The paper introduces Morphogene, a compact latent blueprint that links an agent’s body and control policy, enabling coordinated changes at the limb level through AdaConcat. Building on this, GeCode treats co-design as exploration within Morphogene space, using local refinement and global exploration to efficiently navigate design regions. Experiments on various 2D and 3D tasks show that GeCode outperforms state‑of‑the‑art methods, achieving faster convergence and higher performance.
arXiv:2608.23100v1 Announce Type: cross Abstract: Robot co-design via bi-level optimization couples within-lifetime controller learning for fitness evaluation with cross-generational morphological ev...
arXiv:2602. 17997v3 Announce Type: replace Abstract: Animals perform coordinated whole-body movements under the control of neural systems shaped by brain-wide connectivity.
arXiv:2607. 11689v1 Announce Type: cross Abstract: Artificial general intelligence ultimately requires agents that can reason and act in the physical world.
RecMorph introduces a topology‑guided spatial recurrent architecture for generalized morphology control, converting a kinematic tree into a sequence that enables joint cross‑limb communication and representation transformation. The design incorporates residual preservation, RMS normalization, and input‑dependent channel modulation to stabilize repeated spatial transformations, achieving linear token complexity. Across five UNIMAL tasks and a four‑platform quadruped setting, RecMorph outperforms existing controllers in training performance, inference throughput, and generalization to unseen bodies with up to 30 limbs, while also demonstrating robust real‑world performance on Go1/Go2 trials.
RoboLDA is a Bayesian probabilistic model that learns a four‑level hierarchy—task, robot, organ, voxel—from existing high‑performing voxel‑based soft robot designs. By training with variational inference, it uncovers consistent, intuitive hierarchical patterns and can generate new robot morphologies that outperform evolutionary algorithms by an average of 106.4% without further optimization. The inferred organ structures also improve modular control policies, demonstrating the model’s utility for zero‑shot design and motion control.
Artificial general intelligence ultimately requires agents that can reason and act in the physical world. Action models, vision-language-action policies, and world models have advanced this goal, while World Action Models (WAMs) are particularly promising because they connect candidate interventions with predicted consequences.
The paper presents BRIDGE, an open‑source 88 cm tall humanoid robot designed through a data‑driven morphology‑control co‑design framework that aligns robot shape with human‑like movement. It introduces a new metric combining kinematic retargeting fidelity and dynamic tracking performance to evaluate morphological fidelity, achieving state‑of‑the‑art results against baseline humanoids. The released platform, along with its control policy, demonstrates superior human motion capture, robust balance, and dynamic maneuvers, with supporting videos and code available online.
The paper introduces BRIDGE, an open‑source 88 cm tall humanoid robot designed through a data‑driven morphology‑control co‑design framework that optimizes the robot’s body shape for human‑like movement. A new metric combining kinematic retargeting fidelity and dynamic tracking performance is proposed to evaluate morphological fidelity, and the framework achieves state‑of‑the‑art results compared to existing humanoids such as Bumi, K1, and Toddlerbot. The resulting platform, released with its control policy and supporting materials, demonstrates superior fidelity in capturing human motion, robust balance, and highly dynamic maneuvers.
arXiv:2607. 29347v1 Announce Type: cross Abstract: Modern neuroscience relies on integrating multi-scale, multimodal datasets to uncover the neural principles underlying intelligence.
arXiv:2606. 11324v1 Announce Type: cross Abstract: We introduce Embodied-R1.
MorphoStyle is a new framework for shape‑aware motion style transfer that uses a shape‑conditioned FSQ‑VAE. It disentangles style from content through a contrastive style encoder, a text‑guided style‑routing mechanism, and a manifold‑preserving style modulator. Experiments on benchmark datasets show that MorphoStyle outperforms existing baselines in both shape control and motion style transfer.
The paper introduces MISCO, an evolutionary framework that uses deep generative models to design voxel-based soft robots (VSRs). MISCO combines an estimation-of-distribution algorithm with a variational autoencoder that includes multi-task learning, position awareness, and inter-voxel signaling to improve representation and sampling efficiency. The authors provide theoretical guarantees of asymptotic convergence to globally optimal designs and demonstrate through simulations that MISCO effectively navigates large design spaces, producing high-performing VSRs for various tasks while balancing efficiency and diversity.