The field of evolved virtual creatures has been suspiciously stagnant in terms of complexification of evolved agents since its inception over two decades ago. Many researchers have proposed algorithmic improvements, but none have taken hold and greatly propelled the scalability of early works. This paper suggests a more fundamental problem with co-evolving both the morphology and control of virtual creatures simultaneously one cemented in the theory of embodied cognition. We reproduce and explore in greater detail a previous finding in the literature: premature convergence of the morphology (compared to the convergence point of optimizing controllers), and discuss how this finding fits as a symptom of the proposed problem. We hope that this improved understanding of the fundamental problem domain will open the door for further scalability of evolved agents, and note that early findings from our future work point in that direction.

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© 2016 Massachusetts Institute of Technology Published under a Creative Commons Attribution 4.0 International (CC BY 4.0) license
2016
MIT Press
This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.