add save function in pipeline

tensorneat/examples/brax/walker.py

@@ -4,27 +4,50 @@ from algorithm.neat import *
 from problem.rl_env import BraxEnv
 from utils import Act
 
+import jax, jax.numpy as jnp
+
+
+def split_right_left(randkey, forward_func, obs):
+    right_obs_keys = jnp.array([2, 3, 4, 11, 12, 13])
+    left_obs_keys = jnp.array([5, 6, 7, 14, 15, 16])
+    right_action_keys = jnp.array([0, 1, 2])
+    left_action_keys = jnp.array([3, 4, 5])
+
+    right_foot_obs = obs
+    left_foot_obs = obs
+    left_foot_obs = left_foot_obs.at[right_obs_keys].set(obs[left_obs_keys])
+    left_foot_obs = left_foot_obs.at[left_obs_keys].set(obs[right_obs_keys])
+
+    right_action, left_action = jax.vmap(forward_func)(jnp.stack([right_foot_obs, left_foot_obs]))
+    # print(right_action.shape)
+    # print(left_action.shape)
+
+    return jnp.concatenate([right_action, left_action])
+
+
 if __name__ == "__main__":
     pipeline = Pipeline(
         algorithm=NEAT(
             species=DefaultSpecies(
                 genome=DefaultGenome(
                     num_inputs=17,
-                    num_outputs=6,
+                    num_outputs=3,
                     max_nodes=50,
                     max_conns=100,
                     node_gene=DefaultNodeGene(
                         activation_options=(Act.tanh,),
                         activation_default=Act.tanh,
                     ),
-                    output_transform=Act.tanh
+                    output_transform=Act.tanh,
                 ),
-                pop_size=10000,
+                pop_size=1000,
                 species_size=10,
             ),
         ),
         problem=BraxEnv(
             env_name="walker2d",
+            max_step=1000,
+            action_policy=split_right_left
         ),
         generation_limit=10000,
         fitness_target=5000,