square 200

config/env/20240325-moving.toml

@@ -37,8 +37,8 @@ max_force = 80.0
 min_force = -20.0
 init_energy = 40.0
 energy_capacity = 400.0
-force_energy_consumption = 2e-5
-basic_energy_consumption = 2e-4
+force_energy_consumption = 4e-5
+basic_energy_consumption = 1e-3
 energy_share_ratio = 0.4
 n_velocity_iter = 6
 n_position_iter = 2

config/env/20240328-square-200.toml

@@ -0,0 +1,30 @@
+n_initial_agents = 50
+n_max_agents = 200
+n_max_foods = 50
+food_num_fn = ["logistic", 20, 0.01, 50]
+food_loc_fn = "gaussian"
+agent_loc_fn = "uniform"
+xlim = [0.0, 480.0]
+ylim = [0.0, 360.0]
+env_shape = "square"
+neighbor_stddev = 100.0
+n_agent_sensors = 24
+sensor_length = 200.0
+sensor_range = "wide"
+agent_radius = 10.0
+food_radius = 4.0
+foodloc_interval = 1000
+dt = 0.1
+linear_damping = 0.8
+angular_damping = 0.6
+max_force = 80.0
+min_force = -20.0
+init_energy = 40.0
+energy_capacity = 400.0
+force_energy_consumption = 2e-5
+basic_energy_consumption = 1e-3
+energy_share_ratio = 0.4
+n_velocity_iter = 6
+n_position_iter = 2
+n_physics_iter = 5
+max_place_attempts = 10

experiments/cf_simple.py

@@ -366,8 +366,7 @@ def replace_net(
 @app.command()
 def evolve(
     seed: int = 1,
-    action_cost: float = 1e-4,
-    mutation_prob: float = 0.2,
+    action_cost: float = 4e-5,
     adam_lr: float = 3e-4,
     adam_eps: float = 1e-7,
     gamma: float = 0.999,
@@ -408,7 +407,6 @@ def evolve(
     mutation = gopsconfig.load_model()
     # Override config
     cfconfig.force_energy_consumption = action_cost
-    gopsconfig.params["mutation_prob"] = mutation_prob
     # Make env
     env = make("CircleForaging-v0", **dataclasses.asdict(cfconfig))
     key, reward_key = jax.random.split(jax.random.PRNGKey(seed))