Papers citing 'Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning'

Title
Digital Twin-enabled Multi-generation Control Co-Design with Deep Reinforcement Learning Ying-Kuan Tsai V. Karkaria Yi-Ping Chen Wei Chen 3DV AI4CE 68 0 0 12 Oct 2025
Co-Design of Soft Gripper with Neural Physics Sha Yi Xueqian Bai Adabhav Singh Jianglong Ye Michael T Tolley Xiaolong Wang 163 2 0 26 May 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional MeasuresIEEE International Conference on Robotics and Automation (ICRA), 2025 A. J Miller Fangzhou Yu Michael Brauckmann Farbod Farshidian OffRL BDL 222 2 0 24 Apr 2025
T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects David Blanco Mulero Yifei Dong J´ulia Borras Florian T. Pokorny Carme Torras 134 6 0 31 Dec 2024
Task-Driven Co-Design of Mobile ManipulatorsIEEE Robotics and Automation Letters (RA-L), 2024 Raphael Schneider Daniel Honerkamp Tim Welschehold Abhinav Valada 309 2 0 21 Dec 2024
Reinforcement Learning for Efficient Design and Control Co-optimisation of Energy Systems Marine Cauz Adrien Bolland Nicolas Wyrsch Christophe Ballif 107 0 0 28 Jun 2024
Text2Robot: Evolutionary Robot Design from Text Descriptions Ryan P. Ringel Zachary S. Charlick Jiaxun Liu Boxi Xia Boyuan Chen 297 7 0 28 Jun 2024
Task-Based Design and Policy Co-Optimization for Tendon-driven Underactuated Kinematic ChainsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Sharfin Islam Zhanpeng He M. Ciocarlie 128 2 0 23 May 2024
Task2Morph: Differentiable Task-inspired Framework for Contact-Aware Robot Design Yishuai Cai Shaowu Yang Minglong Li Xinglin Chen Yunxin Mao Xiaodong Yi Wenjing Yang 144 4 0 28 Mar 2024
PaperBot: Learning to Design Real-World Tools Using Paper Ruoshi Liu Junbang Liang Sruthi Sudhakar Huy Ha Cheng Chi Shuran Song Carl Vondrick SSL 118 6 0 14 Mar 2024
Learning to Design and Use Tools for Robotic ManipulationConference on Robot Learning (CoRL), 2023 Ziang Liu Stephen Tian Michelle Guo Chenxi Liu Jiajun Wu 165 10 0 01 Nov 2023
Searching for High-Value Molecules Using Reinforcement Learning and TransformersInternational Conference on Learning Representations (ICLR), 2023 Raj Ghugare Santiago Miret Adriana Hugessen Mariano Phielipp Glen Berseth 153 18 0 04 Oct 2023
MORPH: Design Co-optimization with Reinforcement Learning via a Differentiable Hardware Model ProxyIEEE International Conference on Robotics and Automation (ICRA), 2023 Zhanpeng He Hanze Dong 87 7 0 29 Sep 2023
Co-Design Optimisation of Morphing Topology and Control of Winged DronesIEEE International Conference on Robotics and Automation (ICRA), 2023 Fabio Bergonti Gabriele Nava Valentin Wüest Antonello Paolino Giuseppe L’Erario Daniele Pucci Dario Floreano 90 11 0 25 Sep 2023
Curriculum Reinforcement Learning via Morphology-Environment Co-Evolution Shuang Ao Tianyi Zhou Guodong Long Xuan Song Jing Jiang 128 6 0 21 Sep 2023
Computational Design of Passive GrippersACM Transactions on Graphics (TOG), 2022 Milin Kodnongbua Ian Good J. I. Lipton Adriana Schulz 103 14 0 05 Jun 2023
Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic ActuatorsIEEE Robotics and Automation Letters (RA-L), 2023 Filip Bjelonic Joonho Lee Philip Arm Dhionis V. Sako Davide Tateo Jan Peters Marco Hutter 106 34 0 09 Jan 2023
Selecting Mechanical Parameters of a Monopode Jumping System with Reinforcement Learning Andrew S. Albright J. Vaughan 98 1 0 02 Dec 2022
Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload LiftingIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022 Carlotta Sartore Lorenzo Rapetti Daniele Pucci 78 9 0 24 Nov 2022
C^2:Co-design of Robots via Concurrent Networks Coupling Online and Offline Reinforcement Learning Ci Chen Pingyu Xiang Haojian Lu Yue Wang R. Xiong OffRL 119 3 0 14 Sep 2022
Neural Approaches to Co-Optimization in Robotics Charles B. Schaff 162 1 0 01 Sep 2022
N-LIMB: Neural Limb Optimization for Efficient Morphological Design Charles B. Schaff Matthew R. Walter 132 7 0 24 Jul 2022
Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based AnalysisIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Connor L. Yako Shenli Yuan J. Kenneth Salisbury 106 3 0 14 Mar 2022
Rethinking Pareto Frontier for Performance Evaluation of Deep Neural Networks V. Nia Alireza Ghaffari Mahdi Zolnouri Yvon Savaria 149 5 0 18 Feb 2022
Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer Charles B. Schaff Audrey Sedal Matthew R. Walter 109 28 0 09 Feb 2022
What Robot do I Need? Fast Co-Adaptation of Morphology and Control using Graph Neural Networks K. Luck Roberto Calandra M. Mistry AI4CE 141 3 0 03 Nov 2021
Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design Ye Yuan Yuda Song Zhengyi Luo Wen Sun Kris Kitani 108 42 0 07 Oct 2021
An End-to-End Differentiable Framework for Contact-Aware Robot Design Jie Xu Tao Chen Lara Zlokapa Michael Foshey Wojciech Matusik Shinjiro Sueda Pulkit Agrawal 128 104 0 15 Jul 2021
Task-Agnostic Morphology EvolutionInternational Conference on Learning Representations (ICLR), 2021 D. Hejna Pieter Abbeel Lerrel Pinto 123 30 0 25 Feb 2021
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse ObjectsIEEE International Conference on Robotics and Automation (ICRA), 2020 Xinlei Pan Animesh Garg Anima Anandkumar Yuke Zhu 116 17 0 22 Dec 2020
Jointly Learning Environments and Control Policies with Projected Stochastic Gradient AscentJournal of Artificial Intelligence Research (JAIR), 2020 Adrien Bolland Ioannis Boukas M. Berger D. Ernst 220 3 0 02 Jun 2020