Kheperax

The Kheperax task is a re-implementation of the fastsim simulator from Mouret and Doncieux (2012). Kheperax is fully written using JAX, to leverage hardware accelerators and massive parallelization.

Features

• Fully implemented in JAX for hardware acceleration
• Simulates Khepera-like robots (circular robots with 2 wheels) in 2D mazes
• Configurable robot sensors (lasers and bumpers)
• Directly compatible with the QDax library for efficient Quality-Diversity optimization
• Customizable maze layouts and target-based tasks
• Rendering capabilities for visualizing the environment

Installation

Kheperax is available on PyPI and can be installed with:

pip install kheperax

Alternatively, to install Kheperax with CUDA 12 support, you can run:

pip install kheperax[cuda12]

Task Properties

Environment

Each episode is run for a fixed amount of time-steps (by default equal to 250). The agent corresponds to a Khepera-like robot (circular robots with 2 wheels) that moves in a planar 2-dimensional maze. This robot has (by default):

• 3 lasers to estimate its distance to some walls in specific directions (by default -45, 0 and 45 degrees).
• 2 bumpers to detect contact with walls. At each time-step, the agent receives an observation, which corresponds to all laser and bumper measures:

# by default:
[laser 1, laser 2, laser 3, bumper left, bumper right]

The bumpers return 1 if there's a contact with a wall and -1 otherwise.

The actions to pass to the environment should be between -1 and 1. They are then scaled depending on a scale defined in the environment configuration.

Run examples

Install Dependencies

Before running examples, we recommend creating a virtual environment and installing the required dependencies:

python -m venv venv
source venv/bin/activate
pip install -r requirements.txt

If you want to run the examples with CUDA 12 support, you need install jax with the cuda12 extra:

pip install jax[cuda12]==<version-from-requirements.txt>

Launch MAP-Elites Example

To run the MAP-Elites example on the standard Kheperax task, you can use the following colab notebook:

Other tasks can be run with the following scripts.

python -m examples.target.target_me_training  # Target task with MAP-Elites

python -m examples.final_distance.final_distance_me_training  # Final Distance task with MAP-Elites

Additional details on those tasks can be found in the Tasks and Maze Types section.

Rendering images and gifs

To render images, you can run the following script:

python -m examples.rendering.maps_rendering

To render gifs, you can run the following script:

python -m examples.rendering.gif

Tasks and Maze Types

Kheperax supports various tasks and maze types. Here's an overview of the available options and their corresponding files:

Basic Kheperax Task

• File: kheperax/tasks/main.py
• Class: KheperaxTask
• Configuration: KheperaxConfig
• Description: The standard Kheperax environment without a specific target.
• Fitness: sum of rewards
• Reward: negated norm of actions, r_t = -1 * norm a_t (i.e. r_t ~ negated energy spent at time t)
• Descriptor: final (x,y) location of the robot.

Key Features:

• Reward Function:
  • negated norm of actions, r_t = -1 * norm a_t (i.e. r_t ~ negated energy spent at time t)
  • This encourages the robot to move efficiently.
• Episode Termination:
  • The episode terminates if the maximum number of steps is reached.
• Rendering:
  • When rendered, the target appears as a green circle in the maze.

Configuration

A KheperaxConfig object contains all the properties of a KheperaxTask:

from kheperax.tasks.config import KheperaxConfig

config = KheperaxConfig.get_default()

Key configuration options with their default values:

• episode_length: int = 250, maximum number of timesteps per episode
• mlp_policy_hidden_layer_sizes: Tuple[int, ...] = (8,), structure of policy network's hidden layers
• action_scale: float = 0.025, scales the actions for wheel velocities
• robot: Robot, includes:
  • posture: Posture(x=0.15, y=0.15, angle=pi/2), initial position and orientation
  • radius: float = 0.015, robot size
  • laser_ranges: Union[float, List[float]] = 0.2, max ranges for laser sensors
  • laser_angles: List[float] = [-pi/4, 0.0, pi/4], placement angles for laser sensors
  • std_noise_sensor_measures: float = 0.0, noise in sensor readings
• maze: Maze, defines the environment layout (default is a standard maze)
• std_noise_wheel_velocities: float = 0.0, noise in wheel velocities
• resolution: Tuple[int, int] = (1024, 1024), rendering resolution
• limits: Tuple[Tuple[float, float], Tuple[float, float]] = ((0., 0.), (1., 1.)), environment boundaries
• action_repeat: int = 1, number of times each action is repeated

