2026
Efficient Morphology–Control Co-Design via Stackelberg PPO under Non-Differentiable Leader–Follower Interfaces
ICLR 2026poster
Morphology-control co-design concerns the coupled optimization of an agent’s body structure and control policy. A key challenge is that evaluating each candidate morphology requires extensive rollouts to re-optimize control and assess quality, leading to high computational costs and slow convergence…