Evolving CPPNs to grow three-dimensional physical structures

The majority of work in the field of evolutionary robotics concerns itself with evolving control strategies for human designed or bio-mimicked robot morphologies. However, there are reasons why co-evolving morphology along with control may provide a better path towards realizing intelligent agents. Towards this goal, a novel method for evolving three-dimensional physical structures using CPPN-NEAT is introduced which is capable of producing artifacts that capture the non-obvious yet close relationship between function and physical structure. Moreover, it is shown how more fit solutions can be achieved with less computational effort by using growth and environmental CPPN input parameters as well as incremental changes in resolution.