Distributed ELSE

The physical-simulation evaluation is an obvious choice for distributing.  Roughly, the inputs are:

- the physical sim parameters (gravity, harness, obstacles, friction, time-step, collision parameters, etc),

- the character geometry (limb and joint type and positions, angle limits),

- the character actuators/muscles (strength, PID-params, CFM),

- the controller neural network (or, alternatively, the genome.  It seems cleaner to keep the genotype->phenotype piece out of the client.)

 

The per-frame outputs would be (this is optional, but good for keeping tabs):

- instantanous joint angles, CoG.  (to allow drawing).  Surely there's some compact, standard format for this kind of "motion capture" data.  (want both q and q', plus maybe torques as well.)

- current fitness

 

The per-evaluation outputs would be:

- final fitness