diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..b9c45e842b0ff3b65e1e30a28491c0eff94f5f8c --- /dev/null +++ b/.gitignore @@ -0,0 +1,108 @@ +venv/* +.vscode/* + +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +#custom +log/* +log*-*/* +*.zip + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +*.egg-info/ +.installed.cfg +*.egg + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +.hypothesis/ +.pytest_cache/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# pyenv +.python-version + +# celery beat schedule file +celerybeat-schedule + +# SageMath parsed files +*.sage.py + +# dotenv +.env + +# virtualenv +.venv +venv/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ diff --git a/GPRL/MCTS/MCTS.py b/GPRL/MCTS/MCTS.py new file mode 100644 index 0000000000000000000000000000000000000000..2b7bb175ad06d0c072fc68575bd5866f8c69603f --- /dev/null +++ b/GPRL/MCTS/MCTS.py @@ -0,0 +1,128 @@ +from ..reprenstation.linearGP import Instruction +import numpy as np + +import copy +import random + +from collections import deque +from itertools import product + +class TreeNMCS(object): + def __init__(self, pset, max_len, fitness, nb_playout=1): + self.max_len = max_len + self.pset = pset + self.ops = copy.deepcopy(pset.terminals) + for k, v in pset.primitives.items(): + if k in self.ops: + self.ops[k] += copy.deepcopy(v) + else: + self.ops[k] = copy.deepcopy(v) + self.nb_playout = nb_playout + self.fitness = fitness + + def possible_primitives(self, individual, leaves): + l = [] + for op in self.ops[leaves[0]]: + if isinstance(op, type): + op = op() + if len(individual) + len(leaves) + op.arity <= self.max_len: + l.append(op) + return l + + def play(self, individual, leaves, op): + individual.append(op) + leaves.pop(0) + if op.arity > 0: + leaves = op.args + leaves + return individual, leaves + + def playout(self, individual, leaves): + while len(leaves) != 0: + op = random.choice(self.possible_primitives(individual, leaves)) + individual, leaves = self.play(individual, leaves, op) + return individual + + def compute_fitness(self, individual): + #f = gp.compile(gp.PrimitiveTree(individual), pset=self.pset) + return self.fitness(individual) + + def run(self, individual, leaves, level): + best_individual = None + best_fitness = np.NINF + #idx = 0 + while len(leaves) != 0: + ops = self.possible_primitives(individual, leaves) + for op in ops: + cp_ind, cp_leaves = copy.deepcopy(individual), copy.deepcopy(leaves) + cp_ind, cp_leaves = self.play(cp_ind, cp_leaves, op) + if level == 1: + cp_ind = self.playout(cp_ind, cp_leaves) + else: + cp_ind = self.run(cp_ind, cp_leaves, level-1) + fitness = self.compute_fitness(cp_ind) + + if fitness > best_fitness: + best_individual = copy.deepcopy(cp_ind) + best_fitness = fitness + individual, leaves = self.play(individual, leaves, best_individual[len(individual)]) + #idx += 1 + return individual + +class LinearNCMS(object):#/!\ never been tested + def __init__(self, interpreter, regCalcSize, regSize, max_len, fitness, nb_playout=1): + self.max_len = max_len + self.interpreter = interpreter + self.nb_playout = nb_playout + self.fitness = fitness + + self.regCalcSize = regCalcSize + self.regSize = regSize + + def play(self, individual, instruction, R_eff): + if not self.interpreter.branch[instruction.opcode]: R_eff.remove(instruction.dst) + + R_eff.add(instruction.inpt1) + if self.interpreter.arity[instruction.opcode] == 2: + R_eff.add(instruction.inpt2) + + individual.appendleft(instruction) + return individual + + def possible_primitives(self, individual, R_eff, opsOnly=False): + instructions = [] + out = R_eff.intersection(set(range(self.regCalcsize))) + if not bool(out): + out = range(self.regCalcsize) + inpt = range(self.regSize) if len(individual) < self.max_size else range(self.regCalcSize, self.regSize) + for opcode, dst, in1, in2 in product(self.interpreter.ops, R_eff, inpt, inpt): + instructions.append(Instruction(opcode, dst, in1, in2)) + return instructions + + def playout(self, individual, R_eff): + while len(individual) < self.max_len: + instr = random.choice(self.possible_primitives(individual, R_eff)) + individual = self.play(individual, instr) + return individual + + def compute_fitness(self, individual): + return self.fitness(individual) + + def run(self, individual, level): + best_individual = None + best_fitness = np.NINF + while len(individual) < self.max_len: + instructions = self.possible_primitives(individual) + for instr in instructions: + cp_ind = copy.deepcopy(individual) + cp_ind = self.play(cp_ind, instr) + if level == 1: + cp_ind = self.playout(cp_ind) + else: + cp_ind = self.run(cp_ind, level-1) + fitness = self.compute_fitness(cp_ind) + + if fitness > best_fitness: + best_individual = copy.deepcopy(cp_ind) + best_fitness = fitness + individual, leaves = self.play(individual, leaves, best_individual[len(individual)]) + return individual \ No newline at end of file diff --git a/GPRL/MCTS/__init__.py b/GPRL/MCTS/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/GPRL/UCB.py b/GPRL/UCB.py new file mode 100644 index 0000000000000000000000000000000000000000..666f3429182e2588d1e1a305375d3e4a1933e65e --- /dev/null +++ b/GPRL/UCB.py @@ -0,0 +1,169 @@ +from copy import deepcopy +from functools import partial +import heapq +from operator import attrgetter, eq +import random +from bisect import bisect_right + +from deap.base import Fitness +from deap import tools +import numpy as np + +class UCBFitness(Fitness): + + c=np.sqrt(2) + sigma=1.0 + + def __init__(self, offset=0, values=(), **kwargs): + super().__init__(values=values, **kwargs) + self.rewards = [] + self.offset = offset + + def add_reward(self, reward): + self.rewards.append(reward) + + def update_offset(self): + self.offset = len(self.rewards) + + def calc_fitness(self, budget): + if self.rewards: + return np.mean(self.rewards, axis=0) + self.sigma*self.c*np.sqrt(np.log(budget+self.offset+1)/len(self.rewards)) + + def reset(self): + self.rewards = [] + self.offset = 0 + +class HeapWithKey(list): + def __init__(self, initial=[], key=lambda x:x): + super(HeapWithKey, self).__init__([(key(item), i, item) for i, item in enumerate(initial)]) + self.key = key + self.idx = 0 + if initial: + self.idx = len(self) + heapq.heapify(self) + else: + self = [] + + def push(self, item): + heapq.heappush(self, (self.key(item), self.idx, item)) + self.idx += 1 + + def pop(self): + return heapq.heappop(self)[2] + +def selDoubleTournament(individuals, k, fitness_size, parsimony_size, fitness_first=True, fit_attr="fitness"): + assert (0.0 < parsimony_size <= 2), "Parsimony tournament size has to be in the range [1, 2]." + + def _sizeTournament(individuals, k, select): + chosen = [] + for i in range(k): + prob = parsimony_size / 2. + ind1, ind2 = select(individuals, k=2) + + if len(ind1.fitness.rewards) < len(ind2.fitness.rewards): + ind1, ind2 = ind2, ind1 + elif len(ind1) == len(ind2): + prob = 0.5 + + chosen.append(ind1 if random.random() < prob else ind2) + + return chosen + + def _fitTournament(individuals, k, select): + chosen = [] + for i in range(k): + aspirants = select(individuals, k=fitness_size) + chosen.append(max(aspirants, key=attrgetter(fit_attr))) + return chosen + + if fitness_first: + tfit = partial(_fitTournament, select=tools.selRandom) + return _sizeTournament(individuals, k, tfit) + else: + tsize = partial(_sizeTournament, select=tools.selRandom) + return _fitTournament(individuals, k, tsize) + + +class ArmHof(tools.HallOfFame): + def __init__(self, maxsize): + super().__init__(maxsize, similar=eq) + + def update(self, population): + for ind in population: + if len(self) == 0 and self.maxsize !=0: + # Working on an empty hall of fame is problematic for the + # "for else" + self.insert(population[0]) + continue + if len(ind.fitness.rewards) > len(self[-1].fitness.rewards) or len(self) < self.maxsize: + if len(self) >= self.maxsize: + self.remove(-1) + self.insert(ind) + + def insert(self, item): + item = deepcopy(item) + i = bisect_right(self.keys, len(item.fitness.rewards)) + self.items.insert(len(self) - i, item) + self.keys.insert(i, len(item.fitness.rewards)) + + +class UpdateFitnessHof(tools.HallOfFame): + def __init__(self, maxsize, similar=eq, maxsize_arm=None): + super().__init__(maxsize, similar=similar) + self.maxsize_arm = maxsize_arm + if maxsize_arm is not None: + self.arm_hof = ArmHof(self.maxsize_arm) + + def update(self, population): + for ind in population: + if len(self) == 0 and self.maxsize !=0: + # Working on an empty hall of fame is problematic for the + # "for else" + self.insert(population[0]) + continue + idx = 0 + while idx < len(self): + if self.similar(ind, self[idx]): + self.remove(idx) + break + idx+=1 + if ind.fitness > self[-1].fitness or len(self) < self.maxsize: + # The individual is unique and strictly better than + # the worst + if len(self) >= self.maxsize: + self.remove(-1) + self.insert(ind) + if self.maxsize_arm is not None: + self.arm_hof.update(population) + +class UpdateFitnessParetoFront(tools.ParetoFront): + def __init__(self, similar, maxsize_arm=None): + super().__init__(similar=similar) + self.maxsize_arm = maxsize_arm + if maxsize_arm: + self.arm_hof = ArmHof(self.maxsize_arm) + + def update(self, population): + for ind in population: + is_dominated = False + dominates_one = False + has_twin = False + to_remove = [] + for i, hofer in enumerate(self): # hofer = hall of famer + if not dominates_one and hofer.fitness.dominates(ind.fitness): + is_dominated = True + break + elif ind.fitness.dominates(hofer.fitness): + dominates_one = True + to_remove.append(i) + elif ind.fitness == hofer.fitness and self.similar(ind, hofer):#Ã corriger! + has_twin = True + break + + for i in reversed(to_remove): # Remove the dominated hofer + self.remove(i) + if not is_dominated and not has_twin: + self.insert(ind) + + if self.maxsize_arm is not None: + self.arm_hof.update() \ No newline at end of file diff --git a/GPRL/__init__.py b/GPRL/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/GPRL/algorithms.py b/GPRL/algorithms.py new file mode 100644 index 0000000000000000000000000000000000000000..79b2869db5f9b24732c9b672e97d41711cdb1155 --- /dev/null +++ b/GPRL/algorithms.py @@ -0,0 +1,247 @@ +from collections import deque +from deap import tools, algorithms +import heapq +from timeit import default_timer as timer + +from .UCB import UCBFitness, HeapWithKey + +#warning ucb on first objective ! +def eaMuPlusLambdaUCB(population, toolbox, simulation_budget, parallel_update, mu, lambda_, cxpb, mutpb, ngen, + select=False, stats=None, halloffame=None, verbose=__debug__, budget_scheduler=None): + assert all([isinstance(ind.fitness, UCBFitness) for ind in population]) + + logbook = tools.Logbook() + logbook.header = ['gen', 'nevals'] + (stats.fields if stats else []) + + # Evaluate the individuals with an invalid fitness + invalid_ind = [ind for ind in population if not ind.fitness.valid] + fitnesses = toolbox.map(toolbox.evaluate, invalid_ind) + for ind, fit in zip(invalid_ind, fitnesses): + ind.fitness.add_reward(fit[0]) + ind.fitness.values = ind.fitness.calc_fitness(simulation_budget), *fit[1:] + + if select: + get_individual = lambda inds: toolbox.select(inds, parallel_update) + else: + popoff = HeapWithKey(population, lambda x: -x.fitness.values[0]) + get_individual = lambda _: [popoff.pop() for _ in range(parallel_update)] + tmp = 0 + while(tmp < simulation_budget): + inds = get_individual(population) + fitnesses = toolbox.map(toolbox.evaluate, inds) + for ind, fit in zip(inds, fitnesses): + ind.fitness.add_reward(fit[0]) + ind.fitness.values = ind.fitness.calc_fitness(simulation_budget), *fit[1:] + if not select: + popoff.push(ind) + tmp+=1 + + if halloffame is not None: + halloffame.update(population) + + record = stats.compile(population) if stats is not None else {} + logbook.record(gen=0, nevals=len(invalid_ind), **record) + if verbose: + print(logbook.stream) + + # Begin the generational process + for gen in range(1, ngen + 1): + if budget_scheduler is not None: + simulation_budget = budget_scheduler(ngen, population) + # Vary the population + offspring = algorithms.varOr(population, toolbox, lambda_, cxpb, mutpb) + + # Evaluate the individuals with an invalid fitness + invalid_ind = [ind for ind in offspring if not ind.fitness.valid] + fitnesses = toolbox.map(toolbox.evaluate, invalid_ind) + for ind, fit in zip(invalid_ind, fitnesses): + ind.fitness.reset() + ind.fitness.add_reward(fit[0]) + ind.fitness.values = ind.fitness.calc_fitness(simulation_budget), *fit[1:] + + for ind in population: + ind.fitness.update_offset() + + popoff = population+offspring + if not select: + popoff = HeapWithKey(popoff, lambda x: -x.fitness.values[0]) + get_individual = lambda _: [popoff.pop() for _ in range(parallel_update)] + + tmp = 0 + while(tmp < simulation_budget): + inds = get_individual(popoff) + fitnesses = toolbox.map(toolbox.evaluate, inds) + for ind, fit in zip(inds, fitnesses): + ind.fitness.add_reward(fit[0]) + ind.fitness.values = ind.fitness.calc_fitness(simulation_budget), *fit[1:] + if not select: + popoff.push(ind) + tmp+=1 + + # Update the hall of fame with the generated individuals + if halloffame is not None: + halloffame.update(offspring) + + # Select the next generation population + population[:] = toolbox.select(population + offspring, mu) + + # Update the statistics with the new population + record = stats.compile(population) if stats is not None else {} + logbook.record(gen=gen, nevals=len(invalid_ind), **record) + if verbose: + print(logbook.stream) + + return population, logbook + +# "Deapified" version of : +# Regularized Evolution for Image Classifier Architecture Search ; https://ojs.aaai.org/index.php/AAAI/article/view/4405 +# based code from : https://github.com/google-research/google-research/tree/master/evolution/regularized_evolution_algorithm +def regularized_evolution(population, toolbox, mu, lambda_, cxpb, mutpb, cycles, stats=None, halloffame=None, verbose=__debug__): + """Algorithm for regularized evolution (i.e. aging evolution). + + Follows "Algorithm 1" in Real et al. "Regularized Evolution for Image + Classifier Architecture Search". + + Args: + cycles: the number of cycles the algorithm should run for. + + Returns: + history: a list of `Model` instances, representing all the models computed + during the evolution experiment. + """ + assert mu <= len(population) + if isinstance(deque, population): + remove = lambda pop: pop.popleft() + else: + remove = lambda pop: pop.pop(0) + + logbook = tools.Logbook() + logbook.header = ['gen', 'nevals'] + (stats.fields if stats else []) + + invalid_ind = [ind for ind in population if not ind.fitness.valid] + fitnesses = toolbox.map(toolbox.evaluate, invalid_ind) + for ind, fit in zip(invalid_ind, fitnesses): + ind.fitness.values = fit + + record = stats.compile(population) if stats is not None else {} + logbook.record(gen=0, nevals=len(invalid_ind), **record) + if verbose: + print(logbook.stream) + + history = [] # Not used by the algorithm, only used to report results. + + # Carry out evolution in cycles. + while len(history) < cycles: + parents = toolbox.select(population, k=mu) + + # Create offspring and store it. + offspring = algorithms.varOr(parents, lambda_, cxpb, mutpb) + + invalid_ind = [ind for ind in offspring if not ind.fitness.valid] + fitnesses = toolbox.map(toolbox.evaluate, invalid_ind) + for ind, fit in zip(invalid_ind, fitnesses): + ind.fitness.values = fit + + population.extend(offspring) + history.extend(offspring) + + # Withdrawal of oldest individuals + for _ in range(len(invalid_ind)): + remove(population) + + record = stats.compile(population) if stats is not None else {} + logbook.record(gen=len(history), nevals=len(invalid_ind), **record) + if verbose: + print(logbook.stream) + + return history, logbook + + +#objectif at zero +def qdLambda(init_batch, toolbox, container, batch_size, ngen, lambda_, cxpb = 0.0, mutpb = 1.0, stats = None, halloffame = None, verbose = False, show_warnings = False, start_time = None, iteration_callback = None): + """The simplest QD algorithm using DEAP. + :param init_batch: Sequence of individuals used as initial batch. + :param toolbox: A :class:`~deap.base.Toolbox` that contains the evolution operators. + :param batch_size: The number of individuals in a batch. + :param niter: The number of iterations. + :param stats: A :class:`~deap.tools.Statistics` object that is updated inplace, optional. + :param halloffame: A :class:`~deap.tools.HallOfFame` object that will + contain the best individuals, optional. + :param verbose: Whether or not to log the statistics. + :param show_warnings: Whether or not to show warnings and errors. Useful to check if some individuals were out-of-bounds. + :param start_time: Starting time of the illumination process, or None to take the current time. + :param iteration_callback: Optional callback funtion called when a new batch is generated. The callback function parameters are (iteration, batch, container, logbook). + :returns: The final batch + :returns: A class:`~deap.tools.Logbook` with the statistics of the + evolution + """ + if start_time is None: + start_time = timer() + logbook = tools.Logbook() + logbook.header = ["iteration", "containerSize", "evals", "nbUpdated"] + (stats.fields