Has there been any work on "growth" based RL models ? Like how a human baby starts off with a small brain and little capability to move around, but slowly starts to roll over, gets head control, crawl and eventually walk, grasp and develop fine motor control as their brains and physical abilities grow together.

The current method looks to me like starting from scratch with a fully capable human with a huge untrained brain instead of progressively expanding their actuators and control plane