style: run clang-format and configure pre-commit hooks
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AI-anonymous
@@ -16,9 +16,9 @@
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* Port of: packages/fces/core/population.py (~1260 LOC)
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*/
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#include <optional>
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#include <string>
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#include <vector>
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#include <optional>
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#include "controller.hpp"
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@@ -28,11 +28,11 @@ namespace fces {
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* Elite selection strategy for stale elite mitigation (Phase 23).
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*/
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enum class EliteStrategy {
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Cumulative, // Raw cumulative fitness
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EMA, // Exponential moving average
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Rolling, // Rolling window average
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Reset, // Periodic reset every 500 steps
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AgePenalty // fitness / log(age + 2)
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Cumulative, // Raw cumulative fitness
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EMA, // Exponential moving average
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Rolling, // Rolling window average
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Reset, // Periodic reset every 500 steps
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AgePenalty // fitness / log(age + 2)
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};
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/**
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@@ -40,126 +40,124 @@ enum class EliteStrategy {
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*/
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class Population {
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public:
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// Configuration constants
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static constexpr int ELITE_COUNT = 2;
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static constexpr float NOVELTY_WEIGHT = 0.1f;
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static constexpr float ISLAND_MIGRATION_RATE = 0.05f;
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static constexpr int BEHAVIORAL_ARCHIVE_SIZE = 100;
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// Configuration constants
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static constexpr int ELITE_COUNT = 2;
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static constexpr float NOVELTY_WEIGHT = 0.1f;
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static constexpr float ISLAND_MIGRATION_RATE = 0.05f;
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static constexpr int BEHAVIORAL_ARCHIVE_SIZE = 100;
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// ---------------------------------------------------------------
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// Construction
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// ---------------------------------------------------------------
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// ---------------------------------------------------------------
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// Construction
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// ---------------------------------------------------------------
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explicit Population(
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int active_size = 75,
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int repo_size = 10000,
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EliteStrategy elite_strategy = EliteStrategy::Cumulative,
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bool link_mutation = false,
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bool link_elite = false,
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bool link_violator = false,
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bool use_fuzzy_pacer = false,
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bool use_fuzzy_importance = false,
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bool direct_construction = false,
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bool use_banach_fission = false
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);
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explicit Population(int active_size = 75, int repo_size = 10000,
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EliteStrategy elite_strategy = EliteStrategy::Cumulative,
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bool link_mutation = false, bool link_elite = false,
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bool link_violator = false, bool use_fuzzy_pacer = false,
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bool use_fuzzy_importance = false,
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bool direct_construction = false,
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bool use_banach_fission = false);
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// ---------------------------------------------------------------
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// Core API
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// ---------------------------------------------------------------
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// ---------------------------------------------------------------
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// Core API
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// ---------------------------------------------------------------
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/// Get the currently active controller (sticky selection)
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FuzzyController& get_active_controller();
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/// Get the currently active controller (sticky selection)
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FuzzyController &get_active_controller();
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/// Select a controller via fitness-weighted tournament
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FuzzyController& select_weighted();
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/// Select a controller via fitness-weighted tournament
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FuzzyController &select_weighted();
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/// Get the best controller in the active population
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FuzzyController& get_best_active();
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/// Get the best controller in the active population
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FuzzyController &get_best_active();
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/// Get the worst non-elite controller
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FuzzyController& get_worst_active();
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/// Get the worst non-elite controller
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FuzzyController &get_worst_active();
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/// Remove a specific controller (unless elite)
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void kill(FuzzyController& controller);
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/// Remove a specific controller (unless elite)
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void kill(FuzzyController &controller);
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/// Update a controller's fitness
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void update_controller_fitness(FuzzyController& controller, float reward, bool increment_eval = true);
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/// Update a controller's fitness
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void update_controller_fitness(FuzzyController &controller, float reward,
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bool increment_eval = true);
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/// Mark a controller as a violator (rollback)
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void mark_violated(FuzzyController& controller);
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/// Mark a controller as a violator (rollback)
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void mark_violated(FuzzyController &controller);
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/// Get the effective fitness considering elite strategy and training progress
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float get_effective_fitness(const FuzzyController& controller, float training_progress) const;
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/// Get the effective fitness considering elite strategy and training progress
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float get_effective_fitness(const FuzzyController &controller,
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float training_progress) const;
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// ---------------------------------------------------------------
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// Evolution
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// ---------------------------------------------------------------
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// ---------------------------------------------------------------
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// Evolution
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// ---------------------------------------------------------------
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/**
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* Evolve the population: select parents, crossover/mutate, replace worst.
