Evolutionary and Computational Advantages of Neuromodulated Plasticity

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Born to Learn: the Inspiration, Progress, and Future of Evolved Plastic Artificial Neural Networks (2017, background): “In another study, Soltoggio (2008c) suggested that evolved modulatory neurons may be essential to separate the learning circuity from the input-output controller, effectively contributing to shortening the input-output pathways and speeding up decision processes.”
Adaptation of Robot Behaviour through Online Evolution and Neuromodulated Learning (2012, background): “Both topological aspects, the low density of connections per modulatory neuron and the fact that output neurons are the main target of modulation, have also been verified in distinct tasks and experiments [24].”