NathanS-Git / Morphology-Evolution

My final undergraduate project. Evolves morphology for the task of walking.

Morphology Evolution

This project utilizes MuJoCo through a slightly modified environment based on OpenAI's gym to train and evaluate different generated morphologies. The morphology are designed by a genetic algorithm, and evaluated with a reinforcement learning algorithm called TD3.

 

Overview

You can read the paper associated with the project here, however, reading it won't be necessary as I'll provide the data here.

 

Timeline of some test populations:

The below population examples were evaluated over an increasing amount of episodes. It should also be noted the colors are not consistent between frames.

• Evolution of a test population without macro mutations

• Evolution of a test population with macro mutations

 

Human designed morphology for comparison:

Human designed 'Ant' morphology

• Model

• Score