RoboMorph: Evolving Robot Morphology using Large Language Models
<|reference_start|>RoboMorph: Evolving Robot Morphology using Large Language Models: We introduce RoboMorph, an automated approach for generating and optimizing modular robot designs using large language models (LLMs) and evolutionary algorithms. In this framework, we represent each robot design as a grammar and leverage the capabilities of LLMs to navigate the extensive robot design space, which is traditionally time-consuming and computationally demanding. By integrating automatic prompt design and a reinforcement learning based control algorithm, RoboMorph iteratively improves robot designs through feedback loops. Our experimental results demonstrate that RoboMorph can successfully generate nontrivial robots that are optimized for a single terrain while showcasing improvements in morphology over successive evolutions. Our approach demonstrates the potential of using LLMs for data-driven and modular robot design, providing a promising methodology that can be extended to other domains with similar design frameworks.<|reference_end|>
@article{qiu2024robomorph:,
    title={RoboMorph: Evolving Robot Morphology using Large Language Models},
    author={Kevin Qiu, Krzysztof Ciebiera, Pawe{l} Fija{l}kowski, Marek Cygan,
  {L}ukasz Kuci'nski},
    journal={arXiv preprint arXiv:2407.08626},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.08626},
    primaryClass={cs.LG cs.RO}
}