Faber Neuroevolution · live workbench · EXP-046
Evolve a controller, then break its world
Pick a controller and a fault, evolve it live with separable CMA-ES, then run it on a windy pole whose motor reverses partway — a hidden fault it must survive by adapting, not by design. Evolution and physics both run the real faber-tweann engine on the server.
Three controllers, one fault
The pre-evolved controllers on the default scenario — motor reverses at step 120. Press play and watch fixed topple, adaptive recover, and recurrent struggle in between.
Fixed
Recurrent (CfC)
Adaptive
Now evolve your own
Pick a controller and a fault, evolve it live with separable CMA-ES, then run the evolved controller.
Controller
reward-modulated plasticity
Evolution (best fitness / generation)
The run
A constant wind means the controller must always apply force, so a motor reversal actually bites (a settled regulator applying no force would not notice). Fixed was never built to adapt and topples; adaptive (reward-modulated plasticity) derives an error from the pole's tilt and re-wires its own weights to recover; recurrent adapts through its internal state, less reliably. Try evolving each — and note that with a short budget none may fully solve, exactly as in the research (adaptation is reliable, not free).