Overview of Evolution of Structure:

• Funes '99: Evolution of Buildable Objects:
  
  • defines buildable as: "results should be convertible from a simulation to a real object."
  • but no specification of how to build
  • no requirement that sub-stages are stable
  • complete structure must be stable
  • So...genotypes are blueprints


• Hornby '2001
• Genotypes are sets of instructions to a turtle, so they are assembly procedures.
• Perfect builder is assumed - no stochasticity in implementation of assembly procedures.
• Sub-stages of building need not be stable


• Bongard & Pfeifer '01 Evolving Complete Agents using Artificial Ontogeny
  • biologically-inspired (differential gene expression etc) development of morphology.
  • again, perfect builder - development is deterministic.
  • block pushers evaluated in noisy environment