?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Duplication+of+modules+facilitates+the+evolution+of+functional+specialization&rft.creator=Calabretta%2C+Raffaele&rft.subject=Behavioral+Analysis&rft.subject=Evolution&rft.subject=Cognitive+Psychology&rft.subject=Neural+Nets&rft.subject=Robotics&rft.subject=Neural+Modelling&rft.description=The+evolution+of+simulated+robots+with+three+different+architectures+is+studied.+We+compared+a+non-modular+feed+forward+network%2C+a+hardwired+modular+and+a+duplication-based+modular+motor+control+network.+We+conclude+that+both+modular+architectures+outperform+the+non-modular+architecture%2C+both+in+terms+of+rate+of+adaptation+as+well+as+the+level+of+adaptation+achieved.+The+main+difference+between+the+hardwired+and+duplication-based+modular+architectures+is+that+in+the+latter+the+modules+reached+a+much+higher+degree+of+functional+specialization+of+their+motor+control+units+with+regard+to+high+level+behavioral+functions.+The+hardwired+architectures+reach+the+same+level+of+performance%2C+but+have+a+more+distributed+assignment+of+functional+tasks+to+the+motor+control+units.+We+conclude+that+the+mechanism+through+which+functional+specialization+is+achieved+is+similar+to+the+mechanism+proposed+for+the+evolution+of+duplicated+genes.+It+is+found+that+the+duplication+of+multifunctional+modules+first+leads+to+a+change+in+the+regulation+of+the+module%2C+leading+to+a+differentiation+of+the+functional+context+in+which+the+module+is+used.+Then+the+module+adapts+to+the+new+functional+context.+After+this+second+step+the+system+is+locked+into+a+functionally+specialized+state.+We+suggest+that+functional+specialization+may+be+an+evolutionary+absorption+state.&rft.publisher=MIT+Press&rft.contributor=Taylor%2C+Charles+E.&rft.contributor=Langton%2C+Christopher+G.&rft.contributor=Kitano%2C+Hiroaki&rft.date=2000&rft.type=Journal+(Paginated)&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F1296%2F3%2Fcalabretta.duplication.pdf&rft.identifier=++Calabretta%2C+Raffaele++(2000)+Duplication+of+modules+facilitates+the+evolution+of+functional+specialization.++%5BJournal+(Paginated)%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F1296%2F