# Toward Physical Recursive Self-Improvement: A Call for Body-Control Co-Design for Humanoid Robots

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/z21ag4jtoo5lvy2jj02ql7j9k
- Original: https://arxiv.org/abs/2510.03081

## Summary

A NeurIPS 2026 Position Paper proposes body-control co-design to achieve physical Recursive Self-Improvement (RSI) in humanoid robots: using experience from the current body and policy to recursively improve both morphology and behavior at the same time. The paper discusses co-design methods grounded in strategic exploration, Sim2Real transfer, and meta-policy learning, argues for their necessity from methodological, application, and community perspectives, and lists open research questions ranging from short-term innovations to long-term goals.