some questions about experiment

[mw981113zzZ]

some questions about experiment

[riturajkaushik]

For a robot with no damage, blocked_legs is an empty array, e.g., blocked_legs = [ ] .

env_params.txt files are generated when you create a map-elites archive. You do not have to create it manually.

We created the repertoires on the cluster (no in our laptop). To generate the repertoires in your computer, you have to adjust the map elites parameters accordingly to match the computing power you have. For example, "random_init = 3000" might take a lot of time if your computer has a small number of cores. Similarly, "dump_period" specifies how often you want to create your archive files. dump_period = 1000 means that map-elites will create an archive file after every 1000 generation, where each generation has batch_size number of evaluations. Our defaults are dump_period = 1000, batch_size=100. So only after 100,000 evaluations, a new archive will be generated (which a lot for a laptop). You can try dump_period = 10 or even less to get generate archive files faster.

[mw981113zzZ]

when i run the python hexapod_experiments/map_elites_hexapod_cartesian.py --lateral_friction 1.0 --blocked_legs 1 3,i can get generation0 after 20-30minutes ，but i cannot get others generation after 5-6 hours.I look forward to your reply and thank you very much！！！

[mw981113zzZ]

Thank you for your reply! I try your methods and it seems work.

I want to collect data that the legs are not broken，when i run python hexapod_experiments/map_elites_hexapod_cartesian.py --lateral_friction 1.0 --blocked_legs 1 3 in the terminal,i set the block_legs value with [ ] or blank,it does not work,it seems must set an int value and the system reminds me set at least one argument . Sorry,I don't how to run this and look forward for your reply.

Thanks again for your reply！

[riturajkaushik]

Did you try without any --blocked_legs argument? i.e., Simply running

python hexapod_experiments/map_elites_hexapod_cartesian.py --lateral_friction 1.0

[riturajkaushik]

Also, env_params.txt files are available now. Let me know if you can run the experiments now.

[mw981113zzZ]

Yeah!I try block_legs 1 4 and without block_legs.And this experiments can run well! Thank you for sharing env_params.txt.
And thanks again for your reply！

[riturajkaushik]

Ok. Great! I am closing this issue.