Pilat, Marcin L., and Christian Jacob. “Evolution of vision capabilities in embodied virtual creatures.” In Proceedings of the 12th annual conference on Genetic and evolutionary computation , pp. 95-102. 2010.
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We evolve light following behaviours in virtual creatures through neural network training using an incremental evolution approach. The neural controllers of creatures evolved for movement are augmented with simple visual neurons and neural connections. Using an evolutionary algorithm, the resulting creatures are trained to identify and follow a light source. Through this process, we are able to train the neural controllers to create various light following behaviours. Many of the evolved behaviours show stability and adaptiveness to environmental perturbations of body orientation.