Graph-Based Design of Soft Grippers with Multi-Objective Quality-Diversity Optimisation

arXiv:2609.20087 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Project page: https://polyfem.github.io

Terminology

• Robustness — 7× in this paper · explained in 5 episodes
• Dominated Novelty Search — 6× in this paper
• Fidelity — 6× in this paper · explained in 2 episodes
• Generalization — 6× in this paper · explained in 13 episodes
• Clustering — 3× in this paper · explained in 2 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Multi-objective Optimization — 2× in this paper · explained in 4 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Adaptability — 1× in this paper · explained in 1 episode
• Adjacency Matrix — 1× in this paper · explained in 1 episode
• Objective Function — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Transferability — 1× in this paper · explained in 4 episodes

Sources

• ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation
• $\pi^{*}_{0.6}$: a VLA That Learns From Experience
• Illuminating search spaces by mapping elites
• Neural Graph Evolution: Towards Efficient Automatic Robot Design

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