Table 1. 
Examples of ALife systems classified according to different types of self-organization and domains. Depending on the observer's purposes, the same ALife system could be considered as exhibiting different types of self-organization. Therefore, the types are non-exclusive, and the boundaries between them are not sharp.
Level: Internal External 
Interactions: Direct Indirect 
Soft Pattern formation, cellular automata, artificial neural networks Boids [161], swarm chemistry [168] Ant colony optimization [40] 
Hard Self-modeling robots [22], swarm-bots [42] Alice [61], Jasmine [104], Kilobots [162] TERMES [208] 
Wet Protocells [155], active droplets [31] Xenobots [113], Predator protocells [154] Slime mold machines [1], collective behavior of droplets [31] 
Level: Internal External 
Interactions: Direct Indirect 
Soft Pattern formation, cellular automata, artificial neural networks Boids [161], swarm chemistry [168] Ant colony optimization [40] 
Hard Self-modeling robots [22], swarm-bots [42] Alice [61], Jasmine [104], Kilobots [162] TERMES [208] 
Wet Protocells [155], active droplets [31] Xenobots [113], Predator protocells [154] Slime mold machines [1], collective behavior of droplets [31] 
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