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Diverse and Adaptable Arm Coordination for Octopus-Crawling via Diffusion-Based Uncertainty-Aware Optimization

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Octopus crawling motivates soft robots that exploit redundancy, yet discovering and organizing diverse coordination modes for adaptation remains challenging. To address this, we introduce a Diffusion-based Uncertainty-aware Optimization (DUO) algorithm that learns demonstration-free crawling controllers for a simulated, muscle-actuated CyberOctopus. This work represents the first application of diffusion-based control to soft multi-arm robots in contact-rich simulations. By embedding a variety of locomotion behaviors within a shared control distribution, this approach enables the simulated oct

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