In the most extensive robot evolution systems, both the bodies and the brains of the robots undergo evolution and the brains of 'infant' robots are also optimized by a learning process immediately after 'birth'. This paper is concerned with the brain evolution mechanism in such a system. In particular, we compare four options obtained by combining asexual or sexual brain reproduction with Darwinian or Lamarckian evolution mechanisms. We conduct experiments in simulation with a system of evolvable modular robots on two different tasks. The results show that sexual reproduction of the robots' brains is preferable in the Darwinian framework, but the effect is the opposite in the Lamarckian system (both using the same infant learning method). Our experiments suggest that the overall best option is asexual reproduction combined with the Lamarckian framework, as it obtains better robots in terms of fitness than the other three. Considering the evolved morphologies, the different brain reproduction methods do not lead to differences. This result indicates that the morphology of the robot is mainly determined by the task and the environment, not by the brain reproduction methods.

翻译：在最广泛的机器人进化系统中，机器人的身体和大脑都经历进化过程，而"幼体"机器人的大脑在"出生"后也会立即通过学习过程进行优化。本文关注此类系统中的大脑进化机制。具体而言，我们比较了将无性或有性大脑繁殖与达尔文或拉马克进化机制相结合所得到的四种方案。我们在具有可进化模块化机器人的系统中，针对两项不同任务进行了模拟实验。结果表明：在达尔文框架下有性繁殖机器人大脑更优，但在拉马克系统中效果相反（两者使用相同的幼体学习方法）。我们的实验表明，将无性繁殖与拉马克框架相结合是整体最优方案，因为其在适应度方面获得优于其他三种方案的机器人。就进化形态而言，不同的大脑繁殖方法并未导致差异。这一结果表明机器人的形态主要由任务和环境决定，而非大脑繁殖方法。