# Shared Modular Recurrence in Contextual MDPs for Universal Morphology Control

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/mutzxgz1qnrcqruu5d83krlo1
- Original: https://arxiv.org/abs/2506.08630

## Summary

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.