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created own neurobot using brain.js
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modified the rest to work with eneurobots
values now from -1 to 1, no strict decisions
also added the ability to see the distance
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@exi
exi committed Feb 17, 2011
1 parent 6f0e859 commit c37cff5
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131 changes: 131 additions & 0 deletions brain.js
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Original file line number Diff line number Diff line change
@@ -0,0 +1,131 @@
function randinit( range )
{
return (Math.random()*2.0-1.0)*range;
}

function mutate( value, range, rate )
{
var newval;

if( Math.random() <= rate )
{
if( Math.random() <= 0.001 )
{
newval = randinit( range );
}
else
{
newval = value+(Math.random()*2.0-1.0)*rate;
if( newval > range ) newval = range;
if( newval < -range ) newval = -range;
}
}
else
{
newval = value;
}

return newval;
}

function Brain(p_braindepth, p_layersize, p_inputneurons, p_outputneurons) {
this.neurons = new Array();
this.braindepth = p_braindepth;
this.layersize = p_layersize;
this.inputneurons = p_inputneurons;
this.outputneurons = p_outputneurons;

for( var i = 0; i<this.braindepth; i++)
this.neurons.push(new Array(p_layersize));

this.mutateFromParent = function(parent, mutationrate) {
for( var x=0; x<this.neurons.length; x++ ) {
for( var y=0; y<this.neurons[x].length; y++ ) {
this.neurons[x][y] = {};
this.neurons[x][y].inputweights = new Array();
this.neurons[x][y].feedbackweights = new Array();
this.neurons[x][y].activation = 0.0;
this.neurons[x][y].nextact = 0.0;

this.neurons[x][y].bias = mutate( parent.neurons[x][y].bias, 5.0, mutationrate );

if( x != 0 ) {
for( var i=0; i<this.layersize; i++ ) {
this.neurons[x][y].inputweights[i] = mutate( parent.neurons[x][y].inputweights[i], 5.0, mutationrate );
this.neurons[x][y].feedbackweights[i] = mutate( parent.neurons[x][y].feedbackweights[i], 5.0, mutationrate );
}
} else {
for( var i=0; i<32; i++ ) {
this.neurons[x][y].inputweights[i] = mutate( parent.neurons[x][y].inputweights[i], 5.0, mutationrate );
this.neurons[x][y].feedbackweights[i] = 0;
}
}
}
}
};

this.randomInit = function() {
for( var x=0; x<this.neurons.length; x++ ) {
for( var y=0; y<this.neurons[x].length; y++ ) {
this.neurons[x][y] = {};
this.neurons[x][y].inputweights = new Array();
this.neurons[x][y].feedbackweights = new Array();
this.neurons[x][y].activation = 0.0;
this.neurons[x][y].nextact = 0.0;

if( x != 0 ) {
this.neurons[x][y].bias = randinit( 5.0 );
for( var i=0; i<this.layersize; i++ ) {
this.neurons[x][y].inputweights[i] = randinit( 5.0 );
this.neurons[x][y].feedbackweights[i] = randinit( 5.0 );
}
} else {
this.neurons[x][y].bias = randinit( 5.0 );
for( var i=0; i<32; i++ ) {
this.neurons[x][y].inputweights[i] = randinit( 5.0 );
this.neurons[x][y].feedbackweights[i] = 0;
}
}
}
}
}

this.step = function(input) {
for( y=0; y<this.layersize; y++ ) {
this.neurons[0][y].nextact = this.neurons[0][y].bias;
for( i=0; i<input.length; i++ )
this.neurons[0][y].nextact += input[i] * this.neurons[0][y].inputweights[i];
}

for( x=1; x<this.braindepth; x++ ) {
for( y=0; y<this.layersize; y++ ) {
this.neurons[x][y].nextact = this.neurons[x][y].bias;
for( i=0; i<this.layersize; i++ ) {
this.neurons[x][y].nextact += this.neurons[x-1][i].activation * this.neurons[x][y].inputweights[i];
this.neurons[x-1][y].nextact += this.neurons[x][i].activation * this.neurons[x][y].feedbackweights[i];
}
}
}

for( x=0; x<this.braindepth; x++ ) {
for( y=0; y<this.layersize; y++ ) {
this.neurons[x][y].activation = this.neurons[x][y].nextact/(1.0+Math.abs(this.neurons[x][y].nextact));
}
}

var output = new Array(this.outputneurons);

for( var i=0; i<this.outputneurons; i++) {
var stepsize = Math.floor(this.layersize/this.outputneurons);
output[i] = 0;
for( var j=i*stepsize; j<stepsize*(i+1); j++) {
output[i] += this.neurons[this.neurons.length-1][j].activation;
}
output[i] /= stepsize;
output[i] = output[i]/(1.0+Math.abs(output[i]));
}

