evolutionary-policy-optimization 0.2.18__tar.gz → 0.2.19__tar.gz

{evolutionary_policy_optimization-0.2.18 → evolutionary_policy_optimization-0.2.19}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: evolutionary-policy-optimization
-Version: 0.2.18
+Version: 0.2.19
 Summary: EPO - Pytorch
 Project-URL: Homepage, https://pypi.org/project/evolutionary-policy-optimization/
 Project-URL: Repository, https://github.com/lucidrains/evolutionary-policy-optimization
@@ -323,9 +323,24 @@ That's it
 }
 ```
 
+```bibtex
+@article{Zhu2025Hybrid,
+    author         = {Zhu, Zimo and Yu, Chuanqiang and Wang, Junti},
+    title          = {A Hybrid Genetic Algorithm and Proximal Policy Optimization System for Efficient Multi-Agent Task Allocation},
+    journal        = {Systems},
+    volume         = {13},
+    year           = {2025},
+    number         = {6},
+    article-number = {453},
+    url            = {https://www.mdpi.com/2079-8954/13/6/453},
+    issn           = {2079-8954}
+```
+
 ```bibtex
 @misc{kedia2026simtoolrealobjectcentricpolicyzeroshot,
     title   = {SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation},
+@misc{kedia2026simtoolrealobjectcentricpolicyzeroshot,
+    title   = {SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation}, 
     author  = {Kushal Kedia and Tyler Ga Wei Lum and Jeannette Bohg and C. Karen Liu},
     year    = {2026},
     eprint  = {2602.16863},
@@ -343,6 +358,31 @@ That's it
     year    = {2018},
     volume  = {abs/1802.06070},
     url     = {https://arxiv.org/abs/1802.06070}
+    url     = {https://arxiv.org/abs/2602.16863}, 
+```
+
+```bibtex
+@article{Zhu2025Hybrid,
+    author         = {Zhu, Zimo and Yu, Chuanqiang and Wang, Junti},
+    title          = {A Hybrid Genetic Algorithm and Proximal Policy Optimization System for Efficient Multi-Agent Task Allocation},
+    journal        = {Systems},
+    volume         = {13},
+    year           = {2025},
+    number         = {6},
+    article-number = {453},
+    url            = {https://www.mdpi.com/2079-8954/13/6/453},
+    issn           = {2079-8954}
+```
+
+```bibtex
+@misc{kedia2026simtoolrealobjectcentricpolicyzeroshot,
+    title   = {SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation}, 
+    author  = {Kushal Kedia and Tyler Ga Wei Lum and Jeannette Bohg and C. Karen Liu},
+    year    = {2026},
+    eprint  = {2602.16863},
+    archivePrefix = {arXiv},
+    primaryClass = {cs.RO},
+    url     = {https://arxiv.org/abs/2602.16863}, 
 }
 ```
 

{evolutionary_policy_optimization-0.2.18 → evolutionary_policy_optimization-0.2.19}/README.md

@@ -265,9 +265,24 @@ That's it
 }
 ```
 
+```bibtex
+@article{Zhu2025Hybrid,
+    author         = {Zhu, Zimo and Yu, Chuanqiang and Wang, Junti},
+    title          = {A Hybrid Genetic Algorithm and Proximal Policy Optimization System for Efficient Multi-Agent Task Allocation},
+    journal        = {Systems},
+    volume         = {13},
+    year           = {2025},
+    number         = {6},
+    article-number = {453},
+    url            = {https://www.mdpi.com/2079-8954/13/6/453},
+    issn           = {2079-8954}
+```
+
 ```bibtex
 @misc{kedia2026simtoolrealobjectcentricpolicyzeroshot,
     title   = {SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation},
+@misc{kedia2026simtoolrealobjectcentricpolicyzeroshot,
+    title   = {SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation}, 
     author  = {Kushal Kedia and Tyler Ga Wei Lum and Jeannette Bohg and C. Karen Liu},
     year    = {2026},
     eprint  = {2602.16863},
@@ -285,6 +300,31 @@ That's it
     year    = {2018},
     volume  = {abs/1802.06070},
     url     = {https://arxiv.org/abs/1802.06070}
+    url     = {https://arxiv.org/abs/2602.16863}, 
+```
+
+```bibtex
+@article{Zhu2025Hybrid,
+    author         = {Zhu, Zimo and Yu, Chuanqiang and Wang, Junti},
+    title          = {A Hybrid Genetic Algorithm and Proximal Policy Optimization System for Efficient Multi-Agent Task Allocation},
+    journal        = {Systems},
+    volume         = {13},
+    year           = {2025},
+    number         = {6},
+    article-number = {453},
+    url            = {https://www.mdpi.com/2079-8954/13/6/453},
+    issn           = {2079-8954}
+```
+
+```bibtex
+@misc{kedia2026simtoolrealobjectcentricpolicyzeroshot,
+    title   = {SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation}, 
+    author  = {Kushal Kedia and Tyler Ga Wei Lum and Jeannette Bohg and C. Karen Liu},
+    year    = {2026},
+    eprint  = {2602.16863},
+    archivePrefix = {arXiv},
+    primaryClass = {cs.RO},
+    url     = {https://arxiv.org/abs/2602.16863}, 
 }
 ```
 

{evolutionary_policy_optimization-0.2.18 → evolutionary_policy_optimization-0.2.19}/evolutionary_policy_optimization/experimental.py

@@ -7,6 +7,7 @@ import torch.nn.functional as F
 from torch.func import vmap, functional_call
 from torch.nn import Module, ParameterList
 
+import einx
 from einops import rearrange, reduce, repeat
 
 def exists(v):
@@ -31,11 +32,12 @@ def shrink_and_perturb_(
 
 def crossover_weights(
     w1, w2,
+    alpha = 0.5,
     shrink_perturb = False,
     shrink_factor = 0.4,
     perturb_factor = 0.1
 ):
-    assert w2.shape == w2.shape
+    assert w1.shape == w2.shape
 
     no_batch = w1.ndim == 2
 
@@ -58,12 +60,17 @@ def crossover_weights(
     u1, s1, v1 = torch.svd(w1)
     u2, s2, v2 = torch.svd(w2)
 
+    sign = einx.dot('b j d, b j d -> b d', v1, v2).sign()
+
+    u2 = einx.multiply('b i d, b d -> b i d', u2, sign)
+    v2 = einx.multiply('b j d, b d -> b j d', v2, sign)
+
     batch_randperm = torch.randn((batch, rank), device = w1.device).argsort(dim = -1)
-    mask = batch_randperm < (rank // 2)
+    mask = batch_randperm < int(rank * alpha)
 
-    u = torch.where(mask[:, None, :], u1, u2)
-    s = torch.where(mask, s1, s2)
-    v = torch.where(mask[:, :, None], v1, v2)
+    u = einx.where('b d, b i d, b i d -> b i d', mask, u1, u2)
+    s = einx.where('b d, b d, b d -> b d', mask, s1, s2)
+    v = einx.where('b d, b j d, b j d -> b j d', mask, v1, v2)
 
     out = u @ torch.diag_embed(s) @ v.mT
 

{evolutionary_policy_optimization-0.2.18 → evolutionary_policy_optimization-0.2.19}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "evolutionary-policy-optimization"
-version = "0.2.18"
+version = "0.2.19"
 description = "EPO - Pytorch"
 authors = [
     { name = "Phil Wang", email = "lucidrains@gmail.com" }