CalculatingORPscoresAndComplexityCorrelationEffect

This file reads in the data--the order in which tasks were evolved and the order they are expressed--and calculates both the ontogeny recapitulates phylogeny (ORP) scores and the Complexity Correlation Effect (via Tukey’s Jackknife Method described in Sokal and Rohlf, 1995)

The fittest Offset-HybrID ANNs from each regularity of the quadruped robot experiment viewed from the output layer.

<p>Red links are inhibitory, green links are excitatory, and link weight magnitude is indicated by the thickness of the link. A small and significant negative correlation was found between offset magnitude and problem regularity (Spearman rank correlation, <i>ρ</i> = −0.293, <i>p</i> < 0.0001).</p

The median distance traveled by Auto-Switch-HybrID generation champions over 1,000 generations on the quadruped robot experiment.

<p>The line colors indicate the number of noisy joints on the robot. The median switch points per treatment are indicated by dashed lines. 95% bootstrapped confidence intervals of the median are shown every 100 generations.</p

The median distance traveled by Offset-HybrID generation champions over 3,000 generations on the quadruped robot transfer experiment.

<p>The line colors indicate the number of noisy joints on the robot. 95% bootstrapped confidence intervals of the median are shown every 300 generations.</p

The HybrID algorithm.

<p>Individuals are initially indirectly encoded (here, with HyperNEAT) to exploit problem regularities. At the encoding switch point (dashed vertical line), individuals are converted to a direct encoding (here, FT-NEAT) to further improve performance by handling irregularities of the problem. Adapted from [<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0174635#pone.0174635.ref024" target="_blank">24</a>].</p

The median distance traveled by Auto-Switch-HybrID generation champions over 3,000 generations on the quadruped robot transfer experiment.

<p>The line colors indicate the number of noisy joints on the robot. 95% bootstrapped confidence intervals of the median are shown every 300 generations.</p