Genetic Programming

Anyone into GP here?

I'm currently working with GP to evolve a program for making a robot walk. But what I'd like to discuss is GP in general and possible enhancements and differen techniques for GP.

For instance I would be interested if anyone had tried to evolve programs which include functions as well. Where these functions can be used in the programs. Then you could seed the populations with known solutions to some problems. For example you could have a balancing funtion, where the main program will do the walking and calling the balance function for balancing... Well that's just an example.

Well if anyone has experience in this field I would be interested in your thoughts.