Environments and creatures can be built and modified during simulation time using a large set of graphical editors and viewers. The simulator also includes an extensive package for generation of graphs and statistics. To let the neural network controllers improve automatically, it possible to invoke an evolution module that uses the genetic algorithm to create new neural networks using a large selection of evolution schemes. The simulator is in the public domain and suitable both as a research tool and in education. Click to obtain the paper in PostScript format.
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