Evolving coordinated gaits with the HyperNEAT generative encoding.
Clune J, Beckmann BE, Ofria C, and Pennock RT.
Proceedings of the IEEE Congress on Evolutionary Computing. 2764-2771. Trondheim, Norway. 2009.
Manuscript
Supporting Videos
These videos show gaits evolved by two different encodings.The gaits of the HyperNEAT generative encoding are faster, more coordinated, and look more natural than those produced by the FT-NEAT direct encoding.
These videos demonstrate the benefit of generative encodings over direct encodings, and specifically highlight the power of the HyperNEAT generative encoding.