Controller for TORCS created by imitation

Proceeding of: IEEE Symposium on Computational Intelligence and Games, 2009. CIG 2009, september 7-10, 2009, Milano, ItalyThis paper is an initial approach to create a controller for the game TORCS by learning how another controller or humans play the game. We used data obtained from two controllers and from one human player. The first controller is the winner of the WCCI 2008 Simulated Car Racing Competition, and the second one is a hand coded controller that performs a complete lap in all tracks. First, each kind of controller is imitated separately, then a mix of the data is used to create new controllers. The imitation is performed by means of training a feed forward neural network with the data, using the backpropagation algorithm for learning.This work was supported in part by the University Carlos III of Madrid under grant PIF UC3M01-0809 and by the Ministry of Science and Innovation under project TRA2007- 67374-C02-02

Evolutionary Spiking Neural Networks As Racing Car Controllers,"

Abstract-The Izhikevich spiking neural network model is investigated as a method to develop controllers for a simple, but not trivial, car racing game, called TORCS. The controllers are evolved using Evolutionary Programming, and the performance of the best individuals is compared with the hand-coded controller included with the Simulated Car Racing Championship API. A set of experiments using the sigmoid neural network was also conducted, to act as a benchmark for the network of Izhikevich neurons. The results are promising, indicating that this spiking neural network model can be applied to other games or control problems

An Evolutionary Tuned Driving System for Virtual Car Racing Games: The AUTOPIA Driver

International audienceThis work presents a driving system designed for virtual racing situations. It is based on a complete modular architecture capable of automatically driving a car along a track with or without opponents. The architecture is composed of intuitive modules, with each one being responsible for a basic aspect of car driving. Moreover, this modularity of the architecture will allow us to replace or add modules in the future as a way to enhance particular features of particular situations. In the present work, some of the modules are implemented by means of hand-designed driving heuristics, whereas modules responsible for adapting the speed and direction of the vehicle to the track's shape, both critical aspects of driving a vehicle, are optimized by means of a genetic algorithm that evaluates the performance of the controller in four different tracks to obtain the best controller in a large number of situations; the algorithm also penalizes controllers that go out of the track, lose control, or get damaged. The evaluation of the performance is done in two ways. First, in runs with and without adversaries over several tracks. And second, the architecture was submitted as a participant to the 2010 Simulated Car Racing Competition, which in end won laurels

Gene regulated car driving: using a gene regulatory network to drive a virtual car

This paper presents a virtual racing car controller based on an artificial gene regulatory network. Usually used to control virtual cells in developmental models, recent works showed that gene regulatory networks are also capable to control various kinds of agents such as foraging agents, pole cart, swarm robots, etc. This paper details how a gene regulatory network is evolved to drive on any track through a three-stages incremental evolution. To do so, the inputs and outputs of the network are directly mapped to the car sensors and actuators. To make this controller a competitive racer, we have distorted its inputs online to make it drive faster and to avoid opponents. Another interesting property emerges from this approach: the regulatory network is naturally resistant to noise. To evaluate this approach, we participated in the 2013 simulated racing car competition against eight other evolutionary and scripted approaches. After its first participation, this approach finished in third place in the competition

Gene regulated car driving: using a gene regulatory network to drive a virtual car

This paper presents a virtual racing car controller based on an artificial gene regulatory network. Usually used to control virtual cells in developmental models, recent works showed that gene regulatory networks are also capable to control various kinds of agents such as foraging agents, pole cart, swarm robots, etc. This paper details how a gene regulatory network is evolved to drive on any track through a three-stages incremental evolution. To do so, the inputs and outputs of the network are directly mapped to the car sensors and actuators. To make this controller a competitive racer, we have distorted its inputs online to make it drive faster and to avoid opponents. Another interesting property emerges from this approach: the regulatory network is naturally resistant to noise. To evaluate this approach, we participated in the 2013 simulated racing car competition against eight other evolutionary and scripted approaches. After its first participation, this approach finished in third place in the competition

Evolving Heterogeneous And Subcultured Social Networks For Optimization Problem Solving In Cultural Algorithms

Cultural Algorithms are computational models of social evolution based upon principle of Cultural Evolution. A Cultural Algorithm are composed of a Belief Space consisting of a network of active and passive knowledge sources and a Population Space of agents. The agents are connected via a social fabric over which information used in agent problem solving is passed. The knowledge sources in the Belief Space compete with each other in order to influence the decision making of agents in the Population Space. Likewise, the problem solving experiences of agents in the Population Space are sent back to the Belief Space and used to update the knowledge sources there. It is a dual inheritance system in which both the Population and Belief spaces evolve in parallel over generations. A question of interest to those studying the emergence of social systems is the extent to which their organizational structure reflects the structures of the problems that are presented to them. In a recent study [Reynolds, Che, and Ali, 2010] used Cultural Algorithms as a framework in which to empirically address this and related questions. There, a problem generator based upon Langton\u27s model of complexity was used to produce multi-dimensional real-valued problem landscapes of varying complexities. Various homogeneous social networks were then tested against the range of problems to see whether certain homogeneous networks were better at distributing problem solving knowledge from the Belief Space to individuals in the population. The experiments suggested that different network structures worked better in the distribution of knowledge for some optimization problems than others. If this is the case, then in a situation where several different problems are presented to a group, they may wish to utilize more than one network to solve them. In this thesis, we first investigate the advantages of utilizing a heterogeneous network over a suite of different problems. We show that heterogeneous approaches begin to dominate homogeneous ones as the problem complexity increases. A second heterogeneous approach, sub-culutres, will be introduced by dividing the social fabric into smaller networks. The three different social fabrics (homogeneous, heterogeneous and Sub-Cultures) were then compared relative to a variety of benchmark landscapes of varying entropy, from static to chaotic. We show that as the number of independent processes that are involved in the production of a landscape increases, the more advantageous subcultures are in directing the population to a solution. We will support our results with t-test statistics and social fabric metrics performance analysis