5 papers
TERRA: Terrain-Aware Reconstruction, Retargeting and Control for Musculoskeletal Locomotion
Merkourios Simos, Chengkun Li, Bianca Ziliotto +1
Recent advances in musculoskeletal modeling and reinforcement learning have enabled muscle-actuated agents to reproduce increasingly complex human motions. Yet these capabilities r…
MyoChallenge 2025: A New Benchmark for Human Athletic Intelligence
Cheryl Wang, Chun Kwang Tan, Balint K. Hodossy +21
Athletic performance represents the pinnacle of human motor intelligence, demanding rapid choices, precise control, agility, and coordinated physical execution. Replicating this se…
Towards Embodied AI with MuscleMimic: Unlocking full-body musculoskeletal motor learning at scale
Chengkun Li, Cheryl Wang, Bianca Ziliotto +4
Learning motor control for muscle-driven musculoskeletal models is hindered by the computational cost of biomechanically accurate simulation and the scarcity of validated, open ful…
Arnold: A multi-task, multi-embodiment muscle transformer policy
Boshi An, Alberto Silvio Chiappa, Merkourios Simos +2
Controlling high-dimensional and nonlinear musculoskeletal models of the human body is a foundational scientific challenge. Recent machine learning breakthroughs have heralded in-s…
KINESIS: Motion Imitation for Human Musculoskeletal Locomotion
Merkourios Simos, Alberto Silvio Chiappa, Alexander Mathis
How do humans move? Advances in reinforcement learning (RL) have produced impressive results in capturing human motion using physics-based humanoid control. However, torque-control…