Totipotent neural controllers for modular soft robots: Achieving specialization in body-brain co-evolution through Hebbian learning

Andrea Ferigo, Giovanni Iacca, Eric Medvet, Giorgia Nadizar

Abstract: Highlights•We apply Hebbian learning to encourage specialization in voxel-based soft robots.•We show that Hebbian learning effectively allows better performance and adaptation.•Neural networks specialize their behavior based on their position in the robot.