if stats else []) + ["elapsed"] + + if len(init_batch) == 0: + raise ValueError("``init_batch`` must not be empty.") + + # Evaluate the individuals with an invalid fitness + invalid_ind = [ind for ind in init_batch if not ind.fitness.valid] + fitnesses = toolbox.map(toolbox.evaluate, invalid_ind) + for ind, fit in zip(invalid_ind, fitnesses): + ind.fitness.values = fit[0], + ind.features = fit[1:] + + if len(invalid_ind) == 0: + raise ValueError("No valid individual found !") + + # Update halloffame + if halloffame is not None: + halloffame.update(init_batch) + + # Store batch in container + nb_updated = container.update(init_batch, issue_warning=show_warnings) + if nb_updated == 0: + raise ValueError("No individual could be added to the container !") + + # Compile stats and update logs + record = stats.compile(container) if stats else {} + logbook.record(iteration=0, containerSize=container.size_str(), evals=len(invalid_ind), nbUpdated=nb_updated, elapsed=timer()-start_time, **record) + if verbose: + print(logbook.stream) + # Call callback function + if iteration_callback is not None: + iteration_callback(0, init_batch, container, logbook) + + # Begin the generational process + for i in range(1, ngen + 1): + start_time = timer() + # Select the next batch individuals + batch = toolbox.select(container, batch_size) + + ## Vary the pool of individuals + offspring = algorithms.varOr(batch, toolbox, lambda_, cxpb=cxpb, mutpb=mutpb) + + # Evaluate the individuals with an invalid fitness + invalid_ind = [ind for ind in offspring if not ind.fitness.valid] + fitnesses = toolbox.map(toolbox.evaluate, invalid_ind) + for ind, fit in zip(invalid_ind, fitnesses): + ind.fitness.values = fit[0], + ind.features = fit[1:] + + # Replace the current population by the offspring + nb_updated = container.update(offspring, issue_warning=show_warnings) + + # Update the hall of fame with the generated individuals + if halloffame is not None: + halloffame.update(container) + + # Append the current generation statistics to the logbook + record = stats.compile(container) if stats else {} + logbook.record(iteration=i, containerSize=container.size_str(), evals=len(invalid_ind), nbUpdated=nb_updated, elapsed=timer()-start_time, **record) + if verbose: + print(logbook.stream) + # Call callback function + if iteration_callback is not None: + iteration_callback(i, batch, container, logbook) + + return batch, logbook + diff --git a/GPRL/factory.py b/GPRL/factory.py new file mode 100644 index 0000000000000000000000000000000000000000..515cb6ed4a0cbb7502fcbc181bd563ea618af485 --- /dev/null +++ b/GPRL/factory.py @@ -0,0 +1,21 @@ +from abc import ABC, abstractmethod + +class EvolveFactory(ABC): + def __init__(self, conf): + self.conf = conf + + @abstractmethod + def init_global_var(self): + pass + + @abstractmethod + def make_toolbox(self): + pass + + @abstractmethod + def get_stats(self): + pass + + @ abstractmethod + def close(self): + pass diff --git a/GPRL/genetic_programming/__init__.py b/GPRL/genetic_programming/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/GPRL/genetic_programming/linearGP.py b/GPRL/genetic_programming/linearGP.py new file mode 100644 index 0000000000000000000000000000000000000000..2c831fb452c49db74b95a5791a979b2b8f52363c --- /dev/null +++ b/GPRL/genetic_programming/linearGP.py @@ -0,0 +1,584 @@ +import random +from functools import partial +import copy + +from abc import ABC, abstractmethod + +import numpy as np + +from collections import namedtuple + +#/!\ warning authorized dst in effective mutINstr and mutInsert (range(regCalcSize)) + +NUM_OPS = 12 + +opcode_complexity = np.array([1, 1, 1, 2, 2, 4, 4, 4, 3, 4, 4, 4]) + +class Interpreter(ABC): + + @abstractmethod + def opcode(code, x1, x2): + pass + + @abstractmethod + def to_string(opcode): + pass + + +class BasicInterpreter: + data_type="float" + def __init__(self, mask=np.ones(NUM_OPS, dtype=bool)): + self.num_ops = NUM_OPS + self.arity = np.array([2]*6 + [1]*3 + [2]*3) + self.branch = np.zeros(self.num_ops, dtype=bool) + self.branch[10:] = True + self.masked_branch = self.branch[mask].copy() + self.ops = np.arange(0, self.num_ops)[mask] + + def opcode(self, code, x1, x2): + c_undef = 1e7 + if code==0: + return np.add(x1, x2) + elif code==1: + return np.subtract(x1, x2) + elif code==2: + return np.multiply(x1, x2) + elif code==3: + return np.float_power(np.abs(x1),x2, where=np.logical_and(np.abs(x2) <= 10, np.logical_and(np.abs(x1) > 0.001, np.abs(x1) < 1000)), out=np.full_like(x1, c_undef)) + #return np.where(np.logical_and(np.abs(x2) <= 10, np.abs(x1) != 0), np.float_power(np.abs(x1), x2), x1 + c_undef) + elif code==4: + return np.divide(x1, x2, where=np.abs(x2) > 0.001, out=np.full_like(x1, c_undef)) + elif code==5: + return np.fmod(x1, x2, where=np.abs(x2) > 0.001, out=np.zeros_like(x1)) + elif code==6: + return np.sin(x1) + elif code==7: + return np.exp(x1, where=np.abs(x1)<32, out=np.full_like(x1, c_undef)) + #return np.where(np.abs(x1)<32, np.exp(x1), x1 + c_undef) + elif code==8: + return np.log(np.abs(x1), where=np.abs(x1) > 0.00001, out=np.full_like(x1, c_undef)) + #return np.where(np.abs(x1) > 0.001, np.log(x1), x1 + c_undef) + elif code==9: + return np.where(x1 > x2, -x1, x1) + elif code==10: + return x1>x2 + elif code==11: + return x1<x2 + raise ValueError("Code not found") + + def toString(self, x): + if x==0: + return "+" + elif x==1: + return "-" + elif x==2: + return "*" + elif x==3: + return "^" + elif x==4: + return "/" + elif x==5: + return "%" + elif x==6: + return "sin" + elif x==7: + return "exp" + elif x==8: + return "log" + elif x==9: + return "if neg" + elif x==10: + return ">" + elif x==11: + return "<" + +class id(object): + id = 0 + def __call__(self): + self.id +=1 + return self.id + +Instruction = namedtuple('Instruction', ['opcode', 'dst', 'inpt1', 'inpt2']) + +class Program(list): + instruction_type = [('opcode', 'u8'), ('dst', 'u8'), ('inpt1','u8'),('inpt2','u8')] + Instruction = Instruction + + ID = id() + + def __init__(self, content=[], regCalcSize=None, regInputSize=None, regConstSize=None, regConst=None, interpreter=BasicInterpreter()): + super(Program, self).__init__(content) + self.regCalcSize = regCalcSize + self.regInputSize = regInputSize + self.regConstSize = regConstSize + + self.regConst = regConst + + self.interpreter = interpreter + + self.id = self.ID() + + def to_effective(self, outputIdxs, stopAt=0): + effective = [] + idxs = [] + R_eff = set(outputIdxs) + k = len(self)-1 + while k >= stopAt: + instr = self[k] + if instr.dst in R_eff and not self.interpreter.branch[instr.opcode]: + effective.insert(0, instr) + idxs.append(k) + if k>0 and not self.interpreter.branch[self[k-1].opcode]: R_eff.remove(instr.dst) + arity = self.interpreter.arity[instr.opcode] + R_eff.add(instr.inpt1) + if arity == 2: + R_eff.add(instr.inpt2) + i = k-1 + while i>=0 and self.interpreter.branch[self[i].opcode]: + R_eff.add(self[i].inpt1) + R_eff.add(self[i].inpt2) + effective.insert(0, self[i]) + idxs.append(i) + i-=1 + k = i+1 + k-=1 + return Program(effective, self.regCalcSize, self.regInputSize, self.regConstSize, self.regConst, interpreter=self.interpreter), R_eff, idxs + + def get_used_regConstIdxs(self): + regConstIdx = set() + for instr in self: + if instr.inpt1 >= self.regCalcSize+self.regInputSize: + regConstIdx.add(instr.inpt1) + elif self.interpreter.arity[instr.opcode] == 2 and instr.inpt2 >= self.regCalcSize+self.regInputSize: + regConstIdx.add(instr.inpt2) + return regConstIdx + + def get_constIdxs(self): + constIdxs = [] + for idx, instr in enumerate(self): + if instr.inpt1 >= self.regCalcSize+self.regInputSize: + constIdxs.append((idx, instr.inpt1)) + elif self.interpreter.arity[instr.opcode] == 2 and instr.inpt2 >= self.regCalcSize+self.regInputSize: + constIdxs.append((idx, instr.inpt2)) + return constIdxs + + def to_numpy(self): + return np.array(self, dtype=self.instruction_type) + + def __str__(self): + string = " op dst inpt1 inpt2\n" + for line, instr in enumerate(self): + string+= f"{line} {self.interpreter.toString(instr.opcode)} {instr.dst} {instr.inpt1} {instr.inpt2}\n" + return string + + def init_register(self, random=lambda nb:np.arange(1, nb+1, dtype="float")): + register_length = self.regCalcSize + self.regConstSize + self.regInputSize + register = np.zeros(register_length, dtype="float") + register[self.regCalcSize:] = 100.0 + register[self.regCalcSize:self.regCalcSize+self.regInputSize] = np.random.uniform(-1,1, self.regInputSize) + # initialize constant + j = self.regCalcSize + self.regInputSize + if self.regConst is not None: + register[j:] = self.regConst.copy() + else: + register[j:] = random(self.regConstSize) + return register + + @classmethod + def randomProgram(cls, regCalcSize, regInputSize, regConstSize, length, pConst, pBranch, random=lambda nb:np.arange(1, nb+1, dtype="float"), ops=np.array([True, True, True, False, True, False, False, False, False, False, True, True])): + interpreter = BasicInterpreter(mask=ops) + prgm = [cls.randomInstruction(regCalcSize, regInputSize, regConstSize, pConst, pBranch, interpreter) for _ + in range(length - 1)] + prgm.append(cls.randomInstruction(regCalcSize, regInputSize, regConstSize, pConst, 0.0, interpreter)) + return cls(prgm, regCalcSize, regInputSize, regConstSize, random(regConstSize), interpreter) + + @classmethod + def randomInstruction(cls, numberOfVariable, numberOfInput, numberOfConstant, pConst, pBranch, interpreter): + if np.random.random() >= pConst: # reg1 will be a variable or input + r1 = np.random.randint(numberOfVariable + numberOfInput) + reg1Index = r1 + if np.random.random() >= pConst: # reg2 will be a variable or input + r2 = np.random.randint(numberOfVariable + numberOfInput) + reg2Index = r2 + else: # reg2 will be a constant + r2 = np.random.randint(numberOfConstant) + reg2Index = numberOfVariable + numberOfInput + r2 + else: # reg1 will be a constant and reg2 will be a variable or input + r1 = np.random.randint(numberOfConstant) + reg1Index = numberOfVariable + numberOfInput + r1 + r2 = np.random.randint(numberOfVariable + numberOfInput) + reg2Index = r2 + if np.random.random() < pBranch: + branch_ops = np.random.choice(interpreter.ops[interpreter.masked_branch]) + return cls.Instruction(branch_ops, 255, reg1Index, reg2Index) + else: + operIndex = np.random.choice(interpreter.ops[~interpreter.masked_branch]) + # since zero is return register in calculation, make sure there are enough zeros by increasing its chance + #pZero = 0.0004 * numberOfInput + #returnRegIndex = 0 if pZero > np.random.random_sample() else np.random.randint(numberOfVariable) + returnRegIndex = np.random.randint(numberOfVariable) + return cls.Instruction(operIndex, returnRegIndex, reg1Index, reg2Index) + + @staticmethod + #MicroMutation + def mutInstr(prog, pReg, pOp, pConst, pBranch, sigma=1.0, effective=None): + if not prog: return prog + + if effective:#revoir + eff, _, idxs =prog.to_effective(effective) + idx = random.choice(idxs) if idxs else random.randint(0, len(prog)-1) + else: + idx = random.randint(0, len(prog)-1) + + opcode, dst, inpt1, inpt2 = prog[idx] + + mut = random.choices(range(0,3), weights=[pReg, pOp, pConst])[0] + + if mut == 0: + if random.random() < 0.5 and not prog.interpreter.branch[prog[idx].opcode]: + if effective: + authorized_dst = set(range(prog.regCalcSize)) + _, R_eff, _ = prog.to_effective(effective, stopAt=idx) + R_eff.intersection_update(authorized_dst) + if bool(R_eff): + dst = np.random.choice(tuple(R_eff)) + else: + dst = np.random.randint(prog.regCalcSize) + else: + dst = np.random.randint(prog.regCalcSize) + else: + if random.random() >= pConst: + if prog.interpreter.arity[prog[idx].opcode]==1 or random.random() < 0.5: + inpt1 = np.random.randint(prog.regCalcSize + prog.regInputSize) + else: + inpt2 = np.random.randint(prog.regCalcSize + prog.regInputSize) + else: + r = prog.regCalcSize + prog.regInputSize + if prog.interpreter.arity[prog[idx].opcode]==1 or random.random() < 0.5: + inpt1 = r + np.random.randint(prog.regConstSize) + else: + inpt2 = r + np.random.randint(prog.regConstSize) + elif mut == 1: + if random.random() < pBranch:# attention si ops interpreter aucune branch + opcode = np.random.choice(prog.interpreter.ops[prog.interpreter.masked_branch]) + else: + if prog.interpreter.branch[opcode] and dst>prog.regCalcSize: dst = np.random.randint(prog.regCalcSize) + opcode = np.random.choice(prog.interpreter.ops[~prog.interpreter.masked_branch]) + elif mut == 2: + if effective: + constIdxs = eff.get_constIdxs() + else: + constIdxs = prog.get_constIdxs() + if constIdxs: + _, inpt = random.choice(constIdxs) + prog.regConst[inpt-(prog.regCalcSize+prog.regInputSize)] += np.random.normal(loc=0.0, scale=sigma) + + if mut!=2: + prog[idx] = prog.Instruction(opcode, dst, inpt1, inpt2) + + return prog + + @staticmethod + def execute(program, inputs, register, outputIdxs): + if inputs.ndim == 1: + assert inputs.size == program.regInputSize + register[program.regCalcSize:program.regCalcSize+inputs.shape[0]] = inputs.copy() + output = Program._execute(program, register) + return output[outputIdxs] + elif inputs.ndim == 2: + assert inputs.shape[1] == program.regInputSize + ndim_register = np.zeros((register.shape[0], inputs.shape[0])) + for k in range(inputs.shape[0]): + ndim_register[:program.regCalcSize, k] = register[:program.regCalcSize].copy() + ndim_register[program.regCalcSize:program.regCalcSize+inputs.shape[1], k] = inputs[k].copy() + ndim_register[program.regCalcSize+inputs.shape[1]:, k] = register[program.regCalcSize+inputs.shape[1]:].copy() + output = Program._execute(program, ndim_register) + return output[outputIdxs,:].T + raise ValueError("Unsuported inputs dimension") + + @staticmethod + def _execute(program, register): + check_float_range = lambda x: np.clip(x , -np.sqrt(np.finfo(program.interpreter.data_type).max), np.sqrt(np.finfo(program.interpreter.data_type).max)) + branch_flag = False + i = 0 + while i < len(program): + instr = program[i] + if program.interpreter.branch[instr.opcode]: # branch Instruction + tmp = program.interpreter.opcode(instr.opcode, register[instr.inpt1], register[instr.inpt2]) + + if branch_flag:# consecutive if + np.logical_and(tmp, mask) + else: + mask = tmp + + if ~mask.all(): + branch_flag = False + while i < len(program) - 1 and program.interpreter.branch[program[i + 1].opcode]: # if next is still a branch + i += 1 + i += 2 + else: # if branch true, execute next instruction + branch_flag = True + i += 1 + else: # not a branch Instruction + if branch_flag: + register[instr.dst] = np.where(mask, check_float_range(program.interpreter.opcode(instr.opcode, register[instr.inpt1], register[instr.inpt2])), register[instr.dst]) + + branch_flag = False + else: + register[instr.dst] = check_float_range(program.interpreter.opcode(instr.opcode, register[instr.inpt1], register[instr.inpt2])) + i += 1 + return register + +def graph(prog, outputIdxs, debug=False, terminals_name=None): + prgm, _, _ = prog.to_effective(outputIdxs) + start = prog.regCalcSize + prog.regInputSize + prog.regConstSize + nodes = [] + edges = [] + branch_edges = [] + labels = {} + + nodes_dst = {} + terminal_nodes = set() + + branch_flag = False + for k, instr in enumerate(prgm): + nodes.append(k+start) + if debug: + labels[k+start] = str(k)+ "\n" + prog.interpreter.toString(instr.opcode) + else: + labels[k+start] = prog.interpreter.toString(instr.opcode) + + arity = prog.interpreter.arity[instr.opcode] + if instr.inpt1 in nodes_dst.keys(): + edges.append((nodes_dst[instr.inpt1], k+start)) + else: + terminal_nodes.add(instr.inpt1) + edges.append((instr.inpt1, k+start)) + + if arity==2: + if instr.inpt2 in nodes_dst.keys(): + edges.append((nodes_dst[instr.inpt2], k+start)) + else: + terminal_nodes.add(instr.inpt2) + edges.append((instr.inpt2, k+start)) + + + if not prog.interpreter.branch[instr.opcode]: + if branch_flag and instr.dst in nodes_dst.keys(): + branch_edges.append((nodes_dst[instr.dst], k+start)) + nodes_dst[instr.dst] = k+start + branch_flag = False + elif k<len(prgm)-1: + branch_flag = True + edges.append((k+start, k+1+start)) + + for k in outputIdxs: + if k in nodes_dst.keys(): + labels[nodes_dst[k]] += '\n Out'+str(k) + + for k in terminal_nodes: + nodes.append(k) + if terminals_name: + labels[k] = terminals_name[k] + elif k < prog.regCalcSize: + labels[k] = "Calc" + str(k) + elif k >= prog.regCalcSize and k < prog.regCalcSize+prog.regInputSize: + labels[k] = "ARG" + str(k-prog.regCalcSize) + else: + labels[k] = 'Const' + str(k-prog.regCalcSize-prog.regInputSize) + + return nodes, edges, labels, branch_edges + + +def edit_distance(p1, p2): + def to_string(program): + repr = "" + for instr in program: + repr+=str(instr.opcode)+str(instr.dst)+str(instr.inpt1) + if program.interpreter.arity[instr.opcode] == 2: + repr+=str(instr.inpt2) + return repr + s1, s2 = to_string(p1), to_string(p2) + if len(s1) > len(s2): + s1, s2 = s2, s1 + + distances = range(len(s1) + 1) + for i2, c2 in enumerate(s2): + distances_ = [i2+1] + for i1, c1 in enumerate(s1): + if c1 == c2: + distances_.append(distances[i1]) + else: + distances_.append(1 + min((distances[i1], distances[i1 + 1], distances_[-1]))) + distances = distances_ + return distances[-1] + +def