Integrating Large Language Models (VLMs) and Vision-Language Models (VLMs) with robotic systems enables robots to process and understand complex natural language instructions and visual information. However, a fundamental challenge remains: for robots to fully capitalize on these advancements, they must have a deep understanding of their physical embodiment. The gap between AI models cognitive capabilities and the understanding of physical embodiment leads to the following question: Can a robot autonomously understand and adapt to its physical form and functionalities through interaction with its environment? This question underscores the transition towards developing self-modeling robots without reliance on external sensory or pre-programmed knowledge about their structure. Here, we propose a meta self modeling that can deduce robot morphology through proprioception (the internal sense of position and movement). Our study introduces a 12 DoF reconfigurable legged robot, accompanied by a diverse dataset of 200k unique configurations, to systematically investigate the relationship between robotic motion and robot morphology. Utilizing a deep neural network model comprising a robot signature encoder and a configuration decoder, we demonstrate the capability of our system to accurately predict robot configurations from proprioceptive signals. This research contributes to the field of robotic self-modeling, aiming to enhance understanding of their physical embodiment and adaptability in real world scenarios.
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