Very interesting, I've done work evolving neural networks for biped walking. As far as I know, usually researchers use monolithic NNs, why did you use 22 separa

Very interesting, I've done work evolving neural networks for biped walking. As far as I know, usually researchers use monolithic NNs, why did you use 22 separate NNs? I've never seen anything like that, opens my mind up to some new NN architectures. All evolutionary approaches seem pretty susceptible to local optima when tackling ambitious problems like biped gaits. You maintain diversity through demes and use incremental evolution? One thing I hate about research in CS is that rarely is the source code provided to reproduce the research. I spent 3 months unable to reproduce the seminal Reil + Husbands biped walking paper (Reil went on to found NaturalMotion, which makes natural motion for CGI in movies). I swear they used some sort of voodoo magic. Is the source available for your simulator?