Beyond Kinematics: Benchmarking Simulation Fidelity for Muscle-Driven Imitation Learning

Ayah G. Ahmad, Claire E. Borden, Maegan Tucker

In this work, we conduct a systematic comparison of two state-of-the-art motion-imitation reinforcement learning (MIRL) pipelines, one built on SCONE/HyFyDy and one built on MuJoCo…