Evolving Controller Symmetry for Multilegged Robots

Vinod Valsalam

Risto Miikkulainen

The videos on this website demonstrate the walking
behaviors evolved by five neuroevolution methods, which
differ only in the way they determine controller symmetry:
(1) Evolving symmetry systematically using ENSO, (2)
evolving symmetry randomly without using the group-theory
mechanisms of ENSO, (3) using fixed S4 symmetry during
evolution (i.e. maximal symmetry), (4) using fixed D2
symmetry during evolution, and (5) using direct encoding
without symmetry constraints (which is equivalent to using
the fixed trivial symmetry during evolution). The gaits
in these videos demonstrate how ENSO outperforms the other
methods.