Bridging Body and Brain: Gene-Driven Morphology--Control Co-Design
Morphology--control co-design jointly optimizes an agent's body structure and control policy as an integrated embodied system. However, existing methods typically model morphology design and control with separate networks coupled only indirectly through a shared task objective, limiting explicit high-level coordination. Inspired by natural genes that coordinate biological development, we introduce \textbf{Morphogene}, a compact latent blueprint that bridges an agent's body and brain. Through AdaConcat, Morphogene jointly conditions morphology and control generation at the limb level, allowing its variations to induce coordinated changes in both components. Building on this representation,...
| Authors | Fu Feng, Ruixiao Shi, Yucheng Xie et al. |
|---|---|
| Primary category | cs.LG |
| Published | 25 September 2026 |
| Last updated at source | 25 September 2026 |
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