The Influence of Robot Traits and Evolutionary Dynamics on the Reality Gap

The elephant in the room for evolutionary robotics is the reality gap. In the history of the field, several studies investigated this phenomenon on fixed robot morphologies where only the controllers evolved. This paper addresses the reality gap in a wider context, in a system where both morphologies and controllers evolve. In this context the morphology of the robots becomes a variable with a currently unknown influence. To examine this influence, we construct a test suite of robots with various morphologies and evolve their controllers for an effective gait. Comparing the simulated and the real-world performance of evolved controllers sampled at different generations during the evolutionary process, we gain new insights into the factors that influence the reality gap.