Stefan Elfwing Eiji Uchibe Kenji Doya Co-evolution of Rewards and Meta-parameters in Embodied Evolution. 278-302 2009 Creating Brain-Like Intelligence https://doi.org/10.1007/978-3-642-00616-6_13 series/lncs/5436 db/series/lncs/lncs5436.html#ElfwingUD09