sementic_introns(prog, block_size=None): + import copy + if not block_size: + block_size = len(prog) + for block in range(1, block_size): + for k in range(len(prog)-block): + prgm = copy.deepcopy(prog) + del prgm[k:k+block] + yield prgm + +def initProgam(pcls, regCalcSize, regInputSize, regConstSize, pConst, pBranch, min_, max_, rnd=None, ops=None): + kwargs = dict() + if rnd is not None: + kwargs['random'] = rnd + if ops is not None: + kwargs['ops'] = ops + prgm = Program.randomProgram(regCalcSize, regInputSize, regConstSize, random.randint(min_, max_), pConst, pBranch, **kwargs) + return pcls(prgm, prgm.regCalcSize, prgm.regInputSize, prgm.regConstSize, prgm.regConst, prgm.interpreter) + +def semantic_introns(evaluate, programm, max_block_size=None, lower_bound=None, test=lambda x,y: x<=y): + if lower_bound is None: + base_score = evaluate(programm) + else: + base_score = lower_bound + + if max_block_size is None: + max_block_size = len(programm) + block_size = 1 + + while block_size<max_block_size and block_size<=len(programm): + cursor = 0 + while cursor<len(programm)-block_size: + tmp = copy.deepcopy(programm) + del tmp[cursor:cursor+block_size] + score = evaluate(tmp) + if test(base_score, score): + #base_score = score + programm = tmp + else: + cursor+=1 + block_size+=1 + + return programm + +#Selection +from deap import tools +from operator import attrgetter +from copy import deepcopy +def selDoubleTournament(individuals, k, fitness_size, diversity_size, fitness_first=True, fit_attr="fitness", effective=None): + assert (1 <= diversity_size <= 2), "Parsimony tournament size has to be in the range [1, 2]." + + def _editDistTournament(individuals, k, select): + chosen = [] + for i in range(k): + # Select two individuals from the population + # The first individual has to be the shortest + prob = diversity_size / 2. + inds = select(individuals, k=3) + if effective: + tmp = inds + inds = deepcopy([ind.to_effective(effective)[0] for ind in inds]) + + edist12 = edit_distance(inds[0], inds[1])/(max(len(inds[0]), len(inds[1]), 1)) + edist13 = edit_distance(inds[0], inds[2])/(max(len(inds[0]), len(inds[2]), 1)) + edist23 = edit_distance(inds[1], inds[2])/(max(len(inds[1]), len(inds[2]), 1)) + + edist = [ + edist12 + edist13, + edist12 + edist23, + edist13+ edist23 + ] + + scores = np.argsort(edist)[::-1] + if edist[scores[0]]==edist[scores[1]]: + prob=0.5 + + if effective: + inds = tmp + chosen.append(inds[scores[0]] if random.random() < prob else inds[scores[random.randint(1,2)]]) + + return chosen + def _fitTournament(individuals, k, select): + chosen = [] + for i in range(k): + aspirants = select(individuals, k=fitness_size) + chosen.append(max(aspirants, key=attrgetter(fit_attr))) + return chosen + + if fitness_first: + tfit = partial(_fitTournament, select=tools.selRandom) + return _editDistTournament(individuals, k, tfit) + else: + tsize = partial(_editDistTournament, select=tools.selRandom) + return _fitTournament(individuals, k, tsize) + +#CrossOver +def cxLinear(ind1, ind2, l_min, l_max, l_smax, dc_max, ds_max): + if len(ind1)>len(ind2): + ind1, ind2 = ind2, ind1 + if len(ind1)<2: return ind1, ind2 + i1 = random.randint(0, len(ind1)-2) + i2 = random.randint(0, min(dc_max, len(ind1)-2)) + l1 = random.randint(1, min(len(ind1)-1-i1, l_smax)) + l2 = random.randint(max(1, min(l1-ds_max, len(ind2)-1-i2)), min(len(ind2)-1-i2, l_smax, l1+ds_max)) + + if l1 > l2: + l2 = l1 + if i2 + l2 >= len(ind2): i2 = len(ind2)-1 - l2 + if (len(ind2) - (l2-l1) < l_min) or (len(ind1) - (l2-l1) > l_max): + l1 = l2 = l1 if random.random() < 0.5 else l2 + if i1 + l1 > len(ind1): + l1 = l2 = len(ind1) - i1 -1 + + s1, s2 = ind1[i1:i1+l1], ind2[i2:i2+l2] + del ind1[i1:i1+l1] + del ind2[i2:i2+l2] + ind1[i1:i1], ind2[i2:i2] = s2, s1 + + return ind1, ind2 + +#MacroMutation +def mutInsert(prog, pConst, pBranch, effective=None): + idx = random.randint(0, len(prog)) + instr = prog.randomInstruction(prog.regCalcSize, prog.regInputSize, prog.regConstSize, pConst, pBranch, prog.interpreter) + if effective: + authorized_dst = set(range(prog.regCalcSize)) + _, R_eff, _ = prog.to_effective(effective, stopAt=idx) + R_eff.intersection_update(authorized_dst) + if bool(R_eff): + instr = prog.Instruction(instr.opcode, random.choice(tuple(R_eff)), instr.inpt1, instr.inpt2) + prog.insert(idx, instr) + return prog + +def mutDelete(prog, effective=None): + if len(prog)<2: return prog + if effective: + idxs=effective + if not idxs: return prog + idx = random.choice(idxs) + else: + idx = random.randint(0, len(prog)-1) + del prog[idx] + return prog + +def mutSwap(prog, effective=None): + if len(prog)<2: return prog + if effective: + idxs=effective + if len(idxs)>2 and random.random()<0.5: + i1, i2 = random.sample(idxs, 2) + elif idxs: + i1 = random.choice(idxs) + i2 = random.randint(0, len(prog)-1) + else: + return prog + else: + i1 = random.randint(0, len(prog)-1) + i2 = random.randint(0, len(prog)-1) + prog[i1], prog[i2] = prog[i2], prog[i1] + return prog + +if __name__ == "__main__": + test = Program.randomProgram(8, 2, 11, 20, 0.3, 0.5) + eff, _, _ = test.to_effective([0]) + print(eff) + print(Program.mutInstr(eff, 0.5, 0.5, 0.0, 0.1)) + #Program.interpreter.opcode(4, np.array(10.0), np.array(11.0)) + register = eff.init_register() + #print(Program.execute(eff, np.array([[0.5, 1.0], [0.5, 1.0]]), register, np.array([0]))) \ No newline at end of file diff --git a/GPRL/genetic_programming/team.py b/GPRL/genetic_programming/team.py new file mode 100644 index 0000000000000000000000000000000000000000..48739930d4f0d5ec49874e3431304ef7c13ac31c --- /dev/null +++ b/GPRL/genetic_programming/team.py @@ -0,0 +1,92 @@ +import random +import numpy as np +from sklearn.linear_model import LinearRegression + +class MGGP(list): + def __init__(self, content): + list.__init__(self, content) + self.linear = None + + def fit(self, func, x, target): + features = func(*x).T + self.linear = LinearRegression() + self.linear = self.linear.fit(features, y=target) + + def predict(self, func, x): + return self.linear.predict(func(*x).T) + +def mutate(team, unit_mut): + idx = random.randint(0, len(team)-1) + team[idx] = unit_mut(team[idx]) + return team, + +def fixed_mate(team1, team2, unit_cx): + assert len(team1)==len(team2) + idx = random.randint(0, len(team1)-1) + team1[idx], team2[idx] = unit_cx(team1[idx], team2[idx]) + return team1, team2 + +def cx_low_level(team1, team2, unit_cx): + idx1 = random.randint(0, len(team1)-1) + idx2 = random.randint(0, len(team2)-1) + team1[idx1], team2[idx2] = unit_cx(team1[idx1], team2[idx2]) + return team1, team2 + +def cx_hight_level(team1, team2, cxprb): + add_team1 = [] + k = 0 + while k<len(team2): + if random.random() < cxprb: + add_team1.append(team2.pop(k)) + k-=1 + k+=1 + k=0 + team2 + while k<len(team1): + if random.random() < cxprb: + team2.append(team1.pop(k)) + k-=1 + k+=1 + team1.extend(add_team1) + if not team1: + team1.append(team2[-1]) + elif not team2: + team2.append(team1[-1]) + return team1, team2 + +def mutation_del(team): + team.pop(random.randint(0, len(team)-1)) + return team + +def init_team(size, unit_init): + team = [unit_init() for _ in range(size)] + return team + +def init_randomSize_team(max_size, unit_init): + size = random.randint(1, max_size-1) + return init_team(size, unit_init) + +def team_complexity(team, unit_complexity): + return sum(map(unit_complexity, team)) + +def team_size_constraint(team, size): + while len(team)>= size: + mutation_del(team) + return team + +def team_compile(team, unit_compile): + funcs = list(map(unit_compile, team)) + def func(*args): + #ret = np.zeros((len(funcs), len(args[0]))) + #for k, f in enumerate(funcs): + # res = f(*args) + # if isinstance(res, float) or res.size == 1: + # ret[k, : ] = res + # else: + # ret[k,:] = res[:] + #return ret + return [f(*args) for f in funcs] + return func + +def height(team, op): + return max(map(op, team)) \ No newline at end of file diff --git a/GPRL/policy.py b/GPRL/policy.py new file mode 100644 index 0000000000000000000000000000000000000000..8987864087acfca36a28f650debbf5d1d8fbf014 --- /dev/null +++ b/GPRL/policy.py @@ -0,0 +1,20 @@ +import json + +class Policy(object): + def __init__(self, program) -> None: + super().__init__() + self.policy_type = type(program) + self.repr = str(program) + #args + + def __call__(self, inputs): + pass + + def __str__(self): + return self.repr + + def save_policy(self): + pass + + def load_policy(self): + pass \ No newline at end of file diff --git a/GPRL/utils/FEC.py b/GPRL/utils/FEC.py new file mode 100644 index 0000000000000000000000000000000000000000..4a0fe66ebd561c9c12e7d816d0b71afba8bd7e7d --- /dev/null +++ b/GPRL/utils/FEC.py @@ -0,0 +1,64 @@ +from collections import OrderedDict +from functools import reduce +import numpy as np + +#code from : https://www.geeksforgeeks.org/lru-cache-in-python-using-ordereddict/ +class LRUCache: + def __init__(self, capacity: int): + self.cache = OrderedDict() + self.capacity = capacity + + def get(self, key): + value = self.cache.get(key, None) + if value: + self.cache.move_to_end(key) + return self.cache[key] + + def put(self, key, value): + self.cache[key] = value + self.cache.move_to_end(key) + if len(self.cache) > self.capacity: + self.cache.popitem(last = False) + +class FEC(object):#Functionnal Equuivalence Checking + def __init__(self, data: np.ndarray, cache_size: int): + self.data = data + self.cache = LRUCache(cache_size) + + def _fingerprint(self, func): + return hash(func(self.data).data.tobytes()) + + def add_to_cache(self, func, fitness, fingerprint=None): + if fingerprint is None: + fingerprint = self._fingerprint(func) + self.cache.put(fingerprint, fitness) + + def fec(self, func, fingerprint=None): + if fingerprint is None: + fingerprint = self._fingerprint(func) + fitness = self.cache.get(fingerprint) + return fitness + + @staticmethod + def _cartesian_product_transpose(arrays): + broadcastable = np.ix_(*arrays) + broadcasted = np.broadcast_arrays(*broadcastable) + rows, cols = reduce(np.multiply, broadcasted[0].shape), len(broadcasted) + dtype = np.find_common_type([a.dtype for a in arrays], []) + + out = np.empty(rows * cols, dtype=dtype) + start, end = 0, rows + for a in broadcasted: + out[start:end] = a.reshape(-1) + start, end = end, end + rows + return out.reshape(cols, rows).T + + @staticmethod + def uniform_domain_dataset(num, *domains): + vec = [] + + for (min_, max_) in domains: + vec.append(np.linspace(min_, max_, num)) + return FEC._cartesian_product_transpose(vec) + + \ No newline at end of file diff --git a/GPRL/utils/__init__.py b/GPRL/utils/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/GPRL/utils/gp_utils.py b/GPRL/utils/gp_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..317a57f5892f403a4d417ca85b913c491e9a20b9 --- /dev/null +++ b/GPRL/utils/gp_utils.py @@ -0,0 +1,80 @@ +import numpy as np +import random +from deap import gp +import heapq + +operator_complexity = { + 'add':1 , 'substract':1, 'const':1, 'multiply':1, 'divide':2, 'abs':2, 'or_':4, 'and_':4, 'gt':4, 'if_then_else':5, 'tanh':4, 'tan':4, + 'cos':4, 'sin':4, 'power':3, 'cube':3, 'square':3, 'sqrt':3, 'inv':2, 'log':3, 'exp':3 +} + +def similar(i1, i2): + return complexity(i1)==complexity(i2) + +def complexity(individual): + return sum(map(lambda x: operator_complexity.get(x.name, 1), individual)) + +def div(x1, x2): + with np.errstate(divide='ignore', invalid='ignore', over='ignore'): + return np.where(np.abs(x2) > 0.001, np.divide(x1, x2), 1000.) + +def if_then_else(cond, true, false): + return true if cond else false + +def classification(*args): + return np.argmax(args) + +def intervales(x): + if x>0.33: + return 1 + elif x<-0.33: + return -1 + return 0 + +def exp(x): + return np.exp(x, where=np.abs(x)<32, out=np.ones_like(x)) + +def log(x): + return np.log(np.abs(x), where=np.abs(x) > 0.00001, out=np.ones_like(x)) + +def power(x, n): + with np.errstate(over='ignore', divide='ignore', invalid='ignore'): + if n < 0.0: + return np.where(np.logical_and(np.abs(x) < 1e6, np.abs(x)>0.001), np.sign(x) * (np.abs(x)) ** (n), 0.0) + return np.where(np.abs(x) < 1e6, np.sign(x) * (np.abs(x)) ** (n), 0.0) + +def ephemeral_mut(individual, mode, mu=0, std=1): + ephemerals_idx = [index for index, node in enumerate(individual) if isinstance(node, gp.Ephemeral)] + if len(ephemerals_idx) > 0: + if mode == "one": + ephemerals_idx = (random.choice(ephemerals_idx),) + for i in ephemerals_idx: + new = type(individual[i])() + new.value = individual[i].value + random.gauss(mu, 0.1*abs(individual[i].value)) + individual[i] = new + return individual, + +def mutate(individual, expr=None, pset=None, mode="one", mu=0, std=1): + #mut = gp.mutEphemeral(mut, mode) + if random.random() < 0.3: + return ephemeral_mut(individual, mode=mode, mu=mu, std=std) + else: + return gp.mutUniform(individual, expr=expr, pset=pset) + +class MyHeap(object): + def __init__(self, initial=None, key=lambda x:x): + self.key = key + self.index = 0 + if initial: + self._data = [(key(item), i, item) for i, item in enumerate(initial)] + self.index = len(self._data) + heapq.heapify(self._data) + else: + self._data = [] + + def push(self, item): + heapq.heappush(self._data, (self.key(item), self.index, item)) + self.index += 1 + + def pop(self): + return heapq.heappop(self._data)[2] \ No newline at end of file diff --git a/GPRL/utils/optim.py b/GPRL/utils/optim.py new file mode 100644 index 0000000000000000000000000000000000000000..7dbdf641cd8aa8b1066ad021097c3ced45a9d776 --- /dev/null +++ b/GPRL/utils/optim.py @@ -0,0 +1,15 @@ +import numpy as np + +from functools import partial + +def eval(epsi, F, w): + return F(w+epsi) + +def Open_AI_ES(map, F, weights, n, steps, alpha=0.001, sigma=0.1): + for _ in range(steps): + epsi = np.random.normal(loc=0.0, scale=sigma, size=(n, weights.size)).reshape((n, *weights.shape)) + evaluate = partial(eval, F=F, w=weights) + R = np.array(map(evaluate, epsi)) + A = (R - np.mean(R)) / (np.std(R)+ 1e-4) + weights += (alpha/(n*sigma))*np.dot(A.T, epsi).flatten() + return weights \ No newline at end of file diff --git a/GPRL/utils/policy.py b/GPRL/utils/policy.py new file mode 100644 index 0000000000000000000000000000000000000000..e448802ee16377dfc473340360ee5c6cd255cf5a --- /dev/null +++ b/GPRL/utils/policy.py @@ -0,0 +1,32 @@ +import json + +class Policy(object):# generic class that handle different policy representation (Tree or Linear) for serealization purpose + def __init__(self, programm) -> None: + super().__init__() + self.policy_type = str(type(programm)) + self.repr = str(programm) + + self.policy = programm + #env id + def __call__(self): + pass + + def save_policy(self, path): + data = {} + data['policy_type'] = self.policy_type + data['policy'] = self.repr + #kwargs from policy + with open(path, 'w') as outfile: + json.dump(data, outfile) + + def load_policy(self, path): + with open(path) as json_file: + data = json.load(json_file) + + self.policy_type = data['policy_type'] + self.repr = data['policy'] + + self.policy + + def __str__(self): + return self.repr \ No newline at end of file diff --git a/GPRL/utils/utils.py b/GPRL/utils/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..e06baec7f7c6fd47a884ba983a3bdf6b476e7459 --- /dev/null +++ b/GPRL/utils/utils.py @@ -0,0 +1,35 @@ +from functools import reduce +from operator import add, itemgetter +import numpy as np +import pandas as pd + +def convert_logbook_to_dataframe(logbook): + chapter_keys = logbook.chapters.keys() + sub_chaper_keys = [c[0].keys() for c in logbook.chapters.values()] + + data = [list(map(itemgetter(*skey), chapter)) for skey, chapter + in zip(sub_chaper_keys, logbook.chapters.values())] + + tmp = [] + for a in zip(*data): + flat = [] + for e in a: + flat+=[*e] + tmp.append(flat) + data = np.array(tmp) + + columns = reduce(add, [["_".join([x, y]) for y in s] + for x, s in zip(chapter_keys, sub_chaper_keys)]) + df = pd.DataFrame(data, columns=columns) + + keys = logbook[0].keys() + data = [[d[k] for d in logbook] for k in keys] + for d, k in zip(data, keys): + df[k] = d + return df + +def basic_budget_scheduler(gen_threshold): + dico = {k:v for k,v in gen_threshold} + def scheduler(gen, pop): + return dico(gen) + return scheduler diff --git a/conf/conf_gp.yml b/conf/conf_gp.yml new file mode 100644 index 0000000000000000000000000000000000000000..4c0f1645deee085997821eb0f04edb732c6ee0ae --- /dev/null +++ b/conf/conf_gp.yml @@ -0,0 +1,28 @@ +algorithm: + name: algorithms.eaSimple + args: + #mu: 10 + #lambda: 10 + ngen: 5 + cxpb: 0.1 + mutpb: 0.9 + +population: + init_size: 100 + +selection: + name: selNSGA2 + args: + +individual: Tree + +params: + env: "MountainCarContinuous-v0" + function_set: small + c: 0.0 + n_episodes: 1 + n_steps: 100 + gamma: 1.0 + n_thread: 1 + +seed: 42 \ No newline at end of file diff --git a/conf/conf_lingp.yml b/conf/conf_lingp.yml new file mode 100644 index 0000000000000000000000000000000000000000..7bab3a07a32303fea2a81254dc9c002a0f71e471 --- /dev/null +++ b/conf/conf_lingp.yml @@ -0,0 +1,39 @@ +algorithm: + name: algorithms.eaSimple + args: + #mu: 10 + #lambda: 10 + ngen: 5 + cxpb: 0.1 + mutpb: 0.9 + +population: + init_size: 100 + +selection: + name: selTournament + args: + tournsize: 5 + +individual: Linear + +params: + env: "MountainCarContinuous-v0" + function_set: small + c: 0.0 + n_episodes: 1 + n_steps: 100 + gamma: 1.0 + regCalcSize: 8 + regConstSize: 10 + init_size_min: 2 + init_size_max: 5 + pConst: 0.3 + pBranch: 0.3 + pIns: 0.3 + pDel: 0.6 + pSwap: 0.1 + pMut: 0.5 + n_thread: 1 + +seed: 42 \ No newline at end of file diff --git a/conf/conf_qd-lingp-BipedalWalker.yml b/conf/conf_qd-lingp-BipedalWalker.yml new file mode 100644 index 0000000000000000000000000000000000000000..43e91af87b434fc76812a844425b7b212fbe4403 --- /dev/null +++ b/conf/conf_qd-lingp-BipedalWalker.yml @@ -0,0 +1,46 @@ +algorithm: + name: algo.qdLambda + args: + batch_size: 100 + lambda_: 500 + ngen: 5 + cxpb: 0.0 + mutpb: 1.0 + show_warnings: True + verbose: True + +population: + init_size: 1000 + args: + shape: [10, 10] + max_items_per_bin: 10 + features_domain: [[0, 100], [0., 10.0], [0., 2.5], [0., 2.5], [0., 2.5], [0., 2.5], [0., 1.0], [0., 1.0]] + fitness_domain: [[-200_000.0, 350.0],] + +selection: + name: selRandom + args: + +individual: Linear + +params: + env: BipedalWalker-v3 + function_set: extended + c: 0.0 + n_episodes: 1 + n_steps: 100 + gamma: 1.0 + features_kept: [False, False, True, False, True, False, False, False] + regCalcSize: 8 + regConstSize: 10 + init_size_min: 2 + init_size_max: 5 + pConst: 0.3 + pBranch: 0.3 + pIns: 0.3 + pDel: 0.6 + pSwap: 0.1 + pMut: 0.5 + n_thread: 16 + +seed: 42 \ No newline at end of file diff --git a/evolve.py b/evolve.py new file mode 100644 index 0000000000000000000000000000000000000000..65392d8ebb9331659f01f725628e5b6bfae7b5af --- /dev/null +++ b/evolve.py @@ -0,0 +1,74 @@ +import pandas as pd +import numpy as np +import random +from deap import tools + +if "__main__" == __name__: + import yaml + import argparse + import multiprocessing + from deap import algorithms + from GPRL import algorithms as algo + from GPRL.utils.utils import convert_logbook_to_dataframe + + parser = argparse.ArgumentParser(description='Main programm to launch experiments from yaml configuration file') + parser.add_argument("--conf", required=True, help="configuration file path", type=str) + parser.add_argument("--path", help="directory for results", default="", type=str) + parser.add_argument("--name", help="name for saving results", default="", type=str) + + args = parser.parse_args() + + with open(args.conf) as f: + conf = yaml.load(f, Loader=yaml.SafeLoader) + + if args.name == "": + args.name = hash(conf.values()) + + + if conf["individual"] == "Tree": + import experiments.gp as evoTool + elif conf["individual"] == "Linear": + import experiments.linGP as evoTool + + factory = evoTool.Factory(conf["params"]) + + factory.init_global_var()# Prepare toolbox and creator + + mstats = factory.get_stats() + + pool = multiprocessing.Pool(conf["params"]["n_thread"], initializer=factory.init_global_var) + evoTool.toolbox.register("map", pool.map) + + + if conf.get("seed", None): + np.random.seed(conf["seed"]) + random.seed(conf["seed"]) + + if "qd" in conf["algorithm"]["name"]: + from qdpy.containers import Grid + conf["population"]["args"]["features_domain"] = np.array(conf["population"]["args"]["features_domain"])[conf["params"]["features_kept"]] + conf["algorithm"]["args"]["container"] = Grid(**conf["population"]["args"]) + + if conf["individual"] == "Tree": + from experiments.qdgp import MC_fitness + elif conf["individual"] == "Linear": + from experiments.qdlinGP import MC_fitness + + evoTool.toolbox.register('evaluate', MC_fitness, n_steps=conf["params"]["n_steps"], num_episodes=conf["params"]["n_episodes"], gamma=conf["params"]["gamma"], features_kept=conf["params"]["features_kept"]) + + + pop = evoTool.toolbox.population(n=conf["population"]["init_size"]) + hof = tools.HallOfFame(10) + + algorithm = eval(conf["algorithm"]["name"])#/!\ not good from a security point of view but flexible + pop, log = algorithm(pop, evoTool.toolbox, halloffame=hof, stats=mstats, **conf["algorithm"]["args"]) + + name = "log_"+ str(args.name) + ".csv" + + convert_logbook_to_dataframe(log).to_csv(name, index=False) + + print("Experiment is saved at : ", name) + + factory.close() + pool.close() + diff --git a/experiments/MCTS.py b/experiments/MCTS.py new file mode 100644 index 0000000000000000000000000000000000000000..48e282ee4ea6bf183c4d3489868ef7dc51790a8d --- /dev/null +++ b/experiments/MCTS.py @@ -0,0 +1,83 @@ +from functools import partial +import operator +import numpy as np + +import gym + +from deap import gp + +from GPRL.utils import gp_utils +from GPRL.MCTS.MCTS import TreeNMCS + +def init(env_name, func_set): + global ENV, pset + ENV = gym.make(env_name) + + INPUT = ENV.observation_space.shape[0] + + core_function = [ (np.add, [float]*2, float), (np.subtract, [float]*2, float), (np.multiply, [float]*2, float), (gp_utils.div, [float]*2, float)] + exp_function = [ (gp_utils.exp, [float], float), (gp_utils.log, [float], float)] + trig_function = [(np.sin, [float], float)] + if_function = [ (gp_utils.if_then_else, [bool, float, float], float), (operator.gt, [float, float], bool), (operator.and_, [bool, bool], bool), (operator.or_, [bool, bool], bool) ] + classification_func = [(gp_utils.classification, [float, float, float], int)] #(gp_utils.intervales, [float], int) + + if func_set == "small": + function_set = core_function + if_function + elif func_set == "extended": + function_set = core_function + exp_function + trig_function + + pset = gp.PrimitiveSetTyped("MAIN", [float]*INPUT, bool) + for primitive in function_set: + pset.addPrimitive(*primitive) + pset.addTerminal(0.1, float) + for i in range(10): + pset.addTerminal(float(i), float) + pset.addTerminal(True, bool) + pset.addTerminal(1, int) + + +def fitness(individual, n_steps, gamma): + agent = gp.compile(gp.PrimitiveTree(individual), pset=pset) + s = 0 + state = ENV.reset() + for _ in range(n_steps): + #state, reward, done, _ = env.step(int(agent(*state))) + state, reward, done, _ = ENV.step([agent(*state)]) + s+= gamma*reward + if done: + return s + return s + +def n_fitness(individual, func, n, map=map): + arg = [individual for _ in range(n)] + return sum(map(func, arg))/n + +if __name__ == "__main__": + import argparse + from multiprocessing import Pool + + parser = argparse.ArgumentParser(description='Nested Monte-Carlo script') + parser.add_argument("--env", required=True, help="environment ID", type=str) + parser.add_argument("--n-episodes", help="Number of episodes per playout", default=1, type=int) + parser.add_argument("--n-steps", help="Number of step per episode per episodes", default=500, type=int) + parser.add_argument("--gamma", help="discount factor", default=1.0, type=float) + parser.add_argument("--max-size", help="max size of the tree for playout", default=6, type=int) + parser.add_argument("--level", help="nested monte carlo level", default=3, type=int) + parser.add_argument("--n-thread", help="number of thread to use for episode parallelization", default=1, type=int) + parser.add_argument("--function-set", help="function set", default="small", type=str) + parser.add_argument("--path", help="path to save the results", default="", type=str) + + args = parser.parse_args() + + init() + pool = Pool(args.n_thread, initializer=init) + + func = partial(fitness, n_steps=args.n_steps, gamma=args.gamma) + + evaluate = partial(n_fitness, func=func, n=args.n_episodes, map=pool.map) + + nmcs = TreeNMCS(pset, args.max_size, evaluate) + result = gp.PrimitiveTree(nmcs.run([], [pset.ret], 3)) + + print(result) + pool.close() \ No newline at end of file diff --git a/experiments/bench.py b/experiments/bench.py new file mode 100644 index 0000000000000000000000000000000000000000..9838a54db17844a090f1824fb3e148d7de00931e --- /dev/null +++ b/experiments/bench.py @@ -0,0 +1,317 @@ +from UCB import ArmHof, selDoubleTournament +from functools import partial +import operator +import random + +from deap import base, creator, tools, algorithms + +import gp_utils +import team + +import numpy as np +from numba import njit + +from algorithms import eaMuPlusLambdaUCB + +tools.selUCBDoubleTounament = selDoubleTournament + +#benchmark bandit : +# - budget +# - best cumreward/stability +# - solution complexity +# - maybe constant effect sigma/c +# compare too fixed sample and maybe big size pop (implicite vs explicite) +# One max+noise (various dim) & maybe one openai env (an easy/fast one) + +def evalOneMax(individual, DIMS, STD, n_eval=1): + if STD == 0.0: + n_eval=1 + return numba_evalOneMax(np.array(individual, dtype=int), DIMS, STD, n_eval=n_eval), + +@njit +def numba_evalOneMax(individual, DIMS, STD, n_eval): + std = np.random.normal(0.0, STD, n_eval) + return (np.sum(individual)/DIMS) + std.mean() + +def oneMax(conf, STD, DIMS, N_EVAL): + DIMS = 2**DIMS + if "UCB" in conf["algorithm"]["name"]: + from UCB import UCBFitness + creator.create("FitnessMax", UCBFitness, weights=(1.0,), sigma=STD) + else: + creator.create("FitnessMax", base.Fitness, weights=(1.0,)) + + creator.create("Individual", list, fitness=creator.FitnessMax) + + toolbox = base.Toolbox() + + toolbox.register("attr_bool", random.randint, 0, 1) + toolbox.register("individual", tools.initRepeat, creator.Individual, toolbox.attr_bool, DIMS) + toolbox.register("population", tools.initRepeat, list, toolbox.individual) + + toolbox.register("evaluate", evalOneMax, DIMS=DIMS, STD=STD, n_eval=N_EVAL) + toolbox.register("mate", tools.cxTwoPoint) + toolbox.register("mutate", tools.mutFlipBit, indpb=0.05) + toolbox.register("select", eval("tools."+conf["population"]["selection"]), **conf["population"]["args"]) + + return toolbox, creator + +def check_env(): + return 'ENV' in globals() + +def MC_fitness(individual, env, n_steps, num_episodes, gamma): + if check_env() and env is None: + env = ENV + agent = toolbox.compile(individual) + s = 0 + steps = 0 + for _ in range(num_episodes): + state = env.reset() + for k in range(n_steps): + state, reward, done, _ = env.step(agent(*state)) + s+= gamma*reward + steps += 1 + if done: + break + return s/num_episodes, team.team_complexity(individual, gp_utils.complexity) + +def env(conf, UCB_SIGMA, NUM_EPISODE, tmp=0): + import gym + from deap import gp + + global ENV + + ENV = gym.make(conf["problem"]["env"]) + + INPUT = ENV.observation_space.shape[0] + OUTPUT = ENV.action_space.shape[0] + + function_set = [ (np.add, [float]*2, float), (np.subtract, [float]*2, float), (np.multiply, [float]*2, float), (gp_utils.div, [float]*2, float), (np.sin, [float], float), + (partial(gp_utils.power, n=0.5), [float], float, 'sqrt'), (partial(gp_utils.power, n=2), [float], float, 'square'), (partial(gp_utils.power, n=3), [float], float, 'cube')] + + pset = gp.PrimitiveSetTyped("MAIN", [float]*INPUT, float) + for primitive in function_set: + pset.addPrimitive(*primitive) + pset.addEphemeralConstant("const"+str(tmp), lambda: np.random.uniform(-10.0, 10.0), float) + + # for k in range(INPUT): # For large input space + # pset.addEphemeralConstant("const_"+str(k), lambda: np.random.uniform(-10.0, 10.0), float) + + if "UCB" in conf["algorithm"]["name"]: + from UCB import UCBFitness + creator.create("FitnessMax", UCBFitness, weights=(1.0, -1.0), sigma=UCB_SIGMA) + else: + creator.create("FitnessMax", base.Fitness, weights=(1.0, -1.0)) + + creator.create("Individual", list, fitness=creator.FitnessMax) + + toolbox = base.Toolbox() + toolbox.register("expr", gp.genHalfAndHalf, pset=pset, min_=3, max_=8) + toolbox.register("team_grow", team.init_team, size=OUTPUT, unit_init=lambda: gp.PrimitiveTree(toolbox.expr())) + toolbox.register("individual", tools.initIterate, creator.Individual, toolbox.team_grow) + + toolbox.register("population", tools.initRepeat, list, toolbox.individual) + toolbox.register("compile_gp", gp.compile, pset=pset) + toolbox.register("compile", team.team_compile, unit_compile=toolbox.compile_gp) + + toolbox.register("evaluate", MC_fitness, env=None, n_steps=conf["problem"]["n_step"], num_episodes=NUM_EPISODE, gamma=conf["problem"]["gamma"]) + + if conf["population"]["args"]: + toolbox.register("select", eval("tools."+conf["population"]["selection"]), **conf["population"]["args"]) + else: + toolbox.register("select", eval("tools."+conf["population"]["selection"])) + + def cx(x1, x2): + tmp1, tmp2 = gp.cxOnePoint(x1, x2) + return gp.PrimitiveTree(tmp1), gp.PrimitiveTree(tmp2) + + toolbox.register("mate", team.fixed_mate, unit_cx=cx) + toolbox.register("expr_mut", gp.genFull, min_=0, max_=2) + toolbox.register("mutate_gp", gp_utils.mutate, expr=toolbox.expr_mut, pset=pset, mode="all", mu=0, std=1) + toolbox.register("mutate", team.mutate, unit_mut=lambda x: gp.PrimitiveTree(toolbox.mutate_gp(x)[0])) + + toolbox.decorate("mate", gp.staticLimit(key=lambda x: team.height(x, operator.attrgetter("height")), max_value=17)) + toolbox.decorate("mutate", gp.staticLimit(key=lambda x: team.height(x, operator.attrgetter("height")), max_value=17)) + + return toolbox, creator + +def initializer(func, seed=None): + global toolbox + + toolbox, _ = func() + if seed: + np.random.seed(seed) + random.seed(seed) + +if __name__ == "__main__": + import multiprocessing + import time + import pandas as pd + import parser + from algorithms import eaMuPlusLambdaUCB + from UCB import UpdateFitnessHof, selDoubleTournament + + import yaml + + with open("results/Bench/env/conf/mu+lambdaUCB-mountaincar.yml") as f: + conf = yaml.load(f, Loader=yaml.FullLoader) + + algo = eval(conf["algorithm"]["name"]) + pbm = conf["problem"]["name"] + nb_runs = conf["problem"]["nb_runs"] + if conf["seed"]: + np.random.seed(conf["seed"]) + random.seed(conf["seed"]) + + if pbm == "oneMax": + results = {"best_pop":[], "best_hof":[], "best_arm":[], "std":[], "dim":[], + "n_eval":[], "run_number":[], "UCB_sigma":[], "ngen":[], "mu":[], "lambda":[], + "n_thread":[], "time":[]}#n_eval or simulation_buget + + ngen = conf["algorithm"]["args"]["ngen"] + simulation_budget = conf["algorithm"]["args"].get("simulation_budget", [None]) + tmp=0 + for n_eval in conf["problem"]["n_eval"]: + for std in conf["problem"]["std"]: + for idx, dim in enumerate(conf["problem"]["dims"]): + for sim_budg in simulation_budget: + for run_number in range(nb_runs): + tmp+=1 + func = partial(oneMax, conf=conf, STD=std, DIMS=dim, N_EVAL=n_eval) + toolbox, creator = func() + + pop=toolbox.population(n=conf["population"]["init_size"]) + if "UCB" in conf["algorithm"]["name"]: + hof = UpdateFitnessHof(20, maxsize_arm=20) + conf["algorithm"]["args"]["simulation_budget"] = sim_budg + else: + hof = tools.HallOfFame(20) + + if isinstance(ngen, list): + conf["algorithm"]["args"]["ngen"] = ngen[idx] + + with multiprocessing.Pool(conf["algorithm"]["n_thread"], initializer=initializer, initargs=(func, conf["seed"])) as p: + toolbox.register("map", p.map) + start = time.time() + pop, log = algo(pop, toolbox, halloffame=hof, **conf["algorithm"]["args"]) + + toolbox.unregister("evaluate") + toolbox.register("evaluate", evalOneMax, DIMS=2**dim, STD=0.0, n_eval=1) + pops = [hof, pop, hof.arm_hof] if isinstance(hof, UpdateFitnessHof) else [hof, pop] + for l in pops: + fitnesses = toolbox.map(toolbox.evaluate, l) + for ind, fit in zip(l, fitnesses): + ind.fitness.values = fit + + del creator.Individual + del creator.FitnessMax + + print("Run ", str(tmp)) + + results["time"].append(time.time()-start) + results["best_pop"].append(tools.selBest(pop, 1)[0].fitness.values[0]) + results["best_hof"].append(tools.selBest(hof, 1)[0].fitness.values[0]) + results["std"].append(std) + results["dim"].append(dim) + results["ngen"].append(conf["algorithm"]["args"]["ngen"]) + results["run_number"].append(run_number) + results["n_thread"].append(conf["algorithm"]["n_thread"]) + + if "UCB" in conf["algorithm"]["name"]: + results["n_eval"].append(sim_budg) + else: + results["n_eval"].append(n_eval) + + + results["mu"].append(conf["algorithm"]["args"].get("mu", None)) + results["lambda"].append(conf["algorithm"]["args"].get("lambda", None)) + + results["UCB_sigma"].append(conf["algorithm"].get("UCB_sigma", None)) + if isinstance(hof, UpdateFitnessHof): + results["best_arm"].append(hof.arm_hof[0].fitness.values[0]) + else: + results["best_arm"].append(None) + pd.DataFrame(results).to_csv("results/mu+lambdaUCB-pop=100.csv", index=False) + + elif pbm == "env": + + results = {"best_pop":[], "best_hof":[], "best_arm":[], "env":[], "n_step": [], + "num_episode":[], "run_number":[], "UCB_sigma":[], "ngen":[], "mu":[], "lambda":[], + "n_thread":[], "complexity_pop":[], "complexity_hof":[], "complexity_arm":[], "time":[]}#num_episode or simulation_buget depending on UCB alg or not + + simulation_budget = conf["algorithm"]["args"].get("simulation_budget", [None]) + tmp=0 + + for num_episode in conf["problem"]["num_episode"]: + for UCB_sigma in conf["algorithm"].get("UCB_sigma", [None]): + for sim_budg in simulation_budget: + for run_number in range(nb_runs): + tmp+=1 + func = partial(env, conf=conf, UCB_SIGMA=UCB_sigma, NUM_EPISODE=num_episode, tmp=tmp) + + toolbox, creator = func() + + pop=toolbox.population(n=conf["population"]["init_size"]) + if "UCB" in conf["algorithm"]["name"]: + hof = UpdateFitnessHof(20, maxsize_arm=20) + conf["algorithm"]["args"]["simulation_budget"] = sim_budg + else: + hof = tools.ParetoFront() + + + with multiprocessing.Pool(conf["algorithm"]["n_thread"], initializer=initializer, initargs=(func, conf["seed"])) as