Usage example:

from kheperax.tasks.config import KheperaxConfig
from kheperax.simu.robot import Robot
from kheperax.simu.maze import Maze

config = KheperaxConfig.get_default()

config.episode_length = 1000
config.action_scale = 0.03
config.resolution = (800, 800)

new_robot = Robot.create_default_robot().replace(radius=0.05)
config.robot = new_robot

new_maze = Maze.create(segments_list=[...])  # Define maze segments
config.maze = new_maze

Target Kheperax Task

• File: kheperax/tasks/target.py
• Class: TargetKheperaxTask
• Configuration: TargetKheperaxConfig
• Description: Kheperax environment with a target position for the robot to reach.
• Fitness: sum of rewards (detailed below)
• Descriptor: final (x,y) location of the robot.

Key Features:

• Reward Function:
  • At each step, the reward is the negative distance to the target center.
  • This encourages the robot to move towards the target.
• Episode Termination:
  • The episode ends when the robot reaches the target (enters the target radius).
  • Also terminates if the maximum number of steps is reached.
• Rendering:
  • When rendered, the target appears as a green circle in the maze.

Configuration

TargetKheperaxConfig contains the same parameters as KheperaxConfig, plus additional target-related parameters:

• Target Position: Defines a specific point in the maze for the robot to reach. Default position: (0.15, 0.9)
• Target Radius: Specifies the size of the target area.
  • Default radius: 0.05
  • The episode ends when the robot enters this radius.

Usage example:

from kheperax.tasks.target import TargetKheperaxConfig, TargetKheperaxTask

# Create a default target configuration
target_config = TargetKheperaxConfig.get_default()

# Customize the configuration if needed
target_config.target_pos = (0.2, 0.8)  # Change target position
target_config.target_radius = 0.06    # Change target radius

# Create the target task
target_task = TargetKheperaxTask(target_config)

# Use the task in your experiment
# ... (reset, step, etc.)

Final Distance Kheperax Task

• File: kheperax/tasks/final_distance.py
• Class: FinalDistKheperaxTask
• Description: A task that only rewards the final distance to the target.
• Fitness: sum of rewards (detailed below)
• Descriptor: final (x,y) location of the robot.

Key Features:

• Reward Function:
  • At each step, the reward is -1, except for the final step, where the reward is 100 * the negative distance to the target center.
  • This encourages the robot to move towards the target as quickly as possible.
• Episode Termination:
  • The episode ends when the robot reaches the target (enters the target radius).
  • Also terminates if the maximum number of steps is reached.

TargetKheperaxConfig is still used to manage the configuration for this kind of task (see above description)

Maze Maps

• File: kheperax/envs/maze_maps.py
• Description: Defines various maze layouts, including:
  • Standard Kheperax maze - standard
  • Pointmaze - pointmaze
  • Snake maze - snake

To use a specific maze map:

from kheperax.tasks.config import KheperaxConfig
from kheperax.tasks.target import TargetKheperaxConfig

# Get the default configuration for the desired maze map
maze_map = KheperaxConfig.get_default_for_map("standard")  # or "pointmaze", "snake"

# For target-based tasks
target_maze_map = TargetKheperaxConfig.get_default_for_map("standard")  # or "pointmaze", "snake"

	Standard	PointMaze	Snake
No target
Target

Quad Mazes

• File: kheperax/tasks/quad.py
• Function: make_quad_config
• Description: Creates quad mazes, which are essentially four copies of the original maze flipped in different orientations.

To create a quad maze configuration:

from kheperax.tasks.config import KheperaxConfig
from kheperax.tasks.target import TargetKheperaxConfig
from kheperax.tasks.quad import make_quad_config

# Get the default configuration for the desired maze map
maze_map = KheperaxConfig.get_default_for_map("standard")  # or "pointmaze", "snake"
target_maze_map = TargetKheperaxConfig.get_default_for_map("standard")  # or "pointmaze", "snake"

# Create a quad maze configuration
quad_config = make_quad_config(maze_map)  # or target_maze_map for target-based tasks

	Quad Standard	Quad PointMaze	Quad Snake
No target
Target

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Citation

If you use Kheperax in your research, please cite the following paper:

@inproceedings{grillotti2023kheperax,
  title={Kheperax: a lightweight jax-based robot control environment for benchmarking quality-diversity algorithms},
  author={Grillotti, Luca and Cully, Antoine},
  booktitle={Proceedings of the Companion Conference on Genetic and Evolutionary Computation},
  pages={2163--2165},
  year={2023}
}

Acknowledgements

• Original fastsim simulator by Mouret and Doncieux (2012)