amathislab/kinesis-target-goal-reach

Kinesis target goal reaching (& directional control)

Model Description

• This model was trained on the KIT-Locomotion dataset and finetuned on a downstream target goal reaching task.
• The model performs muscle control without reference trajectories using a musculoskeletal model (MyoLeg).
• For more details, please refer to the paper and the code repository.

Model Details

• Framework: PyTorch
• Model Type: MLP
• Training Data: KIT-Locomotion dataset & Task-driven RL
• Input: Proprioceptive state and target goal
• Output: Target muscle lengths