return output;
}

}
136 changes: 21 additions & 115 deletions neurobot.js → eneurobot.js
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ function mutate( value, range, rate )
var braindepth;
var brainsize;

function neurobot( x, y, rot, parent )
function neurobot( x, y, rot, parent)
{
this.alife = true;
this.rot = rot;
Expand Down Expand Up @@ -103,6 +103,8 @@ function neurobot( x, y, rot, parent )
if( this.color.b < 0 ) this.color.b = 0;
}

this.brain = new Brain(this.braindepth, this.brainsize, 32, 2);

this.neurons = new Array();
for( var i=0; i<this.braindepth; i++ )
{
Expand All @@ -111,69 +113,11 @@ function neurobot( x, y, rot, parent )

if( ! parent )
{
for( var x=0; x<this.braindepth; x++ )
{
for( var y=0; y<this.brainsize; y++ )
{
this.neurons[x][y] = {};
this.neurons[x][y].inputweights = new Array();
this.neurons[x][y].feedbackweights = new Array();
this.neurons[x][y].activation = 0.0;
this.neurons[x][y].nextact = 0.0;

if( x != 0 )
{
this.neurons[x][y].bias = randinit( 5.0 );
for( var i=0; i<this.brainsize; i++ )
{
this.neurons[x][y].inputweights[i] = randinit( 5.0 );
this.neurons[x][y].feedbackweights[i] = randinit( 5.0 );
}
}
else
{
this.neurons[x][y].bias = randinit( 5.0 );
for( var i=0; i<32; i++ )
{
this.neurons[x][y].inputweights[i] = randinit( 5.0 );
this.neurons[x][y].feedbackweights[i] = 0;
}
}
}
}
this.brain.randomInit();
}
else
{
for( var x=0; x<this.braindepth; x++ )
{
for( var y=0; y<this.brainsize; y++ )
{
this.neurons[x][y] = {};
this.neurons[x][y].inputweights = new Array();
this.neurons[x][y].feedbackweights = new Array();
this.neurons[x][y].activation = 0.0;
this.neurons[x][y].nextact = 0.0;

this.neurons[x][y].bias = mutate( parent.neurons[x][y].bias, 5.0, this.mutationrate );

if( x != 0 )
{
for( var i=0; i<this.brainsize; i++ )
{
this.neurons[x][y].inputweights[i] = mutate( parent.neurons[x][y].inputweights[i], 5.0, this.mutationrate );
this.neurons[x][y].feedbackweights[i] = mutate( parent.neurons[x][y].feedbackweights[i], 5.0, this.mutationrate );
}
}
else
{
for( var i=0; i<32; i++ )
{
this.neurons[x][y].inputweights[i] = mutate( parent.neurons[x][y].inputweights[i], 5.0, this.mutationrate );
this.neurons[x][y].feedbackweights[i] = 0;
}
}
}
}
this.brain.mutateFromParent(parent.brain);
}

this.step = function()
Expand All @@ -194,6 +138,7 @@ function neurobot( x, y, rot, parent )
dist = f.x*f.x+f.y*f.y;
if( dist > 150.0*150.0 )
continue;
var distq = dist;

for( var i=0; i<16; i++ )
{
Expand All @@ -211,7 +156,7 @@ function neurobot( x, y, rot, parent )
dist = (p.x-food[j].x)*(p.x-food[j].x)+(p.y-food[j].y)*(p.y-food[j].y);

if( dist <= 25.0 )
this.vision[i] = 1.0;
this.vision[i] = 1.0 - distq/(150*150);
}
}

Expand All @@ -229,6 +174,7 @@ function neurobot( x, y, rot, parent )
dist = f.x*f.x+f.y*f.y;
if( dist > 150.0*150.0 )
continue;
var distq = dist;

for( var i=0; i<16; i++ )
{
Expand All @@ -246,55 +192,15 @@ function neurobot( x, y, rot, parent )
dist = (p.x-bots[j].x)*(p.x-bots[j].x)+(p.y-bots[j].y)*(p.y-bots[j].y);

if( dist <= 25.0 )
this.vision[i+16] = 1.0;
}
}

for( y=0; y<this.brainsize; y++ )
{
this.neurons[0][y].nextact = this.neurons[0][y].bias;
for( i=0; i<32; i++ )
this.neurons[0][y].nextact += this.vision[i] * this.neurons[0][y].inputweights[i];
}

for( x=1; x<this.braindepth; x++ )
for( y=0; y<this.brainsize; y++ )
{
this.neurons[x][y].nextact = this.neurons[x][y].bias;
for( i=0; i<this.brainsize; i++ )
{
this.neurons[x][y].nextact += this.neurons[x-1][i].activation * this.neurons[x][y].inputweights[i];
this.neurons[x-1][y].nextact += this.neurons[x][i].activation * this.neurons[x][y].feedbackweights[i];
this.vision[i+16] = 1.0 - distq/(150*150);
}
}

