Embodied EvolutionRichard A. Watson, Sevan G. Ficici
The figure below shows the frequency with which the light is successfully reached by the robot population ('hit rate') over time. All experiments used a population of eight Tupperbots. The embodied evolution experiment evolves the weights from an initial condition where all weights are zero. We also tested a hand-designed solution which (after considerable 'tuning') achieves approximately 10 hits per minute. Embodied evolution produces a population with a performance that exceeds the hand-designed solution after about one hour. Interestingly, the evolved solutions exhibit qualitatively different behavior from our hand-designed solution: we designed a Braitenberg-style  'swagger,' but evolution favoured a spiraling solution.