From: Wolf-Dieter B. <wd...@wd...> - 2013-06-23 14:38:13
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Hello Xavier, > (USR) setups (currently I'm all setups in hand, not with genetic) In principal it should be possible to use the genetic parameter optimization for USR as well. The car parameters can be taken from the simplix file, there is no difference. But to completely setup the genetic-template file, you need to know how the parameters of the robots are used. This is where I do not know much about the other robots. Have a look to the car parameter here: <section name="Brake Balance"> <attnum name="active" val="1"/> <attstr name="label" val="BrakeRepart."/> <attstr name="section" val="Brake System"/> <attstr name="parameter" val="front-rear brake repartition"/> <attnum name="range" min="0.5" max="0.65" val="0.57"/> <attnum name="weight" val="5"/> <attnum name="scale" val="0.1"/> <attnum name="round" val="10000"/> </section> The section name is to be defined freely : "Brake Balance" The active switch can be set to on/off (1,0), to allow different optimization steps, Start with some main parameters like wings, speed scale, and later add others. Normally it is set to on. The label is used for display in the log only (Use same length for all): "BrakeRepart." The section is known from the car setup file: "Brake System". Same is the parameter name: "front-rear brake repartition" But now the more difficult things start (For robot parameters)! For car parameters the range is well known from the car type setup file: You have to define the min, the max and the default value: Min="0.5" max="0.65" val="0.57" The weight defines the probability to be selected while optimization. Larger values mean more often selected, you can start with all weights to be same (e.g. = 1). The scale defines the change of the parameter from step to step. It should be set to correspond with the value, small changes for parameters that have many significant digits behind the separator (See simplix files to get samples). The round defines the number of digits behind the separator written to the setup file: 100 means 0.00, 1000 means 0.000 and so on. To define the range, the min, the max, the scale and the round you need to know about the usage of the robot parameter. The first group of parameters called "Global" is used once per track. You should start with global parameters only. Later you can define local parameter groups for the X bgn/ X end/ X parametername1 X parametername2 parameters of the USR. Here we have to look at the details, how to do it for the USR, it is not used for simplix (but I used it for the TORCS robot wdbee as well). > I also think one robot (Simplix) in the game would not be good > (two robots - two different code are two ways of seeing things), > it is clear that we lack a real developer for that part of it - > no offense you Gabor. Well that is just what I think about here as well. We should have more than one robot and we should have a teammate knowing about the details of the code and more than one knowing about the details of the parameters used in the setup files ;-). Cheers Wolf-Dieter |