Extended Data Figure 5: How the behaviour performance map (data normalized) is explored to discover a compensatory behaviour.
Data are normalized each iteration to highlight the range of remaining performance predictions. The robot is adapting to damage condition C4 (see Fig. 3a). Colours represent the performance prediction for each point in the map relative to the highest performing prediction in the map at that step of the process. A black circle indicates the next behaviour to be tested on the physical robot. A red circle indicates the behaviour that was just tested (note that the performance predictions surrounding it have changed versus the previous panel). Arrows reveal the order that points have been explored. The red circle in the last map is the final, selected, compensatory behaviour. In this scenario, the robot loses leg number 3. The six-dimensional space is visualized according to the inset legend.
