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

arXiv:2607.25798v1 Announce Type: new Abstract: An often overlooked factor of robot manipulation performance is the embodiment of the robot itself. Motivated by this problem, we study motion-conditioned robot co-design, where the goal is to generate complete robot designs that track target end-effector trajectories (from human demonstrations) while optimizing user-defined rewards. We introduce Transformer Transformer, a diffusion transformer trained on RoboTokens, a unified tokenization of robot...