Supporting material for:

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


(click for the 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.


    HyperNEAT - Best Evolved Gait - Slow Motion



    FT-NEAT - Best Evolved Gait - Slow Motion



    HyperNEAT - Worst Evolved Gait (indicates algorithm reliability) - Slow Motion



    FT-NEAT - Worst Evolved Gait (indicates algorithm reliability) - Slow Motion



    FT-NEAT - Unimpressive Cartwheel - Slow Motion