# GES: Accelerating Morphology-Control Co-Design for Buoyancy-Assisted Robots with Gaussian Evolutionary Specialists

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/u9el8j4l2xyn8v917sp4tstix
- Original: https://arxiv.org/abs/2606.07424

## Summary

This study proposes Gaussian Evolutionary Specialists (GES), a reinforcement learning-based co-design framework. By maintaining a population of specialist policies whose design-space territories evolve according to their control performance, it mitigates behavioral diversity collapse, in which a single shared policy converges to the same control strategy across different morphologies.