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carracing_neat.py
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137 lines (100 loc) · 2.99 KB
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# Trains the car racing problem using NEAT
import neat
import comm
import matplotlib.pyplot as plt
import numpy as np
import gym
import multiprocessing as mp
import sys
env = gym.make('CarRacing-v0')
# plt.ion()
# run the car racing problem
def fitness_car_race(net: neat.Network, render: bool=False, steps=1000):
score = 0
for _ in range(2):
# env._max_episode_steps = steps
obs = env.reset()
net.clear()
# fitness
s = 0
while True:
close = False
if render:
close = not env.render()
# print(obs)
obs = obs / 255.0
# if render:
# plt.cla()
# plt.imshow(obs[::8,::8,1])
# plt.pause(0.00001)
# determine action
res = net.predict(obs[::8,::8,1].flatten())
res = res * 2 - 1
action = res #np.argmax(res)
obs, reward, done, _ = env.step(action)
s += reward
if done or close:
break
score += s
if render:
print(s)
env.close()
if close:
break
return score / 3
if __name__ == "__main__":
# init NEAT
neat_args = {
'n_pop': 100,
'max_species': 30,
'species_threshold': 1.0,
'survive_threshold': 0.5,
'clear_species': 100,
'prob_add_node': 0.01,
'prob_add_conn': 0.05,
'prob_replace_weight': 0.01,
'prob_mutate_weight': 0.5,
'prob_toggle_conn': 0.01,
'prob_replace_activation': 0.1,
'std_new': 1.0,
'std_mutate': 0.01,
'activations': ['sigmoid'],
'dist_weight': 0.5,
'dist_activation': 1.0,
'dist_disjoint': 1.0
}
n = neat.Neat(96//8*96//8*1, 3, neat_args)
pool = mp.Pool()
LENGTH = 1000
times = 0
best = -float('inf')
hist = open('car_neat_hist.txt', 'w')
try:
for i in range(1000):
scores = []
pop = n.ask()
# eval population
for ind in pop:
scores.append(pool.apply_async(fitness_car_race, ((ind, False, LENGTH))))
scores = [s.get() for s in scores]
n.tell(scores)
max_score = np.max(scores)
if max_score > best:
best = max_score
# log score info
print("Writing...", end='')
hist.write("{}, {} \n".format(
max_score,
np.mean(scores)
))
hist.flush()
ind = pop[np.argmax(scores)]
# save network info
f = open('models/car_{:03d}.neat'.format(i+1), 'wb')
out = comm.encode(ind.genome.export())
f.write(out)
f.close()
print("Done")
fitness_car_race(ind, render=True)
finally:
pass