{
  "id": 7170,
  "url": "https://arxiv.org/abs/2603.15388v1",
  "title": "Efficient Morphology-Control Co-Design via Stackelberg Proximal Policy Optimization",
  "summary": "Morphology-control co-design concerns the coupled optimization of an agent's body structure and control policy. This problem exhibits a bi-level structure, where the control dynamically adapts to the morphology to maximize performance. Existing methods typically neglect the control's adaptation dynamics by adopting a single-level formulation that treats the control policy as fixed when optimizing morphology. This can lead to inefficient optimization, as morphology updates may be misaligned with ",
  "authors": "Yanning Dai, Yuhui Wang, Dylan R. Ashley, Jürgen Schmidhuber",
  "category": "research",
  "topics": "regulation,safety-alignment,agents-autonomy",
  "orgs": null,
  "regions": null,
  "published_at": "2026-03-16T15:03:57.000Z",
  "fetched_at": "2026-07-14T16:33:03.571Z",
  "source_slug": "arxiv-ethics",
  "source_name": "arXiv",
  "source_homepage": "https://arxiv.org",
  "ethics_ai_record_url": "https://ethics.ai/record/7170",
  "original_url": "https://arxiv.org/abs/2603.15388v1",
  "evidence_status": "source-only",
  "attribution": "via ethics.ai"
}