More complex environments may be required to discover benefits of lifetime learning in evolving robots

It is well known that intra-life learning, defined as an additional controller optimization loop, is beneficial for evolving robot morphologies for locomotion. In this work, we investigate this further by comparing it in two different environments: an easy flat environment and a more challenging hills environment. We show that learning is significantly more beneficial in a hilly environment than in a flat environment and that it might be needed to evaluate robots in a more challenging environment to see the benefits of learning.