TERRA: Terrain-Aware Reconstruction, Retargeting and Control for Musculoskeletal Locomotion

תקציר מקורי באנגליתarXiv:2609.38653v1 Announce Type: cross Abstract: Recent advances in musculoskeletal modeling and reinforcement learning have enabled muscle-actuated agents to reproduce increasingly complex human motions. Yet these capabilities remain largely confined to flat ground, in part because motion datasets rarely include aligned terrain geometry and because retargeting terrain interactions to complex musculoskeletal bodies is challenging. We present TERRA, an end-to-end pipeline for terrain-aware retargeting and control of musculoskeletal locomotion. From kinematic trajectories alone, TERRA combines terrain priors, estimated contacts, and negative free-space evidence to recover task-relevant support geometry. TERRA further considers anatomical, tendon-continuity, and contact constraints during re