We introduce LOKI, a compute-efficient framework for co-designing morphologies and control policies that generalize across unseen tasks. Inspired by biological adaptation—where animals quickly adjust to morphological changes—our method overcomes the inefficiencies of traditional evolutionary and quality-diversity algorithms. We propose learning convergent functions: shared control policies trained across clusters of morphologically similar designs in a learned latent space, drastically reducing the training cost per design. Simultaneously, we promote divergent forms by replacing mutation with dynamic local search, enabling broader exploration and preventing premature convergence. The policy reuse allows us to explore $\sim780\times$ more designs using 78\% fewer simulation steps and 40\% less compute per design. Local competition paired with a broader search results in a diverse set of high-performing final morphologies. Using the UNIMAL design space and a flat-terrain locomotion task, LOKI discovers a rich variety of designs—ranging from quadrupeds to crabs, bipedals, and spinners—far more diverse than those produced by prior work. These morphologies also transfer better to unseen downstream tasks in agility, stability, and manipulation domains (e.g. $2 \times$ higher reward on bump and push box incline tasks). Overall, our approach produces designs that are both diverse and adaptable, with substantially greater sample efficiency than existing co-design methods.

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this information is often irrelevant to the specific task at hand. This introduces noise within the learning process and distracts the agent's focus from task-relevant visual cues. Inspired by selective attention in humans—the process through which people filter their perception based on their experiences, knowledge, and the task at hand—we introduce a parameter-efficient approach to filter visual stimuli for embodied AI. Our approach induces a task-conditioned bottleneck using a small learnable codebook module. This codebook is trained jointly to optimize task reward and acts as a task-conditioned selective filter over the visual observation. Our experiments showcase state-of-the-art performance for object goal navigation and object displacement across $5$ benchmarks, ProcTHOR, ArchitecTHOR, RoboTHOR, AI2-iTHOR, and ManipulaTHOR. The filtered representations produced by the codebook are also able generalize better and converge faster when adapted to other simulation environments such as Habitat. Our qualitative analyses show that agents explore their environments more effectively and their representations retain task-relevant information like target object recognition while ignoring superfluous information about other objects.

This paper introduces a pipeline to parametrically sample and render static multi-task vision datasets from comprehensive 3D scans from the real-world. In addition to enabling interesting lines of research, we show the tooling and generated data suffice to train robust vision models. Familiar architectures trained on a generated starter dataset reached state-of-the-art performance on multiple common vision tasks and benchmarks, despite having seen no benchmark or non-pipeline data. The depth estimation network outperforms MiDaS and the surface normal estimation network is the first to achieve human-level performance for in-the-wild surface normal estimation—at least according to one metric on the OASIS benchmark. The Dockerized pipeline with CLI, the (mostly python) code, PyTorch dataloaders for the generated data, the generated starter dataset, download scripts and other utilities are all available ${\color{Magenta}through}\;{\color{Magenta}our}\;{\color{Magenta}project}\;{\color{Magenta}website}$.