arXiv subjects

Muhan Li

Publications and source records attributed to Muhan Li.

5 recordsLinked to original sources

arXiv2026

ECo-MoE: Embodiment-Conditioned Mixture of Experts Increases the Evolvability of Robots

In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of each decoded design (phenotype). This provides a scalable alternative to co-design algorithms that either train an individual policy for every robot, which is inefficient, or a monolithic universal controller for all robots, which results in overly conservative structures and behaviors. Our approach lies somewhere between these two extremes, preserving ancestral knowledge in a unified yet modular framework in which different body plans activate and deactivate different combinations of learned sensorimotor circuits for goal-directed behavior. This allows one part of the controller to be overhauled to better suit new species of designs as they emerge without disrupting the hard-earned knowledge contained within other expert modules. It also allows pretrained expert policies to be directly plugged into the mixture, which can steer evolution into otherwise unexplored areas of latent space containing desired morphological traits. We refer to this process as "evo by demo" and explore how it may be used to guide freeform evolution toward canonical structures defined by the pretrained model. Videos and code can be found at: https://eco-moe.github.io.

cs.RO↗

arXiv2026

Creating manufacturable blueprints for coarse-grained virtual robots

Over the past three decades, countless embodied yet virtual agents have freely evolved inside computer simulations, but vanishingly few were realized as physical robots. This is because evolution was conducted at a level of abstraction that was convenient for freeform body generation (creation, mutation, recombination) but swept away almost all of the physical details of functional body parts. The resulting designs were crude and underdetermined, requiring considerable effort and expertise to convert into a manufacturable format. Here, we automate this mapping from simplified design spaces that are readily evolvable to complete blueprints that can be directly followed by a builder. The pipeline incrementally resolves manufacturing constraints by embedding the structural and functional semantics of motors, electronics, batteries, and wiring into the abstract virtual design. In lieu of evolution, a user-defined or AI-generated ``sketch'' of a body plan can also be fed as input to the pipeline, providing a versatile framework for accelerating the design of novel robots.

cs.RO↗

arXiv2024

Generating Freeform Endoskeletal Robots

The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple robots: (1) fully rigid, jointed bodies; and (2) fully soft, jointless bodies. Here we bridge these two extremes with the open ended creation of terrestrial endoskeletal robots: deformable soft bodies that leverage jointed internal skeletons to move efficiently across land. Simultaneous de novo generation of external and internal structures is achieved by (i) modeling 3D endoskeletal body plans as integrated collections of elastic and rigid cells that directly attach to form soft tissues anchored to compound rigid bodies; (ii) encoding these discrete mechanical subsystems into a continuous yet coherent latent embedding; (iii) optimizing the sensorimotor coordination of each decoded design using model-free reinforcement learning; and (iv) navigating this smooth yet highly non-convex latent manifold using evolutionary strategies. This yields an endless stream of novel species of "higher robots" that, like all higher animals, harness the mechanical advantages of both elastic tissues and skeletal levers for terrestrial travel. It also provides a plug-and-play experimental platform for benchmarking evolutionary design and representation learning algorithms in complex hierarchical embodied systems.

cs.RO↗

arXiv2023

Reinforcement learning for freeform robot design

Inspired by the necessity of morphological adaptation in animals, a growing body of work has attempted to expand robot training to encompass physical aspects of a robot's design. However, reinforcement learning methods capable of optimizing the 3D morphology of a robot have been restricted to reorienting or resizing the limbs of a predetermined and static topological genus. Here we show policy gradients for designing freeform robots with arbitrary external and internal structure. This is achieved through actions that deposit or remove bundles of atomic building blocks to form higher-level nonparametric macrostructures such as appendages, organs and cavities. Although results are provided for open loop control only, we discuss how this method could be adapted for closed loop control and sim2real transfer to physical machines in future.

cs.RO↗

arXiv2020

Mitochondria in higher plants possess H2 evolving activity which is closely related to complex I

Hydrogenase occupy a central place in the energy metabolism of anaerobic bacteria. Although the structure of mitochondrial complex I is similar to that of hydrogenase, whether it has hydrogen metabolic activity remain unclear. Here, we show that a H2 evolving activity exists in higher plants mitochondria and is closely related to complex I, especially around ubiquinone binding site. The H2 production could be inhibited by rotenone and ubiquinone. Hypoxia could simultaneously promote H2 evolution and succinate accumulation. Redox properties of quinone pool, adjusted by NADH or succinate according to oxygen concentration, acts as a valve to control the flow of protons and electrons and the production of H2. The coupling of H2 evolving activity of mitochondrial complex I with metabolic regulation reveals a more effective redox homeostasis regulation mechanism. Considering the ubiquity of mitochondria in eukaryotes, H2 metabolism might be the innate function of higher organisms. This may serve to explain, at least in part, the broad physiological effects of H2.

q-bio.BM↗