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Table 1:
Overview of the published papers about the explicit exploration of the behavior space in evolutionary robotics, via diversity techniques or novelty search. NN: Neural-network with an evolved topology; RNN: recurrent neural network with a fixed topology; MDP: Markovian Decision Process; MLP: multi-layer perceptron (feed-forward neural network) with a fixed topology; MOEA: multi-objective evolutionary algorithm; NCD: normalized compression distance; N-GLD: normalized Levenshtein distance; Reals: vector of real numbers; nov. search: novelty search; fit. sharing: fitness sharing.
PaperTaskDistanceDiv. mechanismGen.Phen.
Lehman and Stanley (2008) Deceptive maze task specific nov. search NEAT NN 
  gen.-based (NEAT) fit. sharing   
Trujillo et al. (2008b) Obstacle avoidance N-GLD fit. sharing NEAT NN 
  gen.-based (NEAT)    
Risi et al. (2009) T-maze task specific nov. search NEAT NN 
  gen.-based (NEAT) fit. sharing   
Mouret and Doncieux (2009b) Xor and xor task specific MOEA NN NN 
  graph-probing (gen.)    
  gen.-based (NEAT) fit. sharing   
Mouret (2011) Deceptive maze task specific MOEA NN NN 
   nov. search   
Mouret and Doncieux (2009b) Light seeking task specific MOEA Reals MLP 
Gomez (2009) Tartarus (discrete) Hamming distance crowding Reals RNN 
  Euclidean dist. (gen.)    
  Fitness distance    
  Hamming distance    
  Relative entropy    
  NCD    
Moriguchi and Honiden (2010) Tunable MDP task specific fit. sharing NEAT NN 
  gen.-based (NEAT)    
Lehman and Stanley (2010) Deceptive maze task specific nov. search NEAT NN 
  gen.-based (NEAT) fit. sharing   
 Humanoid gait task specific nov. search   
  gen.-based (NEAT) fit. sharing   
Doncieux and Mouret (2010) Ball collecting task specific MOEA NN NN 
  Hamming distance    
  FFT distance    
  traj. discretization    
PaperTaskDistanceDiv. mechanismGen.Phen.
Lehman and Stanley (2008) Deceptive maze task specific nov. search NEAT NN 
  gen.-based (NEAT) fit. sharing   
Trujillo et al. (2008b) Obstacle avoidance N-GLD fit. sharing NEAT NN 
  gen.-based (NEAT)    
Risi et al. (2009) T-maze task specific nov. search NEAT NN 
  gen.-based (NEAT) fit. sharing   
Mouret and Doncieux (2009b) Xor and xor task specific MOEA NN NN 
  graph-probing (gen.)    
  gen.-based (NEAT) fit. sharing   
Mouret (2011) Deceptive maze task specific MOEA NN NN 
   nov. search   
Mouret and Doncieux (2009b) Light seeking task specific MOEA Reals MLP 
Gomez (2009) Tartarus (discrete) Hamming distance crowding Reals RNN 
  Euclidean dist. (gen.)    
  Fitness distance    
  Hamming distance    
  Relative entropy    
  NCD    
Moriguchi and Honiden (2010) Tunable MDP task specific fit. sharing NEAT NN 
  gen.-based (NEAT)    
Lehman and Stanley (2010) Deceptive maze task specific nov. search NEAT NN 
  gen.-based (NEAT) fit. sharing   
 Humanoid gait task specific nov. search   
  gen.-based (NEAT) fit. sharing   
Doncieux and Mouret (2010) Ball collecting task specific MOEA NN NN 
  Hamming distance    
  FFT distance    
  traj. discretization    
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