resibots/cully_2015_nature

Meta-repo for the code of Cully et. al., 2015

Robots that can adapt like animals

WARNING This repository is for archival-purpose only. A more up-to-date implementation of IT&E as described in Cully et al., 2015 is available here: https://github.com/resibots/ite_v2

meta-repo for code for the experiments published in Cully et al. (2015), Nature.

Full reference: Cully, Antoine, Jeff Clune, Danesh Tarapore, and Jean-Baptiste Mouret. "Robots that can adapt like animals." Nature 521, no. 7553 (2015): 503-507.

• Author-generated [pdf]
• Nature version (paywall) [html / pdf]

Video (click on it to play):

How to use it

How to properly clone this repo

git clone --recursive https://github.com/resibots/cully_2015_nature.git

Dependencies

• ODE: Dynamics Engine
  • Make sure you have installed ODE by sources and using this trick.
  • If you do not want to generate new MAP Elites archives, you can install ODE from binaries.
• 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 generate MAP-Elites archives

From the root of this repo run:

./sferes2/build/default/exp/map_elites_hexapod/hexa_duty_text

Typical runs take 10-15 days.

See map_elites_hexapod for more details.

How to run the ITE experiments

From the root of this repo run:

./limbo/build/exp/ITE/hexa_bomean_variant limbo/exp/ITE/archives/archive_file.dat

See ITE for more details.

How to easily clean everything

From the root of this repo run:

sh clear_all.sh

LICENSE

CeCILL

cully_2015_nature's Issues

generate MAP-Elites archives error

Hi, I have compiled the cullye_2015_nature repository and install depenencies for each. But when I generated the MAP-Elites, some error occurred. The error information is as follows:

dong@dong-pc:~/cully_2015_nature$ ./sferes2/build/default/exp/map_elites_hexapod/hexa_duty_text
debut run
sferes2 version: (const char*)"c1079efedd1d21b602e3ba02af37b6058ad5ddc3"
seed: 1540378784
Segmentation fault (core dumped)

So..can you give me some advice and tell me your compile environment such as the version of ODE and system version?
I run on Ubuntu 14.04 and the version of ODE is 0.13

sh compile_all.sh error and install questions

Hi, I have cloned cullye_2015_nature repository, and install depenencies for each. I got error like "can not find robot.hh in map_elites_hexapod/hexapod.hh" when I run "sh compile_all.sh" . So should I compile and install each repository before I run 'sh compile_all.sh' cmd? Thank you.