Debate2Create: Robot Co-design via Multi-Agent LLM Debate

Description

We introduce Debate2Create (D2C), a multi-agent LLM framework that formulates robot co-design as structured, iterative debate grounded in physics-based evaluation. A design agent and control agent engage in a thesis-antithesis-synthesis loop, while pluralistic LLM judges provide multi-objective feedback to steer exploration. Across five MuJoCo locomotion benchmarks, D2C achieves up to $3.2\times$ the default Ant score and $\sim9\times$ on Swimmer, outperforming prior LLM-based methods and black-

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