Archive map: duty (x), torso height (y), colour = fitness, size = servos
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- Fitness
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- Duty
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- Torso height
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- Servos
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- Legs
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- Cost of transport
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DarwinBot evolves buildable robots: MAP-Elites searches over bodies made of real parts (Feetech STS3215 servos, printed links, ESP32 and LiPo), and CMA-ES tunes a rhythmic gait with servo-load feedback for each body in MuJoCo. Pick a robot on the map to watch its gait. Source on GitHub.