SurGE: Surrogate Gradient-guided Evolution for Co-design of
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Source roundup from published reports. Claims below are attributed to their publishers, not independently verified. arXiv Robotics — research abstracts: SurGE: Surrogate Gradient-guided Evolution for Co-design of Legged Robots with Parallel Elasticity. This research presents SurGE, a framework that computes surrogate gradients of the design objective through a differentiable pipeline consisting of a kinodynamic single-rigid-body (Kino-SRB) model and a design-aware cont…
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- arXiv Robotics — research abstractsSurGE: Surrogate Gradient-guided Evolution for Co-design of Legged Robots with Parallel Elasticity
This research presents SurGE, a framework that computes surrogate gradients of the design objective through a differentiable pipeline consisting of a kinodynamic single-rigid-body (Kino-SRB) model and a design-aware control policy. SurGE injects these gradients into CMA-ES via mean shift with cosine-annealed step decay, achieving improved performance in both simulation and hardware experiments on a hopping robot with unidirectional parallel spring.
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