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Beyond Kinematics: Benchmarking Simulation Fidelity for Muscle-Driven Imitation Learning
In this work, we conduct a systematic comparison of two state-of-the-art motion-imitation reinforcement learning (MIRL) pipelines, one built on SCONE/HyFyDy and one built on MuJoCo/MyoSim. HyFyDy emphasizes physiological realism through detailed musculotendon modeling, while MuJoCo prioritizes compu
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