Diverse and Adaptable Arm Coordination for Octopus-Crawling via Diffusion-Based Uncertainty-Aware Optimization
Octopus crawling motivates soft robots that exploit redundancy, yet discovering and organizing diverse coordination modes for adaptation remains challenging. To address this, we introduce a Diffusion-based Uncertainty-aware Optimization (DUO) algorithm that learns demonstration-free crawling controllers for a simulated, muscle-actuated CyberOctopus. This work represents the first application of diffusion-based control to soft multi-arm robots in contact-rich simulations. By embedding a variety of locomotion behaviors within a shared control distribution, this approach enables the simulated octopus to navigate dynamic physical constraints, demonstrating that learned coordination diversity ...
| Authors | Seung Hyun Kim, Heng-Sheng Chang, Kimia Kazemi et al. |
|---|---|
| Primary category | cs.RO |
| Published | 17 September 2026 |
| Last updated at source | 17 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.