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MAP-Elites - Nature version (Sferes2 experiment)
MAP-Elites 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]
See in particular the supplementary information.
Video (click on it to play):
Other parts of the experiments published in the paper:
- limbo: A lightweight framework for Bayesian and model-based optimisation of black-box functions
- Sferes2: A high-performance, multi-core, lightweight, generic C++98 framework for evolutionary computation.
- ITE: Intelligent Trial & Error algorithm
Authors
- Original author : Antoine Cully
- Other contributions: Jean-Baptiste Mouret, Konstantinos Chatzilygeroudis
How to compile
Dependencies
- robdyn: Dynamic simulator
- Make sure you have installed
ODEby sources and using this trick. - Get the code:
git clone https://github.com/jbmouret/robdyn.git - Configure for compilation/installation:
./waf configure - Compile with
./waf - Install robdyn on your computer:
sudo ./waf install - For more advanced options, look at robdyn's repo.
- Make sure you have installed
- Sferes2: A high-performance, multi-core, lightweight, generic C++98 framework for evolutionary computation.
- Get the code:
git clone https://github.com/sferes2/sferes2 - For more advanced options, look at Sferes2's repo.
- Get the code:
Compiling
- Make sure you have all the dependencies installed/downloaded.
- Go to your
sferes2root directory - Create a modules folder (if there's none) and cd to it:
mkdir modules && cd modules - Create a symbolic link to robdyn module (or you can copy it):
ln -s your_robdyn_dir/sferes/robdyn - Configure for compilation:
./waf configure --robdyn=robdyn_install_dir- You can add other options if you want, like:
--cpp11=yesto force C++11 compilation
- You can add other options if you want, like:
- Compile sferes2 with:
./waf - Create an experiment folder (if there's none) and cd to it:
mkdir exp && cd exp - Clone map_elites_hexapod:
git clone https://github.com/resibots/map_elites_hexapod.git - Go back to your
sferes2root directory - Compile the experiment:
./waf --exp map_elites_hexapod
How to run
- Compile the experiment (as shown above)
- Run it (assuming you are on sferes2 root dir):
./build/default/exp/map_elites_hexapod/hexa_duty_text./build/debug/exp/map_elites_hexapod/hexa_duty_textfor the debug version
Funding
This work has been funded by the ANR Creadapt project (ANR-12-JS03-0009) and the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement number 637972 - ResiBots).