p: + toolbox.register("map", p.map) + start = time.time() + pop, log = algo(pop, toolbox, halloffame=hof, **conf["algorithm"]["args"]) + + toolbox.unregister("evaluate") + toolbox.register("evaluate", MC_fitness, env=None, n_steps=conf["problem"]["n_step"], num_episodes=50, gamma=1.0) + pops = [hof, pop, hof.arm_hof] if isinstance(hof, UpdateFitnessHof) else [hof, pop] + for l in pops: + fitnesses = toolbox.map(toolbox.evaluate, l) + for ind, fit in zip(l, fitnesses): + del ind.fitness.values + ind.fitness.values = fit + + del creator.Individual + del creator.FitnessMax + + print("Run ", str(tmp)) + + best_pop = tools.selBest(pop, 1)[0] + best_hof = tools.selBest(hof, 1)[0] + + results["time"].append(time.time()-start) + results["best_pop"].append(best_pop.fitness.values[0]) + results["best_hof"].append(best_hof.fitness.values[0]) + results["complexity_pop"].append(best_pop.fitness.values[1]) + results["complexity_hof"].append(best_hof.fitness.values[1]) + results["ngen"].append(conf["algorithm"]["args"]["ngen"]) + results["env"].append(conf["problem"]["env"]) + results["run_number"].append(run_number) + results["n_thread"].append(conf["algorithm"]["n_thread"]) + results["n_step"].append(conf["problem"]["n_step"]) + + if "UCB" in conf["algorithm"]["name"]: + results["num_episode"].append(sim_budg) + else: + results["num_episode"].append(num_episode) + + + results["mu"].append(conf["algorithm"]["args"].get("mu", None)) + results["lambda"].append(conf["algorithm"]["args"].get("lambda", None)) + + results["UCB_sigma"].append(UCB_sigma if conf["algorithm"].get("UCB_sigma", None) else None) + if isinstance(hof, UpdateFitnessHof): + best_arm = tools.selBest(hof.arm_hof, 1)[0] + results["best_arm"].append(best_arm.fitness.values[0]) + results["complexity_arm"].append(best_arm.fitness.values[1]) + else: + results["best_arm"].append(None) + results["complexity_arm"].append(None) + + pd.DataFrame(results).to_csv("results/UCBmu+lambda.csv", index=False) + + + #amoeba net 2**6 => 2**9, sigma 0.01 on accruracy (sum(bits)/dimensions) averaged on 100 runs + # design stats ! \ No newline at end of file diff --git a/experiments/bench/env/conf/easimple-mountaincar.yml b/experiments/bench/env/conf/easimple-mountaincar.yml new file mode 100644 index 0000000000000000000000000000000000000000..1d5c2b759b829e67ae1e4a671768ba2bfe68e033 --- /dev/null +++ b/experiments/bench/env/conf/easimple-mountaincar.yml @@ -0,0 +1,24 @@ +algorithm: + name: algorithms.eaSimple + n_thread: 16 + args: + ngen: 100 + cxpb: 0.0 + mutpb: 1.0 + verbose: False + +population: + init_size: 100 + selection: selNSGA2 + args: + #tournsize: 3 + +problem: + name: "env" + env: "MountainCarContinuous-v0" + n_step: 500 + num_episode: [1, 2, 5, 10] + gamma: 1.0 + nb_runs: 10 + +seed: 42 diff --git a/experiments/bench/env/conf/mu+lambda-mountaincar.yml b/experiments/bench/env/conf/mu+lambda-mountaincar.yml new file mode 100644 index 0000000000000000000000000000000000000000..2c8b3858dc1967b1a85e3abb223e159994cbe380 --- /dev/null +++ b/experiments/bench/env/conf/mu+lambda-mountaincar.yml @@ -0,0 +1,26 @@ +algorithm: + name: algorithms.eaMuPlusLambda + n_thread: 16 + args: + ngen: 100 + cxpb: 0.0 + mutpb: 1.0 + mu: 100 + lambda_: 100 + verbose: False + +population: + init_size: 100 + selection: selNSGA2 + args: + #tournsize: 3 + +problem: + name: "env" + env: "MountainCarContinuous-v0" + n_step: 500 + num_episode: [1, 2, 5, 10] + gamma: 1.0 + nb_runs: 10 + +seed: 42 diff --git a/experiments/bench/env/conf/mu+lambdaUCB-mountaincar.yml b/experiments/bench/env/conf/mu+lambdaUCB-mountaincar.yml new file mode 100644 index 0000000000000000000000000000000000000000..3fe9d9da0e3f727cdf5f23bbda32ddee87f74612 --- /dev/null +++ b/experiments/bench/env/conf/mu+lambdaUCB-mountaincar.yml @@ -0,0 +1,30 @@ +algorithm: + name: eaMuPlusLambdaUCB + n_thread: 16 + UCB_sigma: [1, 2, 5, 10] + args: + ngen: 100 + cxpb: 0.0 + mutpb: 1.0 + mu: 100 + lambda_: 100 + simulation_budget: [0, 7, 25, 57] + parallel_update: 16 + select: True + verbose: False + +population: + init_size: 100 + selection: selNSGA2 + args: + #tournsize: 3 + +problem: + name: "env" + env: "MountainCarContinuous-v0" + n_step: 500 + num_episode: [1] + gamma: 1.0 + nb_runs: 10 + +seed: 42 diff --git a/experiments/bench/env/data/UCBmu+lambda-mountaincar.csv b/experiments/bench/env/data/UCBmu+lambda-mountaincar.csv new file mode 100644 index 0000000000000000000000000000000000000000..ee07bd4f82f98aa4bc33f49cbf47af2d2aafd575 --- /dev/null +++ b/experiments/bench/env/data/UCBmu+lambda-mountaincar.csv @@ -0,0 +1,161 @@ +best_pop,best_hof,best_arm,env,n_step,num_episode,run_number,UCB_sigma,ngen,mu,lambda,n_thread,complexity_pop,complexity_hof,complexity_arm,time +69.20891037833911,67.2263346705136,19.554692065515965,MountainCarContinuous-v0,500,0,0,1,100,100,,16,4.0,10.0,3.0,25.04941415786743 +69.22248612579709,79.03458690606077,97.80471026610536,MountainCarContinuous-v0,500,0,1,1,100,100,,16,8.0,14.0,10.0,28.10206627845764 +69.2253634270904,65.23134762845237,63.24126973866052,MountainCarContinuous-v0,500,0,2,1,100,100,,16,12.0,8.0,4.0,27.303120613098145 +67.23529168844875,77.19762762953616,55.221185483399466,MountainCarContinuous-v0,500,0,3,1,100,100,,16,4.0,12.0,4.0,33.27259016036987 +73.2273093643042,67.24359971972748,98.67232840746283,MountainCarContinuous-v0,500,0,4,1,100,100,,16,24.0,19.0,6.0,35.65710735321045 +71.23192356152066,69.21713715394615,97.48326912993885,MountainCarContinuous-v0,500,0,5,1,100,100,,16,4.0,12.0,7.0,27.640100955963135 +69.01116476857608,63.23674657112647,61.231682416407146,MountainCarContinuous-v0,500,0,6,1,100,100,,16,3.0,18.0,4.0,36.024561166763306 +73.1978957136376,61.217726509527076,97.49144413746345,MountainCarContinuous-v0,500,0,7,1,100,100,,16,4.0,8.0,7.0,36.94113373756409 +67.2166533320035,98.67916564045194,55.23322095795571,MountainCarContinuous-v0,500,0,8,1,100,100,,16,4.0,6.0,4.0,24.991070985794067 +67.22579022958791,61.234599076188005,59.22219594711314,MountainCarContinuous-v0,500,0,9,1,100,100,,16,4.0,8.0,4.0,28.7480890750885 +98.91718799719776,98.96098322419076,98.71687022010283,MountainCarContinuous-v0,500,7,0,1,100,100,,16,8.0,16.0,6.0,68.3975658416748 +98.9966202195083,98.91746858503342,98.77039407805023,MountainCarContinuous-v0,500,7,1,1,100,100,,16,30.0,23.0,16.0,97.55417394638062 +98.92444986241131,98.73263997709624,98.86119882684447,MountainCarContinuous-v0,500,7,2,1,100,100,,16,21.0,21.0,8.0,90.34074091911316 +98.73180593691333,98.7581007353849,98.71287237064979,MountainCarContinuous-v0,500,7,3,1,100,100,,16,6.0,8.0,14.0,63.7143120765686 +99.04832777403908,98.98191418035977,98.48232042884,MountainCarContinuous-v0,500,7,4,1,100,100,,16,17.0,28.0,8.0,90.27202486991882 +98.87535054644009,96.56134238306005,90.83053423800835,MountainCarContinuous-v0,500,7,5,1,100,100,,16,6.0,14.0,12.0,67.07640051841736 +98.90696334525515,98.71720780022886,98.80781599603125,MountainCarContinuous-v0,500,7,6,1,100,100,,16,9.0,45.0,34.0,84.40091586112976 +98.91666983890849,98.9157465823791,98.73198891379069,MountainCarContinuous-v0,500,7,7,1,100,100,,16,14.0,18.0,18.0,87.15925145149231 +98.87442050124834,98.88756513285087,98.68754901126367,MountainCarContinuous-v0,500,7,8,1,100,100,,16,14.0,24.0,6.0,66.1295063495636 +98.74433480080366,98.95875242231133,98.71980093369699,MountainCarContinuous-v0,500,7,9,1,100,100,,16,6.0,18.0,6.0,66.89012217521667 +98.99149390007221,98.9337516206693,98.95462191983455,MountainCarContinuous-v0,500,25,0,1,100,100,,16,28.0,36.0,13.0,220.88166093826294 +99.0068372236952,98.98445702944154,99.00063941767382,MountainCarContinuous-v0,500,25,1,1,100,100,,16,27.0,33.0,21.0,231.93528413772583 +98.9978959238536,98.89551178731315,98.72032814463346,MountainCarContinuous-v0,500,25,2,1,100,100,,16,31.0,31.0,44.0,210.59205985069275 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+98.82179372843963,98.90463826029034,98.69358749710082,MountainCarContinuous-v0,500,57,7,1,100,100,,16,8.0,12.0,6.0,310.4432466030121 +98.74045550169372,98.74329434088234,98.69125517069337,MountainCarContinuous-v0,500,57,8,1,100,100,,16,6.0,15.0,6.0,323.15963196754456 +98.94119328603433,98.88148968949494,98.92698237883447,MountainCarContinuous-v0,500,57,9,1,100,100,,16,8.0,20.0,8.0,347.47426199913025 +65.2195996756409,64.84496372625468,57.22006963039552,MountainCarContinuous-v0,500,0,0,2,100,100,,16,8.0,3.0,4.0,28.65256094932556 +74.67737388767686,71.22247942393511,29.386553085229533,MountainCarContinuous-v0,500,0,1,2,100,100,,16,3.0,12.0,3.0,29.48770236968994 +69.20449495185134,75.20254908543706,71.21675972933565,MountainCarContinuous-v0,500,0,2,2,100,100,,16,4.0,11.0,4.0,33.992560386657715 +67.25085318502909,63.013175606353386,59.19577246816596,MountainCarContinuous-v0,500,0,3,2,100,100,,16,8.0,3.0,8.0,26.56763505935669 +65.23719362686447,59.24831341193013,59.22175370584909,MountainCarContinuous-v0,500,0,4,2,100,100,,16,4.0,8.0,4.0,27.721176385879517 +61.205056364896,98.89172012630343,0.0,MountainCarContinuous-v0,500,0,5,2,100,100,,16,4.0,8.0,3.0,25.505845546722412 +75.22137424713364,65.2421228560201,87.54304867940488,MountainCarContinuous-v0,500,0,6,2,100,100,,16,8.0,23.0,18.0,30.964574813842773 +71.21454951384213,61.18646347882268,61.23188611116123,MountainCarContinuous-v0,500,0,7,2,100,100,,16,4.0,8.0,4.0,26.090627193450928 +57.21050942938764,98.92909674088371,0.0,MountainCarContinuous-v0,500,0,8,2,100,100,,16,4.0,8.0,3.0,27.013073205947876 +75.22855868127697,71.20605847570351,98.39552621143801,MountainCarContinuous-v0,500,0,9,2,100,100,,16,4.0,16.0,6.0,31.680106163024902 +98.82206353926475,98.75554346857716,98.70226134519473,MountainCarContinuous-v0,500,7,0,2,100,100,,16,8.0,6.0,6.0,68.24454855918884 +98.9698999431829,98.7534886120866,98.76732232254327,MountainCarContinuous-v0,500,7,1,2,100,100,,16,14.0,32.0,26.0,79.8115086555481 +98.77411346953505,98.62958439867967,98.68965741157655,MountainCarContinuous-v0,500,7,2,2,100,100,,16,25.0,45.0,6.0,116.6934564113617 +98.72055246994849,98.71221953936616,98.69505521653856,MountainCarContinuous-v0,500,7,3,2,100,100,,16,6.0,14.0,6.0,63.89925932884216 +98.94994362698259,98.93346323553611,98.94412019576956,MountainCarContinuous-v0,500,7,4,2,100,100,,16,30.0,44.0,27.0,127.04459500312805 +98.99354818809529,98.90727718271636,98.88407853702223,MountainCarContinuous-v0,500,7,5,2,100,100,,16,19.0,19.0,25.0,83.22900080680847 +98.93741676083951,98.92382316360246,98.87974358224358,MountainCarContinuous-v0,500,7,6,2,100,100,,16,10.0,36.0,32.0,83.46218514442444 +98.89566825221124,98.66863027166978,98.85278599472163,MountainCarContinuous-v0,500,7,7,2,100,100,,16,23.0,30.0,10.0,112.93997001647949 +98.93391021976184,98.72140308307334,98.70614671581507,MountainCarContinuous-v0,500,7,8,2,100,100,,16,34.0,27.0,11.0,91.50662517547607 +98.85380387254891,98.930707927093,98.72469332667079,MountainCarContinuous-v0,500,7,9,2,100,100,,16,10.0,10.0,6.0,63.880728006362915 +98.92410318212276,98.9234417564816,98.87404880622579,MountainCarContinuous-v0,500,25,0,2,100,100,,16,46.0,30.0,20.0,222.34294772148132 +98.73718620348832,98.69589115369101,94.91899231805718,MountainCarContinuous-v0,500,25,1,2,100,100,,16,6.0,15.0,5.0,147.0886082649231 +98.8896289717974,98.85834969980911,98.77033993997189,MountainCarContinuous-v0,500,25,2,2,100,100,,16,41.0,32.0,24.0,183.97219967842102 +98.91113290067798,98.83884820742942,98.94225737564726,MountainCarContinuous-v0,500,25,3,2,100,100,,16,21.0,23.0,25.0,210.36255168914795 +98.93222619467836,98.93717607585549,98.88305771040754,MountainCarContinuous-v0,500,25,4,2,100,100,,16,20.0,31.0,8.0,215.67915391921997 +98.73247002259073,98.71590402870214,98.68010220029836,MountainCarContinuous-v0,500,25,5,2,100,100,,16,14.0,18.0,14.0,146.8640832901001 +98.96403221095444,98.91581347065039,98.8048174503728,MountainCarContinuous-v0,500,25,6,2,100,100,,16,55.0,63.0,52.0,259.546315908432 +98.72260629714181,98.74047591104488,98.69225977878587,MountainCarContinuous-v0,500,25,7,2,100,100,,16,6.0,6.0,6.0,146.81792569160461 +98.71513685620883,98.71220172701489,98.68322894326835,MountainCarContinuous-v0,500,25,8,2,100,100,,16,6.0,10.0,6.0,147.92880630493164 +99.00987493851925,98.96415582640735,98.99844428037594,MountainCarContinuous-v0,500,25,9,2,100,100,,16,30.0,53.0,27.0,200.29693245887756 +98.75040421219676,98.68021263123447,98.69200154188238,MountainCarContinuous-v0,500,57,0,2,100,100,,16,6.0,12.0,6.0,348.6264705657959 +98.77478991237966,98.69738034307181,98.71133615550049,MountainCarContinuous-v0,500,57,1,2,100,100,,16,6.0,12.0,6.0,298.9058885574341 +98.74895610363403,98.76884167974983,98.73068221900415,MountainCarContinuous-v0,500,57,2,2,100,100,,16,6.0,9.0,6.0,335.08175325393677 +98.73677997240085,98.794038567111,98.6951495849527,MountainCarContinuous-v0,500,57,3,2,100,100,,16,20.0,40.0,29.0,352.1501815319061 +99.00408863407264,99.0320893590198,98.98415977005833,MountainCarContinuous-v0,500,57,4,2,100,100,,16,13.0,13.0,13.0,381.9920918941498 +98.88926722565148,98.93164715275854,98.90578888861833,MountainCarContinuous-v0,500,57,5,2,100,100,,16,16.0,34.0,20.0,390.61468958854675 +98.72939343604602,98.71723424879606,98.72929203635329,MountainCarContinuous-v0,500,57,6,2,100,100,,16,6.0,10.0,6.0,294.5884654521942 +98.7088737406193,98.83089142171757,98.66726996168819,MountainCarContinuous-v0,500,57,7,2,100,100,,16,6.0,6.0,6.0,302.2198097705841 +98.71680607998798,98.80924251040436,98.66815337019032,MountainCarContinuous-v0,500,57,8,2,100,100,,16,6.0,16.0,6.0,301.74198722839355 +99.03291268329504,99.02290079132501,99.02592996407299,MountainCarContinuous-v0,500,57,9,2,100,100,,16,62.0,82.0,62.0,797.3828094005585 +71.21007807865928,69.21580435843322,67.24697468606921,MountainCarContinuous-v0,500,0,0,5,100,100,,16,8.0,17.0,4.0,33.80000138282776 +69.21846560781937,65.23163339922623,63.2213945801062,MountainCarContinuous-v0,500,0,1,5,100,100,,16,4.0,8.0,4.0,29.379088640213013 +71.24305202416889,73.03055917883007,57.23386929555489,MountainCarContinuous-v0,500,0,2,5,100,100,,16,4.0,10.0,4.0,28.035593509674072 +75.21231076136472,57.27494131572619,73.0181735919188,MountainCarContinuous-v0,500,0,3,5,100,100,,16,4.0,8.0,6.0,33.97458839416504 +73.22683765052334,65.2520824534813,67.22723665013312,MountainCarContinuous-v0,500,0,4,5,100,100,,16,4.0,14.0,9.0,33.89209246635437 +63.21816510992901,98.69278167988972,0.0,MountainCarContinuous-v0,500,0,5,5,100,100,,16,4.0,6.0,3.0,24.15152859687805 +71.251576334369,51.32765233583847,92.85053436510074,MountainCarContinuous-v0,500,0,6,5,100,100,,16,23.0,31.0,8.0,66.90768885612488 +75.21666924038448,73.2067400784613,57.232634182366425,MountainCarContinuous-v0,500,0,7,5,100,100,,16,4.0,10.0,9.0,29.265411138534546 +71.24213142774158,67.22654477797406,59.24876107882394,MountainCarContinuous-v0,500,0,8,5,100,100,,16,4.0,14.0,8.0,28.462876319885254 +73.22329599339513,69.16773573512674,97.53195479769393,MountainCarContinuous-v0,500,0,9,5,100,100,,16,8.0,8.0,7.0,29.9116427898407 +98.72496342187333,98.86976388541858,98.69611756510031,MountainCarContinuous-v0,500,7,0,5,100,100,,16,6.0,17.0,6.0,65.12212491035461 +98.80261140861491,98.06459277536695,98.8665411496623,MountainCarContinuous-v0,500,7,1,5,100,100,,16,24.0,25.0,21.0,84.17392420768738 +98.92986182377928,98.6990241357044,98.70827104607737,MountainCarContinuous-v0,500,7,2,5,100,100,,16,28.0,32.0,6.0,100.40806436538696 +98.76977471998187,98.76408226381615,98.70840582848373,MountainCarContinuous-v0,500,7,3,5,100,100,,16,24.0,25.0,6.0,71.9120032787323 +98.89736511740746,98.60019222228952,98.8050382856551,MountainCarContinuous-v0,500,7,4,5,100,100,,16,21.0,34.0,6.0,95.2537214756012 +98.79233100444725,98.57073331442012,98.52896583243228,MountainCarContinuous-v0,500,7,5,5,100,100,,16,10.0,24.0,12.0,74.21706008911133 +98.86052854709044,98.90153067494637,98.71255072755024,MountainCarContinuous-v0,500,7,6,5,100,100,,16,13.0,17.0,6.0,76.32328963279724 +98.89529720214041,98.44909492777931,98.76439949506735,MountainCarContinuous-v0,500,7,7,5,100,100,,16,30.0,15.0,37.0,82.84709215164185 +98.7616118355788,98.71578750901375,98.68318096222467,MountainCarContinuous-v0,500,7,8,5,100,100,,16,14.0,22.0,30.0,70.92700576782227 +98.86443417874852,98.83006544326007,98.70059206071555,MountainCarContinuous-v0,500,7,9,5,100,100,,16,9.0,16.0,20.0,83.03400683403015 +98.8090178968243,98.66151513982264,98.67346908717008,MountainCarContinuous-v0,500,25,0,5,100,100,,16,27.0,33.0,6.0,229.263249874115 +98.81598817281183,98.85491947891296,98.87178287850683,MountainCarContinuous-v0,500,25,1,5,100,100,,16,6.0,6.0,6.0,171.71175694465637 +98.94214172465313,98.9019635347212,98.81493270596945,MountainCarContinuous-v0,500,25,2,5,100,100,,16,26.0,30.0,25.0,212.15431141853333 +98.75597826436778,98.62608394716268,98.6945082447137,MountainCarContinuous-v0,500,25,3,5,100,100,,16,6.0,53.0,6.0,292.81284523010254 +98.75834368252266,98.49769341235776,98.69540486200472,MountainCarContinuous-v0,500,25,4,5,100,100,,16,18.0,38.0,12.0,194.9914345741272 +98.7343265713061,98.94086678416951,98.71260201546164,MountainCarContinuous-v0,500,25,5,5,100,100,,16,6.0,25.0,6.0,147.96591353416443 +98.84513004428759,98.77866972572843,98.81993869781556,MountainCarContinuous-v0,500,25,6,5,100,100,,16,14.0,35.0,19.0,230.54754161834717 +98.73569203015163,98.67338953733775,98.71409289380439,MountainCarContinuous-v0,500,25,7,5,100,100,,16,6.0,6.0,6.0,165.63551664352417 +98.96534872264554,98.7806898502856,98.97088289025658,MountainCarContinuous-v0,500,25,8,5,100,100,,16,25.0,48.0,25.0,217.29856324195862 +98.8387832363336,98.76156030222879,98.79743671894947,MountainCarContinuous-v0,500,25,9,5,100,100,,16,20.0,45.0,20.0,226.59851932525635 +98.74338014066728,98.70861601739676,96.79978368654811,MountainCarContinuous-v0,500,57,0,5,100,100,,16,6.0,11.0,5.0,294.95186281204224 +98.89391465148773,98.64944066012589,98.69755669170848,MountainCarContinuous-v0,500,57,1,5,100,100,,16,36.0,47.0,52.0,474.0295433998108 +98.79177228728358,98.8069058265871,98.70021470216165,MountainCarContinuous-v0,500,57,2,5,100,100,,16,16.0,16.0,31.0,322.7195427417755 +98.96792410264491,98.90101551516385,98.73259704090196,MountainCarContinuous-v0,500,57,3,5,100,100,,16,9.0,54.0,54.0,586.5045690536499 +98.9028279493208,98.88613703191051,98.68096892179848,MountainCarContinuous-v0,500,57,4,5,100,100,,16,17.0,8.0,6.0,311.04497385025024 +98.73268894908861,98.70599334832083,98.69904680985368,MountainCarContinuous-v0,500,57,5,5,100,100,,16,6.0,12.0,6.0,298.78405261039734 +98.83034464117586,98.92622776468744,98.65558779168533,MountainCarContinuous-v0,500,57,6,5,100,100,,16,6.0,21.0,21.0,395.9035863876343 +98.88762458438487,98.72518825241073,98.71678792036066,MountainCarContinuous-v0,500,57,7,5,100,100,,16,11.0,17.0,22.0,356.68235754966736 +98.88713204730422,98.90740137412294,98.7650516702523,MountainCarContinuous-v0,500,57,8,5,100,100,,16,32.0,30.0,17.0,442.5115668773651 +98.91093770775272,98.88873114079875,98.84046208872843,MountainCarContinuous-v0,500,57,9,5,100,100,,16,14.0,14.0,14.0,373.8010456562042 +70.90448266770497,63.24278399772642,59.22099933328094,MountainCarContinuous-v0,500,0,0,10,100,100,,16,3.0,8.0,4.0,27.988595247268677 +71.24499237916723,98.69404480926433,95.46071745823272,MountainCarContinuous-v0,500,0,1,10,100,100,,16,4.0,6.0,9.0,30.16657066345215 +69.23675364640573,85.04730872072338,61.22221434275554,MountainCarContinuous-v0,500,0,2,10,100,100,,16,4.0,11.0,4.0,26.311991214752197 +69.21918387112645,96.48904374247573,65.2293614288307,MountainCarContinuous-v0,500,0,3,10,100,100,,16,4.0,6.0,8.0,29.345098972320557 +67.24053457471828,65.24758446685549,67.21473984263382,MountainCarContinuous-v0,500,0,4,10,100,100,,16,12.0,12.0,4.0,30.64752960205078 +71.22395318183165,58.9558341500235,61.23703147091268,MountainCarContinuous-v0,500,0,5,10,100,100,,16,8.0,3.0,4.0,28.318668365478516 +75.23112703727661,69.22162891551856,55.220628286952866,MountainCarContinuous-v0,500,0,6,10,100,100,,16,4.0,6.0,6.0,28.426650762557983 +81.21759348787117,63.231777151348545,67.23490583899617,MountainCarContinuous-v0,500,0,7,10,100,100,,16,4.0,34.0,29.0,51.09123635292053 +70.78834465978048,67.2246906845499,96.82678316149232,MountainCarContinuous-v0,500,0,8,10,100,100,,16,3.0,26.0,12.0,49.84318447113037 +73.2222497497592,69.20584134013252,65.23571899857026,MountainCarContinuous-v0,500,0,9,10,100,100,,16,4.0,13.0,10.0,32.302921295166016 +99.03715909884589,99.01658940689148,98.86007103187121,MountainCarContinuous-v0,500,7,0,10,100,100,,16,43.0,76.0,31.0,142.63465785980225 +98.41097892660237,98.36716884430051,98.35763030116179,MountainCarContinuous-v0,500,7,1,10,100,100,,16,23.0,35.0,32.0,97.41353297233582 +98.98076709611112,98.678976992939,98.7649874195826,MountainCarContinuous-v0,500,7,2,10,100,100,,16,33.0,25.0,19.0,88.72038745880127 +98.76798909589218,97.85638279825774,97.83556069282648,MountainCarContinuous-v0,500,7,3,10,100,100,,16,6.0,33.0,30.0,85.50951361656189 +98.88840360310347,97.90265631260907,98.89072885479682,MountainCarContinuous-v0,500,7,4,10,100,100,,16,39.0,34.0,34.0,92.55532479286194 +98.88127251664999,97.75090566758492,98.82874923751702,MountainCarContinuous-v0,500,7,5,10,100,100,,16,17.0,29.0,14.0,78.24009895324707 +98.85530606640526,98.49891552616984,98.76462975278837,MountainCarContinuous-v0,500,7,6,10,100,100,,16,16.0,20.0,16.0,65.65575051307678 +98.76077306593041,98.1906718096111,98.73481926739879,MountainCarContinuous-v0,500,7,7,10,100,100,,16,31.0,31.0,18.0,76.5910747051239 +98.73068715411209,98.64202150288533,97.51106793585367,MountainCarContinuous-v0,500,7,8,10,100,100,,16,10.0,16.0,7.0,63.90028667449951 +98.8501624408346,97.65954500447879,98.67841798630421,MountainCarContinuous-v0,500,7,9,10,100,100,,16,9.0,34.0,6.0,78.38602685928345 +98.7341262008197,98.42924249718251,98.44123086532804,MountainCarContinuous-v0,500,25,0,10,100,100,,16,6.0,37.0,23.0,190.1473400592804 +98.89944894834754,98.82034200999716,98.69150703123451,MountainCarContinuous-v0,500,25,1,10,100,100,,16,55.0,49.0,54.0,258.1635022163391 +98.84664858840783,98.73769751304977,98.6994633954559,MountainCarContinuous-v0,500,25,2,10,100,100,,16,33.0,29.0,30.0,181.15705585479736 +98.7317269177252,98.60938059344056,98.74110306930795,MountainCarContinuous-v0,500,25,3,10,100,100,,16,6.0,36.0,6.0,188.6474061012268 +98.82365926240774,98.74453534398846,98.69914670374651,MountainCarContinuous-v0,500,25,4,10,100,100,,16,17.0,35.0,15.0,225.28909635543823 +98.83718257596652,98.85728926264078,98.98987496699502,MountainCarContinuous-v0,500,25,5,10,100,100,,16,14.0,14.0,14.0,143.28201842308044 +98.74683302002867,98.52987227508618,98.69054159796104,MountainCarContinuous-v0,500,25,6,10,100,100,,16,6.0,13.0,6.0,147.95791244506836 +98.84606558756782,98.83599977338169,98.72782262017556,MountainCarContinuous-v0,500,25,7,10,100,100,,16,30.0,19.0,14.0,151.3524293899536 +98.8028561581743,98.71295887825201,98.71036192919188,MountainCarContinuous-v0,500,25,8,10,100,100,,16,14.0,34.0,26.0,225.14151000976562 +98.78677853982846,98.7530664182722,98.6917468175867,MountainCarContinuous-v0,500,25,9,10,100,100,,16,14.0,14.0,6.0,160.349125623703 +98.83788700287678,98.77779965809422,98.70747875497673,MountainCarContinuous-v0,500,57,0,10,100,100,,16,20.0,18.0,14.0,400.789972782135 +98.77946625627432,98.73750032722415,98.74841740245326,MountainCarContinuous-v0,500,57,1,10,100,100,,16,24.0,35.0,19.0,408.5616066455841 +98.96440806739264,98.82559567361882,98.80319394010647,MountainCarContinuous-v0,500,57,2,10,100,100,,16,27.0,31.0,33.0,393.68632674217224 +98.74756808415913,98.70924299961369,94.49643162138426,MountainCarContinuous-v0,500,57,3,10,100,100,,16,6.0,10.0,9.0,310.5317323207855 +98.73382767403531,98.7686681315048,98.70921642825489,MountainCarContinuous-v0,500,57,4,10,100,100,,16,9.0,23.0,6.0,402.986515045166 +98.91158085966687,98.73535041335585,98.7272152851113,MountainCarContinuous-v0,500,57,5,10,100,100,,16,35.0,39.0,25.0,458.5652949810028 +99.02036217526852,99.01825768120497,98.94545356528509,MountainCarContinuous-v0,500,57,6,10,100,100,,16,39.0,16.0,26.0,374.7511122226715 +98.92993628954635,98.8177354864726,98.94899911861577,MountainCarContinuous-v0,500,57,7,10,100,100,,16,8.0,20.0,8.0,381.87264466285706 +98.93280553843987,98.86618770639501,98.69017832378181,MountainCarContinuous-v0,500,57,8,10,100,100,,16,22.0,26.0,32.0,401.03144693374634 +98.93419756366674,98.680564361589,98.70022481271532,MountainCarContinuous-v0,500,57,9,10,100,100,,16,8.0,40.0,10.0,478.70466232299805 diff --git a/experiments/bench/env/data/easimple-mountaincar.csv b/experiments/bench/env/data/easimple-mountaincar.csv new file mode 100644 index 0000000000000000000000000000000000000000..e6edc54e6e7ce4fc2d7dc4eddeb40fd06cd2c9a1 --- /dev/null +++ b/experiments/bench/env/data/easimple-mountaincar.csv @@ -0,0 +1,41 @@ +best_pop,best_hof,best_arm,env,n_step,num_episode,run_number,UCB_sigma,ngen,mu,lambda,n_thread,complexity_pop,complexity_hof,complexity_arm,time +97.44832590314304,72.60452666579586,,MountainCarContinuous-v0,500,1,0,,100,,,16,7.0,3.0,,47.972792625427246 +-1.6665320613947943e-39,67.23399135964894,,MountainCarContinuous-v0,500,1,1,,100,,,16,26.0,4.0,,58.26824140548706 +63.214762393244904,41.25197838110228,,MountainCarContinuous-v0,500,1,2,,100,,,16,10.0,4.0,,55.386287450790405 +53.139431749442814,79.2364848057828,,MountainCarContinuous-v0,500,1,3,,100,,,16,7.0,8.0,,61.55098509788513 +88.0436746409211,68.72525908257586,,MountainCarContinuous-v0,500,1,4,,100,,,16,32.0,3.0,,55.960163831710815 +94.25802597660373,57.228628802102556,,MountainCarContinuous-v0,500,1,5,,100,,,16,19.0,4.0,,57.6178719997406 +93.27028022696146,68.76958342903947,,MountainCarContinuous-v0,500,1,6,,100,,,16,6.0,3.0,,51.0644211769104 +67.98507240469507,78.67518456802372,,MountainCarContinuous-v0,500,1,7,,100,,,16,10.0,3.0,,55.12784242630005 +81.53160992701761,64.87608883595222,,MountainCarContinuous-v0,500,1,8,,100,,,16,15.0,3.0,,53.8493070602417 +65.23348575010577,67.21257833960574,,MountainCarContinuous-v0,500,1,9,,100,,,16,4.0,8.0,,51.95567870140076 +63.21809589668614,78.60992830279596,,MountainCarContinuous-v0,500,2,0,,100,,,16,4.0,3.0,,101.64212465286255 +0.0,51.11421273923466,,MountainCarContinuous-v0,500,2,1,,100,,,16,3.0,3.0,,105.23664331436157 +95.11582020502954,74.716868842859,,MountainCarContinuous-v0,500,2,2,,100,,,16,19.0,3.0,,90.19597172737122 +85.57195180582781,57.2232724107686,,MountainCarContinuous-v0,500,2,3,,100,,,16,29.0,4.0,,89.56645917892456 +63.44857217268694,63.20912465025853,,MountainCarContinuous-v0,500,2,4,,100,,,16,8.0,4.0,,86.94392538070679 +98.69822137549176,45.223013489710226,,MountainCarContinuous-v0,500,2,5,,100,,,16,6.0,4.0,,100.87071132659912 +51.23278533492742,59.20896729730024,,MountainCarContinuous-v0,500,2,6,,100,,,16,4.0,4.0,,84.00480461120605 +97.53082951664537,57.236291856217996,,MountainCarContinuous-v0,500,2,7,,100,,,16,10.0,4.0,,108.4891505241394 +90.8432207589931,5.7542802902852905,,MountainCarContinuous-v0,500,2,8,,100,,,16,8.0,3.0,,114.82001733779907 +85.05111152245425,59.21549796154786,,MountainCarContinuous-v0,500,2,9,,100,,,16,14.0,4.0,,84.56748175621033 +91.85073537005772,59.24638412523278,,MountainCarContinuous-v0,500,5,0,,100,,,16,19.0,4.0,,199.06508779525757 +55.23145132959729,66.72112108710004,,MountainCarContinuous-v0,500,5,1,,100,,,16,8.0,3.0,,229.06081008911133 +63.21272155444091,69.23307515729775,,MountainCarContinuous-v0,500,5,2,,100,,,16,12.0,8.0,,182.41887831687927 +98.18866800112438,72.6120102364192,,MountainCarContinuous-v0,500,5,3,,100,,,16,17.0,3.0,,207.27172088623047 +97.184912761048,57.214836955287794,,MountainCarContinuous-v0,500,5,4,,100,,,16,28.0,4.0,,217.80593967437744 +61.19583656506087,66.89442891755871,,MountainCarContinuous-v0,500,5,5,,100,,,16,4.0,3.0,,249.42358708381653 +15.617864694374429,82.98616610429202,,MountainCarContinuous-v0,500,5,6,,100,,,16,3.0,6.0,,190.53744745254517 +63.245220618723735,82.47479246444227,,MountainCarContinuous-v0,500,5,7,,100,,,16,4.0,3.0,,179.60723519325256 +98.67127332724338,67.22269910743242,,MountainCarContinuous-v0,500,5,8,,100,,,16,18.0,4.0,,205.9422106742859 +98.66678742433494,75.2039491745162,,MountainCarContinuous-v0,500,5,9,,100,,,16,10.0,4.0,,176.50460124015808 +23.55684495707335,98.67452007620969,,MountainCarContinuous-v0,500,10,0,,100,,,16,7.0,6.0,,386.1846158504486 +61.221291670903504,53.19775463957987,,MountainCarContinuous-v0,500,10,1,,100,,,16,4.0,4.0,,371.18853521347046 +92.99160827348842,98.67546156807963,,MountainCarContinuous-v0,500,10,2,,100,,,16,16.0,6.0,,407.9270701408386 +89.87349253807196,83.00594318227571,,MountainCarContinuous-v0,500,10,3,,100,,,16,24.0,6.0,,370.84945845603943 +97.47398015620774,94.96882241135282,,MountainCarContinuous-v0,500,10,4,,100,,,16,7.0,6.0,,384.70016956329346 +97.40290657181339,88.24470028122303,,MountainCarContinuous-v0,500,10,5,,100,,,16,8.0,3.0,,402.5732262134552 +97.50728823096985,70.87132818108523,,MountainCarContinuous-v0,500,10,6,,100,,,16,11.0,3.0,,347.78934478759766 +97.2106173290883,98.36940042177815,,MountainCarContinuous-v0,500,10,7,,100,,,16,17.0,6.0,,357.0341167449951 +76.42546269753,96.92919905027053,,MountainCarContinuous-v0,500,10,8,,100,,,16,11.0,29.0,,356.57151460647583 +93.36477526784967,79.00240263050814,,MountainCarContinuous-v0,500,10,9,,100,,,16,33.0,6.0,,371.14211082458496 diff --git a/experiments/bench/env/data/mu+lambda-mountaincar.csv b/experiments/bench/env/data/mu+lambda-mountaincar.csv new file mode 100644 index 0000000000000000000000000000000000000000..3ef7e397140a24d92614647926a366a71a656c3e --- /dev/null +++ b/experiments/bench/env/data/mu+lambda-mountaincar.csv @@ -0,0 +1,41 @@ +best_pop,best_hof,best_arm,env,n_step,num_episode,run_number,UCB_sigma,ngen,mu,lambda,n_thread,complexity_pop,complexity_hof,complexity_arm,time +69.23373508421133,9.776646774573182,,MountainCarContinuous-v0,500,1,0,,100,100,,16,4.0,3.0,,22.011539936065674 +69.21711347093068,1.7768966436140072,,MountainCarContinuous-v0,500,1,1,,100,100,,16,4.0,3.0,,23.60527014732361 +77.2085383539554,9.72430173334077,,MountainCarContinuous-v0,500,1,2,,100,100,,16,4.0,3.0,,23.677063465118408 +71.21531994083942,13.741693992670696,,MountainCarContinuous-v0,500,1,3,,100,100,,16,4.0,9.0,,24.418054342269897 +73.21930576087307,5.794305209556147,,MountainCarContinuous-v0,500,1,4,,100,100,,16,4.0,5.0,,22.95009207725525 +71.23655256680917,13.73527752161377,,MountainCarContinuous-v0,500,1,5,,100,100,,16,8.0,3.0,,24.167996168136597 +97.56654741725589,3.7789022229890357,,MountainCarContinuous-v0,500,1,6,,100,100,,16,7.0,3.0,,33.19070219993591 +75.22024738471059,9.706621664639963,,MountainCarContinuous-v0,500,1,7,,100,100,,16,4.0,3.0,,26.245072841644287 +73.22048525686358,7.776411859374028,,MountainCarContinuous-v0,500,1,8,,100,100,,16,4.0,3.0,,26.474632263183594 +69.19351846460319,11.691423163404561,,MountainCarContinuous-v0,500,1,9,,100,100,,16,4.0,3.0,,27.56999659538269 +73.20620505666086,63.22125097049255,,MountainCarContinuous-v0,500,2,0,,100,100,,16,8.0,8.0,,46.75613784790039 +73.22631183020152,57.22527082475982,,MountainCarContinuous-v0,500,2,1,,100,100,,16,4.0,4.0,,39.734620809555054 +73.2255288712226,57.218249015285394,,MountainCarContinuous-v0,500,2,2,,100,100,,16,33.0,23.0,,77.34960699081421 +72.76977821059913,59.22393303410319,,MountainCarContinuous-v0,500,2,3,,100,100,,16,3.0,8.0,,47.21554923057556 +84.30332786108661,67.23340186660505,,MountainCarContinuous-v0,500,2,4,,100,100,,16,3.0,18.0,,59.82014775276184 +79.21522373319031,75.22783162120597,,MountainCarContinuous-v0,500,2,5,,100,100,,16,4.0,4.0,,42.33665728569031 +93.90439098069132,53.256181154175735,,MountainCarContinuous-v0,500,2,6,,100,100,,16,3.0,4.0,,36.53817868232727 +71.20109696218493,55.24751697713172,,MountainCarContinuous-v0,500,2,7,,100,100,,16,10.0,4.0,,44.695587158203125 +72.86632416723577,69.20567469824421,,MountainCarContinuous-v0,500,2,8,,100,100,,16,3.0,4.0,,41.4212532043457 +76.57796479189342,65.23827005356603,,MountainCarContinuous-v0,500,2,9,,100,100,,16,3.0,8.0,,43.14051294326782 +80.53424921851547,68.62684447849333,,MountainCarContinuous-v0,500,5,0,,100,100,,16,3.0,3.0,,86.63547849655151 +76.82364816523092,64.80687113083148,,MountainCarContinuous-v0,500,5,1,,100,100,,16,3.0,3.0,,85.64211463928223 +91.97288807888759,79.21571514426502,,MountainCarContinuous-v0,500,5,2,,100,100,,16,3.0,4.0,,93.30192613601685 +85.06814361125473,59.21017255346039,,MountainCarContinuous-v0,500,5,3,,100,100,,16,8.0,4.0,,105.22844386100769 +86.24167461415259,70.82126589966317,,MountainCarContinuous-v0,500,5,4,,100,100,,16,3.0,3.0,,88.84379482269287 +88.29706267435496,61.20598191314643,,MountainCarContinuous-v0,500,5,5,,100,100,,16,3.0,4.0,,88.38264465332031 +92.99559768989705,66.66558770753831,,MountainCarContinuous-v0,500,5,6,,100,100,,16,6.0,3.0,,80.14226245880127 +76.67330771298269,60.83799426412711,,MountainCarContinuous-v0,500,5,7,,100,100,,16,3.0,3.0,,134.47545862197876 +89.98004554072396,63.240923613723155,,MountainCarContinuous-v0,500,5,8,,100,100,,16,3.0,4.0,,105.3435754776001 +78.62794179718014,67.22142272314184,,MountainCarContinuous-v0,500,5,9,,100,100,,16,3.0,4.0,,91.14647245407104 +99.04974415005277,98.65587132314771,,MountainCarContinuous-v0,500,10,0,,100,100,,16,9.0,6.0,,212.8638153076172 +96.06896640435596,67.14166778631032,,MountainCarContinuous-v0,500,10,1,,100,100,,16,3.0,6.0,,155.63527870178223 +99.059543611822,98.6977756088864,,MountainCarContinuous-v0,500,10,2,,100,100,,16,9.0,6.0,,203.48708629608154 +98.8618218023085,86.22496101406853,,MountainCarContinuous-v0,500,10,3,,100,100,,16,14.0,3.0,,281.1963424682617 +95.04429919751121,68.65765471705348,,MountainCarContinuous-v0,500,10,4,,100,100,,16,6.0,3.0,,167.70896124839783 +98.93992384277861,63.227314980255294,,MountainCarContinuous-v0,500,10,5,,100,100,,16,13.0,12.0,,187.128643989563 +98.81207941181802,74.62462332996556,,MountainCarContinuous-v0,500,10,6,,100,100,,16,8.0,3.0,,178.3403434753418 +98.74183790583618,89.85595994050198,,MountainCarContinuous-v0,500,10,7,,100,100,,16,6.0,3.0,,173.8602635860443 +98.95525460371059,62.95487970937899,,MountainCarContinuous-v0,500,10,8,,100,100,,16,6.0,3.0,,164.93298316001892 +98.90844021106732,45.069554352453196,,MountainCarContinuous-v0,500,10,9,,100,100,,16,22.0,3.0,,186.94894456863403 diff --git a/experiments/bench/env/easimple.yml b/experiments/bench/env/easimple.yml new file mode 100644 index 0000000000000000000000000000000000000000..ad56765dfb34489a30b80ad659bae41a00aa6288 --- /dev/null +++ b/experiments/bench/env/easimple.yml @@ -0,0 +1,22 @@ +algorithm: + name: algorithms.eaSimple + n_thread: 16 + args: + ngen: 100 + cxpb: 0.5 + mutpb: 0.2 + verbose: False + +population: + init_size: 100 + selection: