CPG, Mu+1 and different bodies

We ran extensive comparisons of Mu+1 with CPG and different organism morphologies. The diagram below shows stats of distance travelled over 30 runs (with mu+1 settings as found with Bonesa) for four morphologies. Fitness was calculated with QI, based on gps, accelerometer and link force-feedback.

My conclusion: body shape certainly matters substantially and significantly (notches indicate 95% conf interval for median), but even poor bodies learn to move sufficiently, particularly in the confines of a walled arena, as indicated by the trace maps

Trace with four-legged body, note that the organism follows the wall (actually: tries to walk through it :-))


Trace with three-legged body (worst in the bar charts) - still acceptable coverage of arena area:

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