  For the robots to achieve a desired behavior, we can program them directly,
train them, or give them an innate driver that makes the robots themselves
desire the targeted behavior. With the minimal surprise approach, we implant in
our robots the desire to make their world predictable. Here, we apply minimal
surprise to collective construction. Simulated robots push blocks in a 2D torus
grid world. In two variants of our experiment we either allow for emergent
behaviors or predefine the expected environment of the robots. In either way,
we evolve robot behaviors that move blocks to structure their environment and
make it more predictable. The resulting controllers can be applied in
collective construction by robots.
