Neuroevolution: Harnessing Creativity in AI Model Design (2025)
Sebastian Risi, David Ha, Yujin Tang, Risto Miikkulainen
Neuroevolution, or optimization of neural networks through evolutionary computation, has been a growing subarea of machine learning since the 1990s. Its primary focus is on evolving neural networks for intelligent agents when the training targets are not known, and good performance requires many decisions over time, such as robotic control, game playing, and decision-making. More recently it has also been extended to optimizing deep-learning architectures, understanding how biological intelligence evolved, and optimizing neural networks for hardware implementation. This book introduces students to the basics of neuroevolution, progresses to several advanced topics that make neuroevolution more effective and more general, reviews example application areas, and proposes further research questions. Hands-on experience is provided through a Python-based software platform with animations, interactive demos, exercises, and project environments. Book website
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To Appear In , Cambridge, MA, 2025. MIT Press.
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Risto Miikkulainen Faculty risto [at] cs utexas edu
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Coevolution of Competitive and Cooperative Agent Behavior Since 2009
The OpenNERO AI Research and Education Platform Since 2009
Neuroevolution in Real Time Games Since 2005
The Role of Emotion and Communication in Cooperative Behavior 2013 - 2016
Learning Strategic Behavior in Sequential Decision Tasks 2009 - 2014
Human-like Bots in Unreal Tournament 2008 - 2012
Modular Neuroevolution for Multilegged Locomotion 2007 - 2012
Evolving Controllers for Physical Multilegged Robots 2010 - 2011
NEAT: Evolving Increasingly Complex Neural Network Topologies 2000 - 2011
Constructing Intelligent Agents in Simulated Worlds 2008 - 2010
Evolving Locomotion Controllers for Multilegged Robots 2008 - 2010
Leveraging Human Creativity with Machine Discovery 2008 - 2010
Utilizing Symmetry in Evolutionary Design 2007 - 2010
NERO: NeuroEvolving Robotic Operatives 2003 - 2009
Leveraging Evolvability in Search 2004 - 2007
Diverse Behavior in Teams of Homogeneous Agents 2001 - 2007
Cooperative Coevolution of Multi-Agent Systems 2000 - 2007
Combining Rule-Based Knowledge with NEAT 2004 - 2006
Developing Complex Systems Using Evolved Pattern Generators 2004 - 2006
NEAT: Evolving Vehicle Warning Systems 2004 - 2006
Solving Non-Markov Control Tasks 1996 - 2006
Evolving Neural Network Ensembles with NEAT 2004 - 2005
Controlling a Finless Rocket Through Neuroevolution 2002 - 2003
Nonlinear, Adaptive Process Control 2001 - 2002
Refinement and On-Line Adaptation of Neurocontrollers Through Particle swarming 2001 - 2002
Dynamic Resource Allocation on a Multiprocessor Chip 2000 - 2002
Evolving Confident Neural Networks 2000 - 2002
Eugenic Evolution: The EuA, EuSANE, and TEAM 1998 - 2002
Optimizing a Manufacturing Process 1998 - 2002
Creating Melodies with Evolving Recurrent Networks 2000 - 2001
Playing Go 1998 - 2001
Utilizing Population Culture in Neuroevolution 1998 - 2000
Real-time Interactive Gaming 1997 - 1999
Controlling Chaos 1995 - 1997
Playing Othello 1994 - 1997
Robot Control 1994 - 1997
Symbiotic Evolution: The SANE System 1994 - 1997
Marker-Based Encoding of Neural Networks 1991 - 1995
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Factors that Affect the Evolution of Complex Cooperative BehaviorPadmini Rajagopalan2020
Bilevel Optimization of the Helicopter Hovering Control TaskJason Zhi Liang and Risto Miikkulainen2015
Evolving Deep LSTMAditya Rawal2015
Multimodal Behavior in Isolated Ms. Pac-ManJacob Schrum2015
Adapting Morphology to Multiple Tasks in Evolved Virtual CreaturesDan Lessin, Don Fussell, Risto Miikkulainen2014
Multimodal Behavior in Imprison Ms. Pac-ManJacob Schrum2014
Multimodal Behavior in Multiple Lives Ms. Pac-ManJacob Schrum2014
Multimodal Behavior in One Life Ms. Pac-ManJacob Schrum2014
Trading Control Intelligence for Physical Intelligence: Muscle Drives in Evolved Virtual CreaturesDan Lessin, Don Fussell, Risto Miikkulainen2014
A Neuroevolution Approach to General Atari Game PlayingMatthew Hausknecht2013
Open-Ended Behavioral Complexity for Evolved Virtual CreaturesDan Lessin, Don Fussell, Risto Miikkulainen2013
Cooperation to Overcome a More Powerful AdversaryKay Holekamp2012
Egalitarian Social Learning (ESL) in Robot ForagingWesley Tansey2012
Evolution of a Communication Code in Cooperative TasksAditya Rawal, Padmini Rajagopalan, Risto Miikkulainen, Kay Holekamp2012
UT^2: Winner of 2012 BotPrize in Unreal Tournament 2004Jacob Schrum, Igor Karpov2012
Evolving Controllers for Physical Multilegged RobotsVinod Valsalam2011
Multi-modal Approaches to Evolving Behavior for Multi-task GamesJacob Schrum2011
The Role of Reward Structure, Coordination Mechanism and Net Return in the Evolution of CooperationPadmini Rajagopalan, Aditya Rawal2011
Emergence of Competitive and Cooperative Behavior and Arms Race Through CoevolutionAditya Rawal, Padmini Rajagopalan2010
Evolving Controller Symmetry for Multilegged RobotsVinod Valsalam2010
Fitness-based Shaping in Multi-objective DomainsJacob Schrum2010
Learning in Fractured DomainsNate Kohl2009
Multi-modal Behavior in NPCsJacob Schrum2009
Modular Neuroevolution for Multilegged LocomotionVinod Valsalam2008
Multi-objective Neuroevolution of NPCsJacob Schrum2008
Evolving Cooperation in Multiagent SystemsChern Yong2007
Handwritten Digit Recognition Utilizing Evolved Pattern GeneratorsVinod Valsalam2007
Neuro-Evolving Robotic Operatives (NERO)Kenneth Stanley2007
Adaptive Teams of Agents in the Legion II gameBobby Bryant2006
Evolving Vehicle Warning SystemsNate Kohl2006
Finless Rocket ControlFaustino Gomez2003
Neuroevolution of Augmenting Topologies DemosKenneth Stanley2003
Double Pole Balancing with ESPFaustino Gomez1999
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ContextSkillCARLA Download on GitHub.

