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Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design

transformer-transformer.github.io · 2,707 words · saved by 5 readers

Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design. Project website.

Transformer Transformer Huy Ha, Karen Liu, Shuran Song Conference on Robot Learning 2026 Not all robots are created equal Not all robots are created equal — but what if you could design one for a specific task? We propose Transformer Transformer, a unified model that does exactly this: hand it a manipulation demonstration, and it generates a complete robot — every link, joint, motor, and inertial property — optimized for that motion. We fabricated one such design for cloth flinging on an ALOHA2 bimanual platform; it reduced tracking error by 73% and max joint speed by 30% versus the…

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