https://hmmt.ee/research/iros2026/index.html Layout-independent actuation allocator for marine robots Yuya Hamamatsu, Maarja Kruusmaa, Asko Ristolainen Tallinn University of Technology Code (Coming soon) arXiv Abstract In this study, we propose a layout-independent control allocator capable of zero-shot deployment across diverse actuator configurations. The proposed method utilizes a learning pipeline that integrates a Graph Neural Network (GNN) and a Transformer to represent the robot’s geometric layout as a graph, along with a Mixture Density Network (MDN) to predict multi-modal control command distributions. Hugo en-us