2 papers
cs.RO2026
Imitation Learning from Human Motion Alone Does Not Guarantee Biomechanically Plausible Gait Kinetics
Xinyi Liu, Jangwhan Ahn, Edgar Lobaton +2
Motion imitation learning (IL) is increasingly used in robotics and human gait modeling, yet its ability to recover biomechanically consistent joint moments without explicit kineti…
cs.LG2026
Muscle Synergy Priors Enhance Biomechanical Fidelity in Predictive Musculoskeletal Locomotion Simulation
Ilseung Park, Eunsik Choi, Jangwhan Ahn +1
Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learn…