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MuscleMimic: one generalist policy drives 354 muscles zero-shot

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EPFL open-sources MuscleMimic, a JAX plus MuJoCo musculoskeletal benchmark: Hill-type muscle models actuate a 354-muscle full body, and a single generalist policy handles chained movements such as a golf swing zero-shot.

MuscleMimicMusculoskeletalHumanoidMotorControlReinforcementLearningMuJoCoJAXEPFLMotion Control
Category: humanoid
Author: @ckli85
Date: 2026-10-03T00:00:00
Duration: 33.2s
Source: https://x.com/ckli85/status/2106483089752879368
Reference: https://github.com/amathislab/musclemimic

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