Lamarckian Evolution

Lamarckian Evolution of Simulated Modular Robots

We study evolutionary robot systems where not only the robot brains but also the robot bodies are evolvable. Such systems need to include a learning period right after ‘birth' to acquire a controller that fits the newly created body. In this paper we …

Morphological Attractors in Darwinian and Lamarckian Evolutionary Robot Systems

Morphological evolution in a robotic system produces novel robot bodies after each reproduction event. This implies the necessity for life-time learning so that newborn robots can acquire a controller that fits their body. Thus, we obtain a system …

Acquiring Moving Skills in Robots with Evolvable Morphologies : Recent Results and Outlook

We construct and investigate a strongly embodied evolutionary system, where not only the controllers but also the morphologies undergo evolution in an on-line fashion. In these studies, we have been using various types of robot morphologies and …

Benefits of Lamarckian Evolution for Morphologically Evolving Robots

Implementing lifetime learning by means of on-line evolution, we establish an indirect encoding scheme that combines Compositional Pattern Producing Networks (CPPNs) and Central Pattern Generators (CPGs) as a relevant learner and controller for …