Task2Morph: Differentiable Task-Inspired Framework for Contact-Aware Robot Design
Yishuai Cai,Shaowu Yang,Minglong Li,Xinglin Chen,Yunxin Mao,Xiaodong Yi,Wenjing Yang,Yishuai Cai,Shaowu Yang,Minglong Li,Xinglin Chen,Yunxin Mao,Xiaodong Yi,Wenjing Yang
Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based methods to find the optimal solution in the morphology space. However, they ignore the implicit knowledge of task-to-morphology mapping which can directly insp...
