ICLR 2025 · SPOTLIGHT
Endoskeletal
A generative framework evolves 3D bodies with coupled soft tissue and rigid skeletons, a continuous morphology space, and one morphology-conditioned controller shared across bodies.
SYNTHETIC SPACE OF BODIES
Before it can design a body, the model must learn what a body can be: it studies twenty million synthetic ones, branching skeletons wrapped in soft tissue.
- TRAINING SET
- 20 MILLION
Every step of the figure
SYNTHETIC SPACE OF BODIES
Before it can design a body, the model must learn what a body can be: it studies twenty million synthetic ones, branching skeletons wrapped in soft tissue.
LATENT GENETIC CODES
Twenty million shapes are too many to search voxel by voxel, so each body is folded into a short genetic code where nearby codes make similar bodies.
FROM GENOTYPE TO PHENOTYPE, FROM INDIVIDUAL TO POPULATION
A code is only numbers until a decoder grows it into a body of bone and soft tissue, with about two orders of magnitude more voxels than the earlier freeform robots. A generation of codes becomes a population.
SHARED BRAIN
No two of these bodies share a skeleton, so rather than train a brain for each, one shared brain reads any skeleton as a graph and drives every joint.
EVOLUTION
Now that every body can move, each is tested in its own world; those that walk farthest steer the next generation of codes, and the loop begins again.