Super interesting idea! The help page in the sim (question mark on the left of the building UI) describes the inputs that the brain uses - and since I have it up, here's the list:
- Distance of creature from the ground
- Current velocity (horizontal and vertical component)
- Rotational velocity
- Number of points currently touching the ground
- Creature's rotation (= the average of all bone rotations)
At least, this is what it generally uses. It also specifies that it may use more inputs based on the task (obstacle jumping uses another input for the distance between the creature and the obstacle).
One other thing is that it says there's two parts to being able to perform a task - how the body is built and how the brain controls that body. It would be nice if there could be a "manual" mode where you can somehow manually control the creature to test whether its given body is even capable of achieving such speeds...but I realize this could be complicated to use, esp if the number of muscles is high.