The videos linked below demonstrate the walking behaviors
evolved by five neuroevolution methods, which differ only
in the way they determine controller symmetry: (1)
Evolving symmetry systematically using ENSO, (2) evolving
symmetry randomly without using the group-theory
mechanisms of ENSO, (3) using fixed S4 symmetry during
evolution (i.e. maximal symmetry), (4) using fixed D2
symmetry during evolution, and (5) using direct encoding
without symmetry constraints (which is equivalent to using
the fixed trivial symmetry during evolution).
The videos linked below demonstrate the walking behaviors
evolved by five neuroevolution methods, which differ only
in the way they determine controller symmetry: (1)
Evolving symmetry systematically using ENSO, (2) evolving
symmetry randomly without using the group-theory
mechanisms of ENSO, (3) using fixed S4 symmetry during
evolution (i.e. maximal symmetry), (4) using fixed D2
symmetry during evolution, and (5) using direct encoding
without symmetry constraints (which is equivalent to using
the fixed trivial symmetry during evolution).

Demo website