Modeling Go1 as a cell complex with Hodge message passing yields the highest return on unseen actuator degradations under degradation training
The authors represent the Unitree Go1 as a cell complex whose four limb-level and one body-level rank-2 cells make multi-joint mechanical units explicit, and apply Hodge-based message passing over nodes, edges, and faces; under degradation training, the node-edge-face Hodge actor achieves the highest return on unseen actuator degradations, with higher survival and lower velocity-tracking error.