Music today is more ubiquitous, accessible, and democratized than ever. Thanks to technologies such as high-end home studios, audio compression, and digital distribution, music now surrounds us in everyday life, almost every piece of music is a few minutes of download away, and almost any western musician, novice or expert, can compose, perform and distribute their music directly to their listeners from their home studios. But at the same time these technologies lead to some concerning social effects on the culture of consuming and creating music. Although music is available for more people, in more locations, and for longer periods of time, most listeners experience it in an incidental, unengaged, or utilitarian manner. On the creation side, home studios promote private and isolated practice of music making where hardly any musical instruments or even musicians are needed, and where the value of live

The paper describes an interactive musical system that utilizes a genetic algorithm in an effort to create inspiring collaborations between human musicians and an improvisatory robotic xylophone player. The robot is designed to respond to human input in an acoustic and visual manner, evolving a human-generated phrase population based on a similarity driven fitness function in real- time. The robot listens to MIDI and audio input from human players and generates melodic responses that are informed by the analyzed input as well as by internalized knowledge of contextually relevant material. The paper describes the motivation for the project, the hardware and software design, two performances that were conducted with the system, and a number of directions for future work. 1. INTRODUCTION AND RELATED