Loading
Life sciences · Preprint
arXiv · September 25, 2026
No summary has been generated for this record yet. What follows is drawn from its source metadata only.
Preprint.
No findings were extractable from the material analysed.
Safety was not reported in the material analysed. Check the source before drawing any conclusion about harm.
The source did not state who this applies to in practice.
Graded across the dimensions that decide whether you should act, each from what the source actually supports. There is no single score, and where a dimension was not assessed it says so.
This record has not been graded across any dimension yet. Treat the label above as provisional and read the source.
What is missing. This record has no bottom line, key findings, reported figures, evidence dimensions. That is a gap in the analysis, not a judgement about the study.
Morphology--control co-design jointly optimizes an agent's body structure and control policy as an integrated embodied system. However, existing methods typically model morphology design and control with separate networks coupled only indirectly through a shared task objective, limiting explicit high-level coordination. Inspired by natural genes that coordinate biological development, we introduce \textbf{Morphogene}, a compact latent blueprint that bridges an agent's body and brain. Through AdaConcat, Morphogene jointly conditions morphology and control generation at the limb level, allowing its variations to induce coordinated changes in both components. Building on this representation, we propose \textbf{GeCode}, which formulates co-design as exploration in the compact Morphogene space. Each Morphogene anchors a local design region in which nearby body--brain designs are explored, while performance-guided updates move these anchors toward promising regions for more efficient exploration of the broader design space. This process combines local refinement with global exploration while preserving body--brain compatibility. Extensive experiments across diverse 2D and 3D co-design tasks demonstrate that GeCode consistently outperforms existing state-of-the-art methods, achieving substantially faster convergence and higher final performance.