From b3ab6b06d05710debb618e1b8d73c02c0d8ec46a Mon Sep 17 00:00:00 2001 From: kngwyu Date: Thu, 28 Mar 2024 17:30:46 +0900 Subject: [PATCH] square 200 --- config/env/20240325-moving.toml | 4 ++-- config/env/20240328-square-200.toml | 30 +++++++++++++++++++++++++++++ experiments/cf_simple.py | 4 +--- 3 files changed, 33 insertions(+), 5 deletions(-) create mode 100644 config/env/20240328-square-200.toml diff --git a/config/env/20240325-moving.toml b/config/env/20240325-moving.toml index 79ab49d6..c2cdf554 100644 --- a/config/env/20240325-moving.toml +++ b/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 diff --git a/config/env/20240328-square-200.toml b/config/env/20240328-square-200.toml new file mode 100644 index 00000000..5ad5955b --- /dev/null +++ b/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 \ No newline at end of file diff --git a/experiments/cf_simple.py b/experiments/cf_simple.py index 64c556e4..59257fcc 100644 --- a/experiments/cf_simple.py +++ b/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))