Benefits of proportionate selection in embodied evolution: a case study with behavioural specialization.

We, as well as others, have already shown in previous works that reproductive isolation and a large population size are critical to achieve behavioral specialization in embodied evolutionary robotics. Here, we extend our previous work from [3] by experimentally demonstrating that fitness-proportionate and rank-based selection operators largely outperform other selection operators when it comes to evolving behavioral specialization.