arXiv:2610.36535 · v1
A generalist policy for muscle-driven control across individual musculoskeletal models
摘要
Differences in musculoskeletal morphology challenge policy reuse across individual models. Here we present MyoAcross, a framework that combines individual musculoskeletal model construction, morphology-conditioned policy learning and virtual model augmentation to enable muscle-driven reference-motion tracking without individual fine-tuning. Across 31 held-out individual models, MyoAcross achieves 99.24% completion and reduces tracking error by 22.60% relative to an unconditioned multilayer perceptron. Policy reuse extends to models of 22 held-out individuals constructed from single-image shape estimates, measured height and body mass, and, with asymmetry augmentation, to models with unilateral lower-limb shortening. Comparisons with measurements from 120 additional individuals show agreement in vertical ground reaction force waveforms and channel-dependent agreement between simulated muscle activations and electromyography. These results establish a common control framework for comparative simulations of movement across individual musculoskeletal models.
作者备注：17 pages, 7 figures. Project website: https://woodater-thu.github.io/MyoAcross/ Bozhao Wang and Yinglei Zhu contributed equally to this work