Lamarckian evolution outperforms Darwinian on task performance alone but drops more sharply when morphological novelty is added, because reduced parent-offspring similarity weakens the value of inherited learned controllers.
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Limits of Lamarckian Evolution Under Pressure of Morphological Novelty
Lamarckian evolution outperforms Darwinian on task performance alone but drops more sharply when morphological novelty is added, because reduced parent-offspring similarity weakens the value of inherited learned controllers.