selTournament + args: + tournsize: 3 + +problem: + name: "gym" + env: "Pendulum-v0|MountainCarContinuous-v0" + n_evals: 1 + nb_runs: 25 + +seed: 42 diff --git a/experiments/bench/oneMax/conf/easimple-pop=100-n_evals.yml b/experiments/bench/oneMax/conf/easimple-pop=100-n_evals.yml new file mode 100644 index 0000000000000000000000000000000000000000..89699206036bb2022eb83c9001f2b69386a0b3be --- /dev/null +++ b/experiments/bench/oneMax/conf/easimple-pop=100-n_evals.yml @@ -0,0 +1,23 @@ +algorithm: + name: algorithms.eaSimple + n_thread: 16 + args: + ngen: [100, 200, 400, 800] + cxpb: 0.5 + mutpb: 0.2 + verbose: False + +population: + init_size: 100 + selection: selTournament + args: + tournsize: 3 + +problem: + name: "oneMax" + dims: [6, 7, 8, 9] + std: [0.0, 0.01, 0.1, 0.2] + n_eval: [1, 2, 5, 10] + nb_runs: 25 + +seed: 42 diff --git a/experiments/bench/oneMax/conf/easimple-pop=100.yml b/experiments/bench/oneMax/conf/easimple-pop=100.yml new file mode 100644 index 0000000000000000000000000000000000000000..e4a2780c70857388b184be2d11897364e53ffa15 --- /dev/null +++ b/experiments/bench/oneMax/conf/easimple-pop=100.yml @@ -0,0 +1,23 @@ +algorithm: + name: algorithms.eaSimple + n_thread: 16 + args: + ngen: [100, 200, 400, 800] + cxpb: 0.5 + mutpb: 0.2 + verbose: False + +population: + init_size: 100 + selection: selTournament + args: + tournsize: 3 + +problem: + name: "oneMax" + dims: [6, 7, 8, 9] + std: [0.0, 0.01, 0.1, 0.2] + n_eval: [1] + nb_runs: 25 + +seed: 42 diff --git a/experiments/bench/oneMax/conf/easimple-pop=1000.yml b/experiments/bench/oneMax/conf/easimple-pop=1000.yml new file mode 100644 index 0000000000000000000000000000000000000000..f6847827b05ccc9224751c399069a3e8d4211db7 --- /dev/null +++ b/experiments/bench/oneMax/conf/easimple-pop=1000.yml @@ -0,0 +1,23 @@ +algorithm: + name: algorithms.eaSimple + n_thread: 16 + args: + ngen: [100, 200, 400, 800] + cxpb: 0.5 + mutpb: 0.2 + verbose: False + +population: + init_size: 1000 + selection: selTournament + args: + tournsize: 3 + +problem: + name: "oneMax" + dims: [6, 7, 8, 9] + std: [0.0, 0.01, 0.1, 0.2] + n_eval: [1] + nb_runs: 25 + +seed: 42 diff --git a/experiments/bench/oneMax/conf/mu+lambda-pop=100.yml b/experiments/bench/oneMax/conf/mu+lambda-pop=100.yml new file mode 100644 index 0000000000000000000000000000000000000000..58155c60cc3c8e1a8b7c80f44ef72f28756498d3 --- /dev/null +++ b/experiments/bench/oneMax/conf/mu+lambda-pop=100.yml @@ -0,0 +1,25 @@ +algorithm: + name: algorithms.eaMuPlusLambda + n_thread: 16 + args: + ngen: [100, 200, 400, 800] + cxpb: 0.65 + mutpb: 0.35 + mu: 100 + lambda_: 100 + verbose: False + +population: + init_size: 100 + selection: selTournament + args: + tournsize: 3 + +problem: + name: "oneMax" + dims: [6, 7, 8, 9] + std: [0.0, 0.01, 0.1, 0.2] + n_eval: [1, 2, 5, 10] + nb_runs: 25 + +seed: 42 diff --git a/experiments/bench/oneMax/conf/mu+lambda-pop=1000.yml b/experiments/bench/oneMax/conf/mu+lambda-pop=1000.yml new file mode 100644 index 0000000000000000000000000000000000000000..2a2ecac397e677cc958552e41c2b5993068bffd7 --- /dev/null +++ b/experiments/bench/oneMax/conf/mu+lambda-pop=1000.yml @@ -0,0 +1,25 @@ +algorithm: + name: algorithms.eaMuPlusLambda + n_thread: 16 + args: + ngen: [100, 200, 400, 800] + cxpb: 0.65 + mutpb: 0.35 + mu: 1000 + lambda_: 1000 + verbose: False + +population: + init_size: 100 + selection: selTournament + args: + tournsize: 3 + +problem: + name: "oneMax" + dims: [6, 7, 8, 9] + std: [0.0, 0.01, 0.1, 0.2] + n_eval: [1] + nb_runs: 25 + +seed: 42 diff --git a/experiments/bench/oneMax/conf/mu+lambdaUCB-pop=100-n_evals-buget=0.yml b/experiments/bench/oneMax/conf/mu+lambdaUCB-pop=100-n_evals-buget=0.yml new file mode 100644 index 0000000000000000000000000000000000000000..9c7e33c4a968d0b943744c60012cd682ec96d89d --- /dev/null +++ b/experiments/bench/oneMax/conf/mu+lambdaUCB-pop=100-n_evals-buget=0.yml @@ -0,0 +1,29 @@ +algorithm: + name: eaMuPlusLambdaUCB + n_thread: 16 + args: + ngen: [100, 200, 400, 800] + cxpb: 0.65 + mutpb: 0.35 + mu: 100 + lambda_: 100 + simulation_budget: [0] #[100/16, 400/16, 900/16] + parallel_update: 16 + verbose: False + +population: + init_size: 100 + selection: selUCBDoubleTounament #selTournament + args: + #tournsize: 3 + fitness_size: 3 + parsimony_size: 1.0 + +problem: + name: "oneMax" + dims: [6, 7, 8, 9] + std: [0.01, 0.1, 0.2] + n_eval: [1] + nb_runs: 25 + +seed: 42 diff --git a/experiments/bench/oneMax/conf/mu+lambdaUCB-pop=100-n_evals.yml b/experiments/bench/oneMax/conf/mu+lambdaUCB-pop=100-n_evals.yml new file mode 100644 index 0000000000000000000000000000000000000000..94049e86ca613e3f64b709de5252ce64f291403d --- /dev/null +++ b/experiments/bench/oneMax/conf/mu+lambdaUCB-pop=100-n_evals.yml @@ -0,0 +1,29 @@ +algorithm: + name: eaMuPlusLambdaUCB + n_thread: 16 + args: + ngen: [100, 200, 400, 800] + cxpb: 0.65 + mutpb: 0.35 + mu: 100 + lambda_: 100 + simulation_budget: [7, 25, 57] + parallel_update: 16 + verbose: False + +population: + init_size: 100 + selection: selUCBDoubleTounament #selTournament + args: + #tournsize: 3 + fitness_size: 3 + parsimony_size: 0.75 + +problem: + name: "oneMax" + dims: [6, 7, 8, 9] + std: [0.01, 0.1, 0.2] + n_eval: [1] + nb_runs: 25 + +seed: 42 diff --git a/experiments/bench/oneMax/data/easimple-pop=100-n_evals.csv b/experiments/bench/oneMax/data/easimple-pop=100-n_evals.csv new file mode 100644 index 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+898,0.61328125,0.66015625,0.587890625,0.2,9,57,23,,800,100,,16,156.66607785224915 +899,0.615234375,0.6015625,0.56640625,0.2,9,57,24,,800,100,,16,153.550630569458 diff --git a/experiments/gp.py b/experiments/gp.py new file mode 100644 index 0000000000000000000000000000000000000000..2950b637c8f8d740636669ae45d08c257c51aa13 --- /dev/null +++ b/experiments/gp.py @@ -0,0 +1,186 @@ +import warnings +import gym +try: + import pybullet_envs +except ImportError: + warnings.warn("PyBullet environment not found") + +import numpy as np +import random +import operator + +from functools import partial +import pandas as pd + +from deap import base, creator, tools, gp + +from GPRL.genetic_programming import team +from GPRL.utils import gp_utils +from GPRL.utils.utils import convert_logbook_to_dataframe +from GPRL.factory import EvolveFactory + +from GPRL.UCB import UCBFitness + +def MC_fitness(individual, n_steps, num_episodes, gamma): + global ENV, toolbox + if ENV.action_space.shape: + agent = toolbox.compile(individual) + else: + func = toolbox.compile(individual) + agent = lambda *s: int(func(*s)[0]) + s = 0 + steps = 0 + for _ in range(num_episodes): + state = ENV.reset() + for k in range(n_steps): + state, reward, done, _ = ENV.step(agent(*state)) + s+= gamma*reward + steps += 1 + if done: + break + return s, team.team_complexity(individual, gp_utils.complexity) + + +class Factory(EvolveFactory): + + def init_global_var(self): + global ENV, toolbox, creator + + ENV = gym.make(self.conf["env"]) + toolbox, creator = self.make_toolbox() + + def make_toolbox(self): + core_function = [ (np.add, [float]*2, float), (np.subtract, [float]*2, float), (np.multiply, [float]*2, float), (gp_utils.div, [float]*2, float)] + exp_function = [ (gp_utils.exp, [float], float), (gp_utils.log, [float], float)] + trig_function = [(np.sin, [float], float)] + if_function = [ (gp_utils.if_then_else, [bool, float, float], float), (operator.gt, [float, float], bool), (operator.and_, [bool, bool], bool), (operator.or_, [bool, bool], bool) ] + classification_func = [(gp_utils.classification, [float, float, float], int)] #(gp_utils.intervales, [float], int) + + + if self.conf['function_set'] == "small": + function_set = core_function + if_function + elif self.conf["function_set"] == "extended": + function_set = core_function + exp_function + trig_function + + INPUT = ENV.observation_space.shape[0] + if bool(ENV.action_space.shape): + ret = float + OUTPUT = ENV.action_space.shape[0] + else: + ret = int + OUTPUT = 1 + + + pset = gp.PrimitiveSetTyped("MAIN", [float]*INPUT, ret) + for primitive in function_set: + pset.addPrimitive(*primitive) + pset.addTerminal(0.1, float) + + for k in range(INPUT//2): + pset.addEphemeralConstant("const_"+str(k), lambda: np.random.uniform(-20.0, 20.0), float) + pset.addTerminal(True, bool) + pset.addTerminal(1, int) + + creator.create("FitnessMax", UCBFitness, weights=(1.0, -1.0), c=self.conf["c"], sigma=1) + creator.create("Individual", list, fitness=creator.FitnessMax) + + toolbox = base.Toolbox() + toolbox.register("expr", gp.genHalfAndHalf, pset=pset, min_=1, max_=4) + toolbox.register("team_grow", team.init_team, size=OUTPUT, unit_init=lambda: gp.PrimitiveTree(toolbox.expr())) + toolbox.register("individual", tools.initIterate, creator.Individual, toolbox.team_grow) + + toolbox.register("population", tools.initRepeat, list, toolbox.individual) + toolbox.register("compile_gp", gp.compile, pset=pset) + toolbox.register("compile", team.team_compile, unit_compile=toolbox.compile_gp) + + toolbox.register("evaluate", MC_fitness, n_steps=self.conf["n_steps"], num_episodes=self.conf["n_episodes"], gamma=self.conf["gamma"]) + + if self.conf.get("selection", False): + toolbox.register("select", eval(self.conf["selection"]["name"]), **self["selection"]["args"]) + else: + toolbox.register("select", tools.selNSGA2) + + def cx(x1, x2): + tmp1, tmp2 = gp.cxOnePoint(x1, x2) + return gp.PrimitiveTree(tmp1), gp.PrimitiveTree(tmp2) + + toolbox.register("mate", team.fixed_mate, unit_cx=cx) + toolbox.register("expr_mut", gp.genFull, min_=0, max_=2) + + toolbox.register("mutate_gp", gp_utils.mutate, expr=toolbox.expr_mut, pset=pset, mode="all", mu=0, std=1) + toolbox.register("mutate", team.mutate, unit_mut=lambda x: gp.PrimitiveTree(toolbox.mutate_gp(x)[0])) + + toolbox.decorate("mate", gp.staticLimit(key=lambda x: team.height(x, operator.attrgetter("height")), max_value=self.conf.get("tree_max_depth",17))) + toolbox.decorate("mutate", gp.staticLimit(key=lambda x: team.height(x, operator.attrgetter("height")), max_value=self.conf.get("tree_max_depth",17))) + + return toolbox, creator + + def get_stats(self): + stats_fit = tools.Statistics(lambda ind: ind.fitness.values[0]) + stats_complexity = tools.Statistics(lambda ind: team.team_complexity(ind, gp_utils.complexity)) + stats_size = tools.Statistics(len) + #stats_bandit = tools.Statistics(lambda ind: len(ind.fitness.rewards)) + + mstats = tools.MultiStatistics(fitness=stats_fit, size=stats_size, complexity=stats_complexity)#, bandit=stats_bandit) + mstats.register("avg", lambda x: np.mean(x)) + mstats.register("std", lambda x: np.std(x)) + mstats.register("min", lambda x: np.min(x)) + mstats.register("max", lambda x: np.max(x)) + + return mstats + + def close(self): + global ENV + ENV.close() + +if __name__== "__main__": + import multiprocessing + import argparse + from deap import algorithms + from GPRL import algorithms as algo + + parser = argparse.ArgumentParser() + parser.add_argument("--env", required=True, help="environment ID", type=str) + parser.add_argument("--n-episodes", help="Number of episodes", default=1, type=int) + parser.add_argument("--n-steps", help="Number of step per episode", default=2000, type=int) + parser.add_argument("--gamma", help="discount factor", default=1.0, type=float) + parser.add_argument("--algorithm", help="algorithm (mu+lambda), (mu, lambda) or UCB", default="UCB", type=str) + parser.add_argument("--cxpb", help="crossover probability", default=0.0, type=float) + parser.add_argument("--mutpb", help="mutation probability", default=1.0, type=float) + parser.add_argument("--lambda_", help="number of offspring", default=100, type=int) + parser.add_argument("--mu", help="number of parents", default=100, type=int) + parser.add_argument("--n-gen", help="number of generation", default=100, type=int) + parser.add_argument("--function-set", help="function set", default="small", type=str) + parser.add_argument("--simulation-budget", help="number of simulation allowed for UCB", default=1, type=int) + parser.add_argument("--c", help="constante d'exploration", default=1.0, type=float) + parser.add_argument("--n-thread", help="number of thread to use", default=1, type=int) + parser.add_argument("--path", help="path to save the results", default="", type=str) + + args = parser.parse_args() + + factory = Factory(vars(args)) + factory.init_global_var() + + mstats = factory.get_stats() + + pool = multiprocessing.Pool(args.n_thread, initializer=factory.init_global_var) + toolbox.register("map", pool.map) + + pop = toolbox.population(n=args.mu) + hof = tools.ParetoFront() + + if args.algorithm == "UCB": + algo = partial(algo.eaMuPlusLambdaUCB, simulation_budget=args.simulation_budget, parallel_update=args.n_thread) + elif args.algorithm == "(mu, lambda)": + algo = algorithms.eaMuCommaLambda + elif args.algorithm == "(mu + lambda)": + algo = algorithms.eaMuPlusLambda + + pop, log = algo(population=pop, toolbox=toolbox, cxpb=args.cxpb, mutpb=args.mutpb, mu=args.mu, lambda_=args.lambda_, ngen=args.n_gen, stats=mstats, halloffame=hof, verbose=True) + + name = str(hash(vars(args).values())) + convert_logbook_to_dataframe(log).to_csv(args.path+"log_gp"+ name + ".csv", index=False) + print("Experiment is saved at : ", args.path + "log_gp"+name) + + pool.close() + factory.close() \ No newline at end of file diff --git a/experiments/linGP.py b/experiments/linGP.py new file mode 100644 index 0000000000000000000000000000000000000000..6bc501a99c91d04d2cf5c8210457f5f8a0c3baac --- /dev/null +++ b/experiments/linGP.py @@ -0,0 +1,187 @@ +from functools import partial +import warnings +import random + +import numpy as np +import gym +try: + import pybullet_envs +except ImportError: + warnings.warn("PyBullet environment not found") + +from deap import creator, tools, base +from GPRL.genetic_programming import linearGP as linGP +from GPRL.UCB import UCBFitness + +from GPRL.factory import EvolveFactory +from GPRL.utils.utils import convert_logbook_to_dataframe + +def MC_fitness(individual, n_steps, num_episodes, gamma): + eff, _, _ = individual.to_effective(list(range(OUTPUT))) + if len(eff)==0: + return -2000.0, 999 + if ENV.action_space.shape: + def agent(inputs): + register = eff.init_register() + return eff.execute(eff, inputs, register, list(range(OUTPUT))) + else: + if OUTPUT==1: + def agent(inputs): + register = eff.init_register() + return int(eff.execute(eff, inputs, register, list(range(OUTPUT)))>0) + else: + def agent(inputs): + register = eff.init_register() + return np.argmax(eff.execute(eff, inputs, register, list(range(OUTPUT)))) + s = 0 + steps = 0 + for e in range(num_episodes): + state = ENV.reset() + for k in range(n_steps): + state, reward, done, _ = ENV.step(agent(state)) + s+= gamma*reward + steps += 1 + if done: + break + return s/num_episodes, sum(map(lambda x: linGP.opcode_complexity[x.opcode], eff)) + +def mutate(individual, pIns, pDel, pSwap, pMut, pConst, pBranch): + if random.random() < pDel: + linGP.mutDelete(individual, effective=None) + if random.random() < pIns: + linGP.mutInsert(individual, pConst, pBranch, effective=list(range(OUTPUT))) + if random.random() < pSwap: + _, _, idxs = individual.to_effective(list(range(OUTPUT))) + linGP.mutSwap(individual, effective=idxs) + if random.random() < pMut: + linGP.Program.mutInstr(individual, 0.3, 0.3, 0.4, pBranch, effective=list(range(OUTPUT))) + return individual, + +class Factory(EvolveFactory): + def init_global_var(self): + global ENV, toolbox, creator + global INPUT, OUTPUT + + ENV = gym.make(self.conf["env"]) + INPUT = ENV.observation_space.shape[0] + if ENV.action_space.shape: + OUTPUT = ENV.action_space.shape[0] + else: + OUTPUT = ENV.action_space.n + + toolbox, creator = self.make_toolbox() + + def make_toolbox(self): + creator.create("FitnessMin", UCBFitness, weights=(1.0, -1.0)) + creator.create("Individual", linGP.Program, fitness=creator.FitnessMin) + + if self.conf['function_set']=="small": + ops = np.array([True]*3 + [False, True] + [False]*5 + [True]*2) + elif self.conf['function_set']=="extended": + ops = np.array([True]*3 + [False, True, False] + [True]*3+ [False] + [True]*2) + elif self.conf['function_set']=="all": + ops = np.ones(12, dtype=bool) + + toolbox = base.Toolbox() + toolbox.register("Program", linGP.initProgam, creator.Individual, regCalcSize=self.conf['regCalcSize'], regInputSize=INPUT, regConstSize=self.conf['regConstSize'], pConst=self.conf['pConst'], pBranch=self.conf["pBranch"], + min_=self.conf['init_size_min'], max_=self.conf['init_size_max'], ops=ops) + toolbox.register("population", tools.initRepeat, list, toolbox.Program) + + toolbox.register("evaluate", MC_fitness, n_steps=self.conf["n_steps"], num_episodes=self.conf["n_episodes"], gamma=self.conf["gamma"]) + + if self.conf.get("selection", False): + toolbox.register("select", eval(self.conf["selection"]["name"]), **self["selection"]["args"]) + else: + toolbox.register("select", tools.selTournament, tournsize=5) + + toolbox.register("mate", linGP.cxLinear, l_min=1, l_max=3, l_smax=8, dc_max=4, ds_max=8) + toolbox.register("mutate", mutate, pIns=self.conf["pIns"], pDel=self.conf["pDel"], pSwap=self.conf.get("pSwap", 0.0), pMut=self.conf["pMut"], pConst=self.conf["pConst"], pBranch=self.conf["pBranch"]) + + return toolbox, creator + + def get_stats(self): + stats_fit = tools.Statistics(lambda ind: ind.fitness.values[0]) + stats_complexity = tools.Statistics(lambda ind: sum(map(lambda x: linGP.opcode_complexity[x.opcode], ind.to_effective(list(range(OUTPUT)))[0]))) + stats_eff = tools.Statistics(lambda ind: len(ind.to_effective(list(range(OUTPUT)))[0])) + stats_size = tools.Statistics(len) + #stats_bandit = tools.Statistics(lambda ind: len(ind.fitness.rewards)) + + mstats = tools.MultiStatistics(fitness=stats_fit, complexity=stats_complexity, size=stats_size, effective=stats_eff)#, bandit=stats_bandit) + mstats.register("avg", lambda x: np.mean(x)) + mstats.register("std", lambda x: np.std(x)) + mstats.register("min", lambda x: np.min(x)) + mstats.register("max", lambda x: np.max(x)) + + return mstats + + def close(self): + global ENV + ENV.close() + +if __name__ == '__main__': + import multiprocessing + + import multiprocessing + import argparse + from deap import algorithms + import GPRL.algorithms as my_algorithms + import pandas as pd + + parser = argparse.ArgumentParser() + parser.add_argument("--env", required=True, help="environment ID", type=str) + parser.add_argument("--n-episodes", help="Number of episodes", default=1, type=int) + parser.add_argument("--n-steps", help="Number of step per episode", default=2000, type=int) + parser.add_argument("--gamma", help="discount factor", default=1.0, type=float) + + parser.add_argument("--regCalcSize", help="Size of calculation register of the program", default=8, type=int) + parser.add_argument("--regConstSize", help="Size of the constante register of the program", default=10, type=int) + parser.add_argument("--init-size-min", help="Minimal program size at initialization", default=2, type=int) + parser.add_argument("--init-size-max", help="Maximum program size at initialization", default=8, type=int) + parser.add_argument("--pConst", help="Probability of choosing the constante as input", default=1.0, type=float) + parser.add_argument("--pBranch", help="Probability of choosing a branch operation", default=1.0, type=float) + + parser.add_argument("--pIns", help="macro-mutation probability of insertion", default=0.3, type=float) + parser.add_argument("--pDel", help="macro-mutation probability of deletion", default=0.6, type=float) + parser.add_argument("--pSwap", help="macro-mutation probability of swaping instruction", default=0.1, type=float) + parser.add_argument("--pMut", help="micro-mutation probability of mutating an existing instruction", default=0.5, type=float) + + parser.add_argument("--algorithm", help="algorithm (mu+lambda), (mu, lambda) or UCB", default="UCB", type=str) + parser.add_argument("--cxpb", help="crossover probability", default=0.0, type=float) + parser.add_argument("--mutpb", help="mutation probability", default=1.0, type=float) + parser.add_argument("--lambda_", help="number of offspring", default=100, type=int) + parser.add_argument("--mu", help="number of parents", default=100, type=int) + parser.add_argument("--n-gen", help="number of generation", default=100, type=int) + parser.add_argument("--function-set", help="function set", default="small", type=str) + parser.add_argument("--simulation-budget", help="number of simulation allowed for UCB", default=1, type=int) + parser.add_argument("--c", help="constante d'exploration", default=1.0, type=float) + parser.add_argument("--n-thread", help="number of thread to use", default=1, type=int) + parser.add_argument("--path", help="path to save the results", default="", type=str) + + args = parser.parse_args() + + factory = Factory(vars(args)) + factory.init_global_var() + + mstats = factory.get_stats() + + pool = multiprocessing.Pool(args.n_thread, initializer=factory.init_global_var) + toolbox.register("map", pool.map) + + pop = toolbox.population(n=args.mu) + hof = tools.ParetoFront() + + if args.algorithm == "UCB": + algo = partial(my_algorithms.eaMuPlusLambdaUCB, simulation_budget=args.simulation_budget, parallel_update=args.n_thread) + elif args.algorithm == "(mu, lambda)": + algo = algorithms.eaMuCommaLambda + elif args.algorithm == "(mu + lambda)": + algo = algorithms.eaMuPlusLambda + + pop, log = algo(population=pop, toolbox=toolbox, cxpb=args.cxpb, mutpb=args.mutpb, mu=args.mu, lambda_=args.lambda_, ngen=args.n_gen, stats=mstats, halloffame=hof, verbose=True) + + name = str(hash(vars(args).values())) + convert_logbook_to_dataframe(log).to_csv(args.path+"log_lingp"+ name + ".csv", index=False) + print("Experiment is saved at : ", args.path + "log_lingp-"+name) + + pool.close() + factory.close() \ No newline at end of file diff --git a/experiments/qdgp.py b/experiments/qdgp.py new file mode 100644 index 0000000000000000000000000000000000000000..f68d387800faca551f051f6485da2853eb11f9c4 --- /dev/null +++ b/experiments/qdgp.py @@ -0,0 +1,129 @@ +import operator +import numpy as np +import pandas as pd +import gym +from deap import gp +from qdpy.containers import Grid + +from GPRL.utils import gp_utils +from GPRL.utils.utils import convert_logbook_to_dataframe +from GPRL.genetic_programming import team +import gp as gp_script + +def MC_fitness(individual, n_steps, num_episodes, gamma, features_kept): + agent = gp_script.toolbox.compile(individual) + + total_features = (0,) * (len(features_kept)-2) + total_avg_features = (0,) * (len(features_kept)-2) + s = 0 + for e in range(num_episodes): + state = gp_script.ENV.reset() + for t in range(n_steps): + state, reward, done, _ = gp_script.ENV.step(agent(*state)) + if gp_script.ENV.unwrapped.spec.id == "HopperBulletEnv-v0": + features = [abs(state[-8]), abs(state[-5]), abs(state[-3]), state[-1]] + elif gp_script.ENV.unwrapped.spec.id == "BipedalWalker-v3": + features = [abs(state[4]), abs(state[6]), abs(state[9]), abs(state[11]), state[8], state[13]] + + s+= gamma*reward + total_features = tuple(x + y for x, y in zip(total_features, features)) + if done: + break + total_avg_features = tuple(x/(t+1) + y for x, y in zip(total_features, total_avg_features)) + total_features = (0,) * (len(features_kept)-2) + + total_avg_features = [x/num_episodes for x in total_avg_features] + + nb_weights = 0 + for ind in individual: + for node in ind: + if isinstance(node, gp.Ephemeral): + nb_weights+=1 + if nb_weights>20: + nb_weights = 20 + total_avg_features.insert(0, nb_weights) + + cpl = team.team_complexity(individual, gp_utils.complexity) + if cpl >= 100: + cpl = 100 + total_avg_features.insert(0, cpl) + + + total_avg_features = np.array(total_avg_features) + + if s/num_episodes < -200_000.0: + return -200_000.0, *total_avg_features[features_kept] + return s/num_episodes, *total_avg_features[features_kept] + +if '__main__' == __name__: + import multiprocessing + import argparse + from deap import algorithms + from .. import algorithms as algo + + parser = argparse.ArgumentParser() + parser.add_argument("--env", required=True, help="environment ID", type=str) + parser.add_argument("--n-episodes", help="Number of episodes", default=1, type=int) + parser.add_argument("--n-steps", help="Number of step per episode", default=500, type=int) + parser.add_argument("--gamma", help="discount factor", default=1.0, type=float) + + parser.add_argument("--cxpb", help="crossover probability", default=0.0, type=float) + parser.add_argument("--mutpb", help="mutation probability", default=1.0, type=float) + parser.add_argument("--batch-size", help="same thing as population size", default=500, type=int) + parser.add_argument("--lambda_", help="number of offspring", default=500, type=int) + parser.add_argument("--n-gen", help="number of generation", default=100, type=int) + parser.add_argument("--function-set", help="function set", default="small", type=str) + parser.add_argument("--simulation-budget", help="number of simulation allowed for UCB", default=1, type=int) + parser.add_argument("--c", help="constante d'exploration", default=1.0, type=float) + parser.add_argument("--n-thread", help="number of thread to use", default=1, type=int) + parser.add_argument("--path", help="path to save the results", default="", type=str) + + args = parser.parse_args() + + + if args.env == "BipedalWalker-v3": + features_kept = np.zeros(8, dtype=bool) + features_kept[3] = True + features_kept[5] = True + + nbBins = [10, 10] # The number of bins of the grid of elites. Here, we consider only $nbFeatures$ features with $maxTotalBins^(1/nbFeatures)$ bins each + features_domain = np.array([(0, 100), (0., 2.0), (0., 2.5), (0., 2.5), (0., 2.5), (0., 2.5), (0., 1.0), (0., 1.0)]) # The domain (min/max values) of the features + fitness_domain = ((-200.0, 350.0),) # The domain (min/max values) of the fitness + max_items_per_bin = 10 # The number of items in each bin of the grid + elif args.env != "HopperBulletEnv-v3": + features_kept = np.zeros(6, dtype=bool) + features_kept[3] = True + features_kept[4] = True + features_kept[5] = True + + nbBins = [10, 10, 10] + features_domain = np.array([(0, 100), (0., 20.), (0.0, 1.2), (0.0, 1.2), (0.0, 1.2), (0.0, 1.0)]) + fitness_domain = ((-200_000.0, 1100.0),) + max_items_per_bin = 5 + else: + raise ValueError("Environment not supported ! Please use env-id : BipedalWalkerFeatures-v3 or HopperBulletEnvFeatures-v3") + + args.features_kept = features_kept + conf = vars(args) + factory = gp_script.Factory(conf) + factory.init_global_var() + + mstats = factory.get_stats() + + pool = multiprocessing.Pool(args.n_thread, initializer=factory.init_global_var) + gp_script.toolbox.register("map", pool.map) + gp_script.toolbox.register('evaluate', MC_fitness, n_steps=conf["n_steps"], num_episodes=conf["n_episodes"], gamma=conf["gamma"], features_kept=conf["features_kept"]) + + pop = gp_script.toolbox.population(n=args.batch_size*10) + + grid = Grid(shape=nbBins, max_items_per_bin=max_items_per_bin, fitness_domain=fitness_domain, features_domain=features_domain[features_kept], storage_type=list) + + pop, log = algo.qdLambda(pop, gp_script.toolbox, grid, args.batch_size, cxpb=args.cxpb, mutpb=args.mutpb, lambda_=args.lambda_, ngen=args.n_gen, stats=mstats, verbose=True) + + name = str(hash(vars(args).values())) + convert_logbook_to_dataframe(log).to_csv("log_gp-"+ name + ".csv", index=False) + + print("Experiment is saved at : ", name) + + pool.close() + factory.close() diff --git a/experiments/qdlinGP.py b/experiments/qdlinGP.py new file mode 100644 index 0000000000000000000000000000000000000000..5a27b094ebea9c7caf62b3e5fff145eb8c874c22 --- /dev/null +++ b/experiments/qdlinGP.py @@ -0,0 +1,139 @@ +import numpy as np +from qdpy.containers import Grid + +from GPRL.utils.utils import convert_logbook_to_dataframe +from . import linGP as linGP_script +from GPRL.genetic_programming import linearGP as linGP + +def MC_fitness(individual, n_steps, num_episodes, gamma, features_kept): + eff, _, _ = individual.to_effective(list(range(linGP_script.OUTPUT))) + + if len(eff)==0: + vals = (0,) * np.count_nonzero(features_kept) + return -200_000.0, *vals + + def agent(inputs): + register = eff.init_register() + return eff.execute(eff, inputs, register, list(range(linGP_script.OUTPUT))) + + total_features = (0,) * (len(features_kept)-2) + total_avg_features = (0,) * (len(features_kept)-2) + s = 0 + for e in range(num_episodes): + state = linGP_script.ENV.reset() + for t in range(n_steps): + state, reward, done, _ = linGP_script.ENV.step(agent(state)) + + #Handcrafted Features + if linGP_script.ENV.unwrapped.spec.id == "HopperBulletEnv-v0": + features = [abs(state[-8]), abs(state[-5]), abs(state[-3]), state[-1]] + elif linGP_script.ENV.unwrapped.spec.id == "BipedalWalker-v3": + features = [abs(state[4]), abs(state[6]), abs(state[9]), abs(state[11]), state[8], state[13]] + s+= gamma*reward + total_features = tuple(x + y for x, y in zip(total_features, features)) + if done: + break + total_avg_features = tuple(x/(t+1) + y for x, y in zip(total_features, total_avg_features)) + total_features = (0,) * (len(features_kept)-2) + + total_avg_features = [x/num_episodes for x in total_avg_features] + + nb_weights = len(eff.get_used_regConstIdxs()) + total_avg_features.insert(0, nb_weights if nb_weights<=10 else 10) + + cpl = sum(map(lambda x: linGP.opcode_complexity[x.opcode], eff)) + if cpl >= 100: + cpl =100 + total_avg_features.insert(0, cpl) + + total_avg_features = np.array(total_avg_features) + + if s/num_episodes < -200_000.0: + return -200_000.0, *total_avg_features[features_kept] + return s/num_episodes, *total_avg_features[features_kept] + +if '__main__' == __name__: + import multiprocessing + import argparse + from deap import algorithms + from GPRL import algorithms as algo + + parser = argparse.ArgumentParser() + parser.add_argument("--env", required=True, help="environment ID", type=str) + parser.add_argument("--n-episodes", help="Number of episodes", default=1, type=int) + parser.add_argument("--n-steps", help="Number of step per episode", default=2000, type=int) + parser.add_argument("--gamma", help="discount factor", default=1.0, type=float) + + parser.add_argument("--regCalcSize", help="Size of calculation register of the program", default=8, type=int) + parser.add_argument("--regConstSize", help="Size of the constante register of the program", default=10, type=int) + parser.add_argument("--init-size-min", help="Minimal program size at initialization", default=2, type=int) + parser.add_argument("--init-size-max", help="Maximum program size at initialization", default=8, type=int) + parser.add_argument("--pConst", help="Probability of choosing the constante as input", default=1.0, type=float) + parser.add_argument("--pBranch", help="Probability of choosing a branch operation", default=1.0, type=float) + + parser.add_argument("--pIns", help="macro-mutation probability of insertion", default=0.3, type=float) + parser.add_argument("--pDel", help="macro-mutation probability of deletion", default=0.6, type=float) + parser.add_argument("--pSwap", help="macro-mutation probability of swaping instruction", default=0.1, type=float) + parser.add_argument("--pMut", help="micro-mutation probability of mutating an existing instruction", default=0.5, type=float) + + parser.add_argument("--algorithm", help="algorithm (mu+lambda), (mu, lambda) or UCB", default="UCB", type=str) + parser.add_argument("--cxpb", help="crossover probability", default=0.0, type=float) + parser.add_argument("--mutpb", help="mutation probability", default=1.0, type=float) + parser.add_argument("--lambda_", help="number of offspring", default=100, type=int) + parser.add_argument("--batch-size", help="same thing as population size", default=500, type=int) + parser.add_argument("--n-gen", help="number of generation", default=100, type=int) + parser.add_argument("--function-set", help="function set", default="small", type=str) + parser.add_argument("--simulation-budget", help="number of simulation allowed for UCB", default=1, type=int) + parser.add_argument("--c", help="constante d'exploration", default=1.0, type=float) + parser.add_argument("--n-thread", help="number of thread to use", default=1, type=int) + parser.add_argument("--path", help="path to save the results", default="", type=str) + + args = parser.parse_args() + + + if args.env == "BipedalWalker-v3": + features_kept = np.zeros(8, dtype=bool) + features_kept[3] = True + features_kept[5] = True + + nbBins = [10, 10] # The number of bins of the grid of elites. Here, we consider only $nbFeatures$ features with $maxTotalBins^(1/nbFeatures)$ bins each + features_domain = np.array([(0, 100), (0., 10.0), (0., 2.5), (0., 2.5), (0., 2.5), (0., 2.5), (0., 1.0), (0., 1.0)]) # The domain (min/max values) of the features + fitness_domain = ((-200.0, 350.0),) # The domain (min/max values) of the fitness + max_items_per_bin = 10 # The number of items in each bin of the grid + elif args.env != "HopperBulletEnv-v3": + features_kept = np.zeros(6, dtype=bool) + features_kept[3] = True + features_kept[4] = True + features_kept[5] = True + + nbBins = [10, 10, 10] + features_domain = np.array([(0, 100), (0., 10.), (0.0, 1.2), (0.0, 1.2), (0.0, 1.2), (0.0, 1.0)]) + fitness_domain = ((-200_000.0, 1100.0),) + max_items_per_bin = 5 + else: + raise ValueError("Environment not supported ! Please use env-id : BipedalWalker-v3 or HopperBulletEnv-v3") + + args.features_kept = features_kept + conf = vars(args) + factory = linGP_script.Factory(conf) + factory.init_global_var() + + mstats = factory.get_stats() + + pool = multiprocessing.Pool(args.n_thread, initializer=factory.init_global_var) + linGP_script.toolbox.register("map", pool.map) + linGP_script.toolbox.register('evaluate', MC_fitness, n_steps=conf["n_steps"], num_episodes=conf["n_episodes"], gamma=conf["gamma"], features_kept=conf["features_kept"]) + + pop = linGP_script.toolbox.population(n=args.batch_size*10) + + grid = Grid(shape=nbBins, max_items_per_bin=max_items_per_bin, fitness_domain=fitness_domain, features_domain=features_domain[features_kept], storage_type=list) + + pop, log = algo.qdLambda(pop, linGP_script.toolbox, grid, args.batch_size, cxpb=args.cxpb, mutpb=args.mutpb, lambda_=args.lambda_, ngen=args.n_gen, stats=mstats, verbose=True) + + name = str(hash(vars(args).values())) + convert_logbook_to_dataframe(log).to_csv("log_lingp"+ name + ".csv", index=False) + + print("Experiment is saved at : ", name) + + pool.close() + factory.close()