Yuang Zhang, Yunlong Song, Zhihao He et al.
Animal collectives navigate cluttered environments through local coordination, yet robot swarms still struggle to reproduce this capability in the physical world. End-to-end learning offers a route to such coordination, but scaling it to embodied swarms remains difficult: standard sampling-based reinforcement learning becomes inefficient when visual perception, dense robot-robot interaction, and contact-rich locomotion must be learned together. Here we show that asymmetric physics enables efficient end-to-end learning of vision-based, decentralized control in large swarms of quadrupedal robots. During training, quadrupeds interact in shared environments, where a high-fidelity, non-differentiable simulator generates realistic motion and contact dynamics, and differentiable surrogate models provide gradients for navigation and locomotion policies. This separation enables up to 512 quadrupeds to learn coordinated navigation policies in obstacle-rich environments. At deployment, each robot acts from a single forward-facing depth camera, without explicit communication, centralized planning, or global maps. The policies generalize across forests, bridges, enclosures, narrow passages, and mazes, and zero-shot transfer to six physical quadrupeds across five real-world scenarios. The resulting swarms exhibit predictive avoidance, right-side yielding, pausing before bottlenecks, and wall following, showing that asymmetric physics enables efficient training of scalable decentralized control policies for quadrupedal robot swarms.