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cs.RO2025
Embodied Learning of Reward for Musculoskeletal Control with Vision Language Models
Saraswati Soedarmadji, Yunyue Wei, Chen Zhang +2
Discovering effective reward functions remains a fundamental challenge in motor control of high-dimensional musculoskeletal systems. While humans can describe movement goals explic…
cs.RO2025
Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations
Chengtian Ma, Yunyue Wei, Chenhui Zuo +2
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of stati…
cs.RO2025
Contact-Rich and Deformable Foot Modeling for Locomotion Control of the Human Musculoskeletal System
Haixin Gong, Chen Zhang, Yanan Sui
The human foot serves as the critical interface between the body and environment during locomotion. Existing musculoskeletal models typically oversimplify foot-ground contact mecha…