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Robots that can adapt like animals

WARNING This repository is for archival-purpose only. A more up-to-date implementation of IT&E as described in Cully et al., 2015 is available here: https://github.com/resibots/ite_v2

meta-repo for code for the experiments published in Cully et al. (2015), Nature.

Full reference: Cully, Antoine, Jeff Clune, Danesh Tarapore, and Jean-Baptiste Mouret. "Robots that can adapt like animals." Nature 521, no. 7553 (2015): 503-507.

• Author-generated [pdf]
• Nature version (paywall) [html / pdf]

Video (click on it to play):

How to use it

How to properly clone this repo

git clone --recursive https://github.com/resibots/cully_2015_nature.git

Dependencies

• ODE: Dynamics Engine
  • Make sure you have installed ODE by sources and using this trick.
  • If you do not want to generate new MAP Elites archives, you can install ODE from binaries.
• Boost: C++ Template Libraries
• Eigen: Linear Algebra C++ Library
• realpath: sudo apt-get install realpath

How to easily compile everything

Important: Make sure you have installed all the dependencies of each repo. Otherwise the build will fail.

From the root of this repo run:

sh compile_all.sh

How to generate MAP-Elites archives

From the root of this repo run:

./sferes2/build/default/exp/map_elites_hexapod/hexa_duty_text

Typical runs take 10-15 days.

See map_elites_hexapod for more details.

How to run the ITE experiments

From the root of this repo run:

./limbo/build/exp/ITE/hexa_bomean_variant limbo/exp/ITE/archives/archive_file.dat

See ITE for more details.

How to easily clean everything

From the root of this repo run:

sh clear_all.sh

LICENSE

CeCILL