Evolving Embodied Intelligence: Graph Neural Network--Driven Co-Design of Morphology and Control in Soft Robotics
The intelligent behavior of robots does not emerge solely from control systems, but from the tight coupling between body and brain, a principle known as embodied intelligence. Designing soft robots that leverage this interaction remains a significant challenge, particularly when morphology and control require simultaneous optimization. A significant obstacle in this co-design process is that morphological evolution can disrupt learned control strategies, making it difficult to reuse or adapt existing knowledge. We address this by develop a Graph Neural Network-based approach for the co-design of morphology and controller. Each robot is represented as a graph, with a graph attention networ...
| Authors | Jianqiang Wang, Shuaiqun Pan, Alvaro Serra-Gomez et al. |
|---|---|
| Primary category | cs.RO |
| Published | 20 March 2026 |
| Last updated at source | 20 March 2026 |
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