COSMIC co-optimizes robot structure, materials, and control simultaneously via differentiable simulation and constrained gradients, yielding locomotion strategies that outperform sequential baselines.
A scalable pipeline for designing reconfigurable organisms.Proceedings of the National Academy of Sciences, 117(4):1853–1859, January 2020
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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.