The paper introduces health-conditioned VLA models that incorporate a health vector via a new projector module and train on 128 malfunction episodes in the LIBERO simulator to complete tasks despite degraded joints.
Robots that can adapt like animals
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GAME is a new adversarial coevolutionary QD algorithm using generational alternation and vision embeddings that outperforms one-sided baselines across battle, wrestling, and deck-building tasks while revealing arms-race dynamics and the role of neutral mutations.
Lamarckian evolution outperforms Darwinian on task performance alone but drops more sharply when morphological novelty is added, because reduced parent-offspring similarity weakens the value of inherited learned controllers.
citing papers explorer
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Health-Conditioned Vision-Language-Action Models for Malfunction-Aware Robot Control
The paper introduces health-conditioned VLA models that incorporate a health vector via a new projector module and train on 128 malfunction episodes in the LIBERO simulator to complete tasks despite degraded joints.
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Limits of Lamarckian Evolution Under Pressure of Morphological Novelty
Lamarckian evolution outperforms Darwinian on task performance alone but drops more sharply when morphological novelty is added, because reduced parent-offspring similarity weakens the value of inherited learned controllers.