BREVE is a system for designing Artificial Life simulations available at
. The BREVE simulation environment was used to create several domains for exploring the evolution of multimodal behavior using neural networks. These domains and evolution code are part of the BREVE Monsters download. The evolutionary algorithm used is an implementation of NSGA-II. Other features implemented are Multitask evolution, Module Mutation (MM(P) and MM(R)), Targeting Unachieved Goals (TUG), and Behavioral Diversity objectives. The details of these techniques are described in the associated publications.