Table 2.

Speedup achieved by parallelization of the model and evolutionary optimization process for a population of 60 individuals (6 islands).

Description	Cores required (network + arm)	Time/generation (minutes)	Speedup
Purely sequential	1 + 1	2,945.2	1
Parallel simulation (sequential individuals + islands)	16 + 1	260.6	11.3
Parallel simulation + individuals (sequential islands)	160 + 10	44.9	11.3 × 5.8 = 65.6
Parallel simulation + individuals + islands	960 + 60	7.5	11.3 × 5.8 × 6.0 = 393.2
Parallel simulation + individuals (single population, no islands)	960 + 60	13.0	11.3 × 20.0 = 226.6