Evolving dynamical neural networks for adaptive behavior
Adaptive Behavior
Automatic definition of modular neural networks
Adaptive Behavior
Evolving neural networks through augmenting topologies
Evolutionary Computation
A Taxonomy for artificial embryogeny
Artificial Life
Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines
Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines
Compositional pattern producing networks: A novel abstraction of development
Genetic Programming and Evolvable Machines
Modular neuroevolution for multilegged locomotion
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Generative encoding for multiagent learning
Proceedings of the 10th annual conference on Genetic and evolutionary computation
A case study on the critical role of geometric regularity in machine learning
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 2
Evolving 3d morphology and behavior by competition
Artificial Life
Evolving the walking behaviour of a 12 DOF quadruped using a distributed neural architecture
BioADIT'06 Proceedings of the Second international conference on Biologically Inspired Approaches to Advanced Information Technology
Autonomous evolution of dynamic gaits with two quadruped robots
IEEE Transactions on Robotics
IEEE Transactions on Neural Networks
The sensitivity of HyperNEAT to different geometric representations of a problem
Proceedings of the 11th Annual conference on Genetic and evolutionary computation
Transfer learning through indirect encoding
Proceedings of the 12th annual conference on Genetic and evolutionary computation
Evolving the placement and density of neurons in the hyperneat substrate
Proceedings of the 12th annual conference on Genetic and evolutionary computation
Evolving CPPNs to grow three-dimensional physical structures
Proceedings of the 12th annual conference on Genetic and evolutionary computation
Investigating whether hyperNEAT produces modular neural networks
Proceedings of the 12th annual conference on Genetic and evolutionary computation
Developments in Cartesian Genetic Programming: self-modifying CGP
Genetic Programming and Evolvable Machines
Evolving policy geometry for scalable multiagent learning
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Evolving Static Representations for Task Transfer
The Journal of Machine Learning Research
Indirectly encoding neural plasticity as a pattern of local rules
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
HyperNEAT for locomotion control in modular robots
ICES'10 Proceedings of the 9th international conference on Evolvable systems: from biology to hardware
Evolving a single scalable controller for an octopus arm with a variable number of segments
PPSN'10 Proceedings of the 11th international conference on Parallel problem solving from nature: Part II
Evolving complete robots with CPPN-NEAT: the utility of recurrent connections
Proceedings of the 13th annual conference on Genetic and evolutionary computation
Constraining connectivity to encourage modularity in HyperNEAT
Proceedings of the 13th annual conference on Genetic and evolutionary computation
Enhancing es-hyperneat to evolve more complex regular neural networks
Proceedings of the 13th annual conference on Genetic and evolutionary computation
Proceedings of the 13th annual conference companion on Genetic and evolutionary computation
HybrID: a hybridization of indirect and direct encodings for evolutionary computation
ECAL'09 Proceedings of the 10th European conference on Advances in artificial life: Darwin meets von Neumann - Volume Part II
HyperNEAT-GGP: a hyperNEAT-based atari general game player
Proceedings of the 14th annual conference on Genetic and evolutionary computation
On the relationship between environmental and morphological complexity in evolved robots
Proceedings of the 14th annual conference on Genetic and evolutionary computation
Efficient neuroevolution for a quadruped robot
SEAL'12 Proceedings of the 9th international conference on Simulated Evolution and Learning
EvoApplications'13 Proceedings of the 16th European conference on Applications of Evolutionary Computation
A comparison between different encoding strategies for snake-like robot controllers
EvoApplications'13 Proceedings of the 16th European conference on Applications of Evolutionary Computation
Confronting the challenge of learning a flexible neural controller for a diversity of morphologies
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Evolution of station keeping as a response to flows in an aquatic robot
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Ribosomal robots: evolved designs inspired by protein folding
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Evolving multimodal controllers with HyperNEAT
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Critical factors in the performance of hyperNEAT
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Single-unit pattern generators for quadruped locomotion
Proceedings of the 15th annual conference on Genetic and evolutionary computation
A behavior-based analysis of modal problems
Proceedings of the 15th annual conference companion on Genetic and evolutionary computation
Applying evolutionary computation to harness passive material properties in robots
Proceedings of the 15th annual conference companion on Genetic and evolutionary computation
Communications of the ACM
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Legged robots show promise for complex mobility tasks, such as navigating rough terrain, but the design of their control software is both challenging and laborious. Traditional evolutionary algorithms can produce these controllers, but require manual decomposition or other problem simplification because conventionally-used direct encodings have trouble taking advantage of a problem's regularities and symmetries. Such active intervention is time consuming, limits the range of potential solutions, and requires the user to possess a deep understanding of the problem's structure. This paper demonstrates that HyperNEAT, a new and promising generative encoding for evolving neural networks, can evolve quadruped gaits without an engineer manually decomposing the problem. Analyses suggest that HyperNEAT is successful because it employs a generative encoding that can more easily reuse phenotypic modules. It is also one of the first neuroevolutionary algorithms that exploits a problem's geometric symmetries, which may aid its performance. We compare HyperNEAT to FT-NEAT, a direct encoding control, and find that HyperNEAT is able to evolve impressive quadruped gaits and vastly outperforms FT-NEAT. Comparative analyses reveal that HyperNEAT individuals are more holistically affected by genetic operators, resulting in better leg coordination. Overall, the results suggest that HyperNEAT is a powerful algorithm for evolving control systems for complex, yet regular, devices, such as robots.