Junru Song, Hengzhe Jin, Yucong Huang, Tingsong Jiang, Weien Zhou, Feifei Wang, Yang Yang, Ying Wen, Wen Yao. Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers). 2026.

The automatic design of soft robots is an intertwined process of evolving morphology and learning control. As reinforcement learning is repeatedly used to learn the control policy for each candidate robot design, the design process becomes time-consuming. So far, the common design paradigm in robotics has been based on a single task. In fact, there is control similarity between different tasks. Learning a controller with combinatorial generalization capabilities across a variety of tasks can significantly reduce the computational cost of the design process. To this end, we propose a cross-task collaborative evolutionary algorithm that constructs a universal controller capable of solving a group of tasks simultaneously. Instead of “one robot, one controller, one task" paradigm, the proposed universal controller is to learn a control policy, which can generalize to unseen morphologies. After the controller learning on easy tasks, the universal controller can be further transferred to new hard tasks. Furthermore, the knowledge transfer is incorporated in the search strategy to enhance the performance of the universal controller. The experimental results on 13 test tasks demonstrate that the proposed algorithm outperforms the SOTA design algorithms on 8 of them. Compared to these algorithms, the proposed algorithm reduces the computational cost by 55% while achieving comparable performance, particularly for unseen hard tasks.

Soft robot design is an intricate field with unique challenges due to its complex and vast search space. In the past literature, evolutionary computation algorithms, including novel probabilistic generative models (PGMs), have shown potential in this realm. However, these methods are sample inefficient and predominantly focus on rigid robots in locomotion tasks, which limit their performance and application in robot design automation. In this work, we propose MorphVAE, an innovative PGM that incorporates a multi-task training scheme and a meticulously crafted sampling technique termed ``continuous natural selection'', aimed at bolstering sample efficiency. This method empowers us to gain insights from assessed samples across diverse tasks and temporal evolutionary stages, while simultaneously maintaining a delicate balance between optimization efficiency and biodiversity. Through extensive experiments in various locomotion and manipulation tasks, we substantiate the efficiency of MorphVAE in generating high-performing and diverse designs, surpassing the performance of competitive baselines.

The satellite layout optimization design (SLOD) problem involves various coupling constraints and maintains multiple optimal solutions, which is a typical NP-hard problem. To solve the SLOD problem efficiently and robustly, CNDE-LS-SE, a constrained niching differential evolution algorithm, is proposed with three special efforts. First, based on employing the feasibility rule as a constraint handling technique, an information-guided strengthening evolution (IGSE) mechanism is proposed to further enhance the constraint-handling capability. IGSE is designed to perform multi-generation evolutions on inferior individuals without extra fitness evaluations, which can overcome the severe exploration stagnation issue due to a small portion of discrete feasible regions in the compact layout problem. Second, in order to maximally improve convergence speed and solution quality, an information-guided local search (IGLS) strategy is designed to select promising superior individuals for local optimization by comprehensively taking various information into consideration. Last but not least, to incorporate the multimodal property, an advanced niching method named NBC-minsize, is fulfilled to improve the efficiency of exploration and exploitation by limiting the minimum size of sub-populations and balancing the species. By comparison with several state-of-the-art algorithms, the superiority of our proposed method on efficiency, efficacy, and robustness is demonstrated via two simplified satellite layout design cases.

In the field of robotic control, designing individual controllers for each robot leads to high computational costs. Universal control policies, applicable across diverse robot morphologies, promise to mitigate this challenge. Predominantly, models based on Graph Neural Networks (GNN) and Transformers are employed, owing to their effectiveness in capturing relational dynamics across a robot’s limbs. However, these models typically employ homogeneous graph structures that overlook the functional diversity of different limbs. To bridge this gap, we introduce HeteroMorpheus, a novel method based on heterogeneous graph Transformer. This method uniquely addresses limb heterogeneity, fostering better representation of robot dynamics of various morphologies. Through extensive experiments we demonstrate the superiority of HeteroMorpheus against state-of-the-art methods in the capability of policy generalization, including zero-shot generalization and sample-efficient transfer to unfamiliar robot morphologies.

