The layout of the network nodes in the substrate that CPPN connects to can take various forms, which are best suited to different kinds of problems. It is the responsibility of the experimenter to select the appropriate layout to achieve optimal performance. For example, the output nodes that control a radial entity such as a six-leg crawler may be best laid out with radial geometry so that a connectivity pattern can be expressed with polar coordinates.
The following diagram shows some examples of substrate layout configurations:
Examples of substrate layout configurations
There are several common types of substrate ...
