Lamarckian Inheritance in Dynamic Environments: How Key Variables Affect Evolutionary Dynamics

ArXi:2605.15769v1 Announce Type: cross 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.