Code relating to the experiments involv...

2023

ContextSkillDrift Download on GitHub.

A gas classifier using an explicit conte...

2021

ContextSkillFlappyBall Download at GitHub.

Context-skill model for extrapolati...

2021

BBMS BBMS is software for Brian Boyles's Masters thesis on evolving scout agents for military simulations. It includes a simu... 2015

MM-NEAT Download at GitHub

Modular Multiobjective NEAT is a software fra...
2014

MARLEDA Markovian Learning Estimation of Distribution Algorithm (MARLEDA) is an Estimation of Distribution Algorithm (EDA) that ... 2013

mMARLEDA The mMarleda package extends the MARLEDA software to multiobjective optim... 2013

ESL This is the C# source code for the experiments with Egalitarian Social Learning (ESL) in a robot foraging domain. The re... 2012

UT^2: Winning Botprize 2012 Entry The Botprize Competition is an annual competition to program bots that appear human-l... 2012

CoSyNE C++ CoSyNE is a neuroevolution method where synapses of the network are evolved in separate subpopulations in a cooperative ... 2011

PyEC Python package containing source code for Evolutionary Annealing along with a number of other evolutionary and stochasti... 2011

BREVE Monsters BREVE is a system for designing Artificial Life simulations available at http://spiderlan... 2010

ENSO This package contains software implementing the ENSO approach for evolving symmetric modular neural networks. It also in... 2010

NEAT C++ The NEAT package contains source code implementing the NeuroEvolution of Augmenting Topologies method. The source code i... 2010

OpenNERO OpenNERO is a general research and education platform for artificial intelligence. The platform is based on a simulatio... 2010

rtNEAT C++ The rtNEAT package contains source code implementing the real-time NeuroEvolution of Augmenting Topologies method. In ad... 2006

NEAT: ANJI (Another NEAT Java Implementation) The ANJI package contains Java source code for the NeuroEvolution of Augmenting Topologies method (see the original 2004

NEAT C# The SharpNEAT package contains C# source code for the NeuroEvolution of Augmenting Topologies method (see the original <... 2003

NEAT Delphi The Delphi NEAT package contains Delphi source code for the NeuroEvolution of Augmenting Topologies method (see the orig... 2003

NEAT Matlab The Matlab NEAT package contains Matlab source code for the NeuroEvolution of Augmenting Topologies method (see the orig... 2003

ESP JAVA 1.1 The ESP package contains the source code for the Enforced Sup-Populations system written in Java. This package is a near... 2002

NEAT C++ for Microsoft Windows The Windows NEAT package contains C++ source code for the NeuroEvolution of Augmenting Topologies method (see the origin... 2002

NEAT Java (JNEAT) The JNEAT package contains Java source code for the NeuroEvolution of Augmenting Topologies method (see the original 2002

TEAM The TEAM package contains C++ implementations of both EuA (The Eugenic Algorithm) and TEAM (The Eugenic Algorithm with M... 2002

ESP C++ The ESP package contains the source code for the Enforced Sup-Populations system written in C++. ESP is an extension t... 2000

JavaSANE The JavaSANE package contains the source code for the Hierarchical SANE system, based on SANE-C, but rewritten extensive... 1998

SANE-C The SANE-C package contains the source code for the Hierarchical SANE system, written in C. This package has been rewrit... 1997

Polebalancing This simulator contains the code used to compare (neuron-level) SANE to one- and two-layer adaptive heuristic critics in... 1995