SurGE injects surrogate gradients from a Kino-SRB model into CMA-ES to co-design a hopping robot with unidirectional parallel springs, reporting lower variance in simulation and 37.65% hardware objective improvement.
Efficient adjoint-based design optimization with optimal control,
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SurGE: Surrogate Gradient-guided Evolution for Co-design of Legged Robots with Parallel Elasticity
SurGE injects surrogate gradients from a Kino-SRB model into CMA-ES to co-design a hopping robot with unidirectional parallel springs, reporting lower variance in simulation and 37.65% hardware objective improvement.