Evolved Step Climbing Creatures

############################# Video Source: www.youtube.com/watch?v=euFvRfQRbLI

Population size: 80 • Generation: up to 1000 • Fitness function: distance • Selection: • Ranked • Bias 1.7 • Cutoff 0.9 • Elites: 0 • Neural network: • 6 Input Neurons (6 kinestetic) • 7 Hidden Neurons • 6 Output Neurons (6 muscle) • 84 Synapses • Neuron bias range: -1, 1 • Synapse weight range: 2 / tanh(1) • Activation function: Hyperbolic tangent approximation. • Genome: • Mutation rate: 0.007 • Crossover: per bit, random • Gene size: 2 byte • Encoding: Gray coded binary • Gene expression: synapse weight and neuron bias. • Initial state: random • Body: • Worm, 7 segments • Variation: Segment length and joint size • Sensors: • kinestetic sense (angle of joints) • Environment: Steps of increasing 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