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It's quite hard to get any better than 10 or so steps, luck starts playing a major role after a while.

Some gait branches seem to reach a dead-end where any improvement would need to come from a major overhaul of the gene combination instead of small mutations.

The terrain starts to get more variation as the distance increases, so that's another piece of evil against the walkers. :D Maybe I should turn that off.

I've let it run for a couple of days. I don't think I got past 12 steps, but it looked pretty regular walking for a while. :)



I was thinking about writing something similar in C. How long is the genome( bytes/chars )?


The genome is pretty simple, just a few motor parameters for each joint in the body.

3 floats for each joint, to be precise. Then those are combined to set the speed of the motor in each joint on every simulation step.

I tried more complex genomes, but it just takes way too long to get any kind of improvement. It didn't make for a fun casual browser experience. :)




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