Suggestion: GROSS MUTATIONS --- This is mainly meant as an extension to my BODY EVOLUTION suggestion, but could be implemented with or without it... although it wouldn't make nearly as much sense without it. The idea is that is bodies were inherited rather than only the neural networks, once in a while a body could have a mutation that connects a muscle between two bones (preferably which are connected to each other by a joint, though they wouldn't have to be) or could have a muscle deleted, or perhaps even have a short bone added dangling from an existing joint, or a bone added between two existing joints. Most such mutations would be detrimental, so such "GROSS MUTATIONS" would be turned off by default, but if switched on they would be allowed to happen, the detrimental ones would likely be quickly weeded out. Neutral ones might end up with a few offspring, and the rare beneficial mutations might even end up dominating the population. :) This might actually be very beneficial in terms of autonomously eliminating useless extra weight (such as an unneeded "head" which the brains are not stored in anyway) or muscles which do more harm than good with regard to a specified fitness task.