for( x=0; x<this.braindepth; x++ )
for( y=0; y<this.brainsize; y++ )
{
if( this.neurons[x][y].nextact > 0.0 )
this.neurons[x][y].activation = this.neurons[x][y].nextact/(1.0+this.neurons[x][y].nextact);
else
this.neurons[x][y].activation = 0.0;
}
var output = this.brain.step(this.vision);

var speed = 0.0;
var turnspeed = 0.0;
var speed = Math.abs(output[0]);
var turnspeed = output[1];

for( var i=0; i<this.brainsize/2; i++ )
{
speed += this.neurons[this.braindepth-1][i].activation;
}
speed /= this.brainsize/2;

for( var i=this.brainsize/2; i<this.brainsize; i++ )
{
if( i%2 == 0 )
turnspeed += this.neurons[this.braindepth-1][i].activation;
else
turnspeed -= this.neurons[this.braindepth-1][i].activation;
}
turnspeed /= this.brainsize/2;

this.rot += turnspeed/5.0;

if( this.rot >= 2.0*Math.PI )
Expand Down Expand Up @@ -363,7 +269,7 @@ function neurobot( x, y, rot, parent )
lx = Math.cos( dir )*150.0;
ly = Math.sin( dir )*150.0;

ctx.strokeStyle = "rgba( "+(this.vision[i+16]*127+127)+", "+(this.vision[i]*127+127)+", 127, 0.25 )"
ctx.strokeStyle = "rgba( "+Math.round(this.vision[i+16]*127+127)+", "+Math.round(this.vision[i]*127+127)+", 127, 0.25 )"

ctx.beginPath();
ctx.moveTo( 0, 0 );
Expand All @@ -387,27 +293,27 @@ function neurobot( x, y, rot, parent )
{
var data = "BRAINDATA:1/5;\n";

data += this.brainsize.toString(36) + ":" + this.braindepth.toString(36) + ":" + this.generation.toString(36) + ":" + int_pack( this.mutationrate, 1.0 ) + ":";
data += this.brain.layersize.toString(36) + ":" + this.brain.braindepth.toString(36) + ":" + this.generation.toString(36) + ":" + int_pack( this.mutationrate, 1.0 ) + ":";
data += Math.round(this.color.r).toString(16) + "/" + Math.round(this.color.g).toString(16) + "/" + Math.round(this.color.b).toString(16) + ";\n";

for( var x=0; x<this.braindepth; x++ )
for( var x=0; x<this.brain.braindepth; x++ )
{
for( var y=0; y<this.brainsize; y++ )
for( var y=0; y<this.brain.layersize; y++ )
{
data += int_pack( this.neurons[x][y].bias, 5.0 ) + "/";
data += int_pack( this.brain.neurons[x][y].bias, 5.0 ) + "/";
if( x != 0 )
{
for( var i=0; i<this.brainsize; i++ )
for( var i=0; i<this.brain.layersize; i++ )
{
data += int_pack( this.neurons[x][y].inputweights[i], 5.0 ) + "/";
data += int_pack( this.neurons[x][y].feedbackweights[i], 5.0 ) + "/";
data += int_pack( this.brain.neurons[x][y].inputweights[i], 5.0 ) + "/";
data += int_pack( this.brain.neurons[x][y].feedbackweights[i], 5.0 ) + "/";
}
}
else
{
for( var i=0; i<32; i++ )
{
data += int_pack( this.neurons[x][y].inputweights[i], 5.0 ) + "/";
data += int_pack( this.brain.neurons[x][y].inputweights[i], 5.0 ) + "/";
}
}
data += ":";
Expand Down
6 changes: 4 additions & 2 deletions index.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,9 @@
<html>
<head>
<title>Neurobots</title>
<script type="text/javascript" src="neurobot.js"></script>
<!-- <script type="text/javascript" src="neurobot.js"></script> -->
<script type="text/javascript" src="brain.js"></script>
<script type="text/javascript" src="eneurobot.js"></script>
<script type="text/javascript" src="plant.js"></script>
<script type="text/javascript" src="stats.js"></script>
<script type="text/javascript" src="input.js"></script>
Expand All @@ -25,7 +27,7 @@ <h1>Neurobots</h1>
<input type="button" value="Stop" id="stopbutton" onclick="stopsim();">
<input type="button" value="Reset" onclick="resetsim();">
<input type="button" value="Reset Camera" onclick="resetcam();">
FPS:</td><td><span id="fpsspan">0</span>
CylesPS:</td><td><span id="fpsspan">0</span>
</p>

<span id="worldopts">
Expand Down
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