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This study evaluates various evolutionary search methods to direct neural controller evolution in company with policy (behavior) transfer across increasingly complex collective robotic (RoboCup keep-away) tasks. Robot behaviors are first evolved in a source task and then transferred for further evolution to more complex target tasks. Evolutionary search methods tested include objective-based search (fitness function), behavioral and genotypic diversity maintenance, and hybrids of such diversity maintenance and objective-based search. Evolved behavior quality is evaluated according to effectiveness and efficiency. Effectiveness is the average task performance of transferred and evolved behaviors, where task performance is the average time the ball is controlled by a keeper team. Efficiency is the average number of generations taken for the fittest evolved behaviors to reach a minimum task performance threshold given policy transfer. Results indicate that policy transfer coupled with hybridized evolution (behavioral diversity maintenance and objective-based search) addresses the bootstrapping problem for increasingly complex keep-away tasks. That is, this hybrid method (coupled with policy transfer) evolves behaviors that could not otherwise be evolved. Also, this hybrid evolutionary search was demonstrated as consistently evolving topologically simple neural controllers that elicited high-quality behaviors.

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