外观
论文arXiv 2609.313291 个月前
连接身体与大脑：基因驱动的形态-控制协同设计
原文链接：Bridging Body and Brain: Gene-Driven Morphology--Control Co-Design（arXiv 2609.31329 · 发布日期：2026-09-25）
Bridging Body and Brain: Gene-Driven Morphology--Control Co-Design
针对形态与控制缺乏显式高层协调，提出Morphogene与GeCode，并在2D和3D协同设计任务中验证。
核心要点
- 现有方法通常用分离网络建模形态与控制，仅通过任务目标间接耦合。
- Morphogene作为紧凑潜在蓝图，经AdaConcat在肢体层级联合条件化形态与控制生成。
- GeCode将协同设计表述为Morphogene空间探索，结合局部细化与全局探索。
- 多种2D和3D协同设计任务实验显示，GeCode收敛更快且最终性能更高。
验证范围与局限：验证范围为多种2D和3D协同设计任务。
英文摘要 (Abstract)
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, we propose \textbf{GeCode}, which formulates co-design as exploration in the compact Morphogene space. Each Morphogene anchors a local design region in which nearby body--brain designs are explored, while performance-guided updates move these anchors toward promising regions for more efficient exploration of the broader design space. This process combines local refinement with global exploration while preserving body--brain compatibility. Extensive experiments across diverse 2D and 3D co-design tasks demonstrate that GeCode consistently outperforms existing state-of-the-art methods, achieving substantially faster convergence and higher final performance.
作者：Fu Feng, Ruibo Shi, Yucheng Xie, Jing Wang, Xin Geng
来源
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