Abstract Deep Neural Networks have been successfully applied in hyperspectral image classification. However, most of prior works adopt general deep architectures while ignore the intrinsic structure of the hyperspectral image, such as the physical noise generation. This would make these deep models unable to generate discriminative features and provide impressive classification performance. To leverage such intrinsic information, this work develops a novel deep learning framework with the noise inclined module and denoise framework for hyperspectral image classification. First, the spectral signature of hyperspectral image is modeled with the physical noise model to describe the high intra‐class variance of each class and great overlapping between different classes in the image. Then, a noise inclined module is developed to capture the physical noise within each object and a denoise framework is then followed to remove such noise from the object. Finally, the CNN with noise inclined module and the denoise framework is developed to obtain discriminative features and provides good classification performance of hyperspectral image. Experiments are conducted over two commonly used real‐world datasets and the experimental results show the effectiveness of the proposed method. The implementation of the proposed method and other compared methods could be accessed at https://github.com/shendu‐sw/noise‐physical‐framework .

Most existing adversarial attack methods against detectors involve adding adversarial perturbations to benign images to synthesiz adversarial examples. However, directly applying these methods, originally designed for natural image detectors, to optical aerial image detectors can lead to perturbations that appear unnatural and suspicious to human eyes, owing to intrinsic dissimilarities between these two types of images. Inspired by the fact that the captured optical aerial images are heavily affected by weather conditions, this paper proposes a novel method for conducting adversarial attacks against optical aerial detectors by leveraging natural weather-style perturbations. Compared to existing methods, our scheme produces more natural and stealthy adversarial examples. To enhance the practicality of the proposed method in real-world scenarios, we implement the attacks in black-box settings where only the model’s predictions are accessible. Specifically, we formulate the generation of adversarial weather perturbations in black-box as an optimization problem and effectively solve it using the Differential Evolution (DE) algorithm. Through extensive experiments, we verify the effectiveness of our method and investigate the transferability of generated adversarial examples across different models. In light of the significant generalization and effectiveness of our method, we generate and release the first dataset with adversarial weather-style perturbations based on the DOTA dataset, which we abbreviate as DOTA-W. This dataset serves as a valuable resource for evaluating and improving the robustness of optical aerial detectors. The code and dataset have been released at https://github.com/tang-agui/attADs-AWP.

Physical adversarial attacks in object detection have attracted increasing attention. However, most previous works focus on hiding the objects from the detector by generating an individual adversarial patch, which only covers the planar part of the vehicle’s surface and fails to attack the detector in physical scenarios for multi-view, long-distance and partially occluded objects. To bridge the gap between digital attacks and physical attacks, we exploit the full 3D vehicle surface to propose a robust Full-coverage Camouflage Attack (FCA) to fool detectors. Specifically, we first try rendering the nonplanar camouflage texture over the full vehicle surface. To mimic the real-world environment conditions, we then introduce a transformation function to transfer the rendered camouflaged vehicle into a photo-realistic scenario. Finally, we design an efficient loss function to optimize the camouflage texture. Experiments show that the full-coverage camouflage attack can not only outperform state-of-the-art methods under various test cases but also generalize to different environments, vehicles, and object detectors.

For complex system design [e.g., satellite layout optimization design (SLOD)] in practical engineering, when launching a new optimization instance with another parameter configuration from the intuition of designers, it is always executed from scratch which wastes much time to repeat the similar search process. Inspired by transfer learning which can reuse past experiences to solve relevant tasks, many researchers pay more attention to explore how to learn from past optimization instances to accelerate the target one. In real-world applications, there have been numerous similar source instances stored in the database. The primary question is how to measure the transferability from numerous sources to avoid the notorious negative transferring. To obtain the relatedness between source and target instance, we develop an optimization instance representation method named centroid distribution, which is by the aid of the probabilistic model learned by elite candidate solutions in estimation of distribution algorithm (EDA) during the evolutionary process. Wasserstein distance is employed to evaluate the similarity between the centroid distributions of different optimization instances, based on which, we present a novel framework called multisource selective transfer optimization with three strategies to select sources reasonably. To choose the suitable strategy, four selection suggestions are summarized according to the similarity between the source and target centroid distribution. The framework is beneficial to choose the most suitable sources, which could improve the search efficiency in solving multiobjective optimization problems. To evaluate the effectiveness of the proposed framework and selection suggestions, we conduct two experiments: 1) comprehensive empirical studies on complex multiobjective optimization problem benchmarks and 2) a real-world SLOD problem. Suggestions for strategy selection coincide with the experiment results, based on which, we propose a mixed strategy to deal with the negative transfer in the experiments successfully. The results demonstrate that our proposed framework achieves competitive performance on most of the benchmark problems in convergence speed and hypervolume values and performs best on the real-world applications among all the comparison algorithms.