Need help designing fitness evaluation for a NEAT algorithm-based neural network

Question

I am working on a neural network based on the NEAT algorithm that learns to play an Atari Breakout clone in Python 2.7, and I have all of the pieces working, but I think the evolution could be greatly improved with a better algorithm for calculating species fitness.

The inputs to the neural network are:

• X coordinate of the center of the paddle
• X coordinate of the center of the ball
• Y coordinate of the center of the ball
• ball's dx (velocity in X)
• ball's dy (velocity in Y)

The outputs are:

• Move paddle left
• Move paddle right
• Do not move paddle

The parameters I have available to the species fitness calculation are:

• breakout_model.score - int : the final score of the game played by the species
• breakout_model.num_times_hit_paddle - int : the number of times the paddle hit the ball
• breakout_model.hits_per_life - int : the number of times the paddle hit the ball per life , in the form of a list; eg first element is the value for the first life, 2nd element is the value for the 2nd life, and so on up to 4
• breakout_model.avg_paddle_offset_from_ball - decimal : the average linear distance in the X direction between the ball and the center of the paddle
• breakout_model.avg_paddle_offset_from_center - decimal : the average linear distance in the X direction between the center of the frame and the center of the paddle
• breakout_model.time - int : the total duration of the game, measured in frames
• breakout_model.stale - boolean : whether or not the game was artificially terminated due to staleness (eg ball gets stuck bouncing directly vertical and paddle not moving)

If you think I need more data about the final state of the game than just these, I can likely implement a way to get it very easily.

Here is my current fitness calculation, which I don't think is very good:

def calculate_fitness(self):
    self.fitness = self.breakout_model.score
    if self.breakout_model.num_times_hit_paddle != 0:
        self.fitness += self.breakout_model.num_times_hit_paddle / 10
    else:
        self.fitness -= 0.5
    if self.breakout_model.avg_paddle_offset_from_ball != 0:
        self.fitness -= (1 / self.breakout_model.avg_paddle_offset_from_ball) * 100
    for hits in self.breakout_model.hits_per_life:
        if hits == 0:
            self.fitness -= 0.2
    if self.breakout_model.stale:
        self.fitness = 0 - self.fitness
    return self.fitness

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Here is what I think the fitness calculation should do, semantically:

• The score, obviously, should have the most significant impact on the overall fitness. Maybe a score of 0 should slightly negatively affect the fitness?
• The number of times that the paddle hit the ball per life should have some effect, but not as significant of a contribution/weight. eg if that number is 0, it didn't even really try to hit the ball at all during that life, so it should have a negative effect
• The number of times that the paddle hit the ball total should also have some effect, and its contribution should be based on the score. eg if it didn't hit the ball many times and also didn't score many points, that should have a significant negative effect; if it didn't hit the ball many times but scored a high number of points, that should have a significant positive effect. Overall, (I think ) the closer to equal this value is to the game score, the less contribution/weight this value should have on fitness
• The average distance in the X direction between the center of the frame and the center of the paddle should basically encourage a central "resting" position for paddle
• If the game was ended artificially due to staleness, either this should have a significant negative effect, or it should automatically force the fitness to be 0.0; I'm not sure which case would be better

I'm not sure how to operate on all these values to make them affect the overall fitness appropriately.

Thanks in advance for any help you can provide.

Answer 1

I would minimize the conditional logic in your fitness function, using it only in those cases where you want to force the fitness score to 0 or a major penalty. I would just decide how much weight each component of the score should have and multiply. Negative components just add complexity to understanding the fitness function, with no real benefit; the model learns from the relative difference in scores. So my version of the function would look something like this:

def fitness(...):
    if total_hits == 0:
        return 0
    return (game_score/max_score) * .7 \
           + game_score/total_hits * .2 \
           + game_score_per_life/hits_per_life * .1

(Aside: I didn't include "distance from center of frame" because I think that's cheating; if staying near the center is a good thing to do to maximize play efficiency, then the agent should learn that on it's own. If you sneak all the intelligence into the fitness function, then your agent isn't intelligent at all.)