2 papers
cs.RO2025
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…
cs.RO2025
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…