RecMorph: Topology-Guided Spatial Recurrence for Generalized Morphology Control
cs.RO, cs.LG
Submitted: 2026-09-16
Updated: 2026-09-16
Comments: 26 pages. Code and experimental resources are available at https://github.com/quanruirao/RecMorph
Code: https://github.com/quanruirao/RecMorph
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- MetaMorph: Learning Universal Controllers with Transformers
- Body Transformer: Leveraging Robot Embodiment for Policy Learning
- GCNT: Graph-Based Transformer Policies for Morphology-Agnostic Reinforcement Learning
- Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
- RMA: Rapid Motor Adaptation for Legged Robots
- Learning Agile Robotic Locomotion Skills by Imitating Animals
- Proximal Policy Optimization Algorithms
- Shared Modular Recurrence in Contextual MDPs for Universal Morphology Control
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