# Toward Reality

Venue: arXiv 2026

Authors: Zihan Guo, Muhan Li, Shuzhe Zhang, Sam Kriegman

A pipeline turns coarse, evolution-friendly virtual body plans into complete blueprints that a builder can follow.

- [Paper](https://arxiv.org/abs/2603.13582): Creating Manufacturable Blueprints for Coarse-Grained Virtual Robots
- [Interactive page](https://www.beyond-infinity.top/research/blueprints/)

## Steps

### 1. BORN IN SIMULATION

This body evolved in simulation, as voxels and joints only. To build it, every missing detail must be added.

- STAGE: VIRTUAL

![A body made of voxels walks on a grid floor, then stops as the floor falls away and leaves it hanging in the dark.](https://www.beyond-infinity.top/agent/shots/blueprints_step1.jpg)

#### Shot 1

This body evolved in simulation, as voxels and joints only.

![BORN IN SIMULATION, Shot 1](https://www.beyond-infinity.top/agent/shots/blueprints_step1_shot1.jpg)

#### Shot 2

To build it, every missing detail must be added.

![BORN IN SIMULATION, Shot 2](https://www.beyond-infinity.top/agent/shots/blueprints_step1_shot2.jpg)

### 2. PRINTABLE BONES AND SKIN

First, the voxels become printable bones and a hollow skin, with room cut at each joint for a motor.

- STAGE: SEMI-VIRTUAL

![A sheet of light passes over the body and leaves smooth bones inside a thin see-through skin, with a round opening cut at each joint.](https://www.beyond-infinity.top/agent/shots/blueprints_step2.jpg)

#### Shot 1

First, the voxels become printable bones and a hollow skin, with room cut at each joint for a motor.

![PRINTABLE BONES AND SKIN, Shot 1](https://www.beyond-infinity.top/agent/shots/blueprints_step2_shot1.jpg)

### 3. MOTORS, POWER AND WIRES

Then motors, a battery, a controller and wires are fitted inside, each placed by a solver, not by hand.

- STAGE: SEMI-REAL
- MOTORS: 06

![Motors settle into the joints one after another, a battery and a controller drop into the largest bones, and dashed wires run from each motor to the controller.](https://www.beyond-infinity.top/agent/shots/blueprints_step3.jpg)

#### Shot 1

Then motors, a battery, a controller and wires are fitted inside, each placed by a solver, not by hand.

![MOTORS, POWER AND WIRES, Shot 1](https://www.beyond-infinity.top/agent/shots/blueprints_step3_shot1.jpg)

### 4. READY TO BUILD

Every part is ready to print or to bolt on. In the paper, a body built this way was printed, assembled and walked.

- STAGE: REAL
- MOTORS: 06
- PASS: 67 % OF 1000 DESIGNS

![The robot opens into an exploded view of its skin, bones, motors and electronics with labelled parts, then closes again and walks on the floor.](https://www.beyond-infinity.top/agent/shots/blueprints_step4.jpg)

#### Shot 1

Every part is ready to print or to bolt on.

![READY TO BUILD, Shot 1](https://www.beyond-infinity.top/agent/shots/blueprints_step4_shot1.jpg)

#### Shot 2

Bones in PLA, skin in soft TPU, six motors on one bus.

![READY TO BUILD, Shot 2](https://www.beyond-infinity.top/agent/shots/blueprints_step4_shot2.jpg)

#### Shot 3

In the paper, a body built this way was printed, assembled and walked.

![READY TO BUILD, Shot 3](https://www.beyond-infinity.top/agent/shots/blueprints_step4_shot3.jpg)