{"id":"https://openalex.org/W7162404583","doi":"https://doi.org/10.48550/arxiv.2605.24225","title":"ECo-MoE: Embodiment-Conditioned Mixture of Experts Increases the Evolvability of Robots","display_name":"ECo-MoE: Embodiment-Conditioned Mixture of Experts Increases the Evolvability of Robots","publication_year":2026,"publication_date":"2026-05-22","ids":{"openalex":"https://openalex.org/W7162404583","doi":"https://doi.org/10.48550/arxiv.2605.24225"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.24225","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.24225","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.24225","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137078981","display_name":"Yibin Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yibin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137038459","display_name":"Muhan Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Muhan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137080067","display_name":"Zihan Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Zihan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5003985051","display_name":"Sam Kriegman","orcid":"https://orcid.org/0000-0002-9207-1775"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kriegman, Sam","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.33660000562667847,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.33660000562667847,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.33219999074935913,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.1517000049352646,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/evolvability","display_name":"Evolvability","score":0.7558000087738037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.616100013256073},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6025999784469604},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6008999943733215},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5310999751091003},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.4936000108718872},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44670000672340393},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.39250001311302185}],"concepts":[{"id":"https://openalex.org/C176147130","wikidata":"https://www.wikidata.org/wiki/Q909622","display_name":"Evolvability","level":2,"score":0.7558000087738037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7111999988555908},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.616100013256073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6136000156402588},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6025999784469604},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6008999943733215},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5310999751091003},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.4936000108718872},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44670000672340393},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.39250001311302185},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.38690000772476196},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3711000084877014},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.3677000105381012},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.35280001163482666},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3431999981403351},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.33869999647140503},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3336000144481659},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.33059999346733093},{"id":"https://openalex.org/C58328972","wikidata":"https://www.wikidata.org/wiki/Q184609","display_name":"Expert system","level":2,"score":0.3172999918460846},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31459999084472656},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.27219998836517334},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.25839999318122864}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.24225","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.24225","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.24225","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.24225","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1,173],"paper,":[2],"we":[3],"introduce":[4],"a":[5,15,23,44,63,90],"model":[6],"of":[7,17,25,37,105,116,127,163],"evolution":[8,158,189],"and":[9,22,76,101,179,199],"learning":[10],"in":[11,72,89,95],"robots":[12],"that":[13,50],"co-optimizes":[14],"distribution":[16],"latent":[18,35,164],"design":[19,40],"vectors":[20],"(genotypes)":[21],"mixture":[24],"control":[26],"experts":[27],"(neural":[28],"modules),":[29],"which":[30,59,70,96,155],"are":[31],"gated":[32],"by":[33,177,194],"the":[34,117,134,153,195],"coordinates":[36],"each":[38],"decoded":[39],"(phenotype).":[41],"This":[42,112],"provides":[43],"scalable":[45],"alternative":[46],"to":[47,119,122,148,172,186],"co-design":[48],"algorithms":[49],"either":[51],"train":[52],"an":[53],"individual":[54],"policy":[55],"for":[56,67,109],"every":[57],"robot,":[58],"is":[60],"inefficient,":[61],"or":[62],"monolithic":[64],"universal":[65],"controller":[66,118],"all":[68],"robots,":[69],"results":[71],"overly":[73],"conservative":[74],"structures":[75,192],"behaviors.":[77],"Our":[78],"approach":[79],"lies":[80],"somewhere":[81],"between":[82],"these":[83],"two":[84],"extremes,":[85],"preserving":[86],"ancestral":[87],"knowledge":[88,136],"unified":[91],"yet":[92],"modular":[93],"framework":[94],"different":[97,103],"body":[98],"plans":[99],"activate":[100],"deactivate":[102],"combinations":[104],"learned":[106],"sensorimotor":[107],"circuits":[108],"goal-directed":[110],"behavior.":[111],"allows":[113,144],"one":[114],"part":[115],"be":[120,149,184,202],"overhauled":[121],"better":[123],"suit":[124],"new":[125],"species":[126],"designs":[128],"as":[129,175],"they":[130],"emerge":[131],"without":[132],"disrupting":[133],"hard-earned":[135],"contained":[137],"within":[138],"other":[139],"expert":[140,146],"modules.":[141],"It":[142],"also":[143],"pretrained":[145,196],"policies":[147],"directly":[150],"plugged":[151],"into":[152,159],"mixture,":[154],"can":[156,201],"steer":[157],"otherwise":[160],"unexplored":[161],"areas":[162],"space":[165],"containing":[166],"desired":[167],"morphological":[168],"traits.":[169],"We":[170],"refer":[171],"process":[174],"\"evo":[176],"demo\"":[178],"explore":[180],"how":[181],"it":[182],"may":[183],"used":[185],"guide":[187],"freeform":[188],"toward":[190],"canonical":[191],"defined":[193],"model.":[197],"Videos":[198],"code":[200],"found":[203],"at:":[204],"https://eco-moe.github.io.":[205]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-27T00:00:00"}