Generalize both the code and the approach of ELSE to support the evolution of many behaviors using different approaches (e.g., evolved periodic functions, CTRNNs, echo-state networks, etc.). Possibly fall back to working with something more stable, eg. quadrapeds or maybe even worms/snakes.
- Implement from-scratch version of CTRNN-evolver based on NEAT ideas. Abstract evolver from evolved (how realistic? tricky interface to define and still support things like NEAT)
- upgrade to ODE 0.5 (or possibly look into coding up a Verlet-based PE?)
- add config scripts for generating skeletons, bodies, joints and motors.
- add script interface for fitness and short-circuit evaluation
- add script interface for "supports" as a function of time
Use PF's learned-controller-selection approach to choose which evolved controller to use at any point in time. Probably, just add evolved controllers to DANCE (plus maybe add ODE to DANCE or ?? to ELSE).
Co-evolve controller-selection (dispatcher?) with controllers. How to structure fitness s.t. controllers don't become muddled up?
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