Evolving robot gaits in hardware: the HyperNEAT generative encoding vs. parameter optimization. - Jason Yosinski; Jeff Clune; Diana Hidalgo; Sarah Nguyen; Juan Cristóbal Zagal; Hod Lipson (ECAL, 2011)

Generating gaits for physical quadruped robots: evolved neural networks vs. local parameterized search. - Jason Yosinski; Jeff Clune; Diana Hidalgo; Sarah Nguyen; Juan Cristóbal Zagal; Hod Lipson (GECCO (Companion), 2011)