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As a benchmark, we consider a sequential navigation task where the agent has to alternately visit two rewarding sites to obtain food and water after first visiting the nest. To achieve a better fitness, the agent must select relevant sensory inputs and update its working memory to realize a non-Markovian sequential behavior in which the preceding state alone does not determine the next action. We compare the performance of a feed-forward and recurrent neural control architectures in different environment settings and analyze the neural mechanisms and environment features exploited by the agents to achieve their goal. Simulation and experimental results using the Cyber Rodent robot show that a modular architecture with a locally excitatory recur rent layer outperformed the general recurrent controller.<\/jats:p>","DOI":"10.1177\/105971230501300103","type":"journal-article","created":{"date-parts":[[2005,3,9]],"date-time":"2005-03-09T17:29:05Z","timestamp":1110389345000},"page":"53-66","source":"Crossref","is-referenced-by-count":14,"title":["Evolution of Neural Architecture Fitting Environmental Dynamics"],"prefix":"10.1177","volume":"13","author":[{"given":"Genci","family":"Capi","sequence":"first","affiliation":[{"name":"Fukuoka Institute of Technology, Japan,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kenji","family":"Doya","sequence":"additional","affiliation":[{"name":"ATR, Computational Neuroscience Laboratories,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2005,3,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/72.279181"},{"key":"atypb2","first-page":"320","volume-title":"Proceedings of 5th International Conference on Evolvable Systems: From Biology to Hardware","author":"Blynel, J."},{"key":"atypb3","first-page":"108","volume-title":"From animals to animats 3: The Third International Conference on Simulation of Adaptive Behavior","author":"Blumberg, B."},{"key":"atypb4","first-page":"311","volume-title":"International series on advanced intelligence: Vol. 6, Dynamic systems approach for embodiment and sociality","author":"Capi, G.","year":"2002"},{"key":"atypb5","first-page":"796","volume-title":"The Handbook of Brain Theory and Neural Networks","author":"Doya, K.","year":"1995"},{"key":"atypb6","volume-title":"The Handbook of Brain Theory and Neural Networks","author":"Doya, K.","year":"2002"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1016\/0893-6080(89)90022-1"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1207\/s15516709cog1402_1"},{"key":"atypb9","first-page":"507","volume-title":"Proceedings of the Genetic and Evolutionary Computation Conference","author":"Elwing, S."},{"key":"atypb10","first-page":"46","volume-title":"Proceedings of Sixth European Workshop on Learning Robot, Brighton, UK","author":"Faihe, Y."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1038\/360343a0"},{"key":"atypb12","volume-title":"Proceedings of Fuzzy-Neuro Workshop","author":"Hochreiter, S."},{"key":"atypb13","first-page":"395","volume-title":"Proceedings of International Conference on Robotics and Automation","author":"Jones, J."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1002\/cne.903590109"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1162\/089976602320263999"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/3477.499797"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-07418-3"},{"key":"atypb18","volume-title":"Proceedings of the International Symposium on Limbic and Association Cortical Systems\u2014Basic, Clinical and Computational Aspects","author":"Miyazaki, K."},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1162\/089892901750363208"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1998.80.5.2671"},{"key":"atypb21","volume-title":"Proceedings of the Second International Symposium on Adaptive Motion of Animals and Machines","author":"Paul, C."},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1989.1.2.263"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1016\/S0306-4522(98)00319-4"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1162\/089976601750399326"},{"key":"atypb25","first-page":"777","volume-title":"Proceedings of International Conference on Artificial Neural Networks","author":"Sato, M."},{"key":"atypb26","first-page":"139","volume-title":"From animals to animats 5: Proceedings of the Fifth International Conference on the Simulation of Adaptive Behavior","author":"Seth, A. 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