“…By generating a diverse collection of controllers, we can endow a robot with a wide variety of useful behaviors, such as moving an arm into different configurations [1], [2], walking in every direction [3], [4], pushing an object through many trajectories [5], or traveling to any position in a maze [6], [7], [8]. Having a collection of controllers has proven particularly useful in robotic locomotion, where the collection enables a walking robot to adapt to damage [9], [10], [11].…”