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

arXiv:2609.38653 · cs.RO, cs.AI, cs.LG, q-bio.NC · Submitted 2026-09-29 · Read on arXiv

cs.RO, cs.AI, cs.LG, q-bio.NC

Submitted: 2026-09-29

Updated: 2026-09-29

Project page: https://cnai.epfl.ch/terra

Terminology

• Accuracy — 11× in this paper · explained in 1 episode
• Affordance — 6× in this paper · explained in 1 episode
• Consistency — 4× in this paper · explained in 3 episodes
• ACM Transactions on Graphics — 3× in this paper
• Actor — 3× in this paper · explained in 3 episodes
• Calibration — 3× in this paper · explained in 7 episodes
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Trace — 3× in this paper · explained in 2 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Clustering — 1× in this paper · explained in 2 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• F1 Score — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Towards Embodied AI with MuscleMimic: Unlocking full-body musculoskeletal motor learning at scale
• MyoChallenge 2025: A New Benchmark for Human Athletic Intelligence
• Scaling Whole-Body Human Musculoskeletal Behavior Emulation for Specificity and Diversity
• Visual Imitation Enables Contextual Humanoid Control
• MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
• SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
• SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• MyoSuite -- A contact-rich simulation suite for musculoskeletal motor control
• DynSyn: Dynamical Synergistic Representation for Efficient Learning and Control in Overactuated Embodied Systems
• Scalable Exploration for High-Dimensional Continuous Control via Value-Guided Flow
• Proximal Policy Optimization Algorithms

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