Lamarckian Inheritance in Dynamic Environments: How Key Variables Affect Evolutionary Dynamics
The co-optimization of a robot's body and brain presents a coupled challenge: the morphology constrains which control strategies are effective, while the control determines how well the morphology performs. To address this, we combine morphology optimization as evolution with controller optimization as lifetime learning, utilizing Lamarckian inheritance to transfer learned controller parameters from parent to offspring. In dynamic environments, existing literature presents conflicting evidence: while traditional evolutionary theory often suggests Lamarckian inheritance lacks benefit, recent studies in evolutionary robotics indicate it can improve performance. We hypothesize that this is b...
| Authors | K. Ege de Bruin, Kyrre Glette, Kai Olav Ellefsen |
|---|---|
| Primary category | cs.RO |
| Published | 15 May 2026 |
| Last updated at source | 15 May 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.