Istituto Italiano di Tecnologia (IIT)（意大利技术研究院（IIT））；Institut de Robòtica i Informàtica Industrial, CSIC-UPC（西班牙国家研究委员会-加泰罗尼亚理工大学机器人与信息自动化研究所）；Heriot-Watt University（赫瑞瓦特大学）
Daniel Ordoñez-Apraez, Giulio Turrisi, Vladimir Kostic, Mario Martin, Antonio Agudo, Francesc Moreno-Noguer, Massimiliano Pontil, Claudio Semini, Carlos Mastalli
备注：
18 pages, 11 figures
发表信息：
International Journal of Robotics Research, vol. 0, no. 0, pp. 1-22, 2025
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the replication of kinematic structures and the symmetrical distribution of mass. We illustrate how these symmetries extend to the robot's state space and both proprioceptive and exteroceptive sensor measurements, resulting in the equivariance of the robot's equations of motion and optimal control policies. Thus, we recognize morphological symmetries as a relevant and previously unexplored physics-informed geometric prior, with significant implications for both data-driven and analytical methods used in modeling, control, estimation and design in robotics. For data-driven methods, we demonstrate that morphological symmetries can enhance the sample efficiency and generalization of machine learning models through data augmentation, or by applying equivariant/invariant constraints on the model's architecture. In the context of analytical methods, we employ abstract harmonic analysis to decompose the robot's dynamics into a superposition of lower-dimensional, independent dynamics. We substantiate our claims with both synthetic and real-world experiments conducted on bipedal and quadrupedal robots. Lastly, we introduce the repository MorphoSymm to facilitate the practical use of the theory and applications outlined in this work.
The Role of Morphological Variation in Evolutionary Robotics: Maximizing Performance and Robustness
Federal University of Santa Catarina (UFSC)（圣卡塔琳娜联邦大学）；Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR)（国家研究委员会认知科学与技术研究所）
On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis
Istituto italiano di tecnologia（意大利技术研究院）；Institut de Robòtica i Informàtica Industrial（工业机器人与信息学研究所）；Universitat Politècnica de Catalunya（加泰罗尼亚理工大学）；Barcelona Supercomputing Center（巴塞罗那超级计算中心）
Correspondence learning between morphologically different robots via task demonstrations
Bogazici University（博加齐奇大学）；the University of Tokyo（东京大学）；Osaka University（大阪大学）；International Professional University of Technology in Osaka（大阪国际职业技术大学）；Ozyegin University（厄兹耶金大学）
Southern University of Science and Technology（南方科技大学）；The University of Hong Kong（香港大学）；School of Design（设计学院）；ZJU-University of Illinois Urbana-Champaign Institute（浙江大学-伊利诺伊大学厄巴纳-香槟分校联合研究所）；Zhejiang University（浙江大学）；System Design and Intelligent Manufacturing（系统设计与智能制造学院）；Design & Learning Research Group（设计与学习研究组）
Lang2Morph: Language-Driven Morphological Design of Robotic Hands
CREATE Lab, Swiss Federal Institute of Technology Lausanne (EPFL)（瑞士联邦理工学院洛桑分校CREATE实验室）；Computer Vision Department, Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（马尔代夫比兹莱浙江大学人工智能大学计算机视觉部门）
Traj2Action: A Co-Denoising Framework for Trajectory-Guided Human-to-Robot Skill Transfer
MAPLE Lab, Westlake University（西湖大学MAPLE实验室）；Zhejiang University（浙江大学）；Huazhong University of Science and Technology（华中科技大学）；Institute of Advanced Technology, Westlake Institute for Advanced Study（西湖大学先进技术研究所）
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning
Italian Institute of Technology (IIT)（意大利理工学院）；University of Manchester（曼彻斯特大学）；Dynamic Legged Systems Laboratory, IIT（意大利理工学院动态腿式系统实验室）；Generative Bionics S.R.L（生成仿生学有限公司）；DAUIN, Politecnico di Torino（都灵理工大学DAUIN）；Rehab Technologies Lab, IIT（意大利理工学院康复技术实验室）；Newcastle University（纽卡斯尔大学）
Evaluating Morphological Computation in Muscle and DC-motor Driven Models of Human Hopping
Max Planck Institute for Mathematics in the Science（马克斯·普朗克数学科学研究所）；Stuttgart Research Centre for Simulation Technology（斯图加特仿真技术研究中心）；University of Stuttgart（斯图加特大学）；University of Leipzig（莱比锡大学）；Santa Fe Institute（圣塔菲研究所）
MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation
Human Interaction and RObotics [HIRO] Group（人机交互与机器人[HIRO]组）；Department of Computer Science（计算机科学系）；College of Engineering and Applied Science（工程与应用科学学院）；University of Colorado Boulder（科罗拉多大学波尔得分校）
Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
PEARL Lab, Dept. of Computer Science, TU Darmstadt, Germany（德累斯顿技术大学计算机科学系PEARL实验室）；Istituto Italiano di Tecnologia（意大利技术研究院）；Robotics Institute Germany（德国机器人研究所）
Embodied Intelligence for Sustainable Flight: A Soaring Robot with Active Morphological Control
Learning and Dynamical Systems, Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所学习与动力系统部门）；Institute for Modelling and Simulation of Biomechanical Systems, University of Stuttgart（斯图加特大学生物力学系统建模与仿真研究所）
Three-dimensional Morphological Reconstruction of Millimeter-Scale Soft Continuum Robots based on Dual-Stereo-Vision
Stanford University（斯坦福大学）；CUHK Shenzhen Research Institute（香港中文大学（深圳）研究院）；The Chinese University of Hong Kong（香港中文大学）；College of Computer Science and Electronic Engineering, Hunan University（湖南大学计算机与电子工程学院）
Nagahama Institute of Bio-Science and Technology（长滨生物科学与技术学院）；Network System Research Institute, National Institute of Information and Communications Technology（国立信息与通信技术研究所网络系统研究部）；Graduate School of Informatics, Nagoya University（名古屋大学信息学研究科）；Interdisciplinary Graduate School, University of Yamanashi（山梨大学跨学科研究科）
SLUGBOT, an Aplysia-inspired Robotic Grasper for Studying Control
McGowan Institute for Regenerative Medicine（麦高恩再生医学研究所）；Robotics Institute（机器人研究所）；Carnegie Mellon University（卡内基梅隆大学）；Case Western Reserve University（凯斯西储大学）
Communicative Efficiency of Single vs. Multi-Axis Robot Neck Motion
University of Bristol School of Engineering Mathematics and Technology（布里斯托大学工程数学与技术学院）；EPFL Institute of Mechanical Engineering（洛桑联邦理工学院机械工程学院）；University of Tokyo Department of Precision Engineering（东京大学精密工程系）
WestWorld: A Knowledge-Encoded Scalable Trajectory World Model for Diverse Robotic Systems
Georgia Institute of Technology（佐治亚理工学院）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Carnegie Mellon University（卡内基梅隆大学）；Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）
Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation
AI Thrust, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）AI thrust）；Sun Yat-sen University（中山大学）；The Hong Kong University of Science and Technology（香港科技大学）
