Examples of time series used for the MLE computation.

<p>The time series presented here is obtained from the 32<i>th</i> trial as an example of all the evolved 16 robots. The time series is the averaged neural activity within a same module. The virtual unit for the motor module and the differences between the virtual and state units for the other sensory modules are presented. The colors of the lines represent sensory or motor modules, that is, vision: blue, IR: cyan, touch: red, reward: magenta, motor: green.