← Back to Benchmarks
simmediummanipulation-datametric · varies
Towards Embodied AI with MuscleMimic: Unlocking full-body musculoskeletal motor learning at scale
Description
Learning motor control for muscle-driven musculoskeletal models is hindered by the computational cost of biomechanically accurate simulation and the scarcity of validated, open full-body models. Here we present MuscleMimic, an open-source framework for scalable motion imitation learning with physiologically realistic, muscle-actuated humanoids. MuscleMimic provides two validated musculoskeletal embodiments - a fixed-root upper-body model (126 muscles) for bimanual manipulation and a full-body mo