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