{"id":"https://openalex.org/W7164146440","doi":"https://doi.org/10.48550/arxiv.2606.11037","title":"Generation of Diverse and Functional Robot Designs using Superquadrics Parametrisation and Quality-Diversity","display_name":"Generation of Diverse and Functional Robot Designs using Superquadrics Parametrisation and Quality-Diversity","publication_year":2026,"publication_date":"2026-06-09","ids":{"openalex":"https://openalex.org/W7164146440","doi":"https://doi.org/10.48550/arxiv.2606.11037"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.11037","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.11037","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138305495","display_name":"Leni Le Goff","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Goff, Leni Le","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047214445","display_name":"S.T. Smith","orcid":"https://orcid.org/0000-0003-3601-5071"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Smith, Simon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138288848","display_name":"Emma Hart","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hart, Emma","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.5210999846458435,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.5210999846458435,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.08709999918937683,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.06970000267028809,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7669000029563904},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5946000218391418},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5694000124931335},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.49559998512268066},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.4189999997615814},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.3986000120639801}],"concepts":[{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7669000029563904},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5946000218391418},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5694000124931335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5209000110626221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5078999996185303},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.49559998512268066},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.4189999997615814},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.3986000120639801},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.35249999165534973},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.3361000120639801},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.3212999999523163},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30649998784065247},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2953999936580658},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2939000129699707},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28610000014305115},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.25459998846054077},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.25429999828338623},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.11037","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.11037","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Generative":[0],"design":[1,147],"of":[2,30,48,74,110,146,150,158,186],"robots":[3],"requires":[4],"navigating":[5],"a":[6,27,58,94,160,168],"vast":[7],"search-space,":[8],"encompassing":[9],"physical":[10],"configurations":[11],"and":[12,69,102,117,148,162,171,184],"behavioural":[13],"parameters.":[14],"Evolutionary":[15],"Algorithms":[16],"(EAs)":[17],"have":[18],"shown":[19],"promising":[20],"results,":[21],"but":[22],"often":[23],"converge":[24],"prematurely":[25],"to":[26,36,82,128],"small":[28],"set":[29],"sub-optimal":[31],"designs.":[32],"Most":[33],"EAs":[34,116],"fail":[35],"maintain":[37],"sufficient":[38],"diversity":[39,145,179],"in":[40,131],"the":[41,46,134,138,156,182],"population":[42],"that":[43,78,125,173],"would":[44],"allow":[45],"discovery":[47],"distinct":[49],"functional":[50],"robots.":[51,152],"To":[52,85],"counter":[53],"premature":[54],"convergence,":[55],"we":[56,89,123],"introduce":[57],"superquadrics-based":[59],"representation":[60,92,165],"(SQs)":[61],"for":[62,166],"robot":[63],"bodies.":[64],"SQs":[65,101,127,175],"are":[66],"interpretable,":[67],"compact":[68,161],"computationally":[70],"efficient":[71],"mathematical":[72],"representations":[73,107],"3D":[75],"geometrical":[76],"shapes":[77],"can":[79],"be":[80],"tuned":[81],"specific":[83],"design-spaces.":[84],"encourage":[86],"morphological":[87],"diversity,":[88],"combine":[90],"this":[91],"with":[93,114,133,176],"quality-diversity":[95],"(QD)":[96],"algorithm":[97,136],"(MAP-Elites).":[98],"We":[99],"compare":[100],"Compositional":[103],"Pattern":[104],"Producing":[105],"Networks":[106],"as":[108],"generators":[109],"morphologies,":[111],"combining":[112,174],"them":[113],"standard":[115],"MAP-Elites.":[118],"In":[119],"two":[120],"test":[121],"environments,":[122,143],"find":[124],"using":[126,159],"generate":[129],"morphology":[130],"conjunction":[132],"MAP-Elites":[135],"reaches":[137],"highest":[139],"QD-score":[140],"across":[141],"both":[142],"maximising":[144],"functionality":[149],"generated":[151],"The":[153],"findings":[154],"highlight":[155],"benefits":[157],"interpretable":[163],"geometric":[164],"exploring":[167],"complex":[169],"design-space":[170],"suggest":[172],"an":[177],"explicit":[178],"mechanism":[180],"increases":[181],"quality":[183],"number":[185],"designs":[187],"generated.":[188]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-11T00:00:00"}
