COSMIC co-optimizes robot structure, materials, and control simultaneously via differentiable simulation and constrained gradients, yielding locomotion strategies that outperform sequential baselines.
4d topology optimization: Integrated optimization of the structure and self-actuation of soft bodies for dynamic motions
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COSMIC: Concurrent Optimization of Structure, Material, and Integrated Control for robotic systems
COSMIC co-optimizes robot structure, materials, and control simultaneously via differentiable simulation and constrained gradients, yielding locomotion strategies that outperform sequential baselines.