https://www.creativemachineslab.com/uploads/6/9/3/4/69340277/task-agnostic_self-modeling_machines.pdf https://www.creativemachineslab.com/uploads/6/9/3/4/693402

https://www.creativemachineslab.com/uploads/6/9/3/4/69340277/task-agnostic_self-modeling_machines.pdf https://www.creativemachineslab.com/uploads/6/9/3/4/69340277... "A robot modeled itself without prior knowledge of physics or its shape and used the self-model to perform tasks and detect self-damage."