Whitman, Julian, Raunaq Bhirangi, Matthew Travers, and Howie Choset. “Modular Robot Design Synthesis With Deep Reinforcement Learning”. Proceedings of the AAAI Conference on Artificial Intelligence 34, no. 06 (April 3, 2020): 10418–10425. Accessed May 14, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/6611.