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Previous evolutionary studies demonstrated how evaluating evolving agents invariable environmental conditions enable them to develop solutions that arerobust to environmental variation. We demonstrate how the robustness of theagents can be further improved by exposing them also to environmentalvariations throughout generations. These two types of environmental variationsplay partially distinct roles as demonstrated by the fact that agents evolvedin environments that do not vary throughout generations display lowerperformance than agents evolved in varying environments independently from theamount of environmental variation experienced during evaluation. Moreover, ourresults demonstrate that performance increases when the amount of variationsintroduced during agents evaluation and the rate at which the environmentvaries throughout generations are moderate. This is explained by the fact thatthe probability to retain genetic variations, including non-neutral variationsthat alter the behavior of the agents, increases when the environment variesthroughout generations but also when new environmental conditions persist overtime long enough to enable genetic accommodation.

Moderate Environmental Variation Promotes the Evolution of Robust Solutions