COSMIC co-optimizes robot structure, materials, and control simultaneously via differentiable simulation and constrained gradients, yielding locomotion strategies that outperform sequential baselines.
Efficient automatic design of robots.Proceedings of the National Academy of Sciences, 120(41):e2305180120, October 2023
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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.