They don’t know what to mimic. Many generations of insects have been born, lived, and died. Many millions of generations.
The ones who happen to do a better job at camouflage live longer and have more babies.
They pass on the genes for their type of camo.
The ones of the babies who do a better job also live longer and have more babies.
Do that a few million times and you have a bug that lives among dead leaves, that looks almost exactly like a dead leaf.
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