Coevolution of Morphology and Policy Implicit Neural Functions

Project Page | Video

Setup

First, get the code

git clone https://github.com/huy-ha/coevolving-neural-networks.git

Then compilation is just your typical

mkdir build
cd build
cmake ..
make -j$(nproc)

Evolution

To run the evolution

src/evolutionary/Solve

Quick actions

You can quickly generate and simulate a random creature with

build/demo

You can also see the effect of random mutations to the policy

build/creature/MutateDemo

If you already have a creature JSON file, and you just want to run its simulation

build/creature/CreatureVisualizer <path-to-json>

Visualizing simulations

After you get the simulation result .sim, you can import it into Blender for visualization with

blender --python creature-visualizer.py

This will launch Blender with the creature visualizer plugin installed. Make sure you enable the AnimAll add-on.

The plugin wraps the import functionality into one command, so you just need to navigate to the .sim simulation output file, and click Import.

Playing around with the materials and lighting will get you something like this