MyoAcross

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.

@misc{wang2026myoacross,
  title = {A generalist policy for muscle-driven control across individual musculoskeletal models},
  author = {Wang, Bozhao and Zhu, Yinglei and Li, Zhengqing and Zhang, Zhiyuan and Kang, Weiming and He, Yiheng and Liu, XinJun and Hou, Senhao and Zhao, Huichan and Tang, Xiaoqiang},
  year = {2026},
  eprint = {2610.36535},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.36535}
}