TERRA: Reconstructing Terrains from Motion Data for Muscle-Actuated Control
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Loading videoTERRA recovers support geometry such as stairs and slopes from contact information in motion-capture data, fits the motion to a musculoskeletal model under anatomical constraints, and then trains a muscle-actuated control policy with reinforcement learning on 9.4 hours of motion data. Open-source research from EPFL CNAI for making use of motion clips that carry no scene information; the parkour clip uses a separately tuned controller.
Category: humanoid
Author: @tokufxug
Date: 2026-10-18T00:00:00
Duration: 179.54s
Reference: https://arxiv.org/abs/2609.38653
