Figures, data and visualization code for "Locomotion Selects for Symmetry: Evolutionary Co-Design of Legged Robots on an Icosahedral Body" (IROS 2026 Workshop on Learning-based Robot Co-design).
Project page: https://jl6017.github.io/icos-codesign/
figures/— paper figures (symmetry-plane metric, evolved bodies in the abstract and realistic simulators, symmetry-drift regressions, mixed-competition dynamics).vis/— plotting and rendering scripts (matplotlib / MuJoCo). Training and evolution code is being released incrementally; see the project page for updates.
Simulation stack: MuJoCo XLA (MJX) via MuJoCo Playground, Brax PPO, JAX. Hardware line: Dynamixel XM430-W350, Raspberry Pi 5, RealSense T265.