Debate2Create: Robot Co-design via Multi-Agent LLM Debate

We introduce Debate2Create (D2C), a multi-agent LLM framework that formulates robot co-design as structured, iterative debate grounded in physics-based evaluation. A design agent and control agent engage in a thesis-antithesis-synthesis loop, while pluralistic LLM judges provide multi-objective feedback to steer exploration. Across five MuJoCo locomotion benchmarks, D2C achieves up to 3.2× the default Ant score and ~9× on Swimmer, outperforming prior LLM-based methods and black-box optimization. Iterative debate yields 18–35% gains over compute-matched zero-shot generation, and D2C-generated rewards transfer to default morphologies in 4/5 tasks. Our results demonstrate that structured multi-agent debate offers an effective alternative to hand-designed objectives for joint morphology-reward optimization.