# Neural fidelity warping for efficient robot morphology design

arXiv: https://arxiv.org/abs/2012.04195 · HTML: https://mlsanity.com/paper/2012.04195/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Dec 2020.

## Built on by (most cited first, 2 of 2)

- [Efficient Hyperparameter Optimization for Physics-based Character Animation](https://mlsanity.com/paper/2104.12365/) (2021)
- [Embodied Co-Design for Rapidly Evolving Agents: Taxonomy, Frontiers, and Challenges](https://mlsanity.com/paper/2512.04770/) (2025)

## Abstract (arXiv)

We consider the problem of optimizing a robot morphology to achieve the best performance for a target task, under computational resource limitations. The evaluation process for each morphological design involves learning a controller for the design, which can consume substantial time and computational resources. To address the challenge of expensive robot morphology evaluation, we present a continuous multi-fidelity Bayesian Optimization framework that efficiently utilizes computational resources via low-fidelity evaluations. We identify the problem of non-stationarity over fidelity space. Our proposed fidelity warping mechanism can learn representations of learning epochs and tasks to model non-stationary covariances between continuous fidelity evaluations which prove challenging for off-the-shelf stationary kernels. Various experiments demonstrate that our method can utilize the low-fidelity evaluations to efficiently search for the optimal robot morphology, outperforming state-of-the-art methods.