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During biological epigenesis, morphology is not fixed but rather develops in constant interaction with the development of sensorimotor and social skills. The development of morphology poses obvious practical problems with robots, but it may be a crucial mechanism that should be further explored, at least in simulation, such as in morphogenetic robotics.
Another open problem is the understanding of the relation between the key phenomena investigated by developmental robotics (e.g., hierarchical and modular sensorimotor systems, intrinsic/extrinsic/social motivations, and open-ended learning) and the underlying brain mechanisms.
Similarly, in biology, developmental mechanisms (operating at the ontogenetic time scale) strongly interact with evolutionary mechanisms (operating at the phylogenetic time scale) as shown in the flourishing "evo- devo" scientific literature.<ref name="Muller07">{{cite journal
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