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Our study sits at the intersection of these. We investigate the question \u201cWhat if the 18th-century biologist Lamarck was not completely wrong and individual traits learned during a lifetime could be passed on to offspring through inheritance?\u201d We research this issue through simulations with an evolutionary robot framework where morphologies (bodies) and controllers (brains) of robots are evolvable and robots also can improve their controllers through learning during their lifetime. Within this framework, we compare a Lamarckian system, where learned bits of the brain are inheritable, with a Darwinian system, where they are not. Analyzing simulations based on these systems, we obtain new insights about Lamarckian evolution dynamics and the interaction between evolution and learning. Specifically, we show that Lamarckism amplifies the emergence of \u2018morphological intelligence\u2019, the ability of a given robot body to acquire a good brain by learning, and identify the source of this success: newborn robots have a higher fitness because their inherited brains match their bodies better than those in a Darwinian system.<\/jats:p>","DOI":"10.1038\/s41598-023-48338-4","type":"journal-article","created":{"date-parts":[[2023,11,30]],"date-time":"2023-11-30T05:01:57Z","timestamp":1701320517000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Enhancing robot evolution through Lamarckian principles"],"prefix":"10.1038","volume":"13","author":[{"given":"Jie","family":"Luo","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Karine","family":"Miras","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jakub","family":"Tomczak","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Agoston E.","family":"Eiben","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2023,11,30]]},"reference":[{"key":"48338_CR1","doi-asserted-by":"crossref","unstructured":"Nolfi, S., Floreano, D. & Floreano, D.\u00a0D. 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