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*
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* @param current_loss Current training loss
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* @param velocity Loss velocity
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* @param training_progress Training progress [0, 1]
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*/
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void evolve(float current_loss, float velocity = 0.0f, float training_progress = 0.0f);
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/**
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* Evolve the population: select parents, crossover/mutate, replace worst.
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*
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* @param current_loss Current training loss
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* @param velocity Loss velocity
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* @param training_progress Training progress [0, 1]
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*/
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void evolve(float current_loss, float velocity = 0.0f,
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float training_progress = 0.0f);
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/// Resize the population (dynamic expansion/contraction)
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void resize(int target_size, float training_progress = 0.5f);
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/// Resize the population (dynamic expansion/contraction)
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void resize(int target_size, float training_progress = 0.5f);
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/// Reduce mutation variance after rollback
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void calm_down();
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/// Reduce mutation variance after rollback
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void calm_down();
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// ---------------------------------------------------------------
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// Accessors
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// ---------------------------------------------------------------
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// ---------------------------------------------------------------
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// Accessors
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// ---------------------------------------------------------------
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int size() const { return static_cast<int>(gladiators_.size()); }
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float global_sigma_modifier() const { return global_sigma_modifier_; }
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int size() const { return static_cast<int>(gladiators_.size()); }
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float global_sigma_modifier() const { return global_sigma_modifier_; }
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/// Compute diversity index (behavioral spread)
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float get_diversity_index() const;
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/// Compute diversity index (behavioral spread)
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float get_diversity_index() const;
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/// Serialization
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// TODO: state_dict / load_state_dict
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/// Serialization
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// TODO: state_dict / load_state_dict
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private:
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std::vector<FuzzyController> gladiators_;
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std::vector<FuzzyController> repository_;
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std::vector<FuzzyController> violated_controllers_;
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std::vector<FuzzyController> gladiators_;
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std::vector<FuzzyController> repository_;
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std::vector<FuzzyController> violated_controllers_;
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float global_sigma_modifier_ = 1.0f;
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float global_sigma_modifier_ = 1.0f;
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// Sticky controller selection
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FuzzyController* active_controller_ = nullptr;
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int steps_active_ = 0;
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int selection_interval_ = 20;
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// Sticky controller selection
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FuzzyController *active_controller_ = nullptr;
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int steps_active_ = 0;
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int selection_interval_ = 20;
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// Configuration
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EliteStrategy elite_strategy_;
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bool link_mutation_;
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bool link_elite_;
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bool link_violator_;
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bool use_fuzzy_pacer_;
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bool use_fuzzy_importance_;
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bool direct_construction_;
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bool use_banach_fission_;
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// Configuration
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EliteStrategy elite_strategy_;
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bool link_mutation_;
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bool link_elite_;
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bool link_violator_;
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bool use_fuzzy_pacer_;
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bool use_fuzzy_importance_;
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bool direct_construction_;
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bool use_banach_fission_;
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// Novelty search
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std::vector<std::vector<float>> behavioral_archive_;
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// Novelty search
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std::vector<std::vector<float>> behavioral_archive_;
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// Fitness history for fuzzy pacer
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std::vector<float> fitness_history_;
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// Fitness history for fuzzy pacer
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std::vector<float> fitness_history_;
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// Phase 23: periodic reset counter
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int reset_step_counter_ = 0;
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// Phase 23: periodic reset counter
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int reset_step_counter_ = 0;
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// ---------------------------------------------------------------
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// Internal
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// ---------------------------------------------------------------
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// ---------------------------------------------------------------
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// Internal
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// ---------------------------------------------------------------
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std::vector<FuzzyController*> get_elites();
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void add_to_repository(const FuzzyController& controller);
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std::vector<FuzzyController *> get_elites();
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void add_to_repository(const FuzzyController &controller);
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};
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} // namespace fces
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} // namespace fces
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