Cambrian intelligence: the early history of the new AI
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Evolutionary Robotics: The Biology,Intelligence,and Technology
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Artificial Intelligence
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Neural Computation
Evolving modular genetic regulatory networks
CEC '02 Proceedings of the Evolutionary Computation on 2002. CEC '02. Proceedings of the 2002 Congress - Volume 02
Compositional pattern producing networks: A novel abstraction of development
Genetic Programming and Evolvable Machines
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Proceedings of the 11th Annual conference on Genetic and evolutionary computation
Evolving 3d morphology and behavior by competition
Artificial Life
Evolving coordinated quadruped gaits with the HyperNEAT generative encoding
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Evolving CPPNs to grow three-dimensional physical structures
Proceedings of the 12th annual conference on Genetic and evolutionary computation
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A species-based approach to brain-body co-evolution of modular robots
Proceedings of the 14th annual conference companion on Genetic and evolutionary computation
Heterochronic scaling of developmental durations in evolved soft robots
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Generative and developmental systems
Proceedings of the 15th annual conference companion on Genetic and evolutionary computation
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This paper extends prior work using Compositional Pattern Producing Networks (CPPNs) as a generative encoding for the purpose of simultaneously evolving robot morphology and control. A method is presented for translating CPPNs into complete robots including their physical topologies, sensor placements, and embedded, closed-loop, neural network control policies. It is shown that this method can evolve robots for a given task. Additionally it is demonstrated how the performance of evolved robots can be significantly improved by allowing recurrent connections within the underlying CPPNs. The resulting robots are analyzed in the hopes of answering why these recurrent connections prove to be so beneficial in this domain. Several hypotheses are discussed, some of which are refuted from the available data while others will require further examination.