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Scaling Up MAP-Elites Using Centroidal Voronoi Tessellations

meta-repo for code for the CVT-MAP-Elites experiments

Full reference:

How to use it

How to properly clone this repo

git clone --recursive https://github.com/resibots/vassiliades_2016_cvt_map_elites.git

Dependencies

  • Boost: C++ Template Libraries
  • Eigen: Linear Algebra C++ Library
  • realpath: sudo apt-get install realpath

How to easily compile everything

Important: Make sure you have installed all the dependencies of each repo. Otherwise the build will fail.

From the root of this repo run:

sh compile_all.sh

How to run MAP-Elites experiments

6D descriptor (duty factor)
cd sferes2/build/exp/map_elites_hexapod/
./hexa_duty
12D descriptor (12D subset of controller parameters)
cd sferes2/build/exp/map_elites_hexapod/
./hexa_controller12
24D descriptor (24D subset of controller parameters)
cd sferes2/build/exp/map_elites_hexapod/
./hexa_controller24

How to run CVT-MAP-Elites experiments

6D descriptor (duty factor)
cd sferes2/build/exp/cvt_map_elites_hexapod/
./hexa_duty ../../../exp/cvt_map_elites_hexapod/generated_points/generated_points_10000_6.dat
12D descriptor (12D subset of controller parameters)
cd sferes2/build/exp/cvt_map_elites_hexapod/
./hexa_controller12 ../../../exp/cvt_map_elites_hexapod/generated_points/generated_points_10000_12.dat
24D descriptor (24D subset of controller parameters)
cd sferes2/build/exp/cvt_map_elites_hexapod/
./hexa_controller24 ../../../exp/cvt_map_elites_hexapod/generated_points/generated_points_10000_24.dat
36D descriptor (controller parameters)
cd sferes2/build/exp/cvt_map_elites_hexapod/
./hexa_controller ../../../exp/cvt_map_elites_hexapod/generated_points/generated_points_10000_36.dat

How to easily clean everything

From the root of this repo run:

sh clear_all.sh

LICENSE

CeCILL

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