Article

Shared Modular Recurrence in Contextual MDPs for Universal Morphology Control

The paper proposes a Transformer-based architecture with shared modular recurrence for universal morphology robot control and evaluates its generalization performance on a set of MuJoCo robots. The authors note that contextual features are often only partially available but can be recovered through modular interactions, improving multi-robot control and generalization to contexts unseen during training. Results show substantial improvement in zero-shot generalization performance on robots with unseen dynamics, kinematics, and topologies across four environments.

Part of the event: Shared-module recursive architecture improves generalization in universal morphology control

This page provides a summary and source link only.