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2026-01-31 22:47:31
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DittoGym: Learning to Control Soft Shape-Shifting Robots DittoGym: Learning to Control Soft Shape-Shifting Robots Suning Huang , Boyuan Chen , Huazhe Xu , Vincent Sitzmann ICLR 2024 Paper Twitter DittoGym CFP Abstract Robot co-design, where the morphology of a robot is optimized jointly with a learned policy to solve a specific task, is an emerging area of research. It holds particular promise for soft robots, which are amenable to novel manufacturing techniques that can realize learned morphologies and actuators. Inspired by nature and recent novel robot designs, we propose to go a step further and explore the design of reconfigurable robots, defined as robots that can change their morphology within their lifetime. We formalize control of reconfigurable soft robots as a high-dimensional reinforcement learning (RL) problem. We unify morphology change, locomotion, and environment interaction in the same action space, and introduce an appropria...
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