“…As individuals gain proficiency within the population, selection, recombination, and mutation further refine individuals to solve challenging tasks. Lexicase selection (Spector, 2012) has evolved solutions in many-objective optimization problems across a variety of problem domains (Helmuth et al, 2014;He et al, 2022). Applied to evolutionary robotics (ER) (Floreano et al, 2008;Doncieux et al, 2015), Lexicase can effectively leverage modal objectives (e.g.…”