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RecMorph: Topology-Guided Spatial Recurrence for Generalized Morphology Control

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Generalized morphology control requires a single policy to transform information across limbs with different physical roles, coordinate whole-body motion, and remain efficient as body size grows. Existing communication mechanisms address these requirements only partially. We introduce RecMorph, a topology-guided spatial recurrent architecture that uses recurrent sequence computation to jointly perform cross-limb communication and representation transformation. A depth-first traversal converts the kinematic tree into a morphology-derived sequence, along which shared bidirectional transitions pr

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