Floreano, D. ; Urzelai, J.
Evolutionary Robots with on-line self-organization and behavioral fitness
In: Neural Networks, vol. 13, num. 4-5, 2000, p. 431-443

"... encoding on the genotype a set of four local Hebb rules for each synapse, but not the synaptic weights, and let these synapse use these rules to adapt their weights online starting always from random values at the beginning of the life."