Brain morphology is shaped by genetic and mechanical factors and is linked to biological development and diseases. Its fractal-like features, regional anisotropy, and complex curvature distributions hinder quantitative insights in medical inspections. Recognizing that the underlying elastic instability and bifurcation share the same physics as simple geometries such as spheres and ellipses, we developed a physics-transfer learning framework to address the geometrical complexity. To overcome the challenge of data scarcity, we constructed a digital library of high-fidelity continuum mechanics modeling that both describes and predicts the developmental processes of brain growth and disease. The physics of nonlinear elasticity from simple geometries is embedded into a neural network and applied to brain models. This physics-transfer approach demonstrates remarkable performance in feature characterization and morphogenesis prediction, highlighting the pivotal role of localized deformation in dominating over the background geometry. The data-driven framework also provides a library of reduced-dimensional evolutionary representations that capture the essential physics of the highly folded cerebral cortex. Validation through medical images and domain expertise underscores the deployment of digital-twin technology in comprehending the morphological complexity of the brain.

Natural beings undergo a morphological development process of their bodies while they are learning and adapting to the environments they face from infancy to adulthood. In fact, this is the period where the most important learning pro-cesses, those that will support learning as adults, will take place. However, in artificial systems, this interaction between morphological development and learning, and its possible advantages, have seldom been considered. In this line, this paper seeks to provide some insights into how morphological development can be harnessed in order to facilitate learning in em-bodied systems facing tasks or domains that are hard to learn. In particular, here we will concentrate on whether morphological development can really provide any advantage when learning complex tasks and whether its relevance towards learning in-creases as tasks become harder. To this end, we present the results of some initial experiments on the application of morpho-logical development to learning to walk in three cases, that of a quadruped, a hexapod and that of an octopod. These results seem to confirm that as task learning difficulty increases the application of morphological development to learning becomes more advantageous.

While control architectures and other information processing approaches are certainly important for robotic intelligence, our understanding of how this intelligence comes about has expanded in the last decades to include the morphology of the robot and its environment, as well as their mutual interactions [1]-[3], The field of Artificial Embodied Intelligence (AEI) [4], [5], which postulates robot intelligence as the result of the interaction between brain, morphology and the environment the robot must operate in, is growing. Currently, this view on the emergence of intelligence has expanded and now it tries to address the fact that intelligent systems must be able to operate in sequences of environments that are generally unknown at design time [6]. In other words, we are facing open-ended learning problems and, by definition, these types of problems imply that robots cannot be completely defined at design time, as, at that time, we do not know what skills the robot will require in order to achieve its purpose. In fact, not even the goals that need achieving are known. Developmental Robotics (DR) [7] is one of the approaches proposed to try to address these issues.

Figure 1: A single robot grows calluses as it walks, in response to pressure on its feet (youtu.be/0cmwpcxSUWI). Typically, AI researchers and roboticists try to realize intelligent behavior in machines by tuning parameters of a predefined structure (body plan and/or neural network architecture) using evolutionary or learning algorithms. Another but not unrelated longstanding property of these systems is their brittleness to slight aberrations, as highlighted by the growing deep learning literature on adversarial examples. Here we show robustness can be achieved by evolving the geometry of soft robots, their control systems, and how their material properties develop in response to one particular interoceptive stimulus (engineering stress) during their lifetimes. By doing so we realized robots that were equally fit but more robust to extreme material defects (such as might occur during fabrication or by damage thereafter) than robots that did not develop during their lifetimes, or developed in response to a different interoceptive stimulus (pressure). This suggests that the interplay between changes in the containing systems of agents (body plan and/or neural architecture) at different temporal scales (evolutionary and developmental) along different modalities (geometry, material properties, synaptic weights) and in response to different signals (interoceptive and external perception) all dictate those agents' abilities to evolve or learn capable and robust strategies. Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page.

Organisms result from adaptive processes interacting across different time scales. One such interaction is that between development and evolution. Models have shown that development sweeps over several traits in a single agent, sometimes exposing promising static traits. Subsequent evolution can then canalize these rare traits. Thus, development can, under the right conditions, increase evolvability. Here, we report on a previously unknown phenomenon when embodied agents are allowed to develop and evolve: Evolution discovers body plans robust to control changes, these body plans become genetically assimilated, yet controllers for these agents are not assimilated. This allows evolution to continue climbing fitness gradients by tinkering with the developmental programs for controllers within these permissive body plans. This exposes a previously unknown detail about the Baldwin effect: instead of all useful traits becoming genetically assimilated, only traits that render the agent robust to changes in other traits become assimilated. We refer to this as differential canalization. This finding also has implications for the evolutionary design of artificial and embodied agents such as robots: robots robust to internal changes in their controllers may also be robust to external changes in their environment, such as transferal from simulation to reality or deployment in novel environments.