
// Evaluator
Evaluator evaluator(trail, config.get<unsigned>(conf::StepLimit));
// Initialize environment
stree::Environment env;
init_environment(env);
// initialize GP context
auto context = stree::gp::make_context<Individual>(
config, env, evaluator, prng);
// Initialize population
unsigned generation = 0;
std::cout << "Generation 0" << std::endl;
Population pop_current;
stree::gp::ramped_half_and_half(context, pop_current);
stree::NodeManagerStats node_stats;
bool done = false;
do {
// Output stree stats
if (config.get<unsigned>(conf::ShowNodeStats)) {
node_stats.update(env.node_manager());
std::cout << node_stats << std::endl;
}
// Reap results
Group best = stree::gp::reap<Individual>(
pop_current, config.get<unsigned>(conf::ResultNum), evaluator);
done = (generation == config.get<unsigned>(conf::GenerationMax))
|| stree::gp::is_goal_achieved<Individual>(
best, config.get<float>(conf::FitnessGoal), evaluator);
if (done) {
std::cout << "Best results" << std::endl;
for (auto item : best) {
Individual& individual = item.get();
std::cout << "[" << individual.fitness() << "] "
<< individual.tree()
<< std::endl;
}
} else {
assert(best.size() > 0);
std::cout << "Best fitness: ";
for (auto item : best) {
Individual& individual = item.get();
std::cout << individual.fitness() << " ";
}
std::cout << std::endl;
}
if (!done) {
++generation;
std::cout << std::endl;
std::cout << "Generation " << generation << std::endl;
Population pop_next;
unsigned index = 0, max_index = 0;
/// Crossover
max_index += config.get<unsigned>(conf::CrossoverNum);
for (; index < max_index; ++index) {
// Select parents
const auto& parent1 = stree::gp::selection_tournament(context, pop_current);
const auto& parent2 = stree::gp::selection_tournament(context, pop_current);
Individual child = stree::gp::crossover_random(context, parent1, parent2);
// Add child
pop_next.emplace_back(std::move(child));
}
/// Mutation
// Random subtree mutation
max_index += config.get<unsigned>(conf::MutationSubtreeNum);
for (; index < max_index; ++index) {
const auto& individual = stree::gp::selection_tournament(context, pop_current);
pop_next.emplace_back(stree::gp::mutate_subtree(context, individual));
}
// Point mutation
max_index += config.get<unsigned>(conf::MutationPointNum);
for (; index < max_index; ++index) {
Individual& individual = stree::gp::selection_tournament(context, pop_current);
pop_next.emplace_back(stree::gp::mutate_point(context, individual));
}
// Hoist mutation
max_index += config.get<unsigned>(conf::MutationHoistNum);
for (; index < max_index; ++index) {
const auto& individual = stree::gp::selection_tournament(context, pop_current);
pop_next.emplace_back(stree::gp::mutate_hoist(context, individual));
}
/// Reproduction
while (pop_next.size() < pop_current.size()) {
const auto& individual = stree::gp::selection_tournament(context, pop_current);
pop_next.emplace_back(individual.copy());
}
/// Swap populations
pop_current.swap(pop_next);
}
} while(!done);
return 0;
}
void usage(const std::string& name) {
using namespace std;
cout << "Usage:" << endl
<< name << " <trail-filename> [<config-filename>]" << endl;
exit(-1);
}
Trail load_trail_or_exit(const std::string& filename) {
try {
Trail trail = load_trail(filename);
if (trail.size() == 0)
throw std::invalid_argument("Trail is empty");
return trail;
} catch (std::exception& e) {
std::cerr << e.what() << std::endl;
std::exit(-1);
}
assert(false);
}
Fitness evaluate(Individual& individual, const Trail& trail, unsigned step_limit) {
using namespace stree;
// Make ant
Ant ant(trail);
// Run program
Exec exec(
individual.tree(),
Exec::FlagRunLoop | Exec::FlagStopIfCostNotZero);
Params params;
exec.init(¶ms, static_cast<DataPtr>(&ant));
exec.set_cost_limit(600);
try {
exec.run();
} catch (ExecCostLimitExceeded& e) {
// do nothing
}
return static_cast<float>(ant.food_left()) / trail.size();
}
Fitness Evaluator::operator()(Individual& individual) {
return evaluate(individual, trail, step_limit);
}