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The novelty engine has three parameters that have changed at different points
in the experiment.
- MAXGEN. Every time the foreground server ends a generation, it fetches ten new
rookies, the current champions-vs.-robots, to become part of the main population.
To avoid the effects of convergence, which could lead to the same agents being
sent repeatedly, the background population is restarted every once in a while.
The novelty engine checks the number of generations g that the present
population has been evolving for. If g > MAXGEN, then the present population
is killed and evolution starts with a fresh random population.
- f. When the novelty engine restarts, it fetches f new agents from
the foreground that become the fixed part of the training set.
- SEED. This is a boolean parameter. Upon restart of the coevolutionary run, either
1000 new random agents are created or, if SEED is true, the current 100 champions-against-people
are reintroduced along with 900 random ones -- the foreground population is
used as a seed for the background.